【STM32U5A5ZJ开发板】CAN FD功能和通讯测试

bigbat

【STM32U5A5ZJ开发板】CAN FD功能和通讯测试 [复制链接]

CAN FD可以理解成CAN协议的升级版，只升级了协议，物理层未改变。CAN FD的兼容性比CAN要有所提高，速率可变，仲裁比特率最高1Mbps（与CAN相同），数据比特率最高8Mbps ，本次是测试STM32U5A5ZJ功能的CAN FD测试，测试使用的硬件如下：

STM32U5A5ZJ开发板测试开发板，

STM32G431RBK开发板，用来提供测试的辅助通讯功能。

两片CAN收发控制器接口模块，芯片为TJA1050 CAN

测试过程中需要注意接线的准确，防止误操作。

1、主机时钟与引脚设置

首先确认FD CAN的时钟设置，系统设置为160MHZ，

CAN FD的工作时钟为160MHZ，这个参数会影响can FD的通讯参数。

将can fd的通讯引脚连接到PD0和PD1引脚上，

先选择PD0和PD1引脚，在激活FD CAN的设置。这样就可以准确确定引脚了。

2、CAN FD的参数设置。

具体的参数如上，根据FD CAN 的例程参考，通讯速率设置为1Mbit/S，将从机的通讯速率也设置为1Mbit/S。

3、通讯程序

主要的通讯程序如下

/* USER CODE BEGIN Header */
/**
  ******************************************************************************
  * [url=home.php?mod=space&uid=1307177]@File[/url] FDCAN/FDCAN_Loopback/Src/main.c
  * [url=home.php?mod=space&uid=1315547]@author[/url] MCD Application Team
  * [url=home.php?mod=space&uid=159083]@brief[/url] This sample code shows how to configure the FDCAN peripheral to
  *          operate in loopback mode.
  ******************************************************************************
  * [url=home.php?mod=space&uid=1020061]@attention[/url] *
  * Copyright (c) 2021 STMicroelectronics.
  * All rights reserved.
  *
  * This software is licensed under terms that can be found in the LICENSE file
  * in the root directory of this software component.
  * If no LICENSE file comes with this software, it is provided AS-IS.
  *
  ******************************************************************************
  */
/* USER CODE END Header */
/* Includes ------------------------------------------------------------------*/
#include "main.h"

/* Private includes ----------------------------------------------------------*/
/* USER CODE BEGIN Includes */

/* 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 ---------------------------------------------------------*/

FDCAN_HandleTypeDef hfdcan1;

/* USER CODE BEGIN PV */
FDCAN_FilterTypeDef sFilterConfig;
FDCAN_TxHeaderTypeDef TxHeader;
FDCAN_RxHeaderTypeDef RxHeader;
uint8_t TxData0[] = {0x10, 0x32, 0x54, 0x76, 0x98, 0x00, 0x11, 0x22, 0x33, 0x44, 0x55, 0x66};
uint8_t TxData1[] = {0x55, 0x55, 0x55, 0x55, 0x55, 0x55, 0x55, 0x55, 0x55, 0x55, 0x55, 0x55};
uint8_t TxData2[] = {0xFF, 0x00, 0xFF, 0x00, 0xFF, 0x00, 0xFF, 0x00, 0xFF, 0x00, 0xFF, 0x00};
uint8_t RxData[12];

/* USER CODE END PV */

/* Private function prototypes -----------------------------------------------*/
void SystemClock_Config(void);
static void SystemPower_Config(void);
static void MX_GPIO_Init(void);
static void MX_ICACHE_Init(void);
static void MX_FDCAN1_Init(void);
/* USER CODE BEGIN PFP */
static uint32_t BufferCmp8b(uint8_t* pBuffer1, uint8_t* pBuffer2, uint16_t BufferLength);

/* USER CODE END PFP */

/* Private user code ---------------------------------------------------------*/
/* USER CODE BEGIN 0 */

/* USER CODE END 0 */

/**
  * @brief  The application entry point.
  * @retval int
  */
int main(void)
{
  /* USER CODE BEGIN 1 */

