STM32F1(CAN)
STM32F1(CAN)
GitHub 仓库：https://github.com/XinLiGH/STM32F1xx_CAN_Example
PS：博文不再更新，后续更新会在 GitHub 仓库进行。
1，开发环境
1，固件库：STM32F10x_StdPeriph_Lib_V3.5.0
2，编译器：ARMCC V5.06
3，IDE：Keil uVision5
4，操作系统：Windows 10 专业版
2，程序源码
RingBuffer.h 文件
/**
******************************************************************************
* @file RingBuffer.h
* @author XinLi
* @version v1.1
* @date 15-January-2018
* @brief Header file for RingBuffer.c module.
******************************************************************************
* @attention
*
* Copyright © 2018 XinLi
*
* This program is free software: you can redistribute it and/or modify
* it under the terms of the GNU General Public License as published by
* the Free Software Foundation, either version 3 of the License, or
* (at your option) any later version.
*
* This program is distributed in the hope that it will be useful,
* but WITHOUT ANY WARRANTY; without even the implied warranty of
* MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
* GNU General Public License for more details.
*
* You should have received a copy of the GNU General Public License
* along with this program. If not, see
#include
#include
/* Macro definitions ---------------------------------------------------------*/
#define RING_BUFFER_MALLOC(size) malloc(size)
#define RING_BUFFER_FREE(block) free(block)
/* Type definitions ----------------------------------------------------------*/
typedef struct
{
uint8_t *buffer;
uint32_t size;
uint32_t in;
uint32_t out;
}RingBuffer;
/* Variable declarations -----------------------------------------------------*/
/* Variable definitions ------------------------------------------------------*/
/* Function declarations -----------------------------------------------------*/
RingBuffer *RingBuffer_Malloc(uint32_t size);
void RingBuffer_Free(RingBuffer *fifo);
uint32_t RingBuffer_In(RingBuffer *fifo, void *in, uint32_t len);
uint32_t RingBuffer_Out(RingBuffer *fifo, void *out, uint32_t len);
/* Function definitions ------------------------------------------------------*/
/**
* @brief Removes the entire FIFO contents.
* @param [in] fifo: The fifo to be emptied.
* @return None.
*/
static inline void RingBuffer_Reset(RingBuffer *fifo)
{
fifo->in = fifo->out = 0;
}
/**
* @brief Returns the size of the FIFO in bytes.
* @param [in] fifo: The fifo to be used.
* @return The size of the FIFO.
*/
static inline uint32_t RingBuffer_Size(RingBuffer *fifo)
{
return fifo->size;
}
/**
* @brief Returns the number of used bytes in the FIFO.
* @param [in] fifo: The fifo to be used.
* @return The number of used bytes.
*/
static inline uint32_t RingBuffer_Len(RingBuffer *fifo)
{
return fifo->in - fifo->out;
}
/**
* @brief Returns the number of bytes available in the FIFO.
* @param [in] fifo: The fifo to be used.
* @return The number of bytes available.
*/
static inline uint32_t RingBuffer_Avail(RingBuffer *fifo)
{
return RingBuffer_Size(fifo) - RingBuffer_Len(fifo);
}
/**
* @brief Is the FIFO empty?
* @param [in] fifo: The fifo to be used.
* @retval true: Yes.
* @retval false: No.
*/
static inline bool RingBuffer_IsEmpty(RingBuffer *fifo)
{
return RingBuffer_Len(fifo) == 0;
}
/**
* @brief Is the FIFO full?
* @param [in] fifo: The fifo to be used.
* @retval true: Yes.
* @retval false: No.
*/
static inline bool RingBuffer_IsFull(RingBuffer *fifo)
{
return RingBuffer_Avail(fifo) == 0;
}
#ifdef __cplusplus
}
#endif
#endif /* __RINGBUFFER_H */ RingBuffer.c 文件
/**
******************************************************************************
* @file RingBuffer.c
* @author XinLi
* @version v1.1
* @date 15-January-2018
* @brief Ring buffer module source file.
