Cześć, Od dwóch dni staram się uporać z komunikacją dwóch mikro-kontrolerów ze sobą przez magistralę CAN.
Wykorzystuję do tego płytki Nucleo F303RE, na razie bez transcrivera, jednak połączone są ze sobą RX->TX i TX->RX (tylko 2 płytki więc nie powinno być problemu).
Tu poniżej kod dla 1 i 2 płytki (różnią się tylko wnętrzem pętli While, raz za komentowana jedna część raz druga)
Jeśli można prosić o jakąś wskazówkę co robię nie tak.
Kod jak widać tworzony przez CubeMX
/**
******************************************************************************
* File Name : main.c
* Description : Main program body
******************************************************************************
*
* COPYRIGHT(c) 2016 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 "stm32f3xx_hal.h"
/* USER CODE BEGIN Includes */
/* USER CODE END Includes */
/* Private variables ---------------------------------------------------------*/
CAN_HandleTypeDef hcan;
/* USER CODE BEGIN PV */
/* Private variables ---------------------------------------------------------*/
CanRxMsgTypeDef Rxcan;
CanTxMsgTypeDef Txcan;
/* USER CODE END PV */
/* Private function prototypes -----------------------------------------------*/
void SystemClock_Config(void);
static void MX_GPIO_Init(void);
static void MX_CAN_Init(void);
static void dane0(void);
static void dane1(void);
static void odbior(void);
/* USER CODE BEGIN PFP */
/* Private function prototypes -----------------------------------------------*/
/* USER CODE END PFP */
/* USER CODE BEGIN 0 */
int abc;
/* 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();
/* Configure the system clock */
SystemClock_Config();
/* Initialize all configured peripherals */
MX_GPIO_Init();
MX_CAN_Init();
/* USER CODE BEGIN 2 */
__CAN_CLK_ENABLE ();
__GPIOD_CLK_ENABLE ();
/* USER CODE END 2 */
/* Infinite loop */
/* USER CODE BEGIN WHILE */
while (1)
{
/* USER CODE END WHILE */
/* USER CODE BEGIN 3 */
odbior();
abc=CAN_RDL0R_DATA0;
if(abc==0b11011111)
{
HAL_GPIO_TogglePin(ULN25_GPIO_Port,ULN25_Pin);
}
/*
dane0();
HAL_GPIO_TogglePin(ULN25_GPIO_Port,ULN25_Pin);
HAL_Delay(200);
dane1();
HAL_GPIO_TogglePin(ULN25_GPIO_Port,ULN25_Pin);
HAL_Delay(500);
*/
}
/* USER CODE END 3 */
}
/** System Clock Configuration
*/
void SystemClock_Config(void)
{
RCC_OscInitTypeDef RCC_OscInitStruct;
RCC_ClkInitTypeDef RCC_ClkInitStruct;
RCC_OscInitStruct.OscillatorType = RCC_OSCILLATORTYPE_HSI;
RCC_OscInitStruct.HSIState = RCC_HSI_ON;
RCC_OscInitStruct.HSICalibrationValue = 16;
RCC_OscInitStruct.PLL.PLLState = RCC_PLL_NONE;
HAL_RCC_OscConfig(&RCC_OscInitStruct);
RCC_ClkInitStruct.ClockType = RCC_CLOCKTYPE_HCLK|RCC_CLOCKTYPE_SYSCLK
|RCC_CLOCKTYPE_PCLK1|RCC_CLOCKTYPE_PCLK2;
RCC_ClkInitStruct.SYSCLKSource = RCC_SYSCLKSOURCE_HSI;
RCC_ClkInitStruct.AHBCLKDivider = RCC_SYSCLK_DIV1;
RCC_ClkInitStruct.APB1CLKDivider = RCC_HCLK_DIV1;
RCC_ClkInitStruct.APB2CLKDivider = RCC_HCLK_DIV1;
HAL_RCC_ClockConfig(&RCC_ClkInitStruct, FLASH_LATENCY_0);
