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BNO080_can_R
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BNO080_can_R
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/* USER CODE BEGIN Header */
/**
******************************************************************************
* @file : main.c
* @brief : Main program body
******************************************************************************
* @attention
*
* <h2><center>© Copyright (c) 2021 STMicroelectronics.
* All rights reserved.</center></h2>
*
* This software component is licensed by ST under BSD 3-Clause license,
* the "License"; You may not use this file except in compliance with the
* License. You may obtain a copy of the License at:
* opensource.org/licenses/BSD-3-Clause
*
******************************************************************************
*/
/* USER CODE END Header */
/* Includes ------------------------------------------------------------------*/
#include "main.h"
/* Private includes ----------------------------------------------------------*/
/* USER CODE BEGIN Includes */
#include "stdio.h"
/* USER CODE END Includes */
/* Private typedef -----------------------------------------------------------*/
/* USER CODE BEGIN PTD */
/* USER CODE END PTD */
/* Private define ------------------------------------------------------------*/
/* USER CODE BEGIN PD */
/* USER CODE END PD */
/* Private macro -------------------------------------------------------------*/
/* USER CODE BEGIN PM */
/* USER CODE END PM */
/* Private variables ---------------------------------------------------------*/
CAN_HandleTypeDef hcan;
UART_HandleTypeDef huart1;
/* USER CODE BEGIN PV */
CAN_FilterTypeDef sFilterConfig; //struct containing filter settings
CAN_RxHeaderTypeDef RxMessage; //struct for recieved data frame
CAN_TxHeaderTypeDef TxMessage; // struct for transmitted dataframe
uint8_t rxData[8] = { 0, 0, 0, 0, 0, 0, 0, 0 }; //array for recieved data (8 bytes)
uint8_t txData[8] = { 0, 0, 0, 0, 0, 0, 0, 0 };
uint32_t usedmailbox;
/* USER CODE END PV */
/* Private function prototypes -----------------------------------------------*/
void SystemClock_Config(void);
static void MX_GPIO_Init(void);
static void MX_CAN_Init(void);
static void MX_USART1_UART_Init(void);
/* USER CODE BEGIN PFP */
/* USER CODE END PFP */
/* Private user code ---------------------------------------------------------*/
/* USER CODE BEGIN 0 */
int _write(int32_t file, uint8_t *ptr, int32_t len) {
HAL_UART_Transmit(&huart1, (uint8_t*) ptr, len, 100);
return len;
}
/* USER CODE END 0 */
/**
* @brief The application entry point.
* @retval int
*/
int main(void)
{
/* USER CODE BEGIN 1 */
/* USER CODE END 1 */
/* MCU Configuration--------------------------------------------------------*/
/* Reset of all peripherals, Initializes the Flash interface and the Systick. */
HAL_Init();
/* USER CODE BEGIN Init */
/* USER CODE END Init */
/* Configure the system clock */
SystemClock_Config();
/* USER CODE BEGIN SysInit */
/* USER CODE END SysInit */
