[原创] 【 ST NUCLEO-H743ZI测评】+ 5、CAN通信收发测试

TL-LED 2020-6-1 11:24 楼主

使用Ardunio扩展板上的SPI-CAN电路来实现CAN通信。STM32H743本身自带CAN通信，板子没有CAN收发芯片，使用扩展板来实现CAN通信功能。

一、硬件电路

1.1、STM32H743电路图部分

使用SPI1的PA5,PA6,PA7实现SPI通信。

1.2、Ardunio扩展板CAN部分电路

1.3、整体硬件连接

二、程序部分

2.1、mcp2515.c

#include "config.h"

void SPI0_WRITE(uchar dat)
{
	SPI1_ReadWriteByte(dat);
}

void MCP2515_Reset(void)
{
	can_cs_l();
	SPI0_WRITE(CAN_RESET);
	can_cs_h();
}

void MCP2515_BitModity(uchar addr, uchar msk, uchar dat)
{
   can_cs_l();	
	 SPI0_WRITE(CAN_BIT_MODIFY);      
	 SPI0_WRITE(addr);							 
	 SPI0_WRITE(msk);								 
	 SPI0_WRITE(dat);							 
	 can_cs_h();
	 return;
}

void SPI0_WriteByte(uchar adr,uchar dat)
{
	can_cs_l();
	SPI0_WRITE(CAN_WRITE);
	SPI0_WRITE(adr);
	SPI0_WRITE(dat);
	can_cs_h();
}

void CAN_Send(uchar *CAN_TX_Buf)
{
	MCP2515_BitModity(TXB0CTRL,0x08,0x00);   
	SPI0_WriteByte(TXB0SIDH,0x55); 
	SPI0_WriteByte(TXB0SIDL,0x08); 
	SPI0_WriteByte(TXB0EID8,0x55); 
	SPI0_WriteByte(TXB0EID0,0x88);

	SPI0_WriteByte(TXB0DLC,DLC_8);	 
	SPI0_WriteByte(TXB0D0,CAN_TX_Buf[0]);	  
	SPI0_WriteByte(TXB0D1,CAN_TX_Buf[1]);
	SPI0_WriteByte(TXB0D2,CAN_TX_Buf[2]);
	SPI0_WriteByte(TXB0D3,CAN_TX_Buf[3]);
	SPI0_WriteByte(TXB0D4,CAN_TX_Buf[4]);
	SPI0_WriteByte(TXB0D5,CAN_TX_Buf[5]);
	SPI0_WriteByte(TXB0D6,CAN_TX_Buf[6]);
	SPI0_WriteByte(TXB0D7,CAN_TX_Buf[7]);
	can_cs_l();
	SPI0_WRITE(CAN_RTS | 0x01);		
	can_cs_h();
}

void Init_mcp2515(void)
{
	uint16_t i;
	
	MCP2515_Reset();
	
	MCP2515_BitModity(CANCTRL,0xE0,0x80);
	SPI0_WriteByte(CNF1,0x04);	 //100k
	SPI0_WriteByte(CNF2,0x80|PHSEG1_3TQ|PRSEG_1TQ);  		
	SPI0_WriteByte(CNF3,PHSEG2_3TQ);	 									
 	SPI0_WriteByte(CANINTF,0x00);									
 	SPI0_WriteByte(CANINTE,0x03);	
	
	SPI0_WriteByte(RXB0CTRL,0x60);		  						
	//SPI0_WriteByte(RXB1CTRL,0x40);	    						

	SPI0_WriteByte(RXM0SIDH,0xff);
	SPI0_WriteByte(RXM0SIDL,0xff);
	SPI0_WriteByte(RXM0EID8,0xff);
	SPI0_WriteByte(RXM0EID0,0xff);
	
//	SPI0_WriteByte(RXM1SIDH,0xff);
//	SPI0_WriteByte(RXM1SIDL,0xff);
//	SPI0_WriteByte(RXM1EID8,0xff);
//	SPI0_WriteByte(RXM1EID0,0xff);

	SPI0_WriteByte( BFPCTRL, 0 ); 							
	SPI0_WriteByte( TXRTSCTRL, 0 );	
					
	MCP2515_BitModity(CANCTRL,0xE0,0x00);
}



uchar SPI0_ReadByte(uchar adr)
{
	uchar rxdat;

	can_cs_l();
	SPI0_WRITE(CAN_READ); 	//???
	SPI0_WRITE(adr);		//???
	//rxdat=SPI0_READ();
	rxdat=SPI1_ReadWriteByte(0x00);
	can_cs_h();
	return rxdat;
}

void CAN_RecRXB(uchar *CAN_RX_Buf)
{
		CAN_RX_Buf[0]=SPI0_ReadByte(RXB0D0);	 	
		CAN_RX_Buf[1]=SPI0_ReadByte(RXB0D1);	 	
		CAN_RX_Buf[2]=SPI0_ReadByte(RXB0D2);
		CAN_RX_Buf[3]=SPI0_ReadByte(RXB0D3);
		CAN_RX_Buf[4]=SPI0_ReadByte(RXB0D4);
		CAN_RX_Buf[5]=SPI0_ReadByte(RXB0D5);
		CAN_RX_Buf[6]=SPI0_ReadByte(RXB0D6);
		CAN_RX_Buf[7]=SPI0_ReadByte(RXB0D7);	 		
		CAN_RX_Buf[8]=SPI0_ReadByte(RXB0SIDH);
		CAN_RX_Buf[9]=SPI0_ReadByte(RXB0SIDL);
		CAN_RX_Buf[10]=SPI0_ReadByte(RXB0EID8);
		CAN_RX_Buf[11]=SPI0_ReadByte(RXB0EID0);
		CAN_RX_Buf[12]=SPI0_ReadByte(RXB0DLC);
		SPI0_WriteByte(CANINTF,0);							 
}

void clearcanintf(void)
{
	SPI0_WriteByte(CANINTF,0);	
}

2.2、main.c

#include "config.h"

int main(void)
{
	uint8_t txdat[100]="www.eeworld.com.cn-stm32h743 usart test\r\n";
	uint8_t rxdat[100];
	uint8_t can_tx_buf[8];
	uint8_t i=0;
	uint8_t js=0;
	uint8_t jsdat=0;
	uint8_t t;
	uint8_t str[6]={'0','0','0','.','0','m'};
    CPU_CACHE_Enable();
    HAL_Init();
    SystemClock_Config();
	LED_Init();
    EXTI_Init();
	spi_init();
	KEY_Init();
	UART_Init();
	BUS_Init();
	Init_lcd();
	Init_mcp2515();
  while (1)
  {
		if(rx_flag==1)
		{
			rx_flag=0;
			CAN_RecRXB(can_rx_buf);
			CAN_Send(can_rx_buf);
			HAL_UART_Transmit(&UartHandle, can_rx_buf, 8, 100);
		}
  }
}

2.3、程序源码