RM3508-CAN发送（1）

最新推荐文章于 2023-12-18 09:08:26 发布

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最新推荐文章于 2023-12-18 09:08:26 发布

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本文链接：https://blog.csdn.net/weixin_44532761/article/details/112470607

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在这里插入图片描述

 can_filter_st.FilterActivation = ENABLE;        //satori:激活滤波器
  can_filter_st.FilterMode = CAN_FILTERMODE_IDMASK;    //satori：采用掩码模式
  can_filter_st.FilterScale = CAN_FILTERSCALE_32BIT;  //satori:设置32位宽
  can_filter_st.FilterIdHigh = 0x0000;          //satori:设置验证码高低各4字节
  can_filter_st.FilterIdLow = 0x0000;
  can_filter_st.FilterMaskIdHigh = 0x0000;        //satori:设置屏蔽码高低各4字节
  can_filter_st.FilterMaskIdLow = 0x0000;
  can_filter_st.FilterBank = 0;              //satori:使用0号过滤器
  can_filter_st.FilterFIFOAssignment = CAN_RX_FIFO0;  //satori:通过CAN的信息放入0号FIFO
  HAL_CAN_ConfigFilter(&hcan1, &can_filter_st);

在这里插入图片描述

#include "bsp_can.h"
#include "main.h"


extern CAN_HandleTypeDef hcan1;
extern CAN_HandleTypeDef hcan2;

void can_filter_init(void)
{

    CAN_FilterTypeDef can_filter_st;
    can_filter_st.FilterActivation = ENABLE;
    can_filter_st.FilterMode = CAN_FILTERMODE_IDMASK;
    can_filter_st.FilterScale = CAN_FILTERSCALE_32BIT;
    can_filter_st.FilterIdHigh = 0x0000;
    can_filter_st.FilterIdLow = 0x0000;
    can_filter_st.FilterMaskIdHigh = 0x0000;
    can_filter_st.FilterMaskIdLow = 0x0000;
    can_filter_st.FilterBank = 0;
    can_filter_st.FilterFIFOAssignment = CAN_RX_FIFO0;
    HAL_CAN_ConfigFilter(&hcan1, &can_filter_st);
    HAL_CAN_Start(&hcan1);
    HAL_CAN_ActivateNotification(&hcan1, CAN_IT_RX_FIFO0_MSG_PENDING);


    can_filter_st.SlaveStartFilterBank = 14;
    can_filter_st.FilterBank = 14;
    HAL_CAN_ConfigFilter(&hcan2, &can_filter_st);
    HAL_CAN_Start(&hcan2);
    HAL_CAN_ActivateNotification(&hcan2, CAN_IT_RX_FIFO0_MSG_PENDING);
}

CAN_receive.c
can发送电流值控制电机

/**
  * @brief          send control current of motor (0x201, 0x202, 0x203, 0x204)
  * @param[in]      motor1: (0x201) 3508 motor control current, range [-16384,16384] 
  * @param[in]      motor2: (0x202) 3508 motor control current, range [-16384,16384] 
  * @param[in]      motor3: (0x203) 3508 motor control current, range [-16384,16384] 
  * @param[in]      motor4: (0x204) 3508 motor control current, range [-16384,16384] 
  * @retval         none
  */
/**
  * @brief          发送电机控制电流(0x201,0x202,0x203,0x204)
  * @param[in]      motor1: (0x201) 3508电机控制电流, 范围 [-16384,16384]
  * @param[in]      motor2: (0x202) 3508电机控制电流, 范围 [-16384,16384]
  * @param[in]      motor3: (0x203) 3508电机控制电流, 范围 [-16384,16384]
  * @param[in]      motor4: (0x204) 3508电机控制电流, 范围 [-16384,16384]
  * @retval         none
  */
void CAN_cmd_chassis(int16_t motor1, int16_t motor2, int16_t motor3, int16_t motor4)
{
    uint32_t send_mail_box;
    chassis_tx_message.StdId = CAN_CHASSIS_ALL_ID;
    chassis_tx_message.IDE = CAN_ID_STD;
    chassis_tx_message.RTR = CAN_RTR_DATA;
    chassis_tx_message.DLC = 0x08;
    chassis_can_send_data[0] = motor1 >> 8;
    chassis_can_send_data[1] = motor1;
    chassis_can_send_data[2] = motor2 >> 8;
    chassis_can_send_data[3] = motor2;
    chassis_can_send_data[4] = motor3 >> 8;
    chassis_can_send_data[5] = motor3;
    chassis_can_send_data[6] = motor4 >> 8;
    chassis_can_send_data[7] = motor4;

    HAL_CAN_AddTxMessage(&CHASSIS_CAN, &chassis_tx_message, chassis_can_send_data, &send_mail_box);//hal函数发送
}

主函数

/* USER CODE BEGIN Header */
/**
  ******************************************************************************
  * @file      main.c
  * @brief     这是控制电机转
  * @writer    小瑞  
  ******************************************************************************
  * @attention
  * 这只是简单的控制输出电流大小从而控制电机而已。
  * <h2><center>&copy; Copyright (c) 2021 STMicroelectronics.
  * All rights reserved.</center></h2>
  *
  * This software component is licensed by ST under BSD 3-Clause license,
  * the "License"; You may not use this file except in compliance with the
  * License. You may obtain a copy of the License at:
  *                        opensource.org/licenses/BSD-3-Clause
  *
  ******************************************************************************
  */
/* USER CODE END Header */
/* Includes ------------------------------------------------------------------*/
#include "main.h"
#include "can.h"
#include "gpio.h"

