하.. CAN 통신 초보 인사 드립니다. ^^
아직까지 어떻게 활용하는지 잘은 모르지만, 점점 실력이 쌓이고 있습니다.
CAN 은 2선으로 마스터,슬레이브 없이?(STM32F446 은 Slave 도 있더군요) 지가 아무 때나 올리고 싶은 것 올리고,
들리면 듣고 ... 전체적인 느낌 상 위의 내용처럼 판단이 됩니다. 자유로운 영혼?
그리고, 485 보다 작은 Package의 가격이 쌉니다.
485는 작고 3.3V 지원하는 IC는 터무니 없이 비쌉니다.
5V IC 는 싼데. 그리고 자유로운 영혼은 아니죠. ^^
[작은 패키지 가격 비교]
485 자료 : 링크
CAN 자료 : 링크
CAN 2.0 은 최대 속도가 1Mbps 라고 하네요.
STM32Fxx 의 CUBEMX 설정 가능 값은 8Mbps 정도 나오던데, 테스트는 못해봤습니다.
아.. 집에서 돈 못벙어온다고, 홧김에 한잔 하고 쓰는거라.. 위에 헛소리가 많네요. ^^
자, 시작해 보죠.
이번에는 STM32F446 에서 CAN 을 적용해 봤습니다.
앞으로 STM32f091 과 붙여서 마스터로 쓸 놈이죠.(현재 알바 프로젝트 중, 태양광 충전기에 들어가는 ic 들이랍니다)
일단은 ID_LIST 모드로 먼저 해 보겠습니다.
1. STM446 CAN 통신을 위해 연결할 배선입니다. STM32F091 과 완전히 똑같네요.
2. 이전에 연결해 놨던 STM32F091 들하고 같은 CAN라인에 붙였습니다.
3. 같지만 다른 그림이요.
위의 그림처럼 연결은 해 두고, 이제 CUBEMX 툴에서 CAN 통신 설정을 해 보겠습니다.
4. CUBEMX에서 핀 설정 그림입니다.
5. 인터럽트 설정 CUBEMX 그림입니다. 자세히 알아보고 싶은데, 시간이 없어서 넘깁니다.
4개의 인터럽트 중 1개만 선택. 통신들이 대부분, RX 에만 인터럽트를 설정하죠.
보내고 싶으면 내 마음이지만, 받을 때는 언제 받을 지 모르니 이런 거겠죠? ^^
이건, 갑자기 인터럽트가 너무 많이 나와서 빠른 진행을 위해, 최소한 필요한 인터럽트를 찾아보다 캡쳐한 내용입니다.
6. 유튜브 보고, 그대로 진행해서, 인터럽트 설정 넘어갑니다.
이렇게 설정을 하고, 프로그램에서 코딩을 해 줘야 합니다.
간단하게 STM32F446 을 기존 STM32F091 과 같은 ID 로 설정했습니다.
이번 글의 목적은 일단 STM32F446 이 CAN 동작을 하는지 와 3개의 CAN 연결을 확인하기 위해서 입니다.
바로 다음으로, ID_MASK 를 테스트 할 예정인데, 술먹고 진행하니.. 더 진행할 자신이 없네요. ^^
STM32F446 CAN 코딩은 STM32F091 과 완전히 똑같습니다. 다만 틀린것은 CAN Hamdller 이름이 hcan 에서 hcan1로 바뀌었을 뿐. !!!
STM32F091 과 마찮가지로 CUBEMX 가 CAN 필터까지 설정을 해주지 않기 때문에,
다음과 같이 CAN Filter 를 설정해 줍니다. 위에서 말씀드린 것처럼 STM32F091 코드에서 hcan 을 hcan1로만 바꾸면 끝.
