AT32F413 USB 和CAN同时使用案例

只看该作者 · 2021-1-4 19:45

  Demo 实现功能：
  Demo 主要实现USB 和 CAN1 同时使用，USB 实现虚拟串口功能，CAN1使用Loopback模式自发自收.
  USB 和 CAN1使用了不同的中断号，具体参考USB_Interrupts_Config()里面的配置。
  如果要使用CAN2，按照CAN2的正常配置即可。

  Note：
  一、 USB 和 CAN1 同时使用主要问题
  1. 使用GPIO PA11 和 PA12 有冲突
   解决方法：CAN1 的 TX 和 RX 可以Remap 到另外一组GPIO上PB8，PB9
  2. 中断号有冲突。
   解决方法：AT32F13 给USB 分配了另外一组中断号，USB使用新的中断号，CAN1继续使用之前的中断号

  二、 USB 和 CAN2 同时使用不存在问题，按照正常使用即可

  三、对于USB和CAN同时使用时SRAM的分配不需要软件配置

/**
  ******************************************************************************
  * @file USB_Device/VirtualComPort_loopback/src/main.c
  * @author  Artery Technology
  * @version V1.1.2
  * @date 2019-01-04
  * @brief VirtualComPort loopback Demo main file
  ******************************************************************************

#include "usb_lib.h"
#include "hw_config.h"
#include "usb_pwr.h"
#include "at32_board.h"

uint8_t usb_recvBuffer[256];
uint8_t usb_sendBuffer[256];
uint16_t recvLen, sendLen;

#define CANx    CAN1

/*Remap CAN TX & RX*/
#define CANx_TX GPIO_Pins_9
#define CANx_RX GPIO_Pins_8
#define CANx_TX_GPIO_CLK_ENABLE()    RCC_APB2PeriphClockCmd(RCC_APB2PERIPH_GPIOB, ENABLE);
#define CANx_RX_GPIO_CLK_ENABLE()    RCC_APB2PeriphClockCmd(RCC_APB2PERIPH_GPIOB, ENABLE);
#define CANx_TX_GPIO_PORT             GPIOB
#define CANx_RX_GPIO_PORT             GPIOB
#define CANx_CLK_ENABLE()                   RCC_APB1PeriphClockCmd(RCC_APB1PERIPH_CAN1, ENABLE);
CanRxMsg RxMessage = {0};
void CAN1_Demo(void);
static void CAN_transmit_data(void);
void CAN_Rx_Data(void);

void CAN1_Demo(void)
{
  CAN_InitType             CAN_InitStructure;
  CAN_FilterInitType       CAN_FilterInitStructure = {0};
  GPIO_InitType GPIO_InitStructure;
  GPIO_StructInit(&GPIO_InitStructure);
      CAN_StructInit(&CAN_InitStructure);

  CANx_TX_GPIO_CLK_ENABLE();
      CANx_RX_GPIO_CLK_ENABLE();

  /*Remap*/
  GPIO_PinsRemapConfig(GPIO_Remap1_CAN1,ENABLE);

      GPIO_InitStructure.GPIO_Pins = CANx_TX;
      GPIO_InitStructure.GPIO_MaxSpeed = GPIO_MaxSpeed_50MHz;
      GPIO_InitStructure.GPIO_Mode = GPIO_Mode_AF_PP;
      GPIO_Init(CANx_TX_GPIO_PORT, &GPIO_InitStructure);

      GPIO_InitStructure.GPIO_Pins = CANx_RX;
      GPIO_InitStructure.GPIO_Mode = GPIO_Mode_IN_PU;
      GPIO_Init(CANx_RX_GPIO_PORT, &GPIO_InitStructure);
      CANx_CLK_ENABLE();

  CAN_InitStructure.CAN_TTC = DISABLE;
      CAN_InitStructure.CAN_ABO = ENABLE;
      CAN_InitStructure.CAN_AWU = ENABLE;
      CAN_InitStructure.CAN_NART = DISABLE;
      CAN_InitStructure.CAN_RFL = DISABLE;
      CAN_InitStructure.CAN_TFP = DISABLE;
      CAN_InitStructure.CAN_Mode = CAN_Mode_LoopBack;
      CAN_InitStructure.CAN_SJW = CAN_SJW_1tq;
      CAN_InitStructure.CAN_BS1 = CAN_BS1_8tq;
      CAN_InitStructure.CAN_BS2 = CAN_BS2_3tq;
      CAN_InitStructure.CAN_Prescaler = 2;
      CAN_Init(CANx, &CAN_InitStructure); ///<SYSCLK=192M,  APB1CLK=24M, CAN Baudrate=（192/8）*1000K）/（（1+1）*（3+7+2）） = 1000K

