ART-PI FDCAN使用方法
1.fdcan设备添加
如下图所示，使用rt-thread setting 添加默认的fdcan1设备，保存并重新构建到工程；
2.修改波特率配置
检查系统时钟配置，确认can输入时钟为80mhz，如下图所示：
修改drv_fdcan.c文件，由于本文使用的是500k的波特率，故只改了一小部分。
static const _stm32_fdcan_ntconfig_t st_canntconfig[]=
/ baud brp sjw tseg1 tseg2 /
{
{can1mbaud, 1,8,63,16},
{can800kbaud, 10,8,20,4},
{can500kbaud, 2,8,63,16},
{can250kbaud, 20,8,35,4},
{can125kbaud, 40,8,35,4},
{can100kbaud, 40,8,44,5},
{can50kbaud, 80,8,44,5},
{can20kbaud, 200,8,44,5},
{can10kbaud, 400,8,44,5}
};
修改drv_fdcan.c文件下的fdcan_mode_internal_loopback，改为fdcan_mode_external_loopback；此项改动为防止fdcan在回环模式下tx没有输出信号；
static rt_err_t _inline_can_config(struct rt_can_device *can, struct can_configure *cfg)
{
_stm32_fdcan_t *pdrv_can;
rt_uint32_t tmp_u32index;
rt_assert(can);
rt_assert(cfg);
pdrv_can = (_stm32_fdcan_t )can->parent.user_data;
rt_assert(pdrv_can);
pdrv_can->fdcanhandle.init.frameformat = fdcan_frame_classic;
pdrv_can->fdcanhandle.init.mode = fdcan_mode_normal;
pdrv_can->fdcanhandle.init.autoretransmission = disable;
pdrv_can->fdcanhandle.init.transmitpause = disable;
pdrv_can->fdcanhandle.init.protocolexception = disable;
switch (cfg->mode)
{
case rt_can_mode_normal:
pdrv_can->fdcanhandle.init.mode = fdcan_mode_normal;
break;
case rt_can_mode_lisen:
pdrv_can->fdcanhandle.init.mode = fdcan_mode_bus_monitoring;
break;
case rt_can_mode_loopback:
pdrv_can->fdcanhandle.init.mode = fdcan_mode_external_loopback;
break;
default:
pdrv_can->fdcanhandle.init.mode = fdcan_mode_normal;
break;
}
/ config baud rate /
tmp_u32index = _inline_get_ntbaud_index(cfg->baud_rate);
pdrv_can->fdcanhandle.init.nominalprescaler = st_canntconfig[tmp_u32index].u16nbrp;
pdrv_can->fdcanhandle.init.nominalsyncjumpwidth = st_canntconfig[tmp_u32index].u8nsjw;
pdrv_can->fdcanhandle.init.nominaltimeseg1 = st_canntconfig[tmp_u32index].u8ntseg1;
pdrv_can->fdcanhandle.init.nominaltimeseg2 = st_canntconfig[tmp_u32index].u8ntseg2;
if(pdrv_can->fdcanhandle.instance == fdcan1)
{
pdrv_can->fdcanhandle.init.messageramoffset = 0;
}
else
{
pdrv_can->fdcanhandle.init.messageramoffset = 1280;
}
pdrv_can->fdcanhandle.init.stdfiltersnbr = 2;
pdrv_can->fdcanhandle.init.extfiltersnbr = 2;
pdrv_can->fdcanhandle.init.rxfifo0elmtsnbr = 1;
pdrv_can->fdcanhandle.init.rxfifo0elmtsize = fdcan_data_bytes_8;
pdrv_can->fdcanhandle.init.rxbuffersnbr = 0;
pdrv_can->fdcanhandle.init.txeventsnbr = 0;
pdrv_can->fdcanhandle.init.txbuffersnbr = 3;
pdrv_can->fdcanhandle.init.txfifoqueueelmtsnbr = 0;
pdrv_can->fdcanhandle.init.txfifoqueuemode = fdcan_tx_fifo_operation;
