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remove some backup file

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This commit is contained in:
Felix Ruess
2010-11-08 20:21:51 +00:00
parent cb8bb6f7fe
commit 332e1eec0c
1 changed files with 0 additions and 143 deletions
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sw/airborne/arch/stm32/can_hw.c.bak
-143
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/*
* $Id:$
*
* Copyright (C) 2010 Piotr Esden-Tempski <piotr@esden.net>
*
* This file is part of paparazzi.
*
* paparazzi is free software; you can redistribute it and/or modify
* it under the terms of the GNU General Public License as published by
* the Free Software Foundation; either version 2, or (at your option)
* any later version.
*
* paparazzi is distributed in the hope that it will be useful,
* but WITHOUT ANY WARRANTY; without even the implied warranty of
* MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
* GNU General Public License for more details.
*
* You should have received a copy of the GNU General Public License
* along with paparazzi; see the file COPYING. If not, write to
* the Free Software Foundation, 59 Temple Place - Suite 330,
* Boston, MA 02111-1307, USA.
*
*/
#include <stdint.h>
#include <string.h>
#include "can_hw.h"
#include <stm32/rcc.h>
#include <stm32/gpio.h>
#include <stm32/flash.h>
#include <stm32/misc.h>
#include <stm32/can.h>
#include "led.h"
#define RCC_APB2Periph_GPIO_CAN RCC_APB2Periph_GPIOA
#define GPIO_CAN GPIOA
#define GPIO_Pin_CAN_RX GPIO_Pin_11
#define GPIO_Pin_CAN_TX GPIO_Pin_12
CanTxMsg can_tx_msg;
void can_hw_init(void)
{
GPIO_InitTypeDef gpio;
NVIC_InitTypeDef nvic;
CAN_InitTypeDef can;
CAN_FilterInitTypeDef can_filter;
/* Enable peripheral clocks */
RCC_APB2PeriphClockCmd(RCC_APB2Periph_AFIO |
RCC_APB2Periph_GPIO_CAN, ENABLE);
RCC_APB1PeriphClockCmd(RCC_APB1Periph_CAN1, ENABLE);
/* Configure CAN pin: RX */
gpio.GPIO_Pin = GPIO_Pin_CAN_RX;
gpio.GPIO_Mode = GPIO_Mode_IPU;
gpio.GPIO_Speed = GPIO_Speed_50MHz;
GPIO_Init(GPIO_CAN, &gpio);
/* Configure CAN pin: TX */
gpio.GPIO_Pin = GPIO_Pin_CAN_TX;
gpio.GPIO_Mode = GPIO_Mode_AF_PP;
gpio.GPIO_Speed = GPIO_Speed_50MHz;
GPIO_Init(GPIO_CAN, &gpio);
/* NVIC configuration */
NVIC_PriorityGroupConfig(NVIC_PriorityGroup_0);
nvic.NVIC_IRQChannel = USB_LP_CAN1_RX0_IRQn;
nvic.NVIC_IRQChannelPreemptionPriority = 0x00;
nvic.NVIC_IRQChannelSubPriority = 0x00;
nvic.NVIC_IRQChannelCmd = ENABLE;
NVIC_Init(&nvic);
/* CAN register init */
CAN_DeInit(CAN1);
CAN_StructInit(&can);
/* CAN cell init */
can.CAN_TTCM = DISABLE;
can.CAN_ABOM = DISABLE;
can.CAN_AWUM = DISABLE;
can.CAN_NART = DISABLE;
can.CAN_RFLM = DISABLE;
can.CAN_TXFP = DISABLE;
can.CAN_Mode = CAN_Mode_Normal;
can.CAN_SJW = CAN_SJW_1tq;
can.CAN_BS1 = CAN_BS1_3tq;
can.CAN_BS2 = CAN_BS2_5tq;
can.CAN_Prescaler = 4;
CAN_Init(CAN1, &can);
/* CAN filter init */
can_filter.CAN_FilterNumber = 0;
can_filter.CAN_FilterMode = CAN_FilterMode_IdMask;
can_filter.CAN_FilterScale = CAN_FilterScale_32bit;
can_filter.CAN_FilterIdHigh = 0x0000;
can_filter.CAN_FilterIdLow = 0x0000;
can_filter.CAN_FilterMaskIdHigh = 0x0000;
can_filter.CAN_FilterMaskIdLow = 0x0000;
can_filter.CAN_FilterFIFOAssignment = 0;
can_filter.CAN_FilterActivation = ENABLE;
CAN_FilterInit(&can_filter);
/* transmit struct init */
can_tx_msg.StdId = 0x321;
can_tx_msg.ExtId = 0x00;
can_tx_msg.RTR = CAN_RTR_DATA;
can_tx_msg.IDE = CAN_ID_STD;
can_tx_msg.DLC = 1;
CAN_ITConfig(CAN1, CAN_IT_FMP0, ENABLE);
can_tx_msg.Data[0] = 0x55;
CAN_Transmit(CAN1, &can_tx_msg);
}
int can_hw_transmit(uint16_t id, const uint8_t *buf, uint8_t len)
{
if(len > 8){
return -1;
}
// can_tx_msg.StdId = id >> 8;
// can_tx_msg.ExtId = id & 0xFF;
// can_tx_msg.DLC = len;
// memcpy(&can_tx_msg.Data, buf, len);
//
// CAN_Transmit(CAN1, &can_tx_msg);
//can_tx_msg.StdId = 0;
//can_tx_msg.ExtId = 0x1234;
//can_tx_msg.DLC = 1;
//can_tx_msg.Data[0] = 0x55;
//CAN_Transmit(CAN1, &can_tx_msg);
return 0;
}