上海航芯 ACM32F070开发板+触控功能评估板评测 - 第五篇 CAN通信

oxygen_sh · 发表于2022-10-29 23:20

上海航芯 ACM32F070开发板+触控功能评估板评测 - 第五篇 CAN通信 [复制链接]

本评测实验是使用ACM32F070进行CAN通信。实验中采用了广成科技的USBCAN工具盒和上位机GCAN作为一个上位机CAN节点。下面是实验硬件连接图。

官方SDK中提供了CAN的例程，本实验使用这个例程进行CAN通信测试。CAN模块主要配置如下:

通信速率：500Kbps
标准帧ID：0x100
扩展帧ID：0x18fe0000

主要配置函数如下：

static void CAN_Mode_Config(void)
{  
    CAN_Handle.Instance=CANx;
    CAN_Handle.Init.CAN_Mode = CAN_Mode_Normal;     //CAN_Mode_Normal
    CAN_Handle.Init.CAN_SJW=CAN_SJW_1tq;            //CAN_SJW_1tq
    CAN_Handle.Init.CAN_BRP=7;                       // //pclk =64M   BRP=2*(7+1)=16  TQ=16*(1/64M)=1/4M
    CAN_Handle.Init.CAN_TSEG1=CAN_TSEG1_3tq;
    CAN_Handle.Init.CAN_TSEG2=CAN_TSEG2_4tq;         //width=1+3+4=8 TQ    baud=1M/(1/4*8)=1M/2=500K
    CAN_Handle.Init.CAN_BOR=CAN_BOR_ENABLE;       	//ENABLE Bus off recover     
    CAN_Handle.CAN_ReceiveIT_Callback=CAN_ReceiveIT_Callback; 
    HAL_CAN_Init(&CAN_Handle);
}
static void CAN_Filter_Config()
{
    CAN_FilterInitTypeDef  CAN_FilterInitStruct;
    CAN_FilterInitStruct.CAN_FilterMode=CAN_FilterMode_Dual;
    CAN_FilterInitStruct.CAN_FilterId1=0x18fe0000;  //Extended Id:ID28...ID0
    CAN_FilterInitStruct.CAN_FilterId2=0x100<<18;   //Standard Id:ID28...ID18,so need (ID<<18)
    /* if want receive all data,please set the CAN_FilterMaskId = 0xFFFFFFFF*/
    CAN_FilterInitStruct.CAN_FilterMaskId1=0x0000FFFF; //only receive CAN id=0x18fexxxx(only care 0x18fexxxx)
    CAN_FilterInitStruct.CAN_FilterMaskId2=0x001FFFFF; //only receive CAN id=0x100     ( care ID28...ID18)
    HAL_CAN_ConfigFilter(&CAN_Handle, &CAN_FilterInitStruct);
}

标准帧测试：上位机节点发送不同数据长度数据，ACM32F070收到后，将数据再发送回来。下面是测试结果截图。