【AT-START-F423测评】+ CAN 收发数据

int main(void)

{

  /* add user code begin 1 */

    uint32_t start_tick;

  /* add user code end 1 */



  /* add a necessary delay to ensure that Vdd is higher than the operating

     voltage of battery powered domain (2.57V) when the battery powered 

     domain is powered on for the first time and being operated. */

  wk_wait_for_power_stable();

  

  /* system clock config. */

  wk_system_clock_config();



  /* config periph clock. */

  wk_periph_clock_config();



  /* nvic config. */

  wk_nvic_config();



  /* init usart1 function. */

  wk_usart1_init();



  /* init can1 function. */

  wk_can1_init();



  /* init gpio function. */

  wk_gpio_config();



  /* add user code begin 2 */

    sys_init();



    fifo_init(&can_rx_fifo, can_rx_msg_buf,

                sizeof(can_rx_msg_buf)/sizeof(can_rx_msg_buf[0]));

    can_interrupt_enable(CAN1, CAN_RF0MIEN_INT, TRUE);



    // printf("The demo is started!\n");

    start_tick = sys_get_tick();

  /* add user code end 2 */



  while(1)

  {

    /* add user code begin 3 */

    if (!FIFO_IS_EMPTY(&can_rx_fifo)) {

        can_tx_message_type tx_msg;

        can_rx_message_type *rx_msg = fifo_read(&can_rx_fifo, can_rx_message_type);

        fifo_decrement(&can_rx_fifo);



        // tx_msg.standard_id = rx_msg->standard_id;

        // tx_msg.extended_id = rx_msg->extended_id;

        // tx_msg.id_type = rx_msg->id_type;

        // tx_msg.frame_type = rx_msg->frame_type;

        memcpy(&tx_msg, rx_msg, sizeof(can_tx_message_type));

        can_message_transmit(CAN1, &tx_msg);

    }



    if (sys_get_tick() - start_tick >= 1000) {

        start_tick = sys_get_tick();

        gpio_bits_toggle(LED2_GPIO_PORT, LED2_PIN);

        can_message_transmit(CAN1, &can_tx_msg);

    }

    /* add user code end 3 */

  }

}

void CAN1_RX0_IRQHandler(void)

{

  /* add user code begin CAN1_RX0_IRQ 0 */

    if (can_flag_get(CAN1, CAN_RF0MN_FLAG) == SET) {

        can_flag_clear(CAN1, CAN_RF0MN_FLAG);



        if (!FIFO_IS_FULL(&can_rx_fifo)) {

            can_rx_message_type *msg = fifo_tail_member(&can_rx_fifo,

                                                        can_rx_message_type);

            can_message_receive(CAN1, CAN_RX_FIFO0, msg);

            fifo_increment(&can_rx_fifo);

        } else {

            can_receive_fifo_release(CAN1, CAN_RX_FIFO0);

        }

    }

  /* add user code end CAN1_RX0_IRQ 0 */

  /* add user code begin CAN1_RX0_IRQ 1 */



  /* add user code end CAN1_RX0_IRQ 1 */

}

#ifndef _FIFO_H

#define _FIFO_H



#include <stdint.h>

#include <string.h>



typedef struct {

    uint16_t head;

    uint16_t tail;

    uint16_t size;

    void *data;

} fifo_t;



#define FIFO_IS_FULL(fifo)      ((fifo)->tail - (fifo)->head == (fifo)->size)

#define FIFO_IS_EMPTY(fifo)     ((fifo)->head == (fifo)->tail)



#define fifo_increment(fifo)    ((fifo)->tail++)

#define fifo_decrement(fifo)    ((fifo)->head++)



#define fifo_init(fifo, pdata, dsize) do { \

    (fifo)->head = (fifo)->tail = 0; \

    (fifo)->data = (pdata); \

    (fifo)->size = (dsize); \

} while (0)



#define fifo_head_member(fifo, TYPE) \

            (&((TYPE *)(fifo)->data)[(fifo)->head % (fifo)->size])

#define fifo_tail_member(fifo, TYPE) \

            (&((TYPE *)(fifo)->data)[(fifo)->tail % (fifo)->size])

#define fifo_read(fifo, TYPE)   fifo_head_member((fifo), TYPE)

#define fifo_write(fifo, data, TYPE) \

    memcpy(fifo_tail_member((fifo), TYPE), (data), sizeof(TYPE));



#endif