HAL_SYSTICK_Config(HAL_RCC_GetHCLKFreq()/1000);
HAL_SYSTICK_CLKSourceConfig(SYSTICK_CLKSOURCE_HCLK);
/* SysTick_IRQn interrupt configuration */
HAL_NVIC_SetPriority(SysTick_IRQn, 0, 0);
}
/* CAN init function */
void MX_CAN_Init(void)
{
hcan.Instance = CAN;
hcan.Init.Prescaler = 16;
hcan.Init.Mode = CAN_MODE_NORMAL;
hcan.Init.SJW = CAN_SJW_1TQ;
hcan.Init.BS1 = CAN_BS1_1TQ;
hcan.Init.BS2 = CAN_BS2_1TQ;
hcan.Init.TTCM = DISABLE;
hcan.Init.ABOM = DISABLE;
hcan.Init.AWUM = DISABLE;
hcan.Init.NART = DISABLE;
hcan.Init.RFLM = DISABLE;
hcan.Init.TXFP = DISABLE;
HAL_CAN_Init(&hcan);
}
/** Configure pins as
* Analog
* Input
* Output
* EVENT_OUT
* EXTI
*/
void MX_GPIO_Init(void)
{
GPIO_InitTypeDef GPIO_InitStruct;
/* GPIO Ports Clock Enable */
__HAL_RCC_GPIOA_CLK_ENABLE();
__HAL_RCC_GPIOB_CLK_ENABLE();
__HAL_RCC_GPIOC_CLK_ENABLE();
/*Configure GPIO pin Output Level */
HAL_GPIO_WritePin(GPIOA, S_STOP_Pin|ULN25_Pin|ULN24_Pin|ULN23_Pin
|ULN17_Pin|ULN18_Pin|S_POZ_Pin, GPIO_PIN_RESET);
/*Configure GPIO pin Output Level */
HAL_GPIO_WritePin(GPIOB, ULN16_Pin|S_ML_Pin|ULN15_Pin|S_MP_Pin
|ULN22_Pin|ULN27_Pin|ULN26_Pin, GPIO_PIN_RESET);
/*Configure GPIO pin Output Level */
HAL_GPIO_WritePin(GPIOC, ULN21_Pin|ULN28_Pin|P_SYR_Pin|P_KOG_Pin, GPIO_PIN_RESET);
/*Configure GPIO pins : S_STOP_Pin ULN25_Pin ULN24_Pin ULN23_Pin
ULN17_Pin ULN18_Pin S_POZ_Pin */
GPIO_InitStruct.Pin = S_STOP_Pin|ULN25_Pin|ULN24_Pin|ULN23_Pin
|ULN17_Pin|ULN18_Pin|S_POZ_Pin;
GPIO_InitStruct.Mode = GPIO_MODE_OUTPUT_PP;
GPIO_InitStruct.Pull = GPIO_NOPULL;
GPIO_InitStruct.Speed = GPIO_SPEED_FREQ_LOW;
HAL_GPIO_Init(GPIOA, &GPIO_InitStruct);
/*Configure GPIO pins : ULN16_Pin S_ML_Pin ULN15_Pin S_MP_Pin
ULN22_Pin ULN27_Pin ULN26_Pin */
GPIO_InitStruct.Pin = ULN16_Pin|S_ML_Pin|ULN15_Pin|S_MP_Pin
|ULN22_Pin|ULN27_Pin|ULN26_Pin;
GPIO_InitStruct.Mode = GPIO_MODE_OUTPUT_PP;
GPIO_InitStruct.Pull = GPIO_NOPULL;
GPIO_InitStruct.Speed = GPIO_SPEED_FREQ_LOW;
HAL_GPIO_Init(GPIOB, &GPIO_InitStruct);
/*Configure GPIO pins : ULN21_Pin ULN28_Pin P_SYR_Pin P_KOG_Pin */
GPIO_InitStruct.Pin = ULN21_Pin|ULN28_Pin|P_SYR_Pin|P_KOG_Pin;
GPIO_InitStruct.Mode = GPIO_MODE_OUTPUT_PP;
GPIO_InitStruct.Pull = GPIO_NOPULL;
GPIO_InitStruct.Speed = GPIO_SPEED_FREQ_LOW;
HAL_GPIO_Init(GPIOC, &GPIO_InitStruct);
}
/* USER CODE BEGIN 4 */
void odbior(void)
{
Rxcan.IDE = CAN_ID_STD;
Rxcan.StdId = 100;
Rxcan.RTR = CAN_RTR_DATA;
Rxcan.DLC = 8;
Rxcan.FIFONumber = CAN_FIFO0;
hcan.pRxMsg = &Rxcan;
HAL_CAN_Receive(&hcan,0,1000);
}
void dane1(void)
{
Txcan.IDE = CAN_ID_STD;
Txcan.StdId = 100;
Txcan.RTR = CAN_RTR_DATA;
Txcan.DLC = 8;
Txcan.Data [0] = 0b11011111;
hcan.pTxMsg = &Txcan;
HAL_CAN_Transmit(&hcan,100);
}
void dane0(void)
{
Txcan.IDE = CAN_ID_STD;
Txcan.StdId = 100;
Txcan.RTR = CAN_RTR_DATA;
Txcan.DLC = 8;
Txcan.Data [0] = 0b00000000;
hcan.pTxMsg = &Txcan;
HAL_CAN_Transmit(&hcan,100);
}
/* USER CODE END 4 */
#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****/
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