1 2 3 4 5 6 7 8 9 10 11 12 13 14 15 16 17 18 19 20 21 22 23 24 25 26 27 28 29 30 31 32 | static void CAN_Filter_Config(void) { CAN_FilterConfTypeDef sFilterConfig; hcan1.pTxMsg = &TxMessage; hcan1.pRxMsg = &RxMessage; /*##-2- Configure the CAN Filter ###########################################*/ sFilterConfig.FilterNumber = 0; sFilterConfig.FilterMode = CAN_FILTERMODE_IDLIST; sFilterConfig.FilterScale = CAN_FILTERSCALE_32BIT; sFilterConfig.FilterIdHigh = filter_bd_ID<<5; sFilterConfig.FilterIdLow = 0x0000; sFilterConfig.FilterMaskIdHigh = 0x0000; sFilterConfig.FilterMaskIdLow = 0x0000; sFilterConfig.FilterFIFOAssignment = 0; sFilterConfig.FilterActivation = ENABLE; sFilterConfig.BankNumber = 14; if (HAL_CAN_ConfigFilter(&hcan1, &sFilterConfig) != HAL_OK) { /* Filter configuration Error */ Error_Handler(); } /*##-3- Configure Transmission process #####################################*/ hcan1.pTxMsg->StdId = my_bd_ID; //hcan.pTxMsg->ExtId = 0x01; hcan1.pTxMsg->RTR = CAN_RTR_DATA; hcan1.pTxMsg->IDE = CAN_ID_STD; hcan1.pTxMsg->DLC = 4; } | cs |
그 다음은 동작 시나리오를 구상한 내용인데,
STM32F091 한개를, 그대로 (코드와 ID를 그대로, 단 hcan->hcan1)카피해서 똑같이 동작하도록 하겠습니다.
상대방이 나에게 주면 UART2로 표시하고, 내가 보내면 상대방이 표시합니다.
나와 같은 ID 인 2번째 STM091은 같은 동작을 하겠죠?
그리고 같은 아이디 이기 때문에 필터로 받는 ID 설정에서 같은 ID는 제외 되므로 같은 ID 끼리는 데이터를 송수신 못 하겠죠?
다음은 그 결과이고, 시나리오와 완벽히 일치합니다.
전체 main.c 소스 코드를 올립니다.
1 2 3 4 5 6 7 8 9 10 11 12 13 14 15 16 17 18 19 20 21 22 23 24 25 26 27 28 29 30 31 32 33 34 35 36 37 38 39 40 41 42 43 44 45 46 47 48 49 50 51 52 53 54 55 56 57 58 59 60 61 62 63 64 65 66 67 68 69 70 71 72 73 74 75 76 77 78 79 80 81 82 83 84 85 86 87 88 89 90 91 92 93 94 95 96 97 98 99 100 101 102 103 104 105 106 107 108 109 110 111 112 113 114 115 116 117 118 119 120 121 122 123 124 125 126 127 128 129 130 131 132 133 134 135 136 137 138 139 140 141 142 143 144 145 146 147 148 149 150 151 152 153 154 155 156 157 158 159 160 161 162 163 164 165 166 167 168 169 170 171 172 173 174 175 176 177 178 179 180 181 182 183 184 185 186 187 188 189 190 191 192 193 194 195 196 197 198 199 200 201 202 203 204 205 206 207 208 209 210 211 212 213 214 215 216 217 218 219 220 221 222 223 224 225 226 227 228 229 230 231 232 233 234 235 236 237 238 239 240 241 242 243 244 245 246 247 248 249 250 251 252 253 254 255 256 257 258 259 260 261 262 263 264 265 266 267 268 269 270 271 272 273 274 275 276 277 278 279 280 281 282 283 284 285 286 287 288 289 290 291 292 293 294 295 296 297 298 299 300 301 302 303 304 305 306 307 308 309 310 311 312 313 314 315 316 317 318 319 320 321 322 323 324 325 326 327 328 329 330 331 332 333 334 335 336 337 338 339 340 341 342 343 344 345 346 347 348 349 350 351 352 353 354 355 356 357 358 359 360 361 362 363 364 365 366 367 368 369 370 371 372 373 374 375 376 377 378 379 380 381 382 383 384 385 386 387 388 389 390 391 392 393 394 395 396 397 | /** ****************************************************************************** * File Name : main.c * Description : Main program body ****************************************************************************** ** This