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RT-Thread基于AT32单片机的CAN应用_at32 workbench

作者：空白诗007 | 2024-06-25 08:18:24

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at32 workbench

1 硬件电路

2 RT-Thread驱动配置

RT-Studio中没有CAN相关的图形配置，需要手动修改board.h。在board.h的末尾，增加相关的BSP配置。

  1. #define RT_CAN_USING_HDR
  2. #define BSP_USING_CAN1

3 IO配置

at32_msp.c中的IO配置是PB9和PB10，掌上实验室V9实际采用的是PD0和PD1，需要修改CAN1相关的IO配置代码。

IO配置代码可以采用AT32_workbench生成，如下图所示。

at32a403a_wk_config.c中找到相关代码，修改RT-Studio中的at32_msp.c的相关代码，如下所示：

  1. void at32_msp_can_init(void *instance)
  2. {
  3. #if defined (BSP_USING_CAN1) || defined (BSP_USING_CAN2)
  4.     gpio_init_type gpio_init_struct;
  5.     can_type *can_x = (can_type *)instance;
  6.  
  7.     gpio_default_para_init(&gpio_init_struct);
  8.     gpio_init_struct.gpio_drive_strength = GPIO_DRIVE_STRENGTH_STRONGER;
  9. #ifdef BSP_USING_CAN1
  10.     if(CAN1 == can_x)
  11.     {
  12.         crm_periph_clock_enable(CRM_CAN1_PERIPH_CLOCK, TRUE);
  13. //        crm_periph_clock_enable(CRM_GPIOB_PERIPH_CLOCK, TRUE);
  14. //        crm_periph_clock_enable(CRM_IOMUX_PERIPH_CLOCK, TRUE);
  15. //
  16. //        gpio_init_struct.gpio_mode = GPIO_MODE_MUX;
  17. //        gpio_init_struct.gpio_out_type = GPIO_OUTPUT_PUSH_PULL;
  18. //        gpio_init_struct.gpio_pull = GPIO_PULL_NONE;
  19. //        gpio_init_struct.gpio_pins = GPIO_PINS_9;
  20. //        gpio_init(GPIOB, &gpio_init_struct);
  21. //        gpio_pin_remap_config(CAN1_GMUX_0010, TRUE);
  22. //
  23. //        gpio_init_struct.gpio_mode = GPIO_MODE_INPUT;
  24. //        gpio_init_struct.gpio_pull = GPIO_PULL_NONE;
  25. //        gpio_init_struct.gpio_pins = GPIO_PINS_8;
  26. //        gpio_init(GPIOB, &gpio_init_struct);
  27.  
  28.         crm_periph_clock_enable(CRM_GPIOD_PERIPH_CLOCK, TRUE);
  29.         /* configure the CAN1 TX pin */
  30.         gpio_init_struct.gpio_drive_strength = GPIO_DRIVE_STRENGTH_MODERATE;
  31.         gpio_init_struct.gpio_out_type = GPIO_OUTPUT_PUSH_PULL;
  32.         gpio_init_struct.gpio_mode = GPIO_MODE_MUX;
  33.         gpio_init_struct.gpio_pins = GPIO_PINS_1;
  34.         gpio_init_struct.gpio_pull = GPIO_PULL_NONE;
  35.         gpio_init(GPIOD, &gpio_init_struct);
  36.  
  37.         /* configure the CAN1 RX pin */
  38.         gpio_init_struct.gpio_drive_strength = GPIO_DRIVE_STRENGTH_STRONGER;
  39.         gpio_init_struct.gpio_out_type = GPIO_OUTPUT_PUSH_PULL;
  40.         gpio_init_struct.gpio_mode = GPIO_MODE_INPUT;
  41.         gpio_init_struct.gpio_pins = GPIO_PINS_0;
  42.         gpio_init_struct.gpio_pull = GPIO_PULL_NONE;
  43.         gpio_init(GPIOD, &gpio_init_struct);
  44.  
  45.         /* GPIO PIN remap */