  /* STM32U5xx HAL library initialization:
       - Configure the Flash prefetch
       - Configure the Systick to generate an interrupt each 1 msec
       - Set NVIC Group Priority to 3
       - Low Level Initialization
     */
  /* 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();

  /* Configure the System Power */
  SystemPower_Config();

  /* USER CODE BEGIN SysInit */
  /* Configure LED5 and LED6 */
  BSP_LED_Init(LED5);
  BSP_LED_Init(LED6);

  /* USER CODE END SysInit */

  /* Initialize all configured peripherals */
  MX_GPIO_Init();
  MX_ICACHE_Init();
  MX_FDCAN1_Init();
  /* USER CODE BEGIN 2 */

  /*##-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();
  }

  /*##-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_12;
  TxHeader.ErrorStateIndicator = FDCAN_ESI_ACTIVE;
  TxHeader.BitRateSwitch = FDCAN_BRS_ON;
  TxHeader.FDFormat = FDCAN_FD_CAN;
  TxHeader.TxEventFifoControl = FDCAN_STORE_TX_EVENTS;
  TxHeader.MessageMarker = 0x52;
  if (HAL_FDCAN_AddMessageToTxFifoQ(&hfdcan1, &TxHeader, TxData0) != HAL_OK)
  {
    Error_Handler();
  }

  /* Add second message to Tx FIFO */
  TxHeader.Identifier = 0x1111112;
  TxHeader.IdType = FDCAN_EXTENDED_ID;
  TxHeader.TxFrameType = FDCAN_DATA_FRAME;
  TxHeader.DataLength = FDCAN_DLC_BYTES_12;
  TxHeader.ErrorStateIndicator = FDCAN_ESI_PASSIVE;
  TxHeader.BitRateSwitch = FDCAN_BRS_ON;
  TxHeader.FDFormat = FDCAN_FD_CAN;
  TxHeader.TxEventFifoControl = FDCAN_STORE_TX_EVENTS;
  TxHeader.MessageMarker = 0xCC;
  if (HAL_FDCAN_AddMessageToTxFifoQ(&hfdcan1, &TxHeader, TxData1) != HAL_OK)
  {
    Error_Handler();
  }

  /* Add third message to Tx FIFO */
  TxHeader.Identifier = 0x1111113;
  TxHeader.IdType = FDCAN_EXTENDED_ID;
  TxHeader.TxFrameType = FDCAN_DATA_FRAME;
  TxHeader.DataLength = FDCAN_DLC_BYTES_12;
  TxHeader.ErrorStateIndicator = FDCAN_ESI_PASSIVE;
  TxHeader.BitRateSwitch = FDCAN_BRS_OFF;
  TxHeader.FDFormat = FDCAN_FD_CAN;
  TxHeader.TxEventFifoControl = FDCAN_STORE_TX_EVENTS;
  TxHeader.MessageMarker = 0xDD;
  if (HAL_FDCAN_AddMessageToTxFifoQ(&hfdcan1, &TxHeader, TxData2) != HAL_OK)
  {
    Error_Handler();
  }

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


  /*##-4 Receive messages ###################################################*/
  /* Check one message is received in Rx FIFO 0 */
  if(HAL_FDCAN_GetRxFifoFillLevel(&hfdcan1, FDCAN_RX_FIFO0) != 1)
  {
    Error_Handler();
  }

  /* Retrieve message from Rx FIFO 0 */
  if (HAL_FDCAN_GetRxMessage(&hfdcan1, FDCAN_RX_FIFO0, &RxHeader, RxData) != HAL_OK)
  {
    Error_Handler();
  }

  /* Compare payload to expected data */
  if (BufferCmp8b(TxData0, RxData, 12) != 0)
  {
    Error_Handler();
  }

  /* Check two messages are received in Rx FIFO 1 */
  if(HAL_FDCAN_GetRxFifoFillLevel(&hfdcan1, FDCAN_RX_FIFO1) != 2)
  {
    Error_Handler();
  }

  /* Retrieve message from Rx FIFO 1 */
  if (HAL_FDCAN_GetRxMessage(&hfdcan1, FDCAN_RX_FIFO1, &RxHeader, RxData) != HAL_OK)
  {
    Error_Handler();
  }

