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Added CAN

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on4ip84 2023-10-06 17:55:56 +03:00
parent 526b689693
commit fc1f245eb2
13 changed files with 489 additions and 183 deletions
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14
.cproject
View file

@ -23,7 +23,7 @@
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@ -39,8 +39,8 @@
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@ -48,9 +48,9 @@
<listOptionValue builtIn="false" value="../App/FOC"/>
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</tool>
@ -77,8 +77,8 @@
</toolChain>
</folderInfo>
<sourceEntries>
<entry excluding="CAN_API.c" flags="VALUE_WORKSPACE_PATH|RESOLVED" kind="sourcePath" name="App"/>
<entry flags="VALUE_WORKSPACE_PATH|RESOLVED" kind="sourcePath" name="Startup"/>
<entry flags="VALUE_WORKSPACE_PATH|RESOLVED" kind="sourcePath" name="App"/>
<entry flags="VALUE_WORKSPACE_PATH|RESOLVED" kind="sourcePath" name="Src"/>
<entry flags="VALUE_WORKSPACE_PATH|RESOLVED" kind="sourcePath" name="Drivers"/>
</sourceEntries>
@ -108,7 +108,7 @@
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<option id="com.st.stm32cube.ide.mcu.gnu.managedbuild.option.defaults.1395657319" name="Defaults" superClass="com.st.stm32cube.ide.mcu.gnu.managedbuild.option.defaults" useByScannerDiscovery="false" value="com.st.stm32cube.ide.common.services.build.inputs.revA.1.0.5 || Release || false || Executable || com.st.stm32cube.ide.mcu.gnu.managedbuild.option.toolchain.value.workspace || STM32F446RETx || 0 || 0 || arm-none-eabi- || ${gnu_tools_for_stm32_compiler_path} || ../Inc | ../Drivers/STM32F4xx_HAL_Driver/Inc | ../Drivers/CMSIS/Device/ST/STM32F4xx/Include | ../Drivers/CMSIS/Include | ../Drivers/STM32F4xx_HAL_Driver/Inc/Legacy || || || USE_FULL_LL_DRIVER | STM32F446xx | USE_HAL_DRIVER || || Drivers | Src | Startup || || || ${workspace_loc:/${ProjName}/STM32F446RETX_FLASH.ld} || true || NonSecure || || secure_nsclib.o || || None || " valueType="string"/>
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<builder buildPath="${workspace_loc:/processor32f446}/Release" id="com.st.stm32cube.ide.mcu.gnu.managedbuild.builder.1909003388" keepEnvironmentInBuildfile="false" managedBuildOn="true" name="Gnu Make Builder" parallelBuildOn="true" parallelizationNumber="optimal" superClass="com.st.stm32cube.ide.mcu.gnu.managedbuild.builder"/>
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@ -120,15 +120,15 @@
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<listOptionValue builtIn="false" value="USE_FULL_LL_DRIVER"/>
<listOptionValue builtIn="false" value="USE_HAL_DRIVER"/>
<listOptionValue builtIn="false" value="STM32F446xx"/>
<listOptionValue builtIn="false" value="USE_HAL_DRIVER"/>
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</tool>

4
.mxproject
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File diff suppressed because one or more lines are too long