pdrv_can->fdcanhandle.init.txelmtsize = fdcan_data_bytes_8;
if (hal_fdcan_init(&pdrv_can->fdcanhandle) != hal_ok)
{
return -rt_error;
}
/ default filter config /
hal_fdcan_configfilter(&pdrv_can->fdcanhandle , &pdrv_can->filterconfig);
/ init fdcan tx header /
_inline_can_tx_header_init(pdrv_can);
/ can start */
hal_fdcan_start(&pdrv_can->fdcanhandle);
return rt_eok;
}
3.添加外设软件包
使用rt-thread setting 添加【rtthread设备驱动使用示例】软件包，在搜索框中搜索samples也可以找到，配置如下图所示；
2.添加完成后，查看can_sample.c文件，如下图所示；
3.修改can_sample.c文件，代码如下，主要是将can1设备改为fdcan1,并增加设置can波特率语句。
#include
#include
#define can_dev_name fdcan1 /* can 设备名称 /
static struct rt_semaphore rx_sem; / 用于接收消息的信号量 /
static rt_device_t can_dev; / can 设备句柄 /
/ 接收数据回调函数 /
static rt_err_t can_rx_call(rt_device_t dev, rt_size_t size)
{
/ can 接收到数据后产生中断，调用此回调函数，然后发送接收信号量 */
rt_sem_release(&rx_sem);
return rt_eok;
}
static void can_rx_thread(void parameter)
{
int i;
rt_err_t res;
struct rt_can_msg rxmsg = {0};
/ 设置接收回调函数 /
rt_device_set_rx_indicate(can_dev, can_rx_call);
#ifdef rt_can_using_hdr
struct rt_can_filter_item items[5] =
{
rt_can_filter_item_init(0x100, 0, 0, 0, 0x700, rt_null, rt_null), / std,match id:0x1000x1ff，hdr 为 - 1，设置默认过滤表 /
rt_can_filter_item_init(0x300, 0, 0, 0, 0x700, rt_null, rt_null), / std,match id:0x3000x3ff，hdr 为 - 1 /
rt_can_filter_item_init(0x211, 0, 0, 0, 0x7ff, rt_null, rt_null), / std,match id:0x211，hdr 为 - 1 /
rt_can_filter_std_init(0x486, rt_null, rt_null), / std,match id:0x486，hdr 为 - 1 /
{0x555, 0, 0, 0, 0x7ff, 7,} / std,match id:0x555，hdr 为 7，指定设置 7 号过滤表 /
};
struct rt_can_filter_config cfg = {5, 1, items}; / 一共有 5 个过滤表 /
/ 设置硬件过滤表 /
res = rt_device_control(can_dev, rt_can_cmd_set_filter, &cfg);
rt_assert(res == rt_eok);
#endif
while (1)
{
/ hdr 值为 - 1，表示直接从 uselist 链表读取数据 /
rxmsg.hdr = -1;
/ 阻塞等待接收信号量 /
rt_sem_take(&rx_sem, rt_waiting_forever);
/ 从 can 读取一帧数据 /
rt_device_read(can_dev, 0, &rxmsg, sizeof(rxmsg));
/ 打印数据 id 及内容 /
rt_kprintf(id:%x, rxmsg.id);
for (i = 0; i < 8; i++)
{
rt_kprintf(%2x, rxmsg.data[i]);
}
rt_kprintf(n);
}
}
int mycan_sample(int argc, char argv[])
{
struct rt_can_msg msg = {0};
rt_err_t res;
rt_size_t size;
rt_thread_t thread;
char can_name[rt_name_max];
if (argc == 2)
{
rt_strncpy(can_name, argv[1], rt_name_max);
}
else
{
rt_strncpy(can_name, can_dev_name, rt_name_max);
}
/ 查找 can 设备 /
can_dev = rt_device_find(can_name);
if (!can_dev)
{
rt_kprintf(find %s failed!n, can_name);
return rt_error;
}
/ 初始化 can 接收信号量 /
rt_sem_init(&rx_sem, rx_sem, 0, rt_ipc_flag_fifo);
/ 以中断接收及发送方式打开 can 设备 /