  /* Compare payload to expected data */
  if (BufferCmp8b(TxData1, RxData, 12) != 0)
  {
    Error_Handler();
  }

  /* Retrieve next message from Rx FIFO 1 */
  if (HAL_FDCAN_GetRxMessage(&hfdcan1, FDCAN_RX_FIFO1, &RxHeader, RxData) != HAL_OK)
  {
    Error_Handler();
  }

  /* Compare payload to expected data */
  if (BufferCmp8b(TxData2, RxData, 12) != 0)
  {
    Error_Handler();
  }
  /* USER CODE END 2 */

  /* Infinite loop */
  /* USER CODE BEGIN WHILE */
  while (1)
  {
    /* Toggle LED5 */
    BSP_LED_Toggle(LED5);
    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};

  /** Configure the main internal regulator output voltage
  */
  if (HAL_PWREx_ControlVoltageScaling(PWR_REGULATOR_VOLTAGE_SCALE1) != HAL_OK)
  {
    Error_Handler();
  }

  /** Initializes the CPU, AHB and APB buses clocks
  */
  RCC_OscInitStruct.OscillatorType = RCC_OSCILLATORTYPE_MSI;
  RCC_OscInitStruct.MSIState = RCC_MSI_ON;
  RCC_OscInitStruct.MSICalibrationValue = RCC_MSICALIBRATION_DEFAULT;
  RCC_OscInitStruct.MSIClockRange = RCC_MSIRANGE_4;
  RCC_OscInitStruct.PLL.PLLState = RCC_PLL_ON;
  RCC_OscInitStruct.PLL.PLLSource = RCC_PLLSOURCE_MSI;
  RCC_OscInitStruct.PLL.PLLMBOOST = RCC_PLLMBOOST_DIV1;
  RCC_OscInitStruct.PLL.PLLM = 1;
  RCC_OscInitStruct.PLL.PLLN = 80;
  RCC_OscInitStruct.PLL.PLLP = 2;
  RCC_OscInitStruct.PLL.PLLQ = 2;
  RCC_OscInitStruct.PLL.PLLR = 2;
  RCC_OscInitStruct.PLL.PLLRGE = RCC_PLLVCIRANGE_0;
  RCC_OscInitStruct.PLL.PLLFRACN = 0;
  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_CLOCKTYPE_PCLK3;
  RCC_ClkInitStruct.SYSCLKSource = RCC_SYSCLKSOURCE_PLLCLK;
  RCC_ClkInitStruct.AHBCLKDivider = RCC_SYSCLK_DIV1;
  RCC_ClkInitStruct.APB1CLKDivider = RCC_HCLK_DIV1;
  RCC_ClkInitStruct.APB2CLKDivider = RCC_HCLK_DIV1;
  RCC_ClkInitStruct.APB3CLKDivider = RCC_HCLK_DIV1;

  if (HAL_RCC_ClockConfig(&RCC_ClkInitStruct, FLASH_LATENCY_4) != HAL_OK)
  {
    Error_Handler();
  }
}

/**
  * @brief Power Configuration
  * @retval None
  */
static void SystemPower_Config(void)
{

  /*
   * Disable the internal Pull-Up in Dead Battery pins of UCPD peripheral
   */
  HAL_PWREx_DisableUCPDDeadBattery();

  /*
   * Switch to SMPS regulator instead of LDO
   */
  if (HAL_PWREx_ConfigSupply(PWR_SMPS_SUPPLY) != HAL_OK)
  {
    Error_Handler();
  }
/* USER CODE BEGIN PWR */
/* USER CODE END PWR */
}