4
.settings/language.settings.xml
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@ -5,7 +5,7 @@
<provider-reference id="org.eclipse.cdt.ui.UserLanguageSettingsProvider" ref="shared-provider"/>
<provider-reference id="org.eclipse.cdt.core.ReferencedProjectsLanguageSettingsProvider" ref="shared-provider"/>
<provider-reference id="org.eclipse.cdt.managedbuilder.core.MBSLanguageSettingsProvider" ref="shared-provider"/>
<provider class="com.st.stm32cube.ide.mcu.toolchain.armnone.setup.CrossBuiltinSpecsDetector" console="false" env-hash="93408926115469970" id="com.st.stm32cube.ide.mcu.toolchain.armnone.setup.CrossBuiltinSpecsDetector" keep-relative-paths="false" name="MCU ARM GCC Built-in Compiler Settings" parameter="${COMMAND} ${FLAGS} -E -P -v -dD &quot;${INPUTS}&quot;" prefer-non-shared="true">
<provider class="com.st.stm32cube.ide.mcu.toolchain.armnone.setup.CrossBuiltinSpecsDetector" console="false" env-hash="1411999553536701806" id="com.st.stm32cube.ide.mcu.toolchain.armnone.setup.CrossBuiltinSpecsDetector" keep-relative-paths="false" name="MCU ARM GCC Built-in Compiler Settings" parameter="${COMMAND} ${FLAGS} -E -P -v -dD &quot;${INPUTS}&quot;" prefer-non-shared="true">
<language-scope id="org.eclipse.cdt.core.gcc"/>
<language-scope id="org.eclipse.cdt.core.g++"/>
</provider>
@ -16,7 +16,7 @@
<provider-reference id="org.eclipse.cdt.ui.UserLanguageSettingsProvider" ref="shared-provider"/>
<provider-reference id="org.eclipse.cdt.core.ReferencedProjectsLanguageSettingsProvider" ref="shared-provider"/>
<provider-reference id="org.eclipse.cdt.managedbuilder.core.MBSLanguageSettingsProvider" ref="shared-provider"/>
<provider class="com.st.stm32cube.ide.mcu.toolchain.armnone.setup.CrossBuiltinSpecsDetector" console="false" env-hash="93408926115469970" id="com.st.stm32cube.ide.mcu.toolchain.armnone.setup.CrossBuiltinSpecsDetector" keep-relative-paths="false" name="MCU ARM GCC Built-in Compiler Settings" parameter="${COMMAND} ${FLAGS} -E -P -v -dD &quot;${INPUTS}&quot;" prefer-non-shared="true">
<provider class="com.st.stm32cube.ide.mcu.toolchain.armnone.setup.CrossBuiltinSpecsDetector" console="false" env-hash="1411999553536701806" id="com.st.stm32cube.ide.mcu.toolchain.armnone.setup.CrossBuiltinSpecsDetector" keep-relative-paths="false" name="MCU ARM GCC Built-in Compiler Settings" parameter="${COMMAND} ${FLAGS} -E -P -v -dD &quot;${INPUTS}&quot;" prefer-non-shared="true">
<language-scope id="org.eclipse.cdt.core.gcc"/>
<language-scope id="org.eclipse.cdt.core.g++"/>
</provider>

104
App/CAN_API.c Normal file
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@ -0,0 +1,104 @@
/*
* CanCallBacks.c
*
* Created on: 23 авг. 2023 г.
* Author: on4ip
*/
#include "CAN_API.h"
void initCAN(enum CAN_API_BAUD baud) {
CAN_FilterTypeDef sFilterConfig;
hcan2.Instance = CAN2;
hcan2.Init.Prescaler = 5;
hcan2.Init.Mode = CAN_MODE_NORMAL;
hcan2.Init.SyncJumpWidth = CAN_SJW_1TQ;
hcan2.Init.TimeSeg1 = CAN_BS1_1TQ;
hcan2.Init.TimeSeg2 = CAN_BS2_7TQ;
hcan2.Init.TimeTriggeredMode = DISABLE;
hcan2.Init.AutoBusOff = DISABLE;
hcan2.Init.AutoWakeUp = DISABLE;
hcan2.Init.AutoRetransmission = DISABLE;
hcan2.Init.ReceiveFifoLocked = DISABLE;
hcan2.Init.TransmitFifoPriority = DISABLE;
switch(baud)
{
case CAN_BAUD_125:
hcan2.Init.Prescaler = 20;
hcan2.Init.TimeSeg1 = CAN_BS1_15TQ;
hcan2.Init.TimeSeg2 = CAN_BS2_2TQ;
break;
case CAN_BAUD_250:
hcan2.Init.Prescaler = 10;
hcan2.Init.TimeSeg1 = CAN_BS1_15TQ;
hcan2.Init.TimeSeg2 = CAN_BS2_2TQ;
break;
case CAN_BAUD_500:
hcan2.Init.Prescaler = 10;
hcan2.Init.TimeSeg1 = CAN_BS1_1TQ;
hcan2.Init.TimeSeg2 = CAN_BS2_7TQ;
break;
case CAN_BAUD_1000:
hcan2.Init.Prescaler = 5;
hcan2.Init.TimeSeg1 = CAN_BS1_1TQ;
hcan2.Init.TimeSeg2 = CAN_BS2_7TQ;
break;
default:
hcan2.Init.Prescaler = 5;
hcan2.Init.TimeSeg1 = CAN_BS1_1TQ;
hcan2.Init.TimeSeg2 = CAN_BS2_7TQ;
break;
}
if (HAL_CAN_Init(&hcan2) != HAL_OK) {
Error_Handler();
}
sFilterConfig.FilterBank = 0;
sFilterConfig.FilterMode = CAN_FILTERMODE_IDMASK;
sFilterConfig.FilterScale = CAN_FILTERSCALE_32BIT;
sFilterConfig.FilterIdHigh = 0x0000;
sFilterConfig.FilterIdLow = 0x0000;
sFilterConfig.FilterMaskIdHigh = 0x0000;
sFilterConfig.FilterMaskIdLow = 0x0000;
sFilterConfig.FilterFIFOAssignment = CAN_RX_FIFO0;
sFilterConfig.FilterActivation = ENABLE;
sFilterConfig.SlaveStartFilterBank = 14;
if (HAL_CAN_ConfigFilter(&hcan2, &sFilterConfig) != HAL_OK) {
/* Filter configuration Error */
Error_Handler();
}
HAL_CAN_Start(&hcan2);
/*##-4- Activate CAN RX notification #######################################*/
if (HAL_CAN_ActivateNotification(&hcan2, CAN_IT_RX_FIFO0_MSG_PENDING)
!= HAL_OK) {
/* Notification Error */
Error_Handler();
}
}
CAN_RxHeaderTypeDef RxHeader1;
uint8_t RxData1[8];
void HAL_CAN_RxFifo1MsgPendingCallback(CAN_HandleTypeDef *hcan) {
/* Get RX message */
if (HAL_CAN_GetRxMessage(hcan, CAN_RX_FIFO1, &RxHeader1, RxData1) != HAL_OK)
{
/* Reception Error */
Error_Handler();
}
}
CAN_RxHeaderTypeDef RxHeader0;
uint8_t RxData0[8];
void HAL_CAN_RxFifo0MsgPendingCallback(CAN_HandleTypeDef *hcan)
{
/* Get RX message */
if (HAL_CAN_GetRxMessage(hcan, CAN_RX_FIFO0, &RxHeader0, RxData0) != HAL_OK)
{
/* Reception Error */
Error_Handler();
}
}