notice applies to any and all portions of this file * that are not between comment pairs USER CODE BEGIN and * USER CODE END. Other portions of this file, whether * inserted by the user or by software development tools * are owned by their respective copyright owners. * * COPYRIGHT(c) 2017 STMicroelectronics * * Redistribution and use in source and binary forms, with or without modification, * are permitted provided that the following conditions are met: * 1. Redistributions of source code must retain the above copyright notice, * this list of conditions and the following disclaimer. * 2. Redistributions in binary form must reproduce the above copyright notice, * this list of conditions and the following disclaimer in the documentation * and/or other materials provided with the distribution. * 3. Neither the name of STMicroelectronics nor the names of its contributors * may be used to endorse or promote products derived from this software * without specific prior written permission. * * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" * AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE * IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE * DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE LIABLE * FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL * DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR * SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER * CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, * OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE * OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE. * ****************************************************************************** */ /* Includes ------------------------------------------------------------------*/ #include "main.h" #include "stm32f4xx_hal.h" /* USER CODE BEGIN Includes */ /* USER CODE END Includes */ /* Private variables ---------------------------------------------------------*/ CAN_HandleTypeDef hcan1; UART_HandleTypeDef huart2; /* USER CODE BEGIN PV */ /* Private variables ---------------------------------------------------------*/ CanTxMsgTypeDef TxMessage; CanRxMsgTypeDef RxMessage; uint32_t my_bd_ID; uint32_t filter_bd_ID; /* USER CODE END PV */ /* Private function prototypes -----------------------------------------------*/ void SystemClock_Config(void); static void MX_GPIO_Init(void); static void MX_CAN1_Init(void); static void MX_USART2_UART_Init(void); /* USER CODE BEGIN PFP */ /* Private function prototypes -----------------------------------------------*/ /* USER CODE END PFP */ /* USER CODE BEGIN 0 */ // for using printf() for Nucleo Board(UART2) #ifdef __GNUC__ #define PUTCHAR_PROTOTYPE int __io_putchar(int ch) #else #define PUTCHAR_PROTOTYPE int fputc(int ch, FILE *f) #endif PUTCHAR_PROTOTYPE { HAL_UART_Transmit(&huart2, (uint8_t *)&ch, 1, 1); return ch; } void HAL_CAN_RxCpltCallback(CAN_HandleTypeDef *CanHandle) { printf("Can RX INT"); if ((CanHandle->pRxMsg->StdId == filter_bd_ID) && (CanHandle->pRxMsg->IDE == CAN_ID_STD) && (CanHandle->pRxMsg->DLC == 2)) { printf("0[%02X],1[%02X]\r\n",CanHandle->pRxMsg->Data[0],CanHandle->pRxMsg->Data[1]); } /* Receive */ if (HAL_CAN_Receive_IT(CanHandle, CAN_FIFO0) != HAL_OK) { /* Reception Error */ Error_Handler(); } } static void CAN_Filter_Config(void) { CAN_FilterConfTypeDef sFilterConfig; hcan1.pTxMsg = &TxMessage; hcan1.pRxMsg = &RxMessage; /*##-2- Configure the CAN Filter ###########################################*/ sFilterConfig.FilterNumber = 0; sFilterConfig.FilterMode = CAN_FILTERMODE_IDLIST; sFilterConfig.FilterScale = CAN_FILTERSCALE_32BIT; sFilterConfig.FilterIdHigh = filter_bd_ID<<5; sFilterConfig.FilterIdLow = 0x0000; sFilterConfig.FilterMaskIdHigh = 0x0000; sFilterConfig.FilterMaskIdLow = 0x0000; sFilterConfig.FilterFIFOAssignment = 0; sFilterConfig.FilterActivation = ENABLE; sFilterConfig.BankNumber = 14; if (HAL_CAN_ConfigFilter(&hcan1, &sFilterConfig) != HAL_OK) { /* Filter configuration Error */ Error_Handler(); } /*##-3- Configure Transmission process #####################################*/ hcan1.pTxMsg->StdId = my_bd_ID; //hcan.pTxMsg->ExtId = 0x01; hcan1.pTxMsg->RTR = CAN_RTR_DATA; hcan1.pTxMsg->IDE = CAN_ID_STD; hcan1.pTxMsg->DLC = 4; } /* USER CODE END 0 */ int main(void) { /* USER CODE BEGIN 1 */ /* 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(); /* USER CODE BEGIN SysInit */ /* USER CODE END SysInit */ /* Initialize all configured peripherals */ MX_GPIO_Init(); MX_CAN1_Init(); MX_USART2_UART_Init(); /* USER CODE BEGIN 2 */ my_bd_ID = 0x0321; // Other board ID : 0x322 filter_bd_ID = 0x0322; // Other board Filter ID : 0x321 CAN_Filter_Config(); printf("my bd(STM32F446) id = %04X, bd id from = %04X\r\n",my_bd_ID,filter_bd_ID); uint16_t i=0; //HAL_CAN_Receive_IT(); if (HAL_CAN_Receive_IT(&hcan1, CAN_FIFO0) != HAL_OK) { /* Reception Error */ Error_Handler(); } /* USER CODE END 2 */ /* Infinite loop */ /* USER CODE BEGIN WHILE */ while (1) { /* USER CODE END WHILE */ /* USER CODE BEGIN 3 */ if (HAL_GPIO_ReadPin(SW_IN_GPIO_Port,SW_IN_Pin)) { } else { hcan1.pTxMsg->DLC = 2; hcan1.pTxMsg->Data[0] = (uint8_t)(i&0x00FF); hcan1.pTxMsg->Data[1] = 0xAD; hcan1.pTxMsg->Data[2] = 0x12; hcan1.pTxMsg->Data[3] = 0x32; printf("transmited data %02X:%02X\r\n",hcan1.pTxMsg->Data[0],hcan1.pTxMsg->Data[1]); if (HAL_CAN_Transmit(&hcan1, 10) != HAL_OK) { //Transmission Error Error_Handler(); } i++; HAL_Delay(100); } } /* USER CODE END 3 */ } /** System Clock Configuration */ void SystemClock_Config(void) { RCC_OscInitTypeDef RCC_OscInitStruct; RCC_ClkInitTypeDef RCC_ClkInitStruct; /**Configure the main internal regulator output voltage */ __HAL_RCC_PWR_CLK_ENABLE(); __HAL_PWR_VOLTAGESCALING_CONFIG(PWR_REGULATOR_VOLTAGE_SCALE1); /**Initializes the CPU, AHB and APB busses clocks */ RCC_OscInitStruct.OscillatorType = RCC_OSCILLATORTYPE_HSE; RCC_OscInitStruct.HSEState = RCC_HSE_BYPASS; RCC_OscInitStruct.PLL.PLLState = RCC_PLL_ON; RCC_OscInitStruct.PLL.PLLSource = RCC_PLLSOURCE_HSE; RCC_OscInitStruct.PLL.PLLM = 4; RCC_OscInitStruct.PLL.PLLN = 180; RCC_OscInitStruct.PLL.PLLP = RCC_PLLP_DIV2; RCC_OscInitStruct.PLL.PLLQ = 2; RCC_OscInitStruct.PLL.PLLR = 2; if (HAL_RCC_OscConfig(&RCC_OscInitStruct) != HAL_OK) { _Error_Handler(__FILE__, __LINE__); } /**Activate the Over-Drive mode */ if (HAL_PWREx_EnableOverDrive() != HAL_OK) { _Error_Handler(__FILE__, __LINE__); } /**Initializes the CPU, AHB and APB busses clocks */ RCC_ClkInitStruct.ClockType = RCC_CLOCKTYPE_HCLK|RCC_CLOCKTYPE_SYSCLK |RCC_CLOCKTYPE_PCLK1|RCC_CLOCKTYPE_PCLK2; RCC_ClkInitStruct.SYSCLKSource = RCC_SYSCLKSOURCE_PLLCLK; RCC_ClkInitStruct.AHBCLKDivider = RCC_SYSCLK_DIV1; RCC_ClkInitStruct.APB1CLKDivider = RCC_HCLK_DIV4; RCC_ClkInitStruct.APB2CLKDivider = RCC_HCLK_DIV2; if (HAL_RCC_ClockConfig(&RCC_ClkInitStruct, FLASH_LATENCY_5) != HAL_OK) { _Error_Handler(__FILE__, __LINE__); } /**Configure the Systick interrupt time */ HAL_SYSTICK_Config(HAL_RCC_GetHCLKFreq()/1000); /**Configure the Systick */ HAL_SYSTICK_CLKSourceConfig(SYSTICK_CLKSOURCE_HCLK); /* SysTick_IRQn interrupt configuration */ HAL_NVIC_SetPriority(SysTick_IRQn, 0, 0); } /* CAN1 init function */ static void MX_CAN1_Init(void) { hcan1.Instance = CAN1; hcan1.Init.Prescaler = 18; hcan1.Init.Mode = CAN_MODE_NORMAL; hcan1.Init.SJW = CAN_SJW_1TQ; hcan1.Init.BS1 = CAN_BS1_4TQ; hcan1.Init.BS2 = CAN_BS2_5TQ; hcan1.Init.TTCM = DISABLE; hcan1.Init.ABOM = DISABLE; hcan1.Init.AWUM = DISABLE; hcan1.Init.NART = DISABLE; hcan1.Init.RFLM = DISABLE; hcan1.Init.TXFP = DISABLE; if (HAL_CAN_Init(&hcan1) != HAL_OK) { _Error_Handler(__FILE__, __LINE__); } } /* USART2 init function */ static void MX_USART2_UART_Init(void) { huart2.Instance = USART2; huart2.Init.BaudRate = 115200; huart2.Init.WordLength = UART_WORDLENGTH_8B; huart2.Init.StopBits = UART_STOPBITS_1; huart2.Init.Parity = UART_PARITY_NONE; huart2.Init.Mode = UART_MODE_TX_RX; huart2.Init.HwFlowCtl = UART_HWCONTROL_NONE; huart2.Init.OverSampling = UART_OVERSAMPLING_16; if (HAL_UART_Init(&huart2) != HAL_OK) { _Error_Handler(__FILE__, __LINE__); } } /** Configure pins as * Analog * Input * Output * EVENT_OUT * EXTI */ static void MX_GPIO_Init(void) { GPIO_InitTypeDef GPIO_InitStruct; /* GPIO Ports Clock Enable */ __HAL_RCC_GPIOC_CLK_ENABLE(); __HAL_RCC_GPIOH_CLK_ENABLE(); __HAL_RCC_GPIOA_CLK_ENABLE(); /*Configure GPIO pin : SW_IN_Pin */ GPIO_InitStruct.Pin = SW_IN_Pin; GPIO_InitStruct.Mode = GPIO_MODE_INPUT; GPIO_InitStruct.Pull = GPIO_NOPULL; HAL_GPIO_Init(SW_IN_GPIO_Port, &GPIO_InitStruct); } /* USER CODE BEGIN 4 */ /* USER CODE END 4 */ /** * @brief This function is executed in case of error occurrence. * @param None * @retval None */ void _Error_Handler(char * file, int line) { /* USER CODE BEGIN Error_Handler_Debug */ /* User can add his own implementation to report the HAL error return state */ 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, ex: printf("Wrong parameters value: file %s on line %d\r\n", file, line) */ /* USER CODE END 6 */ } #endif /** * @} */ /** * @} */ /************************ (C) COPYRIGHT STMicroelectronics *****END OF FILE****/ | cs |
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