通信学习记录

stm32f103 配置UART_DMA通信 CAN通信

时钟配置

uart1引脚配置

 

加入dma

配置中断

生成后 函数stm32f1xx.it.c配置

这是在中断中判定是否有uart_dma接收   记得定义成局变量

void USART1_IRQHandler(void)
{

	if(__HAL_UART_GET_FLAG(&huart1,UART_FLAG_IDLE)!=RESET)	//串口1空闲中断
	{
		__HAL_UART_CLEAR_IDLEFLAG(&huart1);//清除标志位
		//temp = huart1.Instance->SR;  //清除状态寄存器SR,读取SR寄存器可以实现清除SR寄存器的功能
		//temp = huart1.Instance->DR; //读取数据寄存器中的数据

	  HAL_UART_DMAStop(&huart1);
	  rx_len = 100 - __HAL_DMA_GET_COUNTER(huart1.hdmarx); // 获取DMA中未传输的数据个数  
		//__HAL_DMA_GET_COUNTER(huart1.hdmarx) = hdma_usart1_rx.Instance->NDTR;//读取NDTR寄存器 获取DMA中未传输的数据个数，
		uart_flag = 1;
	}
	
  /* USER CODE END USART1_IRQn 0 */
  HAL_UART_IRQHandler(&huart1);
  /* USER CODE BEGIN USART1_IRQn 1 */

  /* USER CODE END USART1_IRQn 1 */
}

配置主函数

HAL_UART_Receive_DMA(&huart1,uart_rx,100);是开启中断，每运行一次开启一次

//UART
uint8_t rx_len;
uint8_t uart_rx[200];
uint8_t uart_flag = 0;
//CAN
uint8_t can_rx[200];


int main(void)
{

  HAL_Init();

  SystemClock_Config();

//初始化外设
  MX_GPIO_Init();
	MX_DMA_Init();
  MX_USART1_UART_Init();
	
  can_start_init();
	HAL_UART_Transmit_DMA(&huart1, (uint8_t *)"DMA IS OK\r\n", strlen("DMA IS OK\r\n"));
	__HAL_UART_ENABLE_IT(&huart1, UART_IT_IDLE);//使能IDLE中断
	HAL_UART_Receive_DMA(&huart1,uart_rx,100);//DMA接收函数
	
  while (1)
  {
		if(uart_flag)
		{
			uart_proc();
			
		}
  }
  /* USER CODE END 3 */
}


void uart_proc(void)
{
	HAL_UART_Transmit_DMA(&huart1, uart_rx, rx_len);//发送到上位机
	//内容清除
	rx_len = 0;
	memset(uart_rx,0,rx_len);
	uart_flag = 0;
	HAL_UART_Receive_DMA(&huart1,uart_rx,100);//再次开启中断
}

 试验成功

配置can

can挂载在APB1上 频率36MHZ  36M/(prs * (seg1 + seg2 + rjw)) = 500 Kbps

can引脚

开启中断

can有四种通信模式

双机通信 NORMAL实现局域网通信

回环模式 LOOPBACK只有一块板子时的代码调试

两种模式代码一样，只需要改变模式

void MX_CAN_Init(void)
{

  hcan.Instance = CAN1;
  hcan.Init.Prescaler = 8;
  hcan.Init.Mode = CAN_MODE_NORMAL;
  hcan.Init.SyncJumpWidth = CAN_SJW_1TQ;
  hcan.Init.TimeSeg1 = CAN_BS1_2TQ;
  hcan.Init.TimeSeg2 = CAN_BS2_6TQ;
  hcan.Init.TimeTriggeredMode = DISABLE;
  hcan.Init.AutoBusOff = DISABLE;
  hcan.Init.AutoWakeUp = DISABLE;
  hcan.Init.AutoRetransmission = DISABLE;
  hcan.Init.ReceiveFifoLocked = DISABLE;
  hcan.Init.TransmitFifoPriority = DISABLE;
  if (HAL_CAN_Init(&hcan) != HAL_OK)
  {
    Error_Handler();
  }