/* Initialize all configured peripherals */
MX_GPIO_Init();
MX_CAN_Init();
MX_USART1_UART_Init();
/* USER CODE BEGIN 2 */
TxMessage.IDE = CAN_ID_STD; //standard identifier format (11bit)
TxMessage.StdId = 0x211; //identifier value
TxMessage.RTR = CAN_RTR_DATA;//indicates frame mode (data frame or remote frame)
TxMessage.DLC = 8; //data length (8 bytes)
TxMessage.TransmitGlobalTime = DISABLE; //time of transmission is not transmitted along with the data
sFilterConfig.FilterScale = CAN_FILTERSCALE_32BIT;//filter bank consists of 2 32bit values (mask and ID)
sFilterConfig.FilterMode = CAN_FILTERMODE_IDMASK;//filter set to mask and ID mode
sFilterConfig.FilterBank = 0; //filter bank number 0 selected
sFilterConfig.FilterFIFOAssignment = CAN_RX_FIFO0;//assign filter bank to FIFO 0
sFilterConfig.FilterIdHigh = 0x446 << 5;//STD ID value is 7, here shifted by 5 because 11 bits starting from the left are for STD ID (FilterIdHigh is 16bit)
sFilterConfig.FilterIdLow = 0; //LSB
sFilterConfig.FilterMaskIdHigh = 0x446 << 5;//0b111 shifted by 5 for the same reason, first 11 bits are for Identifier
sFilterConfig.FilterMaskIdLow = 0; //LSB
sFilterConfig.FilterActivation = ENABLE; //activate filter
HAL_CAN_ConfigFilter(&hcan, &sFilterConfig); //commits filter settings
HAL_CAN_Start(&hcan);
int pitch;
int buffer=7;
/* USER CODE END 2 */
/* Infinite loop */
/* USER CODE BEGIN WHILE */
while (1) {
if (HAL_CAN_GetRxFifoFillLevel(&hcan, CAN_RX_FIFO0))//checks if the number of messages in FIFO 0 is non zero
{
HAL_CAN_GetRxMessage(&hcan, CAN_RX_FIFO0, &RxMessage, rxData);//stores the data frame in RxMessage struct, stores data in rsData array
}
pitch = ((rxData[0])|(rxData[1] << 8)|(rxData[2] << 16)|(rxData[3] << 24));
printf("%d \n",pitch);
printf("%d\n",buffer);
HAL_Delay(100);
/* USER CODE END WHILE */
/* USER CODE BEGIN 3 */
}
/* USER CODE END 3 */
}
/**
* @brief System Clock Configuration
* @retval None
*/
void SystemClock_Config(void)
{
RCC_OscInitTypeDef RCC_OscInitStruct = {0};
RCC_ClkInitTypeDef RCC_ClkInitStruct = {0};
/** Initializes the RCC Oscillators according to the specified parameters
* in the RCC_OscInitTypeDef structure.
*/
RCC_OscInitStruct.OscillatorType = RCC_OSCILLATORTYPE_HSE;
RCC_OscInitStruct.HSEState = RCC_HSE_ON;
RCC_OscInitStruct.HSEPredivValue = RCC_HSE_PREDIV_DIV1;
RCC_OscInitStruct.HSIState = RCC_HSI_ON;
RCC_OscInitStruct.PLL.PLLState = RCC_PLL_ON;
RCC_OscInitStruct.PLL.PLLSource = RCC_PLLSOURCE_HSE;
RCC_OscInitStruct.PLL.PLLMUL = RCC_PLL_MUL9;
if (HAL_RCC_OscConfig(&RCC_OscInitStruct) != HAL_OK)
{
Error_Handler();
}
/** Initializes the CPU, AHB and APB buses clocks
*/
RCC_ClkInitStruct.ClockType = RCC_CLOCKTYPE_HCLK|RCC_CLOCKTYPE_SYSCLK
|RCC_CLOCKTYPE_PCLK1|RCC_CLOCKTYPE_PCLK2;
RCC_ClkInitStruct.SYSCLKSource = RCC_SYSCLKSOURCE_PLLCLK;
RCC_ClkInitStruct.AHBCLKDivider = RCC_SYSCLK_DIV1;
RCC_ClkInitStruct.APB1CLKDivider = RCC_HCLK_DIV2;
RCC_ClkInitStruct.APB2CLKDivider = RCC_HCLK_DIV1;
if (HAL_RCC_ClockConfig(&RCC_ClkInitStruct, FLASH_LATENCY_2) != HAL_OK)
{
Error_Handler();
}
}
