【ACM32G103RCT6开发板测评】+ CAN通信测试

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【ACM32G103RCT6开发板测评】+ CAN通信测试 [复制链接]

 

测试下CAN收发通信。

 

一、硬件部分

 

1.1、CAN通信测试需要外接CAN收发器芯片，使用CAN1接口的PB8和PB9引脚

1.2、引脚映射到CAN1接口

 

1.3、硬件连接图

连接电位器，将采集的模拟电压，通过CAN通信输出

二、程序部分

2.1、can.c

#include "main.h"

CAN_HandleTypeDef   can_handle;

CanTxRxMsg CAN_RxMessage;
CanTxRxMsg CAN_TxMessage;

volatile uint8_t can_recflag = 0;

void CAN_ReceiveIT_Callback(CAN_HandleTypeDef *hcan)
{
    can_recflag = 1;
}


void can_send(uint8_t *txdat)
{
	uint8_t i=0;
	
	CAN_TxMessage.StdId = 0x666;		            //11bit, not used in extended mode			 
	CAN_TxMessage.ExtId = 0x18FE0000;			    //29bit
	CAN_TxMessage.IDE   = CAN_Id_Extended;			//extended mode
	CAN_TxMessage.RTR   = CAN_RTR_Data;				//frame type: data
	CAN_TxMessage.DLC   = 8;					    //data length
	
	for (i = 0; i < CAN_TxMessage.DLC; i++)
	{
			CAN_TxMessage.Data[i] = txdat[i];
	}
	
	if(HAL_CAN_Transmit(&can_handle, &CAN_TxMessage, 10) != HAL_OK)
	{
			CAN_ErrCodeInfo_t ErrCode;
			
			HAL_CAN_GetErrorCode(&can_handle, &ErrCode);

			printfS("CAN send failed!\r\n");
			printfS("ErrCode.ALC = %d\r\n", ErrCode.ALC);
			printfS("ErrCode.ErrCode = %d\r\n", ErrCode.ErrCode);
			printfS("ErrCode.ErrDirection = %d\r\n", ErrCode.ErrDirection);
			printfS("ErrCode.SegCode = %d\r\n", ErrCode.SegCode);
	}
}

void can_rec(uint8_t *rxdat)
{
	uint8_t i=0;
	HAL_CAN_Receive_IT(&can_handle, &CAN_RxMessage);
	if(can_recflag == 1)
	{
		can_recflag = 0;
		//printf("recdat\r\n");
		if(CAN_RxMessage.IDE==CAN_Id_Standard)	
    {
        //printfS("CAN IDE type: Standard\n"); 
        //printfS("CAN ID=0x%.8x\n",CAN_RxMessage.StdId);
    }
    else
    {
        //printfS("CAN IDE type: Extended\n"); 
        //printfS("CAN ID=0x%.8x\n",CAN_RxMessage.ExtId);
    }
    if(CAN_RxMessage.RTR==CAN_RTR_Data)	
    {
				printf("rxdat: "); 
        //printfS("data length=%d\n",CAN_RxMessage.DLC);
        for(i=0;i<CAN_RxMessage.DLC;i++)
        {
					//rxdat[i]=CAN_RxMessage.Data[i];
            printf("%.2x ",CAN_RxMessage.Data[i]);
        }       
        printf("\r\n");
    }
    else
    {
        //printfS("CAN RTR type: Remote frame\n"); 
    }

			//CAN_PrintfReceive();
			//CAN_TxMessage = CAN_RxMessage;
			//HAL_CAN_Transmit(&can_handle, &CAN_TxMessage, 10);/* echo back */
			