}

can.c代码封装 还有filter需要配置

void CAN_Filter_Config(void)
{
	CAN_FilterTypeDef CAN_FilterInit;
	CAN_FilterInit.FilterBank = 0;
	CAN_FilterInit.FilterMode = CAN_FILTERMODE_IDMASK;
	CAN_FilterInit.FilterScale = CAN_FILTERSCALE_32BIT;
	CAN_FilterInit.FilterIdHigh = 0X0000;
	CAN_FilterInit.FilterIdLow = 0X0000;
	CAN_FilterInit.FilterMaskIdHigh = 0X0000;
	CAN_FilterInit.FilterMaskIdLow = 0X0000;
	CAN_FilterInit.FilterFIFOAssignment = CAN_FILTER_FIFO0;
	CAN_FilterInit.FilterActivation = ENABLE;
	
	HAL_CAN_ConfigFilter(&hcan1, &CAN_FilterInit);
}

void CAN_Send(uint8_t *data)
{
	uint32_t pTxmailbox;
	TxHeader.StdId = 0x09;
	TxHeader.ExtId = 0x00;
	TxHeader.IDE = CAN_ID_STD;
	TxHeader.DLC = 8;
	TxHeader.RTR = CAN_RTR_DATA;
	while(HAL_CAN_GetTxMailboxesFreeLevel(&hcan1) == 0);		//等待有空发送邮箱
	HAL_CAN_AddTxMessage(&hcan1, &TxHeader, data, &pTxmailbox);
}



void MX_CAN_START_Init(void)
{
	MX_CAN_Init();//can初始化
	CAN_Filter_Config();//过滤器初始化
	HAL_CAN_Start(&hcan1);	//can1传输使能
	HAL_CAN_ActivateNotification(&hcan1,CAN_IT_RX_FIFO0_MSG_PENDING);//使能中断
}



void HAL_CAN_RxFifo0MsgPendingCallback(CAN_HandleTypeDef *hcan)
{
	if(hcan->Instance == CAN1)
	{

		if(HAL_CAN_GetRxMessage(&hcan1, CAN_FILTER_FIFO0, &RxHeader, can_rx) == HAL_OK)//获取数据
		{
//			HAL_UART_Transmit_DMA(&huart1, (uint8_t *)"CAN IS OK\r\n", strlen("CAN IS OK\r\n"));
			int i;
			for(i = 0; i < 4; i++)
			{
				can_infor[i] = can_rx[i];
				can_tx[i] = 0;
				can_rx[i] = 0;
			}
			HAL_UART_Transmit_DMA(&huart1, can_infor, 4);	

			
			HAL_CAN_ActivateNotification(&hcan1, CAN_IT_RX_FIFO0_MSG_PENDING);//使能中断

		}
	}
}

 对串口进行改动，上位机串口每次发送数据都通过can发送到另一块板子

注意can最大发送字符数为8

void uart_proc(void)
{
	int i;
	for(i = 0; i < 4; i++)
	{
		can_tx[i] = uart_rx[i];
		uart_rx[i] = 0;
	}

	CAN_Send(can_tx);
	HAL_GPIO_WritePin(GPIOB,GPIO_PIN_5,GPIO_PIN_RESET);
	HAL_Delay(20);
	HAL_GPIO_WritePin(GPIOB,GPIO_PIN_5,GPIO_PIN_SET);
	HAL_Delay(20);

//	HAL_UART_Transmit_DMA(&huart1, can_tx, uart_rx_len);//发送到上位机
//	memset(uart_rx,0,uart_rx_len);
//	uart_rx_len = 0;
	
	uart_flag = 0;
	HAL_UART_Receive_DMA(&huart1, uart_rx, 100);//再次开启中断
}

实验结果

回环模式

双机通信