  46.         gpio_pin_remap_config(CAN1_GMUX_0011, TRUE);
  47.  
  48.     }
  49. #endif
  50. #ifdef BSP_USING_CAN2
  51.     if(CAN2 == can_x)
  52.     {
  53.         crm_periph_clock_enable(CRM_CAN2_PERIPH_CLOCK, TRUE);
  54.         crm_periph_clock_enable(CRM_GPIOB_PERIPH_CLOCK, TRUE);
  55.         crm_periph_clock_enable(CRM_IOMUX_PERIPH_CLOCK, TRUE);
  56.  
  57.         gpio_init_struct.gpio_mode = GPIO_MODE_MUX;
  58.         gpio_init_struct.gpio_out_type = GPIO_OUTPUT_PUSH_PULL;
  59.         gpio_init_struct.gpio_pull = GPIO_PULL_NONE;
  60.         gpio_init_struct.gpio_pins = GPIO_PINS_6;
  61.         gpio_init(GPIOB, &gpio_init_struct);
  62.         gpio_pin_remap_config(CAN2_GMUX_0001, TRUE);
  63.  
  64.         gpio_init_struct.gpio_mode = GPIO_MODE_INPUT;
  65.         gpio_init_struct.gpio_pull = GPIO_PULL_NONE;
  66.         gpio_init_struct.gpio_pins = GPIO_PINS_5;
  67.         gpio_init(GPIOB, &gpio_init_struct);
  68.     }
  69. #endif
  70. #endif
  71. }
  72.  
  73. void at32_msp_emac_init(void *instance)
  74. {
  75. #if defined (BSP_USING_EMAC)
  76.     gpio_init_type gpio_init_struct;
  77.  
  78.     crm_periph_clock_enable(CRM_GPIOA_PERIPH_CLOCK, TRUE);
  79.     crm_periph_clock_enable(CRM_GPIOB_PERIPH_CLOCK, TRUE);
  80.     crm_periph_clock_enable(CRM_GPIOC_PERIPH_CLOCK, TRUE);
  81.     crm_periph_clock_enable(CRM_GPIOD_PERIPH_CLOCK, TRUE);
  82.     crm_periph_clock_enable(CRM_IOMUX_PERIPH_CLOCK, TRUE);
  83.  
  84.     gpio_pin_remap_config(EMAC_MUX, TRUE);
  85.  
  86.     gpio_default_para_init(&gpio_init_struct);
  87.     gpio_init_struct.gpio_drive_strength = GPIO_DRIVE_STRENGTH_STRONGER;
  88.     gpio_init_struct.gpio_mode = GPIO_MODE_MUX;
  89.     gpio_init_struct.gpio_out_type = GPIO_OUTPUT_PUSH_PULL;
  90.     gpio_init_struct.gpio_pull = GPIO_PULL_NONE;
  91.     gpio_init_struct.gpio_pins = GPIO_PINS_2;
  92.     gpio_init(GPIOA, &gpio_init_struct);
  93.  
  94.     gpio_init_struct.gpio_pins = GPIO_PINS_11 | GPIO_PINS_12 | GPIO_PINS_13;
  95.     gpio_init(GPIOB, &gpio_init_struct);
  96.  
  97.     gpio_init_struct.gpio_pins = GPIO_PINS_1;
  98.     gpio_init(GPIOC, &gpio_init_struct);
  99.  
  100.     gpio_init_struct.gpio_mode = GPIO_MODE_INPUT;
  101.     gpio_init_struct.gpio_pull = GPIO_PULL_NONE;
  102.     gpio_init_struct.gpio_pins = GPIO_PINS_1;
  103.     gpio_init(GPIOA, &gpio_init_struct);
  104.  
  105.     gpio_init_struct.gpio_mode = GPIO_MODE_INPUT;
  106.     gpio_init_struct.gpio_pull = GPIO_PULL_NONE;
  107.     gpio_init_struct.gpio_pins = GPIO_PINS_8 | GPIO_PINS_9 | GPIO_PINS_10;
  108.     gpio_init(GPIOD, &gpio_init_struct);
  109. #endif
  110. }

