ADC已完成
This commit is contained in:
+143
-100
@@ -1,7 +1,10 @@
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#include "Can.h"
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#include "gd32c10x_can.h"
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#include "gd32c10x_eval.h"
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#include <cstdio>
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#include <inttypes.h>
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#include <stdint.h>
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#include <stdio.h>
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#define DEV_CAN_LOOPBACK_ID 0x0000
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#define DEV_CAN0_ID 0xaabb
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@@ -12,10 +15,14 @@ u8 can_gpio_init() {
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rcu_periph_clock_enable(RCU_CAN0);
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rcu_periph_clock_enable(RCU_GPIOA);
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rcu_periph_clock_enable(RCU_AF);
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/* configure CAN0 GPIO */
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gpio_init(GPIOA, GPIO_MODE_IPU, GPIO_OSPEED_MAX, GPIO_PIN_11);
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gpio_init(GPIOA, GPIO_MODE_AF_PP, GPIO_OSPEED_MAX, GPIO_PIN_12);
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/* enable the EN GPIO clock */
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rcu_periph_clock_enable(RCU_GPIOB);
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gpio_init(GPIOB, GPIO_MODE_OUT_PP, GPIO_OSPEED_50MHZ, GPIO_PIN_13);
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gpio_bit_reset(GPIOB, GPIO_PIN_13);
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return 0;
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}
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@@ -27,6 +34,7 @@ u8 can_gpio_init() {
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*/
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void can_config(void) {
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can_parameter_struct can_parameter;
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can_filter_parameter_struct can_filter;
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can_struct_para_init(CAN_INIT_STRUCT, &can_parameter);
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/* initialize CAN register */
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@@ -44,24 +52,31 @@ void can_config(void) {
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can_parameter.resync_jump_width = CAN_BT_SJW_1TQ;
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can_parameter.time_segment_1 = CAN_BT_BS1_7TQ;
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can_parameter.time_segment_2 = CAN_BT_BS2_2TQ;
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can_parameter.prescaler = 6;
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can_parameter.prescaler = 12;
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/* initialize CAN */
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can_init(CAN0, &can_parameter);
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/* initialize filter */
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can1_filter_start_bank(14);
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can_filter_mask_mode_init(DEV_CAN0_ID, DEV_CAN0_MASK, CAN_EXTENDED_FIFO0,
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0);
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/* initialize filter */
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/* configure filter mode */
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can_filter.filter_mode = CAN_FILTERMODE_MASK;
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can_filter.filter_bits = CAN_FILTERBITS_32BIT;
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/* configure filter ID */
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can_filter.filter_list_high = (uint16_t)(DEV_CAN_LOOPBACK_ID >> 13U);
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can_filter.filter_list_low = ((uint16_t)(DEV_CAN_LOOPBACK_ID)) << 3U | (1U << 2);
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/* configure filter mask */
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can_filter.filter_mask_high = 0x0000;
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can_filter.filter_mask_low = 0x0000;
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/* select receiver fifo */
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can_filter.filter_fifo_number = CAN_FIFO0;
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can_filter.filter_enable = ENABLE;
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can_filter_init(&can_filter);
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/* configure CAN0 NVIC */
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nvic_irq_enable(CAN0_RX0_IRQn, 0, 0);
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/* enable can receive FIFO0 not empty interrupt */
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can_interrupt_enable(CAN0, CAN_INTEN_RFNEIE0);
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/* enable the EN GPIO clock */
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rcu_periph_clock_enable(RCU_GPIOB);
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gpio_init(GPIOB, GPIO_MODE_OUT_PP, GPIO_OSPEED_50MHZ, GPIO_PIN_13);
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gpio_bit_reset(GPIOB, GPIO_PIN_13);
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}
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/*!