res = rt_device_open(can_dev, rt_device_flag_int_tx | rt_device_flag_int_rx);
rt_assert(res == rt_eok);
/ 设置 can 通信的波特率为 500kbit/s /
res = rt_device_control(can_dev, rt_can_cmd_set_baud, (void )can500kbaud);
rt_assert(res == rt_eok);
/ 创建数据接收线程 /
thread = rt_thread_create(can_rx, can_rx_thread, rt_null, 1024, 25, 10);
if (thread != rt_null)
{
rt_thread_startup(thread);
}
else
{
rt_kprintf(create can_rx thread failed!n);
}
msg.id = 0x78; / id 为 0x78 /
msg.ide = rt_can_stdid; / 标准格式 /
msg.rtr = rt_can_dtr; / 数据帧 /
msg.len = 8; / 数据长度为 8 /
/ 待发送的 8 字节数据 /
msg.data[0] = 0x00;
msg.data[1] = 0x11;
msg.data[2] = 0x22;
msg.data[3] = 0x33;
msg.data[4] = 0x44;
msg.data[5] = 0x55;
msg.data[6] = 0x66;
msg.data[7] = 0x77;
/ 发送一帧 can 数据 /
size = rt_device_write(can_dev, 0, &msg, sizeof(msg));
if (size == 0)
{
rt_kprintf(can dev write data failed!n);
}
return res;
}
/ 导出到 msh 命令列表中 */
msh_cmd_export(mycan_sample, can device sample);
4.测试结果
注意：再次使用命令启动该示例会有以下提示：
家庭电气防火中电气防火限流保护器的作用是什么
什么样子的云平台是理想的
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韩国运营商LG Uplus与华为携手建成了Gbps 5G商用网络
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半导体光刻机的详细解说
如下图所示，使用rt-thread setting 添加默认的fdcan1设备，保存并重新构建到工程；
2.修改波特率配置
检查系统时钟配置，确认can输入时钟为80mhz，如下图所示：
修改drv_fdcan.c文件，由于本文使用的是500k的波特率，故只改了一小部分。
static const _stm32_fdcan_ntconfig_t st_canntconfig[]=
/ baud brp sjw tseg1 tseg2 /
{
{can1mbaud, 1,8,63,16},
{can800kbaud, 10,8,20,4},
{can500kbaud, 2,8,63,16},
{can250kbaud, 20,8,35,4},
{can125kbaud, 40,8,35,4},
{can100kbaud, 40,8,44,5},
{can50kbaud, 80,8,44,5},
{can20kbaud, 200,8,44,5},
{can10kbaud, 400,8,44,5}
};
修改drv_fdcan.c文件下的fdcan_mode_internal_loopback，改为fdcan_mode_external_loopback；此项改动为防止fdcan在回环模式下tx没有输出信号；
static rt_err_t _inline_can_config(struct rt_can_device *can, struct can_configure *cfg)
{
_stm32_fdcan_t *pdrv_can;
rt_uint32_t tmp_u32index;
rt_assert(can);
rt_assert(cfg);
pdrv_can = (_stm32_fdcan_t )can->parent.user_data;
rt_assert(pdrv_can);
pdrv_can->fdcanhandle.init.frameformat = fdcan_frame_classic;
pdrv_can->fdcanhandle.init.mode = fdcan_mode_normal;
pdrv_can->fdcanhandle.init.autoretransmission = disable;
pdrv_can->fdcanhandle.init.transmitpause = disable;
pdrv_can->fdcanhandle.init.protocolexception = disable;
switch (cfg->mode)
{
case rt_can_mode_normal:
pdrv_can->fdcanhandle.init.mode = fdcan_mode_normal;
break;
case rt_can_mode_lisen:
pdrv_can->fdcanhandle.init.mode = fdcan_mode_bus_monitoring;
break;
case rt_can_mode_loopback:
pdrv_can->fdcanhandle.init.mode = fdcan_mode_external_loopback;
break;
default:
pdrv_can->fdcanhandle.init.mode = fdcan_mode_normal;
