【ST NUCLEO-U5A5ZJ-Q开发板测评】-6-FDCAN体验

慕容雪花 发表于 2024-3-4 11:09

<div class='showpostmsg'> 本帖最后由慕容雪花于 2024-3-4 12:54 编辑

<p>U5系列器件的FDCAN非常方便，可以支持CAN-FD也支持经典CAN 2.0.本次实验主要用到的工具和器件：</p>

<ul>
<li>STM32U5A5ZJ-Q</li>
<li>TJA1050 CAN收发器</li>
<li>CAN LIN TOOL V5.0</li>
</ul>

<p>CAN收发引脚使用PB8和PB9：</p>

<div style="text-align: center;"></div>

<p> </p>

<p>TJA1050的原理图：</p>

<p>  </p>

<p> </p>

<p>在CubeIde里面配置：</p>

<div style="text-align: center;"></div>

<p> </p>

<p>FDCAN时钟：64Mhz</p>

<div style="text-align: center;"></div>

<p> </p>

<p>CAN相关时序参数和工作模式：</p>

<div style="text-align: center;"></div>

<p>保存，自动生成代码：</p>

<pre>
<code class="language-cpp">static void MX_FDCAN1_Init(void)
{

/* USER CODE BEGIN FDCAN1_Init 0 */

/* USER CODE END FDCAN1_Init 0 */

/* USER CODE BEGIN FDCAN1_Init 1 */

/* USER CODE END FDCAN1_Init 1 */
hfdcan1.Instance = FDCAN1;
hfdcan1.Init.ClockDivider = FDCAN_CLOCK_DIV1;
hfdcan1.Init.FrameFormat = FDCAN_FRAME_CLASSIC;
hfdcan1.Init.Mode = FDCAN_MODE_NORMAL;
hfdcan1.Init.AutoRetransmission = ENABLE;
hfdcan1.Init.TransmitPause = ENABLE;
hfdcan1.Init.ProtocolException = DISABLE;
hfdcan1.Init.NominalPrescaler = 16;
hfdcan1.Init.NominalSyncJumpWidth = 1;
hfdcan1.Init.NominalTimeSeg1 = 5;
hfdcan1.Init.NominalTimeSeg2 = 2;
hfdcan1.Init.DataPrescaler = 1;
hfdcan1.Init.DataSyncJumpWidth = 1;
hfdcan1.Init.DataTimeSeg1 = 1;
hfdcan1.Init.DataTimeSeg2 = 1;
hfdcan1.Init.StdFiltersNbr = 0;
hfdcan1.Init.ExtFiltersNbr = 0;
hfdcan1.Init.TxFifoQueueMode = FDCAN_TX_FIFO_OPERATION;
if (HAL_FDCAN_Init(&hfdcan1) != HAL_OK)
{
Error_Handler();
}
/* USER CODE BEGIN FDCAN1_Init 2 */

/* USER CODE END FDCAN1_Init 2 */

}</code></pre>

<p>添加自定义的测试数据：</p>

<pre>
<code class="language-cpp">FDCAN_FilterTypeDef sFilterConfig;
FDCAN_TxHeaderTypeDef TxHeader;
FDCAN_RxHeaderTypeDef RxHeader;
uint8_t TxData0[] = {0x10, 0x32, 0x54, 0x76, 0x98, 0x00, 0x11, 0x22};
uint8_t TxData1[] = {0x55, 0x55, 0x55, 0x55, 0x55, 0x55, 0x55, 0x55};
uint8_t TxData2[] = {0xFF, 0x00, 0xFF, 0x00, 0xFF, 0x00, 0xFF, 0x00};</code></pre>

<p>添加相关的过滤器：</p>

<pre>
<code class="language-cpp">void MY_FDCAN_CONFIG(void){
/*##-1 Configure the FDCAN filters ########################################*/
/* Configure standard ID reception filter to Rx FIFO 0 */
sFilterConfig.IdType = FDCAN_STANDARD_ID;
sFilterConfig.FilterIndex = 0;
sFilterConfig.FilterType = FDCAN_FILTER_DUAL;
sFilterConfig.FilterConfig = FDCAN_FILTER_TO_RXFIFO0;
sFilterConfig.FilterID1 = 0x444;
sFilterConfig.FilterID2 = 0x555;
if (HAL_FDCAN_ConfigFilter(&hfdcan1, &sFilterConfig) != HAL_OK)
{
Error_Handler();
}

