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CanDemo.c
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CanDemo.c
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/*----------------------------------------------------------------------------
* Name: CanDemo.c
* Purpose: CAN example for STM32
* Version: V1.00
*----------------------------------------------------------------------------
* This file is part of the uVision/ARM development tools.
* This software may only be used under the terms of a valid, current,
* end user licence from KEIL for a compatible version of KEIL software
* development tools. Nothing else gives you the right to use this software.
*
* Copyright (c) 2005-2007 Keil Software. All rights reserved.
*----------------------------------------------------------------------------*/
#include <stm32f10x_lib.h> // STM32F10x Library Definitions
#include "STM32_Reg.h" // STM32 register and bit Definitions
#include "STM32_Init.h" // STM32 Initialization
#include "LCD.h" // LCD function prototypes
#include "CAN.h" // STM32 CAN adaption layer
unsigned int val_Tx = 0, val_Rx = 0; // Global variables used for display
char hex_chars[16] = {'0', '1', '2', '3', '4', '5', '6', '7', '8', '9', 'A', 'B', 'C', 'D', 'E', 'F'};
/*------------------------------------------------------------------------------
convert one byte to string in hexadecimal notation
*------------------------------------------------------------------------------*/
void Hex_Str (unsigned char hex, char *str) {
*str++ = '0';
*str++ = 'x';
*str++ = hex_chars[hex >> 4];
*str++ = hex_chars[hex & 0xF];
}
/*----------------------------------------------------------------------------
insert a delay time.
*----------------------------------------------------------------------------*/
void delay(unsigned int nCount) {
for(; nCount != 0; nCount--);
}
/*------------------------------------------------------------------------------
Initialises the Analog/Digital converter
PA1 (ADC Channel1) is used as analog input
*------------------------------------------------------------------------------*/
void adc_Init (void) {
RCC->APB2ENR |= RCC_APB2ENR_ADC1EN; // enable periperal clock for ADC1
ADC1->SQR1 = 0x00000000; // only one conversion
ADC1->SMPR2 = 0x00000028; // set sample time channel1 (55,5 cycles)
ADC1->SQR3 = 0x00000001; // set channel1 as 1st conversion
ADC1->CR1 = 0x00000100; // use independant mode, SCAN mode
ADC1->CR2 = 0x000E0003; // data align right, cont conversion
// EXTSEL = SWSTART
// enable ADC, no external Trigger
ADC1->CR2 |= 0x00500000; // start SW conversion
}
/*------------------------------------------------------------------------------
read a converted value from the Analog/Digital converter
*------------------------------------------------------------------------------*/
unsigned char adc_Get (void) {
unsigned short val;
while(!(ADC1->SR & ADC_SR_EOC)); // whait til end of conversion
val = ADC1->DR & ADC_DR_DATA; // Get conversion result
val = (val >> 4) & 0xFF; // Scale analog value to 8 bits
return (val);
}
/*----------------------------------------------------------------------------
display transmit and receieve values
*---------------------------------------------------------------------------*/
void val_display (void) {
static char disp_buf[] = "Tx: , Rx: "; // display string
Hex_Str(val_Tx, &disp_buf[ 3]); // display Tx and Rx values to LCD disp
Hex_Str(val_Rx, &disp_buf[12]);
set_cursor (0, 1);
lcd_print ((char *)disp_buf); // print string to LCD
delay (1000000); // Wait wait a while
}
/*----------------------------------------------------------------------------
initialize CAN interface
*----------------------------------------------------------------------------*/
void can_Init (void) {
CAN_setup (); // setup CAN interface
CAN_wrFilter (33, STANDARD_FORMAT); // Enable reception of messages
/* COMMENT THE LINE BELOW TO ENABLE DEVICE TO PARTICIPATE IN CAN NETWORK */
CAN_testmode(CAN_BTR_SILM | CAN_BTR_LBKM); // Loopback, Silent Mode (self-test)
CAN_start (); // leave init mode
CAN_waitReady (); // wait til mbx is empty
}
/*----------------------------------------------------------------------------
MAIN function
*----------------------------------------------------------------------------*/
int main (void) {
int i;
stm32_Init (); // STM32 setup
adc_Init (); // initialise A/D converter
can_Init (); // initialise CAN interface
lcd_init (); // initialise LCD
lcd_clear ();
lcd_print ("MCBSTM32 CanDemo"); // Display string on LCD display
set_cursor (0, 1); // Set cursor position on LCD display
lcd_print (" www.keil.com ");
delay (4500000); // Wait for initial display (~5s)
lcd_clear ();
lcd_print ("CAN at 500kbit/s");
CAN_TxMsg.id = 33; // initialise message to send
for (i = 0; i < 8; i++) CAN_TxMsg.data[i] = 0;
CAN_TxMsg.len = 1;
CAN_TxMsg.format = STANDARD_FORMAT;
CAN_TxMsg.type = DATA_FRAME;
while (1) { // Loop forever
if (CAN_TxRdy) {
CAN_TxRdy = 0;
CAN_TxMsg.data[0] = adc_Get (); // data[0] field = ADC value
CAN_wrMsg (&CAN_TxMsg); // transmit message
val_Tx = CAN_TxMsg.data[0];
}
delay (10000); // Wait a while to receive the message
if (CAN_RxRdy) {
CAN_RxRdy = 0;
val_Rx = CAN_RxMsg.data[0];
}
val_display (); // display TX and RX values
} // end while
} // end main