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@@ -74,9 +89,13 @@ void canfd_config(void) {
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can_parameter_struct can_parameter;
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can_fdframe_struct can_fd_parameter;
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can_fd_tdc_struct can_fd_tdc_parameter;
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can_struct_para_init(CAN_INIT_STRUCT, &can_parameter);
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/* initialize CAN register */
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can_deinit(CAN0);
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can_filter_parameter_struct can_filter;
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/* enable CAN clock */
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rcu_periph_clock_enable(RCU_CAN0);
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/* initialize CAN register */
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can_deinit(CAN0);
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/* initialize CAN parameters */
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can_parameter.time_triggered = DISABLE;
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@@ -90,7 +109,7 @@ void canfd_config(void) {
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can_parameter.resync_jump_width = CAN_BT_SJW_1TQ;
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can_parameter.time_segment_1 = CAN_BT_BS1_7TQ;
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can_parameter.time_segment_2 = CAN_BT_BS2_2TQ;
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can_parameter.prescaler = 6;
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can_parameter.prescaler = 12;
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/* initialize CAN */
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can_init(CAN0, &can_parameter);
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@@ -110,23 +129,17 @@ void canfd_config(void) {
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can_fd_parameter.data_time_segment_2 = CAN_BT_BS2_1TQ;
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/* CAN-FD data segement prescaler should be the same as non-data segement
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* prescaler */
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can_fd_parameter.data_prescaler = 6;
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can_fd_parameter.data_prescaler = 12;
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can_fd_init(CAN0, &can_fd_parameter);
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/* initialize filter */
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can1_filter_start_bank(14);
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can_filter_mask_mode_init(DEV_CAN0_ID, DEV_CAN0_MASK, CAN_EXTENDED_FIFO0,
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0);
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/* initialize filter */
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can1_filter_start_bank(14);
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can_filter_mask_mode_init(DEV_CAN0_ID, DEV_CAN0_MASK, CAN_EXTENDED_FIFO0, 0);
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/* configure CAN0 NVIC */
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nvic_irq_enable(CAN0_RX0_IRQn, 0, 0);
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/* enable can receive FIFO0 not empty interrupt */
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can_interrupt_enable(CAN0, CAN_INTEN_RFNEIE0);
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/* enable the EN GPIO clock */
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rcu_periph_clock_enable(RCU_GPIOB);
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gpio_init(GPIOB, GPIO_MODE_OUT_PP, GPIO_OSPEED_50MHZ, GPIO_PIN_13);
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gpio_bit_reset(GPIOB, GPIO_PIN_13);
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/* configure CAN0 NVIC */
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nvic_irq_enable(CAN0_RX0_IRQn, 0, 0);
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/* enable can receive FIFO0 not empty interrupt */
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can_interrupt_enable(CAN0, CAN_INTEN_RFNEIE0);
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}
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/*!
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@@ -137,27 +150,54 @@ void canfd_config(void) {
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*/
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void can_loopback_init(void) {
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can_parameter_struct can_parameter;
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can_fdframe_struct can_fd_parameter;
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can_fd_tdc_struct can_fd_tdc_parameter;
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can_filter_parameter_struct can_filter;
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/* enable CAN clock */
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rcu_periph_clock_enable(RCU_CAN0);
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/* enable CAN clock */
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rcu_periph_clock_enable(RCU_CAN0);
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/* initialize CAN register */
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can_deinit(CAN0);
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/* initialize CAN register */
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can_deinit(CAN0);
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/* initialize CAN */
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/* initialize CAN parameters */
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can_parameter.time_triggered = DISABLE;
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can_parameter.auto_bus_off_recovery = DISABLE;
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can_parameter.auto_wake_up = DISABLE;
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can_parameter.auto_retrans = DISABLE;
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can_parameter.rec_fifo_overwrite = DISABLE;
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can_parameter.trans_fifo_order = DISABLE;
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can_parameter.auto_retrans = ENABLE;
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can_parameter.rec_fifo_overwrite = ENABLE;
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can_parameter.trans_fifo_order = ENABLE;
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can_parameter.working_mode = CAN_LOOPBACK_MODE;
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/* baudrate 1Mbps, sample piont at 80% */
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can_parameter.resync_jump_width = CAN_BT_SJW_1TQ;
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can_parameter.time_segment_1 = CAN_BT_BS1_7TQ;
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can_parameter.time_segment_2 = CAN_BT_BS2_2TQ;
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can_parameter.prescaler = 6;