/* Configure extended ID reception filter to Rx FIFO 1 */
sFilterConfig.IdType = FDCAN_EXTENDED_ID;
sFilterConfig.FilterIndex = 0;
sFilterConfig.FilterType = FDCAN_FILTER_RANGE_NO_EIDM;
sFilterConfig.FilterConfig = FDCAN_FILTER_TO_RXFIFO1;
sFilterConfig.FilterID1 = 0x1111111;
sFilterConfig.FilterID2 = 0x2222222;
if (HAL_FDCAN_ConfigFilter(&hfdcan1, &sFilterConfig) != HAL_OK)
{
Error_Handler();
}

/* Configure global filter:
      Filter all remote frames with STD and EXT ID
      Reject non matching frames with STD ID and EXT ID */
if (HAL_FDCAN_ConfigGlobalFilter(&hfdcan1, FDCAN_REJECT, FDCAN_REJECT, FDCAN_FILTER_REMOTE, FDCAN_FILTER_REMOTE) != HAL_OK)
{
Error_Handler();
}

/*##-2 Start FDCAN controller (continuous listening CAN bus) ##############*/
if (HAL_FDCAN_Start(&hfdcan1) != HAL_OK)
{
Error_Handler();
}

printf("\r\nBefore Add 0x444: HAL_FDCAN_GetTxFifoFreeLevel(&hfdcan1) = %d", HAL_FDCAN_GetTxFifoFreeLevel(&hfdcan1));

/*##-3 Transmit messages ##################################################*/
/* Add message to Tx FIFO */
TxHeader.Identifier = 0x444;
TxHeader.IdType = FDCAN_STANDARD_ID;
TxHeader.TxFrameType = FDCAN_DATA_FRAME;
TxHeader.DataLength = FDCAN_DLC_BYTES_8;
TxHeader.ErrorStateIndicator = FDCAN_ESI_ACTIVE;
TxHeader.BitRateSwitch = FDCAN_BRS_OFF;
TxHeader.FDFormat = FDCAN_CLASSIC_CAN;
TxHeader.TxEventFifoControl = FDCAN_STORE_TX_EVENTS;
TxHeader.MessageMarker = 0x52;
if (HAL_FDCAN_AddMessageToTxFifoQ(&hfdcan1, &TxHeader, TxData0) != HAL_OK)
{
Error_Handler();
}
printf("\r\nAfter Add 0x444: HAL_FDCAN_GetTxFifoFreeLevel(&hfdcan1) = %d", HAL_FDCAN_GetTxFifoFreeLevel(&hfdcan1));

/* Add second message to Tx FIFO */
TxHeader.Identifier = 0x1111112;
TxHeader.IdType = FDCAN_EXTENDED_ID;
TxHeader.TxFrameType = FDCAN_DATA_FRAME;
TxHeader.DataLength = FDCAN_DLC_BYTES_8;
TxHeader.ErrorStateIndicator = FDCAN_ESI_PASSIVE;
TxHeader.BitRateSwitch = FDCAN_BRS_OFF;
TxHeader.FDFormat = FDCAN_CLASSIC_CAN;
TxHeader.TxEventFifoControl = FDCAN_STORE_TX_EVENTS;
TxHeader.MessageMarker = 0xCC;
if (HAL_FDCAN_AddMessageToTxFifoQ(&hfdcan1, &TxHeader, TxData1) != HAL_OK)
{
Error_Handler();
}
printf("\r\nAfter Add 0x1111112: HAL_FDCAN_GetTxFifoFreeLevel(&hfdcan1) = %d", HAL_FDCAN_GetTxFifoFreeLevel(&hfdcan1));

/* Add third message to Tx FIFO */
TxHeader.Identifier = 0x1111113;
TxHeader.IdType = FDCAN_EXTENDED_ID;
TxHeader.TxFrameType = FDCAN_DATA_FRAME;
TxHeader.DataLength = FDCAN_DLC_BYTES_8;
TxHeader.ErrorStateIndicator = FDCAN_ESI_PASSIVE;
TxHeader.BitRateSwitch = FDCAN_BRS_OFF;
TxHeader.FDFormat = FDCAN_CLASSIC_CAN;
TxHeader.TxEventFifoControl = FDCAN_STORE_TX_EVENTS;
TxHeader.MessageMarker = 0xDD;
if (HAL_FDCAN_AddMessageToTxFifoQ(&hfdcan1, &TxHeader, TxData2) != HAL_OK)
{
Error_Handler();
}
printf("\r\nAfter Add 0x1111113: HAL_FDCAN_GetTxFifoFreeLevel(&hfdcan1) = %d", HAL_FDCAN_GetTxFifoFreeLevel(&hfdcan1));