4 时钟配置

drv_can.c中给出了can的bitrate配置代码，如下所示：

  1. #ifdef SOC_SERIES_AT32F403A
  2. /* attention !!! baud calculation example: apbclk / ((ss + bs1 + bs2) * brp), ep: 120 / ((1 + 8 + 3) * 10) = 1MHz*/
  3. /* attention !!! default apbclk 120 mhz */
  4. static const struct at32_baud_rate can_baud_rate_tab[] =
  5. {
  6.     {CAN1MBaud,   {10 , CAN_RSAW_3TQ, CAN_BTS1_8TQ,  CAN_BTS2_3TQ}},
  7.     {CAN800kBaud, {15 , CAN_RSAW_2TQ, CAN_BTS1_7TQ,  CAN_BTS2_2TQ}},
  8.     {CAN500kBaud, {20 , CAN_RSAW_2TQ, CAN_BTS1_9TQ,  CAN_BTS2_2TQ}},
  9.     {CAN250kBaud, {40 , CAN_RSAW_2TQ, CAN_BTS1_9TQ,  CAN_BTS2_2TQ}},
  10.     {CAN125kBaud, {80 , CAN_RSAW_2TQ, CAN_BTS1_9TQ,  CAN_BTS2_2TQ}},
  11.     {CAN100kBaud, {75 , CAN_RSAW_2TQ, CAN_BTS1_13TQ, CAN_BTS2_2TQ}},
  12.     {CAN50kBaud,  {150, CAN_RSAW_2TQ, CAN_BTS1_13TQ, CAN_BTS2_2TQ}},
  13.     {CAN20kBaud,  {375, CAN_RSAW_2TQ, CAN_BTS1_13TQ, CAN_BTS2_2TQ}},
  14.     {CAN10kBaud,  {750, CAN_RSAW_2TQ, CAN_BTS1_13TQ, CAN_BTS2_2TQ}}
  15. };

这里要特别注意的是，所有计算是基于apbclk=120MHz。要确认RT-Studio生成的代码的时钟正确，否则需重新配置时钟或修改at32_baud_rate can_baud_rate_tab表格内容。