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can_parameter.prescaler = 12;
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/* initialize CAN */
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can_init(CAN0, &can_parameter);
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can_struct_para_init(CAN_FD_FRAME_STRUCT, &can_fd_parameter);
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can_fd_parameter.fd_frame = ENABLE;
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can_fd_parameter.excp_event_detect = ENABLE;
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can_fd_parameter.delay_compensation = ENABLE;
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can_fd_tdc_parameter.tdc_filter = 0x04;
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can_fd_tdc_parameter.tdc_mode = CAN_TDCMOD_CALC_AND_OFFSET;
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can_fd_tdc_parameter.tdc_offset = 0x04;
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can_fd_parameter.p_delay_compensation = &can_fd_tdc_parameter;
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can_fd_parameter.iso_bosch = CAN_FDMOD_ISO;
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can_fd_parameter.esi_mode = CAN_ESIMOD_HARDWARE;
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/* FD mode data baudrate 2Mbps, sample piont at 80% */
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can_fd_parameter.data_resync_jump_width = CAN_BT_SJW_1TQ;
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can_fd_parameter.data_time_segment_1 = CAN_BT_BS1_3TQ;
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can_fd_parameter.data_time_segment_2 = CAN_BT_BS2_1TQ;
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/* CAN-FD data segement prescaler should be the same as non-data segement
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* prescaler */
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can_fd_parameter.data_prescaler = 12;
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can_fd_init(CAN0, &can_fd_parameter);
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/* initialize filter */
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can1_filter_start_bank(14);
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can_filter_mask_mode_init(DEV_CAN_LOOPBACK_ID, DEV_CAN0_MASK, CAN_EXTENDED_FIFO0, 0);
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}
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/*!
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@@ -167,51 +207,51 @@ void can_loopback_init(void) {
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\retval ErrStatus
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*/
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void can_loopback_test(void) {
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can_trasnmit_message_struct transmit_message;
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can_receive_message_struct receive_message;
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uint32_t timeout = 0xFFFF;
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uint8_t transmit_mailbox = 0;
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can_trasnmit_message_struct transmit_message;
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can_receive_message_struct receive_message;
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uint32_t timeout = 0xFFFF;
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uint8_t transmit_mailbox = 0;
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can_struct_para_init(CAN_TX_MESSAGE_STRUCT, &transmit_message);
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/* initialize transmit message */
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transmit_message.tx_sfid = DEV_CAN_LOOPBACK_ID;
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transmit_message.tx_ft = CAN_FT_DATA;
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transmit_message.tx_ff = CAN_FF_STANDARD;
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transmit_message.tx_dlen = 2;
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transmit_message.tx_data[0] = 0xAB;
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transmit_message.tx_data[1] = 0xCD;
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/* transmit message */
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transmit_mailbox = can_message_transmit(CAN0, &transmit_message);
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/* waiting for transmit completed */
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while ((CAN_TRANSMIT_OK != can_transmit_states(CAN0, transmit_mailbox)) &&
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(0 != timeout)) {
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timeout--;
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}
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timeout = 0xFFFF;
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/* waiting for receive completed */
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while ((can_receive_message_length_get(CAN0, CAN_FIFO0) < 1) &&
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(0 != timeout)) {
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timeout--;
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}
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can_struct_para_init(CAN_RX_MESSAGE_STRUCT, &receive_message);
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can_message_receive(CAN0, CAN_FIFO0, &receive_message);
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can_struct_para_init(CAN_FD_FRAME_STRUCT, &transmit_message);
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transmit_message.tx_sfid = DEV_CAN_LOOPBACK_ID;
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transmit_message.tx_efid = 0x00;
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transmit_message.tx_ft = CAN_FT_DATA;
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transmit_message.tx_ff = CAN_FF_EXTENDED;
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transmit_message.tx_dlen = 12;
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transmit_message.fd_flag = 1;
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transmit_message.fd_brs = 1;
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transmit_message.fd_esi = 0;
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/* check the receive message */
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if ((DEV_CAN_LOOPBACK_ID == receive_message.rx_sfid) &&
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(CAN_FF_STANDARD == receive_message.rx_ff) &&
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(2 == receive_message.rx_dlen) &&
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(0xCDAB ==
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(receive_message.rx_data[1] << 8 | receive_message.rx_data[0]))) {
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/* loopback test is success */
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printf("loopback success\r");
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for (u8 i = 0U; i < receive_message.rx_dlen; i++) {
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printf(" %02x", receive_message.rx_data[i]);
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}