break;
}
/ config baud rate /
tmp_u32index = _inline_get_ntbaud_index(cfg->baud_rate);
pdrv_can->fdcanhandle.init.nominalprescaler = st_canntconfig[tmp_u32index].u16nbrp;
pdrv_can->fdcanhandle.init.nominalsyncjumpwidth = st_canntconfig[tmp_u32index].u8nsjw;
pdrv_can->fdcanhandle.init.nominaltimeseg1 = st_canntconfig[tmp_u32index].u8ntseg1;
pdrv_can->fdcanhandle.init.nominaltimeseg2 = st_canntconfig[tmp_u32index].u8ntseg2;
if(pdrv_can->fdcanhandle.instance == fdcan1)
{
pdrv_can->fdcanhandle.init.messageramoffset = 0;
}
else
{
pdrv_can->fdcanhandle.init.messageramoffset = 1280;
}
pdrv_can->fdcanhandle.init.stdfiltersnbr = 2;
pdrv_can->fdcanhandle.init.extfiltersnbr = 2;
pdrv_can->fdcanhandle.init.rxfifo0elmtsnbr = 1;
pdrv_can->fdcanhandle.init.rxfifo0elmtsize = fdcan_data_bytes_8;
pdrv_can->fdcanhandle.init.rxbuffersnbr = 0;
pdrv_can->fdcanhandle.init.txeventsnbr = 0;
pdrv_can->fdcanhandle.init.txbuffersnbr = 3;
pdrv_can->fdcanhandle.init.txfifoqueueelmtsnbr = 0;
pdrv_can->fdcanhandle.init.txfifoqueuemode = fdcan_tx_fifo_operation;
pdrv_can->fdcanhandle.init.txelmtsize = fdcan_data_bytes_8;
if (hal_fdcan_init(&pdrv_can->fdcanhandle) != hal_ok)
{
return -rt_error;
}
/ default filter config /
hal_fdcan_configfilter(&pdrv_can->fdcanhandle , &pdrv_can->filterconfig);
/ init fdcan tx header /
_inline_can_tx_header_init(pdrv_can);
/ can start */
hal_fdcan_start(&pdrv_can->fdcanhandle);
return rt_eok;
}
3.添加外设软件包
使用rt-thread setting 添加【rtthread设备驱动使用示例】软件包，在搜索框中搜索samples也可以找到，配置如下图所示；
2.添加完成后，查看can_sample.c文件，如下图所示；
3.修改can_sample.c文件，代码如下，主要是将can1设备改为fdcan1,并增加设置can波特率语句。
#include
#include
#define can_dev_name fdcan1 /* can 设备名称 /
static struct rt_semaphore rx_sem; / 用于接收消息的信号量 /
static rt_device_t can_dev; / can 设备句柄 /
/ 接收数据回调函数 /
static rt_err_t can_rx_call(rt_device_t dev, rt_size_t size)
{
/ can 接收到数据后产生中断，调用此回调函数，然后发送接收信号量 */
rt_sem_release(&rx_sem);
return rt_eok;
}
static void can_rx_thread(void parameter)
{
int i;
rt_err_t res;
struct rt_can_msg rxmsg = {0};
/ 设置接收回调函数 /
rt_device_set_rx_indicate(can_dev, can_rx_call);
#ifdef rt_can_using_hdr
struct rt_can_filter_item items[5] =
{
rt_can_filter_item_init(0x100, 0, 0, 0, 0x700, rt_null, rt_null), / std,match id:0x1000x1ff，hdr 为 - 1，设置默认过滤表 /
rt_can_filter_item_init(0x300, 0, 0, 0, 0x700, rt_null, rt_null), / std,match id:0x3000x3ff，hdr 为 - 1 /
rt_can_filter_item_init(0x211, 0, 0, 0, 0x7ff, rt_null, rt_null), / std,match id:0x211，hdr 为 - 1 /
rt_can_filter_std_init(0x486, rt_null, rt_null), / std,match id:0x486，hdr 为 - 1 /