/**
* @brief CAN Initialization Function
* @param None
* @retval None
*/
static void MX_CAN_Init(void)
{
/* USER CODE BEGIN CAN_Init 0 */
/* USER CODE END CAN_Init 0 */
/* USER CODE BEGIN CAN_Init 1 */
__HAL_RCC_CAN1_CLK_ENABLE();
/* USER CODE END CAN_Init 1 */
hcan.Instance = CAN1;
hcan.Init.Prescaler = 8;
hcan.Init.Mode = CAN_MODE_NORMAL;
hcan.Init.SyncJumpWidth = CAN_SJW_1TQ;
hcan.Init.TimeSeg1 = CAN_BS1_13TQ;
hcan.Init.TimeSeg2 = CAN_BS2_2TQ;
hcan.Init.TimeTriggeredMode = DISABLE;
hcan.Init.AutoBusOff = DISABLE;
hcan.Init.AutoWakeUp = DISABLE;
hcan.Init.AutoRetransmission = DISABLE;
hcan.Init.ReceiveFifoLocked = DISABLE;
hcan.Init.TransmitFifoPriority = DISABLE;
if (HAL_CAN_Init(&hcan) != HAL_OK)
{
Error_Handler();
}
/* USER CODE BEGIN CAN_Init 2 */
/* USER CODE END CAN_Init 2 */
}
/**
* @brief USART1 Initialization Function
* @param None
* @retval None
*/
static void MX_USART1_UART_Init(void)
{
/* USER CODE BEGIN USART1_Init 0 */
/* USER CODE END USART1_Init 0 */
/* USER CODE BEGIN USART1_Init 1 */
/* USER CODE END USART1_Init 1 */
huart1.Instance = USART1;
huart1.Init.BaudRate = 115200;
huart1.Init.WordLength = UART_WORDLENGTH_8B;
huart1.Init.StopBits = UART_STOPBITS_1;
huart1.Init.Parity = UART_PARITY_NONE;
huart1.Init.Mode = UART_MODE_TX_RX;
huart1.Init.HwFlowCtl = UART_HWCONTROL_NONE;
huart1.Init.OverSampling = UART_OVERSAMPLING_16;
if (HAL_UART_Init(&huart1) != HAL_OK)
{
Error_Handler();
}
/* USER CODE BEGIN USART1_Init 2 */
/* USER CODE END USART1_Init 2 */
}
/**
* @brief GPIO Initialization Function
* @param None
* @retval None
*/
static void MX_GPIO_Init(void)
{
GPIO_InitTypeDef GPIO_InitStruct = {0};
/* GPIO Ports Clock Enable */
__HAL_RCC_GPIOC_CLK_ENABLE();
__HAL_RCC_GPIOD_CLK_ENABLE();
__HAL_RCC_GPIOA_CLK_ENABLE();
/*Configure GPIO pin Output Level */
HAL_GPIO_WritePin(GPIOC, GPIO_PIN_13, GPIO_PIN_RESET);
/*Configure GPIO pin : PC13 */
GPIO_InitStruct.Pin = GPIO_PIN_13;
GPIO_InitStruct.Mode = GPIO_MODE_OUTPUT_PP;
GPIO_InitStruct.Pull = GPIO_NOPULL;
GPIO_InitStruct.Speed = GPIO_SPEED_FREQ_LOW;
HAL_GPIO_Init(GPIOC, &GPIO_InitStruct);
}
/* USER CODE BEGIN 4 */
/* USER CODE END 4 */
/**
* @brief This function is executed in case of error occurrence.
* @retval None
*/
void Error_Handler(void)
{
/* USER CODE BEGIN Error_Handler_Debug */
/* User can add his own implementation to report the HAL error return state */
/* USER CODE END Error_Handler_Debug */
}
#ifdef USE_FULL_ASSERT
/**
* @brief Reports the name of the source file and the source line number
* where the assert_param error has occurred.
* @param file: pointer to the source file name
* @param line: assert_param error line source number
* @retval None
*/
void assert_failed(uint8_t *file, uint32_t line)
{
/* USER CODE BEGIN 6 */
/* User can add his own implementation to report the file name and line number,
ex: printf("Wrong parameters value: file %s on line %d\r\n", file, line) */
/* USER CODE END 6 */
}
#endif /* USE_FULL_ASSERT */
/************************ (C) COPYRIGHT STMicroelectronics *****END OF FILE****/