[STM32F1] STM32F107芯片 RT-Thread 系统下CAN通信例程的配置和调试

void HAL_CAN_MspInit(CAN_HandleTypeDef* canhandle)

{

  GPIO_InitTypeDef GPIO_InitStruct = {0};

  if(canhandle->Instance==CAN1)

  {

    __HAL_RCC_CAN1_CLK_ENABLE();



    __HAL_RCC_GPIOD_CLK_ENABLE();

    //CAN1 GPIO Configuration

    //PD1     ------> CAN1_TX

    //PD0     ------> CAN1_RX

    GPIO_InitStruct.Pin = GPIO_PIN_0;

    GPIO_InitStruct.Mode = GPIO_MODE_INPUT;

    GPIO_InitStruct.Pull = GPIO_NOPULL;

    HAL_GPIO_Init(GPIOD, &GPIO_InitStruct);



    GPIO_InitStruct.Pin = GPIO_PIN_1;

    GPIO_InitStruct.Mode = GPIO_MODE_AF_PP;

    GPIO_InitStruct.Pull = GPIO_NOPULL;

    GPIO_InitStruct.Speed = GPIO_SPEED_FREQ_HIGH;

    HAL_GPIO_Init(GPIOD, &GPIO_InitStruct);

    __HAL_AFIO_REMAP_CAN1_3();

  }

}

#include <rtthread.h>

#include "rtdevice.h"



#define CAN_DEV_NAME       "can1"      /* CAN 设备名称 */



static struct rt_semaphore rx_sem;     /* 用于接收消息的信号量 */

static rt_device_t can_dev;            /* CAN 设备句柄 */



/* 接收数据回调函数 */

static rt_err_t can_rx_call(rt_device_t dev, rt_size_t size)

{

    /* CAN 接收到数据后产生中断，调用此回调函数，然后发送接收信号量 */

    rt_sem_release(&rx_sem);



    return RT_EOK;

}



static void can_rx_thread(void *parameter)

{

    int i;

    rt_err_t res;

    struct rt_can_msg rxmsg = {0};



    /* 设置接收回调函数 */

    rt_device_set_rx_indicate(can_dev, can_rx_call);





#if 0

    struct rt_can_filter_item items[5] =

    {

        RT_CAN_FILTER_ITEM_INIT(0x100, 0, 0, 1, 0x700, RT_NULL, RT_NULL), /* std,match ID:0x100~0x1ff，hdr 为 - 1，设置默认过滤表 */

        RT_CAN_FILTER_ITEM_INIT(0x300, 0, 0, 1, 0x700, RT_NULL, RT_NULL), /* std,match ID:0x300~0x3ff，hdr 为 - 1 */

        RT_CAN_FILTER_ITEM_INIT(0x211, 0, 0, 1, 0x7ff, RT_NULL, RT_NULL), /* std,match ID:0x211，hdr 为 - 1 */

        RT_CAN_FILTER_STD_INIT(0x486, RT_NULL, RT_NULL),                  /* std,match ID:0x486，hdr 为 - 1 */

        {0x555, 0, 0, 1, 0x7ff, 7,}                                       /* std,match ID:0x555，hdr 为 7，指定设置 7 号过滤表 */

    };

    struct rt_can_filter_config cfg = {5, 1, items}; /* 一共有 5 个过滤表 */

    /* 设置硬件过滤表 */

    res = rt_device_control(can_dev, RT_CAN_CMD_SET_FILTER, &cfg);

    RT_ASSERT(res == RT_EOK);

#endif



    while (1)

    {

        /* hdr 值为 - 1，表示直接从 uselist 链表读取数据 */

        rxmsg.hdr = -1;

        /* 阻塞等待接收信号量 */

        rt_sem_take(&rx_sem, RT_WAITING_FOREVER);

        /* 从 CAN 读取一帧数据 */

        rt_device_read(can_dev, 0, &rxmsg, sizeof(rxmsg));

        /* 打印数据 ID 及内容 */

        rt_kprintf("ID:%x", rxmsg.id);

        for (i = 0; i < 8; i++)

        {

            rt_kprintf("%2x", rxmsg.data[i]);

        }



        rt_kprintf("\n");

    }

}



int can_sample(int argc, char *argv[])

{

    struct rt_can_msg msg = {0};

    rt_err_t res;

    rt_size_t  size;

    rt_thread_t thread;

    char can_name[RT_NAME_MAX];



    if (argc == 2)

    {

        rt_strncpy(can_name, argv[1], RT_NAME_MAX);

    }

    else

    {

        rt_strncpy(can_name, CAN_DEV_NAME, RT_NAME_MAX);

    }

    /* 查找 CAN 设备 */

    can_dev = rt_device_find(can_name);

    if (!can_dev)

    {

        rt_kprintf("find %s failed!\n", can_name);

        return RT_ERROR;

    }



    /* 初始化 CAN 接收信号量 */

    rt_sem_init(&rx_sem, "rx_sem", 0, RT_IPC_FLAG_FIFO);



    /* 以中断接收及发送方式打开 CAN 设备 */

    res = rt_device_open(can_dev, RT_DEVICE_FLAG_INT_TX | RT_DEVICE_FLAG_INT_RX);

    RT_ASSERT(res == RT_EOK);

    /* 创建数据接收线程 */

    thread = rt_thread_create("can_rx", can_rx_thread, RT_NULL, 1024, 25, 10);

    if (thread != RT_NULL)

    {

        rt_thread_startup(thread);

    }

    else

    {

        rt_kprintf("create can_rx thread failed!\n");

    }



    msg.id = 0x78;              /* ID 为 0x78 */

    msg.ide = RT_CAN_STDID;     /* 标准格式 */

    msg.rtr = RT_CAN_DTR;       /* 数据帧 */

    msg.len = 8;                /* 数据长度为 8 */

    /* 待发送的 8 字节数据 */

    msg.data[0] = 0x00;

    msg.data[1] = 0x11;

    msg.data[2] = 0x22;

    msg.data[3] = 0x33;

    msg.data[4] = 0x44;

    msg.data[5] = 0x55;

    msg.data[6] = 0x66;

    msg.data[7] = 0x77;

    /* 发送一帧 CAN 数据 */

    size = rt_device_write(can_dev, 0, &msg, sizeof(msg));

    if (size == 0)

    {

        rt_kprintf("can dev write data failed!\n");

    }



    return res;

}



void can_send_test(void)

{

    struct rt_can_msg msg = {0};

    rt_size_t  size;

    static rt_uint8_t num = 0;



    msg.id = 0x78;              /* ID 为 0x78 */

    msg.ide = RT_CAN_STDID;     /* 标准格式 */

    msg.rtr = RT_CAN_DTR;       /* 数据帧 */

    msg.len = 8;                /* 数据长度为 8 */



    /* 待发送的 8 字节数据 */

    msg.data[0] = 0x00;

    msg.data[1] = num++;

    msg.data[2] = 0x22;

    msg.data[3] = 0x33;

    msg.data[4] = num++;

    msg.data[5] = 0x55;

    msg.data[6] = 0x66;

    msg.data[7] = 0x77;

    /* 发送一帧 CAN 数据 */

    size = rt_device_write(can_dev, 0, &msg, sizeof(msg));

    if (size == 0)

    {

        rt_kprintf("can dev write data failed!\n");

    }

}



/* 导出到 msh 命令列表中 */

MSH_CMD_EXPORT(can_sample, can device sample);

MSH_CMD_EXPORT(can_send_test, can send test);