5 RT-Thread应用示例

  1. #include <rtthread.h>
  2. #include "rtdevice.h"
  3.  
  4. #ifdef RT_USING_CAN
  5.  
  6. #define CAN_DEV_NAME       "can1"      /* CAN 设备名称 */
  7.  
  8. static struct rt_semaphore rx_sem;     /* 用于接收消息的信号量 */
  9. static rt_device_t can_dev;            /* CAN 设备句柄 */
  10.  
  11. #define THREAD_PRIORITY         25
  12. #define THREAD_STACK_SIZE       512
  13. #define THREAD_TIMESLICE        5
  14.  
  15. static rt_thread_t tid1 = RT_NULL;
  16. static volatile int running = 0;
  17.  
  18. static int data_buf[10];
  19. static uint32_t data_cnt = 0;
  20.  
  21. rt_err_t lp40_recv(uint16_t id, uint8_t *msg)
  22. {
  23.     if(crc_high_first(msg,6)){
  24.     }
  25.     return RT_EOK;
  26.  
  27. }
  28.  
  29.  
  30. /* 接收数据回调函数 */
  31. static rt_err_t can_rx_call(rt_device_t dev, rt_size_t size) {
  32.     /* 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 */
  33.     rt_sem_release(&rx_sem);
  34.  
  35.     return RT_EOK;
  36. }
  37.  
  38. static void can_rx_thread(void *parameter) {
  39.     int i;
  40.     //rt_err_t res;
  41.     struct rt_can_msg rxmsg = {0};
  42.  
  43.     /* 设置接收回调函数 */
  44.     rt_device_set_rx_indicate(can_dev, can_rx_call);
  45.  
  46. #ifdef RT_CAN_USING_HDR
  47.     struct rt_can_filter_item items[5] = {
  48.         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 */
  49.         RT_CAN_FILTER_ITEM_INIT(0x300, 0, 0, 1, 0x700, RT_NULL, RT_NULL), /* std,match ID:0x300~0x3ff，hdr 为 - 1 */
  50.         RT_CAN_FILTER_ITEM_INIT(0x211, 0, 0, 1, 0x7ff, RT_NULL, RT_NULL), /* std,match ID:0x211，hdr 为 - 1 */
  51.         RT_CAN_FILTER_STD_INIT(0x486, RT_NULL, RT_NULL),                  /* std,match ID:0x486，hdr 为 - 1 */
  52.         {0x555, 0, 0, 1, 0x7ff, 7,}                                       /* std,match ID:0x555，hdr 为 7，指定设置 7 号过滤表 */
  53.     };
  54.     struct rt_can_filter_config cfg = {5, 1, items}; /* 一共有 5 个过滤表 */
  55.     /* 设置硬件过滤表 */
  56.     res = rt_device_control(can_dev, RT_CAN_CMD_SET_FILTER, &cfg);
  57.     RT_ASSERT(res == RT_EOK);
  58. #endif
  59.     int rx_count = 0;
  60.  
  61.     while (running) {
  62.         /* hdr 值为 - 1，表示直接从 uselist 链表读取数据 */
  63.         rxmsg.hdr_index = -1;
  64.         /* 阻塞等待接收信号量 */
  65.         if(rt_sem_take(&rx_sem, RT_WAITING_FOREVER)==RT_EOK){
  66.             /* 从 CAN 读取一帧数据 */
  67.             rt_device_read(can_dev, 0, &rxmsg, sizeof(rxmsg));
  68.             /* 打印数据 ID 及内容 */
  69.             rt_kprintf("recv %ld : id = %d, ide=%d :", ++rx_count, rxmsg.id, rxmsg.ide);
  70.             for (i = 0; i < rxmsg.len; i++) {
  71.                 rt_kprintf(" %02x", rxmsg.data[i]);
  72.             }
  73.             rt_kprintf("\n");
  74.  
  75.  
  76.         }
  77.     }
  78. }
  79.  
  80. /* 线程 1 的入口函数 */
  81. static void thread1_entry(void *parameter) {
  82.     struct rt_can_msg msg = {0};
  83.     int count = 0;
  84.  
  85.     msg.id = 0x123;              /* ID 为 0x78 */
  86.     msg.ide = RT_CAN_STDID;     /* 标准格式 */
  87.     //msg.ide = RT_CAN_EXTID;     /* 标准格式 */
  88.     msg.rtr = RT_CAN_DTR;       /* 数据帧 */
  89.     msg.len = 8;                /* 数据长度为 8 */
  90.     /* 待发送的 8 字节数据 */
  91.     msg.data[0] = 0x00;
  92.     msg.data[1] = 0x11;
  93.     msg.data[2] = 0x22;
  94.     msg.data[3] = 0x33;
  95.     msg.data[4] = 0x44;
  96.     msg.data[5] = 0x55;
