discovery 보드로 통신
http://blog.naver.com/solsol8711/188508351
쏠쏘리님 네이버 블로그 에서 많은 도움 받음
can통신을 하게될 디스커버리보드 2개
can통신을 하기위해서는 can트랜시버가 필요하다. Atmel ATA6660 IC를 사용
선을 연결하고
잘 나옴
아래는 소스
개발환경은 IAR
STM32F4 DISCOVRY
#include "stm32f4xx.h" #include "stm32f4_discovery.h" #include <stdio.h> #ifdef __GNUC__ #define PUTCHAR_PROTOTYPE int __io_putchar(int ch) #else #define PUTCHAR_PROTOTYPE int fputc(int ch, FILE *f) #endif /* __GNUC__ */ /* static void delay(volatile unsigned int number) { for(; number>0; number--); } */ PUTCHAR_PROTOTYPE { /* Write a character to the USART */ if( ch == '\n') { USART_SendData(USART1, '\r'); while(USART_GetFlagStatus(USART1, USART_FLAG_TXE) == RESET); USART_SendData(USART1, '\n'); }else { USART_SendData(USART1, (u8) ch); } /* Loop until the end of transmission */ while(USART_GetFlagStatus(USART1, USART_FLAG_TXE) == RESET); return ch; } void USART1_Configuration(void) { /* USART1 clock enable */ RCC_APB2PeriphClockCmd(RCC_APB2Periph_USART1, ENABLE); /* GPIOB clock enable */ RCC_AHB1PeriphClockCmd(RCC_AHB1Periph_GPIOB, ENABLE); GPIO_InitTypeDef GPIO_InitStructure; /*-------------------------- GPIO Configuration ----------------------------*/ GPIO_InitStructure.GPIO_Pin = GPIO_Pin_6 | GPIO_Pin_7; GPIO_InitStructure.GPIO_Mode = GPIO_Mode_AF; GPIO_InitStructure.GPIO_OType = GPIO_OType_PP; GPIO_InitStructure.GPIO_PuPd = GPIO_PuPd_NOPULL; GPIO_InitStructure.GPIO_Speed = GPIO_Speed_50MHz; GPIO_Init(GPIOB, &GPIO_InitStructure); /* Connect USART pins to AF */ GPIO_PinAFConfig(GPIOB, GPIO_PinSource6, GPIO_AF_USART1); // USART1_TX GPIO_PinAFConfig(GPIOB, GPIO_PinSource7, GPIO_AF_USART1); // USART1_RX USART_InitTypeDef USART_InitStructure; /* USARTx configuration ------------------------------------------------------*/ /* USARTx configured as follow: - BaudRate = 115200 baud - Word Length = 8 Bits - One Stop Bit - No parity - Hardware flow control disabled (RTS and CTS signals) - Receive and transmit enabled */ USART_InitStructure.USART_BaudRate = 115200; USART_InitStructure.USART_WordLength = USART_WordLength_8b; USART_InitStructure.USART_StopBits = USART_StopBits_1; USART_InitStructure.USART_Parity = USART_Parity_No; USART_InitStructure.USART_HardwareFlowControl = USART_HardwareFlowControl_None; USART_InitStructure.USART_Mode = USART_Mode_Rx | USART_Mode_Tx; USART_Init(USART1, &USART_InitStructure); USART_Cmd(USART1, ENABLE); } #include "drv_can.h" SCan sCan[CAN_MAX_ID]; CanRxMsg RxMessage0; CanTxMsg TxMessage; void Can_Init() { GPIO_InitTypeDef GPIO_InitStructure; CAN_InitTypeDef CAN_InitStructure; NVIC_InitTypeDef NVIC_InitStructure; RCC_APB1PeriphClockCmd(RCC_APB1Periph_CAN1, ENABLE); RCC_AHB1PeriphClockCmd(RCC_AHB1Periph_GPIOB, ENABLE); GPIO_PinAFConfig(GPIOB, GPIO_PinSource8, GPIO_AF_CAN1); GPIO_PinAFConfig(GPIOB, GPIO_PinSource9, GPIO_AF_CAN1); GPIO_InitStructure.GPIO_Pin = GPIO_Pin_8 | GPIO_Pin_9; GPIO_InitStructure.GPIO_Mode = GPIO_Mode_AF; GPIO_InitStructure.GPIO_Speed = GPIO_Speed_50MHz; GPIO_InitStructure.GPIO_OType = GPIO_OType_PP; GPIO_InitStructure.GPIO_PuPd = GPIO_PuPd_UP; GPIO_Init(GPIOB, &GPIO_InitStructure); CAN_DeInit(CAN1); CAN_InitStructure.CAN_TTCM = DISABLE; CAN_InitStructure.CAN_ABOM = DISABLE; CAN_InitStructure.CAN_AWUM = DISABLE; CAN_InitStructure.CAN_NART = DISABLE; CAN_InitStructure.CAN_RFLM = DISABLE; CAN_InitStructure.CAN_TXFP = ENABLE; CAN_InitStructure.CAN_Mode = CAN_Mode_Normal; CAN_InitStructure.CAN_SJW = CAN_SJW_1tq; CAN_InitStructure.CAN_BS1 = CAN_BS1_4tq; CAN_InitStructure.CAN_BS2 = CAN_BS2_2tq; CAN_InitStructure.CAN_Prescaler = 60; CAN_Init(CAN1, &CAN_InitStructure); CAN_ITConfig(CAN1, CAN_IT_FMP0, ENABLE); NVIC_InitStructure.NVIC_IRQChannel = CAN1_RX0_IRQn; NVIC_InitStructure.NVIC_IRQChannelPreemptionPriority = 1; NVIC_InitStructure.NVIC_IRQChannelSubPriority = 0; NVIC_InitStructure.NVIC_IRQChannelCmd = ENABLE; NVIC_Init(&NVIC_InitStructure); } /* filterMode = CAN_FilterMode_IdMask, CAN_FilterMode_IdList FiltNum = 0~13 */ void Can_FilterConfig(uint8_t filterMode, uint8_t FiltNum, uint16_t IDHigh, uint16_t IDLow, uint16_t MaskHigh, uint16_t MaskLow) { CAN_FilterInitTypeDef CAN_FilterInitStructure; CAN_FilterInitStructure.CAN_FilterNumber = FiltNum; CAN_FilterInitStructure.CAN_FilterMode = filterMode; CAN_FilterInitStructure.CAN_FilterScale = CAN_FilterScale_16bit; CAN_FilterInitStructure.CAN_FilterIdHigh = IDHigh << 5; CAN_FilterInitStructure.CAN_FilterIdLow = IDLow<<5; CAN_FilterInitStructure.CAN_FilterMaskIdHigh = MaskHigh; CAN_FilterInitStructure.CAN_FilterMaskIdLow = MaskLow; CAN_FilterInitStructure.CAN_FilterFIFOAssignment = 0; CAN_FilterInitStructure.CAN_FilterActivation = ENABLE; CAN_FilterInit(&CAN_FilterInitStructure); } /* index = 0~CAN_MAX_ID 구조체 순번 id = 각 구조체의 CanID func = 데이터 수신 시 실행될 함수 */ void Can_SetID(uint8_t index, uint16_t id, void (*func)(void)) { sCan[index].CanID = id; sCan[index].CanFlag = 0; if ( func ) { sCan[index].m_fp = func; } } void Can_TxMessage(uint16_t id, uint8_t length, uint8_t* data) { uint8_t i; for ( i = 0 ; i < length ; i ++ ) TxMessage.Data[i] = data[i]; TxMessage.DLC = length; TxMessage.RTR = CAN_RTR_DATA; TxMessage.IDE = CAN_ID_STD; TxMessage.StdId = id; CAN_Transmit(CAN1, &TxMessage); } void CAN1_RX0_IRQHandler(void) { uint8_t id; printf("can"); CAN_Receive(CAN1, CAN_FIFO0, &RxMessage0); CAN_ClearITPendingBit(CAN1, CAN_IT_TME); for ( id = 0 ; id < CAN_MAX_ID ; id ++ ) { if ( sCan[id].CanID == RxMessage0.StdId) { sCan[id].CanRxMessage = RxMessage0; sCan[id].CanFlag = 1; if ( sCan[id].m_fp ) { sCan[id].m_fp(); } } } } void test1() { printf("ID 0x700, DLC: %d, data0= %d\r\n", sCan[0].CanRxMessage.DLC, sCan[0].CanRxMessage.Data[3]); } void test2() { printf("ID 0x701, DLC: %d, data0= %d\r\n", sCan[1].CanRxMessage.DLC, sCan[1].CanRxMessage.Data[3]); } int main(void) { uint8_t data[4]={0}; USART1_Configuration(); Can_Init(); Can_FilterConfig(CAN_FilterMode_IdMask, 0, 0x700, 0, 0x7f0, 0x0); Can_SetID(0, 0x700, test1); Can_SetID(1, 0x701, test2); RCC_ClocksTypeDef RCC_Clocks; RCC_GetClocksFreq(&RCC_Clocks); printf("SYS:%d H:%d, P1:%d, P2:%d\r\n", RCC_Clocks.SYSCLK_Frequency, RCC_Clocks.HCLK_Frequency, // AHB RCC_Clocks.PCLK1_Frequency, // APB1 RCC_Clocks.PCLK2_Frequency); // APB2 //printf("HELLO WORLD!"); while(1) { data[0] = 1; data[1] = 2; data[2] = 3; data[3] = 'd'; Can_TxMessage(0x700, 4, data); } } | cs |
'공부 > stm32' 카테고리의 다른 글
| stm32f4 VCP(virtual com port) (0) | 2016.08.30 |
|---|---|
| can통신 신호 분석 (1) | 2016.07.27 |
| stm32f4 클럭상태 출력하기 (0) | 2016.07.25 |