	}
}


void init_can(void)
{
	uint8_t i=0;
	CAN_FilterInitTypeDef  CAN_FilterInitStruct;
	//模式配置
	can_handle.Instance = CAN1;
	can_handle.Init.CAN_Mode    = CAN_OperatingMode_Normal;     
	can_handle.Init.CAN_SJW     = CAN_SJW_1tq;        
	can_handle.Init.CAN_BRP     = 5;                       
	can_handle.Init.CAN_TSEG1   = CAN_TSEG1_5tq;
	can_handle.Init.CAN_TSEG2   = CAN_TSEG2_4tq;    
	can_handle.Init.CAN_BOR     = CAN_BOR_ENABLE;  

	can_handle.CAN_ReceiveIT_Callback=CAN_ReceiveIT_Callback; 
	HAL_CAN_Init(&can_handle);
	
	//滤波配置
	CAN_FilterInitStruct.FilterMode = CAN_FilterMode_Dual;
	CAN_FilterInitStruct.FilterBank = 0;
	CAN_FilterInitStruct.FilterId1  = 0x18FE0000;
	CAN_FilterInitStruct.FilterId2  = 0x12340000;
	/* if want receive all data,please set the CAN_FilterMaskId = 0xFFFFFFFF*/
	CAN_FilterInitStruct.FilterMaskId1  = 0x0000FFFF; /* only receive CAN id=0x18FExxxx */	
	CAN_FilterInitStruct.FilterMaskId2  = 0x0000FFFF; /* only receive CAN id=0x1234xxxx	*/
	CAN_FilterInitStruct.FilterActivation = CAN_FILTER_ENABLE;
	
	printf("Filter Mode: Dual\r\n");
	printf("Filter Id1 = 0x%08X, MaskId1 = 0x%08X\r\n", CAN_FilterInitStruct.FilterId1, CAN_FilterInitStruct.FilterMaskId1);
	printf("Filter Id2 = 0x%08X, MaskId2 = 0x%08X\r\n\r\n", CAN_FilterInitStruct.FilterId2, CAN_FilterInitStruct.FilterMaskId2);
	HAL_CAN_ConfigFilter(&can_handle, &CAN_FilterInitStruct);
}

2.2、main.c

#include "main.h" 

int main(void)
{
	uint8_t js=0;
	uint8_t can_txbuf[10];
	uint8_t can_rxbuf[10];
	HAL_Init();  
	SystemClock_Config();    
	usart_init(115200);
	printf("\r\n\r\n====== ACM32G103 MCU is runing ======\r\nSysCoreClk: %dHz, HCLK:%dHz\r\nPCLK1:%dHz, PCLK2:%dHz\r\n\r\n",g_SystemCoreClock, HAL_RCC_GetHCLKFreq(),HAL_RCC_GetPCLK1Freq(),HAL_RCC_GetPCLK2Freq());  
   
	init_led();
	init_tim2();
	init_key();
	I2C_Init();
	//adc_test();
	//eeprom_test();
	//oled_test();
	
	init_rtc();
	init_can();
	
	//OLED_Init();
	//OLED_Fill(0x00);
	while(1)
	{
		//rtc_read();
		//can_txbuf[0]=js++;
		can_txbuf[0]=read_pa1_vol();
		can_send(can_txbuf);
		HAL_Delay(100);
		can_rec(can_rxbuf);
		
		
		//led1_tog();
		//printf("https://bbs.eeworld.com.cn/\r\n");
	}
}

 

三、测试结果

3.1、电位器采集的电压值通过CAN发出

 

3.2、CAN接收的数据

 

Jacktang

CAN收发通信的测试结果还行

LitchiCheng

楼主测试过，几个不同速率下的表现吗，还有SWJ等可以配置吗，比如和STM32的CAN进行双机通信，会不会出现无法ack的现象

TL-LED

LitchiCheng 发表于 2024-1-20 17:49 楼主测试过，几个不同速率下的表现吗，还有SWJ等可以配置吗，比如和STM32的CAN进行双机通信，会不会出现无 ...

只测试了500Kbps和STM32F103之间的通信，测试了一会没有出现问题；其他速率没有测试。