******************************************************************************
* @attention
*
* Copyright © 2018 XinLi
*
* This program is free software: you can redistribute it and/or modify
* it under the terms of the GNU General Public License as published by
* the Free Software Foundation, either version 3 of the License, or
* (at your option) any later version.
*
* This program is distributed in the hope that it will be useful,
* but WITHOUT ANY WARRANTY; without even the implied warranty of
* MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
* GNU General Public License for more details.
*
* You should have received a copy of the GNU General Public License
* along with this program. If not, see
/* Macro definitions ---------------------------------------------------------*/
#define min(a, b) (((a) < (b)) ? (a) : (b))
/* Type definitions ----------------------------------------------------------*/
/* Variable declarations -----------------------------------------------------*/
/* Variable definitions ------------------------------------------------------*/
/* Function declarations -----------------------------------------------------*/
static bool is_power_of_2(uint32_t x);
static uint32_t roundup_pow_of_two(uint32_t x);
/* Function definitions ------------------------------------------------------*/
/**
* @brief Allocates a new FIFO and its internal buffer.
* @param [in] size: The size of the internal buffer to be allocated.
* @note The size will be rounded-up to a power of 2.
* @return RingBuffer pointer.
*/
RingBuffer *RingBuffer_Malloc(uint32_t size)
{
RingBuffer *fifo = RING_BUFFER_MALLOC(sizeof(RingBuffer));
if(fifo != NULL)
{
if(is_power_of_2(size) != true)
{
if(size > 0x80000000UL)
{
RING_BUFFER_FREE(fifo);
return NULL;
}
size = roundup_pow_of_two(size);
}
fifo->buffer = RING_BUFFER_MALLOC(size);
if(fifo->buffer == NULL)
{
RING_BUFFER_FREE(fifo);
return NULL;
}
fifo->size = size;
fifo->in = fifo->out = 0;
}
return fifo;
}
/**
* @brief Frees the FIFO.
* @param [in] fifo: The fifo to be freed.
* @return None.
*/
void RingBuffer_Free(RingBuffer *fifo)
{
RING_BUFFER_FREE(fifo->buffer);
RING_BUFFER_FREE(fifo);
}
/**
* @brief Puts some data into the FIFO.
* @param [in] fifo: The fifo to be used.
* @param [in] in: The data to be added.
* @param [in] len: The length of the data to be added.
* @return The number of bytes copied.
* @note This function copies at most @len bytes from the @in into
* the FIFO depending on the free space, and returns the number
* of bytes copied.
*/
uint32_t RingBuffer_In(RingBuffer *fifo, void *in, uint32_t len)
{
len = min(len, RingBuffer_Avail(fifo));
/* First put the data starting from fifo->in to buffer end. */
uint32_t l = min(len, fifo->size - (fifo->in & (fifo->size - 1)));
memcpy(fifo->buffer + (fifo->in & (fifo->size - 1)), in, l);
/* Then put the rest (if any) at the beginning of the buffer. */
memcpy(fifo->buffer, (uint8_t *)in + l, len - l);
fifo->in += len;
return len;
}
/**
* @brief Gets some data from the FIFO.
* @param [in] fifo: The fifo to be used.
* @param [in] out: Where the data must be copied.
* @param [in] len: The size of the destination buffer.
* @return The number of copied bytes.
* @note This function copies at most @len bytes from the FIFO into
* the @out and returns the number of copied bytes.
*/
uint32_t RingBuffer_Out(RingBuffer *fifo, void *out, uint32_t len)
{
len = min(len, RingBuffer_Len(fifo));
/* First get the data from fifo->out until the end of the buffer. */
uint32_t l = min(len, fifo->size - (fifo->out & (fifo->size - 1)));
memcpy(out, fifo->buffer + (fifo->out & (fifo->size - 1)), l);
/* Then get the rest (if any) from the beginning of the buffer. */
memcpy((uint8_t *)out + l, fifo->buffer, len - l);
fifo->out += len;
return len;
}
/**
* @brief Determine whether some value is a power of two.
* @param [in] x: The number to be confirmed.