  97.     msg.data[6] = 0x66;
  98.     msg.data[7] = 0x77;
  99.  
  100.  
  101.     while(running) {
  102.         /* 线程 1 采用低优先级运行，一直打印计数值 */
  103.         rt_kprintf("send %d : id = %d, ide=%d :", ++count, msg.id, msg.ide);
  104.         for(int i=0;i<msg.len;i++)
  105.             rt_kprintf(" %02x", msg.data[i]);
  106.         rt_kprintf("\n");
  107.         rt_device_write(can_dev, 0, &msg, sizeof(msg));
  108.         for(int i=0;i<100;i++){
  109.             rt_thread_mdelay(50);
  110.             if(!running)
  111.                 break;
  112.         }
  113.     }
  114.     rt_device_close(can_dev);
  115. }
  116.  
  117. int can_sample(int argc, char *argv[]) {
  118.     rt_err_t res;
  119.     rt_size_t  size;
  120.     rt_thread_t thread;
  121.     char can_name[RT_NAME_MAX];
  122.  
  123.     if (argc == 2) {
  124.         rt_strncpy(can_name, argv[1], RT_NAME_MAX);
  125.     } else {
  126.         rt_strncpy(can_name, CAN_DEV_NAME, RT_NAME_MAX);
  127.     }
  128.  
  129.     if(running){
  130.         rt_kprintf("can_sample is running, stop it before restart!\n    can_sample_stop\n", can_name);
  131.         return RT_ERROR;
  132.     }
  133.  
  134.     /* 查找 CAN 设备 */
  135.     can_dev = rt_device_find(can_name);
  136.     if (!can_dev) {
  137.         rt_kprintf("find %s failed!\n", can_name);
  138.         return RT_ERROR;
  139.     }
  140.  
  141.     running = 1;
  142.  
  143.     res = rt_sem_init(&rx_sem, "rx_sem", 0, RT_IPC_FLAG_FIFO);
  144.  
  145.     /* 以中断接收及发送方式打开 CAN 设备 */
  146.     res = rt_device_open(can_dev, RT_DEVICE_FLAG_INT_TX | RT_DEVICE_FLAG_INT_RX);
  147.     /* 初始化 CAN 接收信号量 */
  148.  
  149.  
  150.     /* 设置 CAN 的工作模式为正常工作模式 */
  151.     res = rt_device_control(can_dev, RT_CAN_CMD_SET_MODE, (void *)RT_CAN_MODE_NORMAL);
  152.     //res = rt_device_control(can_dev, RT_CAN_CMD_SET_MODE, (void *)RT_CAN_MODE_LOOPBACK);
  153.     res = rt_device_control(can_dev, RT_CAN_CMD_SET_BAUD, (void *)CAN125kBaud);
  154.  
  155.     RT_ASSERT(res == RT_EOK);
  156.     /* 创建数据接收线程 */
  157.     thread = rt_thread_create("can_rx", can_rx_thread, RT_NULL, 1024, 25, 10);
  158.     if (thread != RT_NULL) {
  159.         rt_thread_startup(thread);
  160.     } else {
  161.         rt_kprintf("create can_rx thread failed!\n");
  162.     }
  163.  
  164.  
  165.     if (size == 0) {
  166.         rt_kprintf("can dev write data failed!\n");
  167.     }
  168.  
  169.     /* 创建线程 1，名称是 thread1，入口是 thread1_entry*/
  170.     tid1 = rt_thread_create("thread1",
  171.                             thread1_entry, RT_NULL,
  172.                             THREAD_STACK_SIZE,
  173.                             THREAD_PRIORITY, THREAD_TIMESLICE);
  174.  
  175.     /* 如果获得线程控制块，启动这个线程 */
  176.     if (tid1 != RT_NULL)
  177.         rt_thread_startup(tid1);
  178.     else
  179.         rt_kprintf("start can send fail\n");
  180.  
  181.     return res;
  182. }
  183.  
  184. int can_sample_stop(int argc, char *argv[]) {
  185.     if(running){
  186.         running = 0;
  187.         //rt_sem_release(&rx_sem);
  188.         rt_sem_detach(&rx_sem);
  189.     }
  190.     return RT_EOK;
  191. }
  192. /* 导出到 msh 命令列表中 */
  193. MSH_CMD_EXPORT(can_sample, can device sample);
  194. MSH_CMD_EXPORT(can_sample_stop, can device sample stop);
  195.  
  196. #endif

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