/* Wait transmissions complete */
while (HAL_FDCAN_GetTxFifoFreeLevel(&hfdcan1) != 3) {}

printf("\r\n 3 CAN MSG Transmissions Complete.");

}//end of void MY_FDCAN_CONFIG(void)</code></pre>

<p> </p>

<p>主循环中每次呼吸灯闪烁一次，把次数打包到can msg里面发送到上位机。</p>

<pre>
<code class="language-cpp">while (1)
{
/* USER CODE END WHILE */

/* USER CODE BEGIN 3 */
   static uint16_t dcycle_pulse = 0;
   static uint8_t breath_cnt = 0;
   //htim3.Init.Period = 999
   while(dcycle_pulse <htim3.Init.Period){
   __HAL_TIM_SET_COMPARE(&htim3, TIM_CHANNEL_2, dcycle_pulse);
   dcycle_pulse += 50;
   printf("\nLight Phase, Current DutyCycle = %u", dcycle_pulse*100/htim3.Init.Period);
   HAL_Delay(100);
   }
   while(dcycle_pulse > 0){
   __HAL_TIM_SET_COMPARE(&htim3, TIM_CHANNEL_2, dcycle_pulse);
   dcycle_pulse -= 50;
   printf("\nDim Phase, Current DutyCycle = %u", dcycle_pulse*100/htim3.Init.Period);
   HAL_Delay(100);
   }

   printf("\r\nBefore Add 0x555: HAL_FDCAN_GetTxFifoFreeLevel(&hfdcan1) = %d", HAL_FDCAN_GetTxFifoFreeLevel(&hfdcan1));

   /* Wait for available Tx Fifo */
   while (HAL_FDCAN_GetTxFifoFreeLevel(&hfdcan1) == 0) {}

   TxBreathLEDCnt = breath_cnt++;
   if (HAL_FDCAN_AddMessageToTxFifoQ(&hfdcan1, &TxHeader, TxBreathLEDCnt) != HAL_OK)
   {
   Error_Handler();
   }

   printf("\r\nAfter Add 0x555: HAL_FDCAN_GetTxFifoFreeLevel(&hfdcan1) = %d", HAL_FDCAN_GetTxFifoFreeLevel(&hfdcan1));
   printf("\r\nSTM32U5-TJA1050-USBCAN: Breath LED CAN MSG Transmissions Complete.");

}//end of while</code></pre>

<p>硬件系统：</p>

<p>  </p>

<p>上位机数据：</p>

<p>首先收到3帧测试数据，然后呼吸灯的闪烁次数通过id为555的报文被传送过来。</p>

<p>  </p>

<p> </p>

<p>这次体验下来感觉配置cubeide使用fdcan外设是非常方便的，后续考虑深入了解一下接收，以及中断收发等功能。</p>

<p> </p>

<p><span style="font-size: 16px;"><strong>参考：</strong></span></p>

<p>AN5348_STM32器件上的FDCAN外设的应用手册.pdf</p>
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慕容雪花 发表于 2024-3-4 11:10

<p><a href="https://community.st.com/t5/stm32-mcus-products/fdcan-on-stm32u5-and-stm32h5-serious-fifo-queue-and-id-filter/td-p/615847" target="_blank">https://community.st.com/t5/stm32-mcus-products/fdcan-on-stm32u5-and-stm32h5-serious-fifo-queue-and-id-filter/td-p/615847</a></p>

<p> </p>

<p>FDCAN FIFO只有3个？</p>

lugl4313820 发表于 2024-3-4 11:30

<p>这次体验下来感觉配置cubeide使用fdcan外设是非常方便的，后续考虑深入了解一下接收，以及中断收发等功能。</p>

<p>感谢分享！</p>

慕容雪花 发表于 2024-3-4 11:32

lugl4313820 发表于 2024-3-4 11:30
这次体验下来感觉配置cubeide使用fdcan外设是非常方便的，后续考虑深入了解一下接收，以及中断收发等功能。 ...

<p>感谢刘工之前分享的U5系列FDCAN使用经验，受益匪浅！</p>

lugl4313820 发表于 2024-3-4 11:50

慕容雪花发表于 2024-3-4 11:32
感谢刘工之前分享的U5系列FDCAN使用经验，受益匪浅！

<p>你的帖子也非常精彩！比我的更内容丰富！</p>

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【ST NUCLEO-U5A5ZJ-Q开发板测评】-6-FDCAN体验