* @retval true: Yes.
* @retval false: No.
* @note Where zero is not considered a power of two.
*/
static bool is_power_of_2(uint32_t x)
{
return (x != 0) && ((x & (x - 1)) == 0);
}
/**
* @brief Round the given value up to nearest power of two.
* @param [in] x: The number to be converted.
* @return The power of two.
*/
static uint32_t roundup_pow_of_two(uint32_t x)
{
uint32_t b = 0;
for(int i = 0; i < 32; i++)
{
b = 1UL << i;
if(x <= b)
{
break;
}
}
return b;
} CAN.h 文件
/**
******************************************************************************
* @file CAN.h
* @author XinLi
* @version v1.0
* @date 24-June-2018
* @brief Header file for CAN.c module.
******************************************************************************
* @attention
*
* Copyright © 2018 XinLi
*
* This program is free software: you can redistribute it and/or modify
* it under the terms of the GNU General Public License as published by
* the Free Software Foundation, either version 3 of the License, or
* (at your option) any later version.
*
* This program is distributed in the hope that it will be useful,
* but WITHOUT ANY WARRANTY; without even the implied warranty of
* MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
* GNU General Public License for more details.
*
* You should have received a copy of the GNU General Public License
* along with this program. If not, see
/* Macro definitions ---------------------------------------------------------*/
/******************************* CAN1 Configure *******************************/
#define CAN1_TX_BUFFER_SIZE (16)
#define CAN1_RX_BUFFER_SIZE (16)
#define CAN1_TX_GPIO_CLOCK RCC_APB2Periph_GPIOB
#define CAN1_RX_GPIO_CLOCK RCC_APB2Periph_GPIOB
#define CAN1_TX_GPIO_PORT GPIOB
#define CAN1_RX_GPIO_PORT GPIOB
#define CAN1_TX_GPIO_PIN GPIO_Pin_9
#define CAN1_RX_GPIO_PIN GPIO_Pin_8
#define CAN1_IRQ_PREEMPT_PRIORITY (0)
#define CAN1_IRQ_SUB_PRIORITY (0)
#define CAN1_PORT_REMAP() GPIO_PinRemapConfig(GPIO_Remap1_CAN1 , ENABLE)
/******************************************************************************/
#ifdef STM32F10X_CL
/******************************* CAN2 Configure *******************************/
#define CAN2_TX_BUFFER_SIZE (16)
#define CAN2_RX_BUFFER_SIZE (16)
#define CAN2_TX_GPIO_CLOCK RCC_APB2Periph_GPIOB
#define CAN2_RX_GPIO_CLOCK RCC_APB2Periph_GPIOB
#define CAN2_TX_GPIO_PORT GPIOB
#define CAN2_RX_GPIO_PORT GPIOB
#define CAN2_TX_GPIO_PIN GPIO_Pin_13
#define CAN2_RX_GPIO_PIN GPIO_Pin_12
#define CAN2_IRQ_PREEMPT_PRIORITY (0)
#define CAN2_IRQ_SUB_PRIORITY (0)
#define CAN2_PORT_REMAP() GPIO_PinRemapConfig(GPIO_Remap_CAN2 , DISABLE)
/******************************************************************************/
#endif /* STM32F10X_CL */
/* Type definitions ----------------------------------------------------------*/
typedef enum
{
CAN_WorkModeNormal = CAN_Mode_Normal,
CAN_WorkModeLoopBack = CAN_Mode_LoopBack
}CAN_WorkMode;
typedef enum
{
CAN_BaudRate1000K = 6,
CAN_BaudRate500K = 12,
CAN_BaudRate250K = 24,
CAN_BaudRate125K = 48,
CAN_BaudRate100K = 60,
CAN_BaudRate50K = 120,
CAN_BaudRate20K = 300,
CAN_BaudRate10K = 600
}CAN_BaudRate;
/* Variable declarations -----------------------------------------------------*/
/* Variable definitions ------------------------------------------------------*/
/* Function declarations -----------------------------------------------------*/
void CAN_Configure(CAN_TypeDef *CANx, CAN_WorkMode WorkMode, CAN_BaudRate BaudRate, uint32_t StdId, uint32_t ExtId);
void CAN_Unconfigure(CAN_TypeDef *CANx);
void CAN_SetTransmitFinishCallback(CAN_TypeDef *CANx, void (*Callback)(void));
void CAN_SetReceiveFinishCallback(CAN_TypeDef *CANx, void (*Callback)(void));