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} else {
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/* loopback test is failed */
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printf("loopback failed\r");
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int i = 0;
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while (i++<transmit_message.tx_dlen) {
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transmit_message.tx_data[i] = i;
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}
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/* transmit message */
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transmit_mailbox = can_message_transmit(CAN0, &transmit_message);
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/* waiting for transmit completed */
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while((CAN_TRANSMIT_OK != can_transmit_states(CAN0, transmit_mailbox)) && (0 != timeout)) {
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timeout--;
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}
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timeout = 0xFFFF;
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/* waiting for receive completed */
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while((can_receive_message_length_get(CAN0, CAN_FIFO0) < 1) && (0 != timeout)) {
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timeout--;
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}
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can_struct_para_init(CAN_RX_MESSAGE_STRUCT, &receive_message);
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can_message_receive(CAN0, CAN_FIFO0, &receive_message);
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/* check the receive message */
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if((transmit_message.tx_sfid == receive_message.rx_sfid) && (transmit_message.tx_ff == receive_message.rx_ff)
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&& (transmit_message.tx_dlen == receive_message.rx_dlen) ) {
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/* loopback test is success */
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std::printf("CAN LO0PBACK SUCCESS");
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} else {
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/* loopback test is failed */
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std::printf("CAN LO0PBACK FAIL");
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}
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}
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/*!
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@@ -383,27 +423,6 @@ u8 CAN_transmiter::CANFD_Send(u32 id, u8 length, u8 *data) {
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}
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// 添加辅助函数用于将short类型数据打包到u8数组中
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void pack_short_to_bytes(u8* buffer, u16 offset, short value) {
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buffer[offset] = (u8)(value & 0xFF);
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buffer[offset + 1] = (u8)((value >> 8) & 0xFF);
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}
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// 添加辅助函数用于将u16类型数据打包到u8数组中
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void pack_u16_to_bytes(u8* buffer, u16 offset, u16 value) {
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buffer[offset] = (u8)(value & 0xFF);
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buffer[offset + 1] = (u8)((value >> 8) & 0xFF);
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}
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// 添加辅助函数用于将float类型数据打包到u8数组中
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void pack_float_to_bytes(u8* buffer, u16 offset, float_union_t& float_union) {
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buffer[offset] = float_union.b[0];
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buffer[offset + 1] = float_union.b[1];
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buffer[offset + 2] = float_union.b[2];
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buffer[offset + 3] = float_union.b[3];
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}
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/**
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* @brief CAN发送函数
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* @retval 0: 发送失败
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@@ -412,7 +431,31 @@ void pack_float_to_bytes(u8* buffer, u16 offset, float_union_t& float_union) {
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u8 CAN_transmiter::CAN_all_Send(){
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u32 success_flag = 0;
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constexpr u32 RT_Vel_Ang_FEED = 0x101;
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constexpr u32 SET_Vel_Ang_FEED = 0x110;
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constexpr u32 Current_FEED = 0x117;
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constexpr u32 Status_FEED = 0x118;
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constexpr u32 Limit_Vel_Vol_FEED = 0x119;
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//打包RT_Vel_Ang_FEED
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pack_float_to_bytes(transmit_data, 0, rt_angle_union);
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pack_float_to_bytes(transmit_data, 4, rt_velocity_union);
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//打包SET_Vel_Ang_FEED
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pack_float_to_bytes(transmit_data, 0, target_angle_union);
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pack_float_to_bytes(transmit_data, 4, target_velocity_union);
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//打包Current_FEED
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pack_float_to_bytes(transmit_data, 0, u_current_union);
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pack_float_to_bytes(transmit_data, 4, w_current_union);
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pack_float_to_bytes(transmit_data, 8, v_current_union);
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//打包Status_FEED
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transmit_data[0] = Status_code;
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transmit_data[1] = controller_Mode;
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pack_short_to_bytes(transmit_data, 2, motor_temp);
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pack_short_to_bytes(transmit_data, 4, mcu_temp);
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pack_short_to_bytes(transmit_data, 6, Power_Voltage);
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//打包Limit_Vel_Vol_FEED
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pack_float_to_bytes(transmit_data, 0, limit_velocity_union);
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pack_short_to_bytes(transmit_data, 4, limit_voltage);
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return success_flag;
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}
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