/**
  * @brief FDCAN1 Initialization Function
  * @param None
  * @retval None
  */
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_FD_BRS;
  hfdcan1.Init.Mode = FDCAN_MODE_EXTERNAL_LOOPBACK;
  hfdcan1.Init.AutoRetransmission = ENABLE;
  hfdcan1.Init.TransmitPause = ENABLE;
  hfdcan1.Init.ProtocolException = DISABLE;
  hfdcan1.Init.NominalPrescaler = 0x1;
  hfdcan1.Init.NominalSyncJumpWidth = 0x10;
  hfdcan1.Init.NominalTimeSeg1 = 0x3F;
  hfdcan1.Init.NominalTimeSeg2 = 0x10;
  hfdcan1.Init.DataPrescaler = 0x1;
  hfdcan1.Init.DataSyncJumpWidth = 0x4;
  hfdcan1.Init.DataTimeSeg1 = 0x5;
  hfdcan1.Init.DataTimeSeg2 = 0x4;
  hfdcan1.Init.StdFiltersNbr = 1;
  hfdcan1.Init.ExtFiltersNbr = 1;
  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 */

}

/**
  * @brief ICACHE Initialization Function
  * @param None
  * @retval None
  */
static void MX_ICACHE_Init(void)
{

  /* USER CODE BEGIN ICACHE_Init 0 */

  /* USER CODE END ICACHE_Init 0 */

  /* USER CODE BEGIN ICACHE_Init 1 */

  /* USER CODE END ICACHE_Init 1 */

  /** Enable instruction cache in 1-way (direct mapped cache)
  */
  if (HAL_ICACHE_ConfigAssociativityMode(ICACHE_1WAY) != HAL_OK)
  {
    Error_Handler();
  }
  if (HAL_ICACHE_Enable() != HAL_OK)
  {
    Error_Handler();
  }
  /* USER CODE BEGIN ICACHE_Init 2 */

  /* USER CODE END ICACHE_Init 2 */

}

/**
  * @brief GPIO Initialization Function
  * @param None
  * @retval None
  */
static void MX_GPIO_Init(void)
{
/* USER CODE BEGIN MX_GPIO_Init_1 */
/* USER CODE END MX_GPIO_Init_1 */

  /* GPIO Ports Clock Enable */
  __HAL_RCC_GPIOB_CLK_ENABLE();

/* USER CODE BEGIN MX_GPIO_Init_2 */
/* USER CODE END MX_GPIO_Init_2 */
}

/* USER CODE BEGIN 4 */

/**
  * @brief Compares two buffers.
  * @par Input
  *  - pBuffer1, pBuffer2: buffers to be compared.
  *  - BufferLength: buffer's length
  * @par Output
  * None.
  * @retval
  *   0: pBuffer1 identical to pBuffer2
  *   1: pBuffer1 differs from pBuffer2
  */
static uint32_t BufferCmp8b(uint8_t* pBuffer1, uint8_t* pBuffer2, uint16_t BufferLength)
{
  while(BufferLength--)
  {
    if(*pBuffer1 != *pBuffer2)
    {
      return 1;
    }

    pBuffer1++;
    pBuffer2++;
  }
  return 0;
}
/* 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 */
  /* Turn LED6 on */
  BSP_LED_On(LED6);

  while(1)
  {
  }
  /* 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,
     tex: printf("Wrong parameters value: file %s on line %d\r\n", file, line) */

  /* Infinite loop */
  while (1)
  {
  }
  /* USER CODE END 6 */
}
#endif /* USE_FULL_ASSERT */

通讯程序中主要的是控制器的ID设置，如果想成功通讯接收必须正确设置过滤器的ID。STM32U5A5ZJ设计有两个收发过滤器，这两个过滤器分别绑定到两个FIFO上，在FIFO接收数据的时候进行包ID的过滤或设置

/*##-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();
  }

通讯测试，

先将控制芯片的引脚进行连接。启动通讯

通过IDE的调试功能，完成通讯的测试。

lugl4313820

大佬花了不少心思搞这个测试呀。下期出一个CAN远程控制的出来我们学习一下。

bigbat

lugl4313820 发表于 2024-3-18 12:40 大佬花了不少心思搞这个测试呀。下期出一个CAN远程控制的出来我们学习一下。

好的，下一期就弄个多个can 设备的控制方案出来。

lugl4313820

bigbat 发表于 2024-3-18 15:54 好的，下一期就弄个多个can 设备的控制方案出来。

期待精彩作品！比如，用CAN转输数据，控制等等！

【STM32U5A5ZJ开发板】CAN FD功能和通讯测试 [复制链接]

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