/* Private includes ----------------------------------------------------------*/
/* USER CODE BEGIN Includes */

#include "bsp_can.h"                                                            //来自大疆开源-电机控制
#include "CAN_receive.h"

/* USER CODE END Includes */

/* Private typedef -----------------------------------------------------------*/
/* USER CODE BEGIN PTD */

/* USER CODE END PTD */

/* Private define ------------------------------------------------------------*/
/* USER CODE BEGIN PD */
/* USER CODE END PD */

/* Private macro -------------------------------------------------------------*/
/* USER CODE BEGIN PM */

/* USER CODE END PM */

/* Private variables ---------------------------------------------------------*/

/* USER CODE BEGIN PV */
 int current =0;

/* USER CODE END PV */

/* Private function prototypes -----------------------------------------------*/
void SystemClock_Config(void);
/* USER CODE BEGIN PFP */

/* USER CODE END PFP */

/* Private user code ---------------------------------------------------------*/
/* USER CODE BEGIN 0 */

/* USER CODE END 0 */

/**
  * @brief  The application entry point.
  * @retval int
  */
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_CAN2_Init();
  /* USER CODE BEGIN 2 */
  can_filter_init();                                                      //CAN过滤器初始化

  /* USER CODE END 2 */

  /* Infinite loop */
  /* USER CODE BEGIN WHILE */
  while (1)
  {
    /* USER CODE END WHILE */
     current = 1000;
     CAN_cmd_chassis(current,current,current,current);                   //发送电流值

    /* USER CODE BEGIN 3 */
  }
  /* USER CODE END 3 */
}

/**
  * @brief System Clock Configuration
  * @retval None
  */
void SystemClock_Config(void)                                           //hal时钟初始化
{
  RCC_OscInitTypeDef RCC_OscInitStruct = {0};                           //结构体初始化
  RCC_ClkInitTypeDef RCC_ClkInitStruct = {0};

  /** Configure the main internal regulator output voltage
  */
  __HAL_RCC_PWR_CLK_ENABLE();                                           //使能电源控制时钟
  __HAL_PWR_VOLTAGESCALING_CONFIG(PWR_REGULATOR_VOLTAGE_SCALE1);
  
  
  /**
  设置调压器输出电压级别为1，这个设置来调节输出电压级别，以便在器件未在最大功率工作时保持性能与功耗的平衡
  Initializes the RCC Oscillators according to the specified parameters
  * in the RCC_OscInitTypeDef structure.
  */
  RCC_OscInitStruct.OscillatorType = RCC_OSCILLATORTYPE_HSE;
  RCC_OscInitStruct.HSEState = RCC_HSE_ON;
  RCC_OscInitStruct.PLL.PLLState = RCC_PLL_ON;
  RCC_OscInitStruct.PLL.PLLSource = RCC_PLLSOURCE_HSE;
  RCC_OscInitStruct.PLL.PLLM = 6;
  RCC_OscInitStruct.PLL.PLLN = 168;
  RCC_OscInitStruct.PLL.PLLP = RCC_PLLP_DIV2;
  RCC_OscInitStruct.PLL.PLLQ = 4;
  if (HAL_RCC_OscConfig(&RCC_OscInitStruct) != HAL_OK)
  {
    Error_Handler();
  }
  /** Initializes the CPU, AHB and APB buses 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();
  }
}

/* USER CODE BEGIN 4 */

/* USER CODE END 4 */

/**
  * @brief  This function is executed in case of error occurrence.
  * @retval None
  */


//以下都是调试用自定义函数
void Error_Handler(void) 
{
  /* USER CODE BEGIN Error_Handler_Debug */
  /* User can add his own implementation to report the HAL error return state */
//  __disable_irq();
//  while (1)
//  {
//  }
  /* USER CODE END Error_Handler_Debug */
}


/*-------------------------------------------------------------------------------------------
如果你定义了USE_FULL_ASSERT

就可以在assert_failed，加入：
printf("Wrong parameters value: file %s on line %d\r\n", file, line);
就可以使用assert_param(expr) 来判断当前参数是够正确，如果不正确，就会打印出错的文件，以及出错的行。
这样就可以方面调试信息了。

--------------------------------------------------------------------------------------------*/


#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 /* USE_FULL_ASSERT */



/*---------------------------------每天一个小知识--------------------------------
#空指令，无任何效果
#include包含一个源代码文件
#define定义宏
#undef取消已定义的宏
#if如果给定条件为真，则编译下面代码
#ifdef如果宏已经定义，则编译下面代码
#ifndef如果宏没有定义，则编译下面代码
#elif如果前面的#if给定条件不为真，当前条件为真，则编译下面代码
#endif结束一个#if……#else条件编译块
#error停止编译并显示错误信息
  ----------------------------------------------------------------------------*/
/************************ (C) COPYRIGHT STMicroelectronics *****END OF FILE****/

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RM3508-CAN发送（1）

can_filter_st.FilterActivation = ENABLE; //satori:激活滤波器 can_filter_st.FilterMode = CAN_FILTERMODE_IDMASK; //satori：采用掩码模式 can_filter_st.FilterScale = CAN_FILTERSCALE_32BIT; //satori:设置32位宽 can_filter_st.FilterIdHigh = 0x0000; ...
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