GD32C103——CANFD试验分享
试验采用硬件设备:
购买STM32F103C8T6(48pin)最小系统板,8M晶振。——5块
购买GD32C103CBT6(48pin)芯片。——6~8块
现有CAN芯片,本人使用TJA1044芯片,5M速率。
硬件修改:
将GD32芯片,pin对pin替换STM最小系统板芯片,CAN芯片TX连接PB9,RX连接PB8,STB接地,VCC接5V。芯片PB0作为LED指示灯。
程序修改:
采用GD官网提供GD32C系列基础例程,IAR软件:
GD32C10x_Demo_Suites_V1.2.0\GD32C10x_Demo_Suites_V1.2.0\GD32C103C_START_Demo_Suites\Projects\01_GPIO_Running_LED
请自行官网下载。
引脚配置:
rcu_periph_clock_enable(RCU_GPIOA);
rcu_periph_clock_enable(RCU_GPIOB);
rcu_periph_clock_enable(RCU_AF);
gpio_init(GPIOA, GPIO_MODE_OUT_PP, GPIO_OSPEED_50MHZ, GPIO_PIN_7);
gpio_init(GPIOB, GPIO_MODE_OUT_PP, GPIO_OSPEED_50MHZ, GPIO_PIN_0);
gpio_init(GPIOB, GPIO_MODE_AF_PP, GPIO_OSPEED_50MHZ, GPIO_PIN_9);
gpio_init(GPIOB, GPIO_MODE_IPU, GPIO_OSPEED_50MHZ, GPIO_PIN_8);
gpio_pin_remap_config(GPIO_CAN0_PARTIAL_REMAP, ENABLE);
注意点:需开启映射使能,PB9,PB8为半映射,非全映射,这里让我查了很久。
定时器中断配置:
timer_parameter_struct TimerParameterStruct;
rcu_periph_clock_enable(RCU_TIMER0); //使能TIMER0的APB2外设时钟
nvic_irq_enable(TIMER0_UP_TIMER9_IRQn, 2U, 0U); //设置TIMER0_UP_IRQn的中断优先级,抢占优先级为2,子优先级为0
timer_deinit(TIMER0);
TimerParameterStruct.period = 10U-1U;
TimerParameterStruct.prescaler = 1080U-1U;
TimerParameterStruct.clockdivision = TIMER_CKDIV_DIV1;
TimerParameterStruct.counterdirection = TIMER_COUNTER_UP;
TimerParameterStruct.alignedmode = TIMER_COUNTER_EDGE;
TimerParameterStruct.repetitioncounter = 0;
timer_init(TIMER0,&TimerParameterStruct);
timer_counter_value_config(TIMER0,0);
timer_auto_reload_shadow_enable(TIMER0);
timer_flag_clear(TIMER0,TIMER_FLAG_UP);
timer_interrupt_flag_clear(TIMER0,TIMER_INT_FLAG_UP);
timer_interrupt_enable(TIMER0,TIMER_INT_UP);
timer_internal_clock_config(TIMER0);
timer_enable(TIMER0);
uint8_t ledFlag = 0U;
Uint16 g_timeCnt1 = 0U;
can_trasnmit_message_struct g_transmit_message;
void TIMER0_UP_TIMER9_IRQHandler(void)
{
if( timer_interrupt_flag_get(TIMER0,TIMER_INT_FLAG_UP) )// 读取更新中断标志位
{
g_timeCnt1++;
if (g_timeCnt1 > 500U) {
g_timeCnt1 = 0U;
g_transmit_message.tx_sfid = 0x01U;
g_transmit_message.tx_efid = 0x08U;
g_transmit_message.tx_ff = CAN_FF_STANDARD; // 标准 / 扩展
g_transmit_message.tx_ft = CAN_FT_DATA;
g_transmit_message.tx_dlen = 64U;
g_transmit_message.fd_flag = CAN_FDF_FDFRAME; //CAN_FDF_CLASSIC; //CANFD / CAN
g_transmit_message.fd_brs = CAN_BRS_ENABLE;
g_transmit_message.fd_esi = CAN_ESI_DOMINANT;
g_transmit_message.tx_data[0] = 1U;
can_message_transmit(CAN0,&g_transmit_message);
if (ledFlag == 0U) {
ledFlag = 1U;
gpio_bit_set(GPIOB, GPIO_PIN_0);
} else {
ledFlag = 0U;
gpio_bit_reset(GPIOB, GPIO_PIN_0);
}
}
timer_flag_clear(TIMER0,TIMER_FLAG_UP); //清除"TIMER0更新标志位"
timer_interrupt_flag_clear(TIMER0,TIMER_INT_FLAG_UP); //清除"更新中断标志位"
}
}
CANFD及中断配置:
void CanFD_config(void)
{
can_parameter_struct CAN_InitSt;
can_fdframe_struct can_fd_parameter; //CAN FD 参数