uint32_t CAN_SetTransmitMessage(CAN_TypeDef *CANx, CanTxMsg *Message, uint32_t Number);
uint32_t CAN_GetReceiveMessage(CAN_TypeDef *CANx, CanRxMsg *Message, uint32_t Number);
uint32_t CAN_GetUsedTransmitBufferSize(CAN_TypeDef *CANx);
uint32_t CAN_GetUsedReceiveBufferSize(CAN_TypeDef *CANx);
uint32_t CAN_GetUnusedTransmitBufferSize(CAN_TypeDef *CANx);
uint32_t CAN_GetUnusedReceiveBufferSize(CAN_TypeDef *CANx);
bool CAN_IsTransmitBufferEmpty(CAN_TypeDef *CANx);
bool CAN_IsReceiveBufferEmpty(CAN_TypeDef *CANx);
bool CAN_IsTransmitBufferFull(CAN_TypeDef *CANx);
bool CAN_IsReceiveBufferFull(CAN_TypeDef *CANx);
void CAN_ClearTransmitBuffer(CAN_TypeDef *CANx);
void CAN_ClearReceiveBuffer(CAN_TypeDef *CANx);
bool CAN_IsTransmitMessage(CAN_TypeDef *CANx);
/* Function definitions ------------------------------------------------------*/
#ifdef __cplusplus
}
#endif
#endif /* __CAN_H */ CAN.c 文件
/**
******************************************************************************
* @file CAN.c
* @author XinLi
* @version v1.0
* @date 24-June-2018
* @brief CAN module driver.
******************************************************************************
* @attention
*
* Copyright © 2018 XinLi
*
* This program is free software: you can redistribute it and/or modify
* it under the terms of the GNU General Public License as published by
* the Free Software Foundation, either version 3 of the License, or
* (at your option) any later version.
*
* This program is distributed in the hope that it will be useful,
* but WITHOUT ANY WARRANTY; without even the implied warranty of
* MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
* GNU General Public License for more details.
*
* You should have received a copy of the GNU General Public License
* along with this program. If not, see main.h 文件
/**
******************************************************************************
* @file main.h
* @author XinLi
* @version v1.0
* @date 24-June-2018
* @brief Header file for main.c module.
******************************************************************************
* @attention
*
* Copyright © 2018 XinLi
*
* This program is free software: you can redistribute it and/or modify
* it under the terms of the GNU General Public License as published by
* the Free Software Foundation, either version 3 of the License, or
* (at your option) any later version.
*
* This program is distributed in the hope that it will be useful,
* but WITHOUT ANY WARRANTY; without even the implied warranty of
* MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
* GNU General Public License for more details.
*
* You should have received a copy of the GNU General Public License
* along with this program. If not, see main.c 文件
/**
******************************************************************************
* @file main.c
* @author XinLi
* @version v1.0
* @date 24-June-2018
* @brief Main program body.
******************************************************************************
* @attention
*
* Copyright © 2018 XinLi
*
* This program is free software: you can redistribute it and/or modify
* it under the terms of the GNU General Public License as published by
* the Free Software Foundation, either version 3 of the License, or
* (at your option) any later version.
*
* This program is distributed in the hope that it will be useful,
* but WITHOUT ANY WARRANTY; without even the implied warranty of
* MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
* GNU General Public License for more details.
*
* You should have received a copy of the GNU General Public License
* along with this program. If not, see
3，注意
CAN 消息发送缓冲区和接收缓冲区的大小，可以根据应用的需求进行修改，缓冲区使用的是堆内存，需要根据缓冲区大小和应用程序中堆内存使用情况进行配置。