{0x555, 0, 0, 0, 0x7ff, 7,} / std,match id:0x555，hdr 为 7，指定设置 7 号过滤表 /
};
struct rt_can_filter_config cfg = {5, 1, items}; / 一共有 5 个过滤表 /
/ 设置硬件过滤表 /
res = rt_device_control(can_dev, rt_can_cmd_set_filter, &cfg);
rt_assert(res == rt_eok);
#endif
while (1)
{
/ hdr 值为 - 1，表示直接从 uselist 链表读取数据 /
rxmsg.hdr = -1;
/ 阻塞等待接收信号量 /
rt_sem_take(&rx_sem, rt_waiting_forever);
/ 从 can 读取一帧数据 /
rt_device_read(can_dev, 0, &rxmsg, sizeof(rxmsg));
/ 打印数据 id 及内容 /
rt_kprintf(id:%x, rxmsg.id);
for (i = 0; i < 8; i++)
{
rt_kprintf(%2x, rxmsg.data[i]);
}
rt_kprintf(n);
}
}
int mycan_sample(int argc, char argv[])
{
struct rt_can_msg msg = {0};
rt_err_t res;
rt_size_t size;
rt_thread_t thread;
char can_name[rt_name_max];
if (argc == 2)
{
rt_strncpy(can_name, argv[1], rt_name_max);
}
else
{
rt_strncpy(can_name, can_dev_name, rt_name_max);
}
/ 查找 can 设备 /
can_dev = rt_device_find(can_name);
if (!can_dev)
{
rt_kprintf(find %s failed!n, can_name);
return rt_error;
}
/ 初始化 can 接收信号量 /
rt_sem_init(&rx_sem, rx_sem, 0, rt_ipc_flag_fifo);
/ 以中断接收及发送方式打开 can 设备 /
res = rt_device_open(can_dev, rt_device_flag_int_tx | rt_device_flag_int_rx);
rt_assert(res == rt_eok);
/ 设置 can 通信的波特率为 500kbit/s /
res = rt_device_control(can_dev, rt_can_cmd_set_baud, (void )can500kbaud);
rt_assert(res == rt_eok);
/ 创建数据接收线程 /
thread = rt_thread_create(can_rx, can_rx_thread, rt_null, 1024, 25, 10);
if (thread != rt_null)
{
rt_thread_startup(thread);
}
else
{
rt_kprintf(create can_rx thread failed!n);
}
msg.id = 0x78; / id 为 0x78 /
msg.ide = rt_can_stdid; / 标准格式 /
msg.rtr = rt_can_dtr; / 数据帧 /
msg.len = 8; / 数据长度为 8 /
/ 待发送的 8 字节数据 /
msg.data[0] = 0x00;
msg.data[1] = 0x11;
msg.data[2] = 0x22;
msg.data[3] = 0x33;
msg.data[4] = 0x44;
msg.data[5] = 0x55;
msg.data[6] = 0x66;
msg.data[7] = 0x77;
/ 发送一帧 can 数据 /
size = rt_device_write(can_dev, 0, &msg, sizeof(msg));
if (size == 0)
{
rt_kprintf(can dev write data failed!n);
}
return res;
}
/ 导出到 msh 命令列表中 */
msh_cmd_export(mycan_sample, can device sample);
4.测试结果
注意：再次使用命令启动该示例会有以下提示：
家庭电气防火中电气防火限流保护器的作用是什么
什么样子的云平台是理想的
如何选择消防电气应急照明二线制和四线制
为解决混合多云的工作负载，IBM推出多项存储技术
2CP0220T12-ZC01驱动器产品特点和典型应用
ART-PI FDCAN使用方法
智能家居的未来就是加块屏幕吗？
中国互联网络信息中心发布第42次《中国互联网络发展状况统计报告》
3D打印的面贴附微透镜克服基于PIC的可扩展性挑战
USB3.0转SATA接口桥接芯片烧录指南
Sharkoon发布了符合人体工程学设计的Shark Force II游戏鼠标
红米7官宣3月18日发布 搭载骁龙632且耳机孔得到保留
展望未来 十大最具潜力安防技术盘点
韩国运营商LG Uplus与华为携手建成了Gbps 5G商用网络
全新M1芯片Mac mini跑分与MacBook Air几乎相同
oppor11、小米6、华为荣耀9用销量告诉你！这些手机有多好！
你不知道的冷知识，试管粗糙度也能用白光干涉仪测量？丨科普篇
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东芝推出适用于低电压（2.5V）驱动的H桥驱动器IC
半导体光刻机的详细解说