can_fd_tdc_struct can_fd_tdc_parameter;
can_filter_parameter_struct CAN_FilterInitStructure;
rcu_periph_clock_enable(RCU_CAN0);
nvic_irq_enable(CAN0_RX0_IRQn, 1U, 0U);
can_struct_para_init(CAN_INIT_STRUCT, &CAN_InitSt); //标准域
can_deinit(CAN0);
CAN_InitSt.time_triggered = DISABLE;
CAN_InitSt.auto_bus_off_recovery = DISABLE;
CAN_InitSt.auto_wake_up = DISABLE;
CAN_InitSt.auto_retrans = DISABLE;
CAN_InitSt.rec_fifo_overwrite = DISABLE;
CAN_InitSt.trans_fifo_order = DISABLE;
CAN_InitSt.working_mode = CAN_NORMAL_MODE;
// CAN_InitSt.working_mode = CAN_LOOPBACK_MODE;
// CAN_InitSt.resync_jump_width = CAN_BT_SJW_1TQ;
// CAN_InitSt.time_segment_1 = CAN_BT_BS1_3TQ;
// CAN_InitSt.time_segment_2 = CAN_BT_BS2_5TQ;
// CAN_InitSt.prescaler = 10U; // 60/(1+3+5)/10 = 0.666
CAN_InitSt.resync_jump_width = CAN_BT_SJW_1TQ;
CAN_InitSt.time_segment_1 = CAN_BT_BS1_4TQ;
CAN_InitSt.time_segment_2 = CAN_BT_BS2_1TQ;
CAN_InitSt.prescaler = 20U; // 60/(1+4+1)/20 = 0.5
can_init(CAN0, &CAN_InitSt);
can_struct_para_init(CAN_FD_FRAME_STRUCT, &can_fd_parameter); //数据域
can_fd_parameter.fd_frame = ENABLE;
can_fd_parameter.excp_event_detect = ENABLE;
can_fd_parameter.delay_compensation = ENABLE;
can_fd_tdc_parameter.tdc_filter = 0x04U;
can_fd_tdc_parameter.tdc_mode = CAN_TDCMOD_CALC_AND_OFFSET;
can_fd_tdc_parameter.tdc_offset = 0x04U;
can_fd_parameter.p_delay_compensation = &can_fd_tdc_parameter;
can_fd_parameter.iso_bosch = CAN_FDMOD_ISO;
can_fd_parameter.esi_mode = CAN_ESIMOD_HARDWARE;
//数据区波特率设置
can_fd_parameter.data_resync_jump_width = CAN_BT_SJW_1TQ;
can_fd_parameter.data_time_segment_1 = CAN_BT_BS1_4TQ;
can_fd_parameter.data_time_segment_2 = CAN_BT_BS2_1TQ;
can_fd_parameter.data_prescaler = 5U; //2M
can_fd_init(CAN0, &can_fd_parameter);
can_struct_para_init(CAN_FILTER_STRUCT, &CAN_FilterInitStructure);
CAN_FilterInitStructure.filter_number = 0U;
CAN_FilterInitStructure.filter_mode = CAN_FILTERMODE_MASK;
CAN_FilterInitStructure.filter_bits = CAN_FILTERBITS_32BIT;
CAN_FilterInitStructure.filter_enable = ENABLE;
CAN_FilterInitStructure.filter_fifo_number = CAN_FIFO0;
CAN_FilterInitStructure.filter_list_high = (uint16_t)0U;
CAN_FilterInitStructure.filter_list_low = (uint16_t)0U;
CAN_FilterInitStructure.filter_mask_high = (uint16_t)0U;
CAN_FilterInitStructure.filter_mask_low = (uint16_t)0U ;
can_filter_init(&CAN_FilterInitStructure);
can_interrupt_enable(CAN0,CAN_INTEN_RFNEIE0);
}
can_receive_message_struct g_receive_message;
void CAN0_RX0_IRQHandler(void)
{
if (ledFlag == 0U) {
ledFlag = 1U;
gpio_bit_set(GPIOB, GPIO_PIN_0);
} else {
ledFlag = 0U;
gpio_bit_reset(GPIOB, GPIO_PIN_0);
}
can_message_receive(CAN0, CAN_FIFO0, &g_receive_message);
}
主函数:
systick_config();
Timer0_config();
nvic_priority_group_set(NVIC_PRIGROUP_PRE4_SUB0);
Gpio_config();
CanFD_config();
感谢查阅,转载请标注。