CAN_FilterInitStructure.CAN_FilterNumber=0;
      CAN_FilterInitStructure.CAN_FilterMode=CAN_FilterMode_IdMask;
      CAN_FilterInitStructure.CAN_FilterScale=CAN_FilterScale_32bit;
      CAN_FilterInitStructure.CAN_FilterIdHigh=0x0;
      CAN_FilterInitStructure.CAN_FilterIdLow=0x0;
      CAN_FilterInitStructure.CAN_FilterMskIdHigh=0x0;
      CAN_FilterInitStructure.CAN_FilterMskIdLow=0x0;
      CAN_FilterInitStructure.CAN_FilterFIFOAssignment=CAN_FIFO0;
      CAN_FilterInitStructure.CAN_FilterActivation=ENABLE;
      CAN_FilterInit(CANx, &CAN_FilterInitStructure);

  CAN_INTConfig(CANx,CAN_INT_RFP0,ENABLE);

}

/**
*       @brief  CAN transmit data.SID=0x400,Standard identifier,Data frame,data D0~D7 all 0xA5
*       @param  None
*       @retval None
*/
static void CAN_transmit_data(void)
{
uint8_t TransmitMailbox;
uint32_t i = 0;
CanTxMsg TxMessage;
TxMessage.Data[0] = 0xA5;
TxMessage.Data[1] = 0xA5;
TxMessage.Data[2] = 0xA5;
TxMessage.Data[3] = 0xA5;
TxMessage.Data[4] = 0xA5;
TxMessage.Data[5] = 0xA5;
TxMessage.Data[6] = 0xA5;
TxMessage.Data[7] = 0xA5;

      TxMessage.StdId = 0x400;
      TxMessage.ExtId = 0;
      TxMessage.IDT = CAN_Id_Standard;
      TxMessage.RTR = CAN_RTR_Data;
      TxMessage.DLC = 8;
TransmitMailbox = CAN_Transmit(CANx, &TxMessage);
while((CAN_TransmitStatus(CAN1, TransmitMailbox) != CANTXOK) && (i != 0xFFFF))
{
      i++;
}
}

void CAN_Rx_Data(void)
{
if (CAN_GetINTStatus (CANx,CAN_INT_RFOV0) == SET )
{
      CAN_ClearINTPendingBit (CAN1, CAN_INT_RFOV0);
}
if (CAN_GetINTStatus (CANx,CAN_INT_RFFU0) == SET )
{
      CAN_ClearINTPendingBit (CAN1, CAN_INT_RFFU0);
}
if (CAN_GetINTStatus (CANx,CAN_INT_RFP0) == SET )
{
      CAN_Receive(CANx, CAN_FIFO0, &RxMessage);
      if ( RxMessage.StdId == 0X400 )
         AT32_LEDn_Toggle(LED2);
}
}

/** @addtogroup AT32F413_StdPeriph_Examples
  * @{
  */

/** @addtogroup USB_VirtualComPort_loopback
  * @{
  */
int main(void)
{
/*AT START F4xx board initialize
* Include LED, Button
*/
AT32_Board_Init();

/*USB GPIO configure*/
AT32_USB_GPIO_init();

/*Remap USB Interrupt*/
RCC_USBINTRemap(ENABLE);

/*初始化 USB Interrut
USB 使用新的低优先级中断号：USB_LP_IRQn = 74
            高优先级中断号：USB_HP_IRQn = 73

CAN1 中断号：
      TX： USB_HP_CAN1_TX_IRQn =  19
      RX：USB_LP_CAN1_RX0_IRQn =  20

   Note：中断初始化之后，中断处理函数需要一并修改。
*/
         USB_Interrupts_Config();

/*Set USB Clock, USB Clock must 48MHz*/
Set_USBClock();

/*Enable USB 768 Byte Mode*/
Set_USB768ByteMode();

/*Init CAN1*/
CAN1_Demo();

/* USB protocol and register initialize*/
         USB_Init();

         while(1)
      {
      recvLen = CDC_Receive_DATA(usb_recvBuffer, 256);
      if ( recvLen > 0 )
      {  /*recvive data from USB*/

         /*Send data to PC Host*/
         sendLen = CDC_Send_DATA(usb_recvBuffer, recvLen);
         AT32_LEDn_Toggle(LED3);

      }else
      {
         /*no data recv*/
         Delay_ms(500);
         AT32_LEDn_Toggle(LED4);
         CAN_transmit_data();
      }

      }
}