22
App/CAN_API.h Normal file
View file

@ -0,0 +1,22 @@
/*
* CAN_API.h
*
* Created on: 23 авг. 2023 г.
* Author: on4ip
*/
#ifndef CAN_API_H_
#define CAN_API_H_
#include "main.h"
//#include "can.h"
enum CAN_API_BAUD
{
CAN_BAUD_125,
CAN_BAUD_250,
CAN_BAUD_500,
CAN_BAUD_1000,
CAN_BUAD_END
};
void initCAN(enum CAN_API_BAUD baud );
#endif /* CAN_API_H_ */

2
App/appIsrCallBacks.c
View file

@ -30,7 +30,7 @@ void adcIsrCallBack(void) {
}
update_IO_ADC(SYSTEMobj_1.IO, ADC_array,SYSTEMobj_1.DRIVE->STAT.stat.bit_ENABLED);
/*Calling of Application control function with Fast update rate*/
FAST_loop(&SYSTEMobj_1);
//FAST_loop(&SYSTEMobj_1);
stop_ADC_isr = SysTick->VAL;
ADC_ISR_time = ISR_TIME_CALC(start_ADC_isr, stop_ADC_isr);
LL_GPIO_TogglePin(LED1_GPIO_Port, LED1_Pin);

3
Inc/can.h
View file

@ -32,12 +32,15 @@ extern "C" {
/* USER CODE END Includes */
extern CAN_HandleTypeDef hcan1;
extern CAN_HandleTypeDef hcan2;
/* USER CODE BEGIN Private defines */
/* USER CODE END Private defines */
void MX_CAN1_Init(void);
void MX_CAN2_Init(void);
/* USER CODE BEGIN Prototypes */

11
Inc/main.h
View file

@ -30,22 +30,23 @@ extern "C" {
#include "stm32f4xx_hal.h"
#include "stm32f4xx_ll_adc.h"
#include "stm32f4xx_ll_spi.h"
#include "stm32f4xx_ll_tim.h"
#include "stm32f4xx_ll_usart.h"
#include "stm32f4xx_ll_rcc.h"
#include "stm32f4xx_ll_bus.h"
#include "stm32f4xx_ll_system.h"
#include "stm32f4xx_ll_gpio.h"
#include "stm32f4xx_ll_exti.h"
#include "stm32f4xx_ll_bus.h"
#include "stm32f4xx_ll_cortex.h"
#include "stm32f4xx_ll_utils.h"
#include "stm32f4xx_ll_pwr.h"
#include "stm32f4xx_ll_dma.h"
#include "stm32f4xx_ll_spi.h"
#include "stm32f4xx_ll_tim.h"
#include "stm32f4xx_ll_usart.h"
#include "stm32f4xx_ll_gpio.h"
/* Private includes ----------------------------------------------------------*/
/* USER CODE BEGIN Includes */
#include "appIsrCallBacks.h"
#include "CAN_API.h"
/* USER CODE END Includes */
/* Exported types ------------------------------------------------------------*/

2
Inc/stm32f4xx_it.h
View file

@ -59,8 +59,6 @@ void ADC_IRQHandler(void);
void TIM1_BRK_TIM9_IRQHandler(void);
void TIM1_CC_IRQHandler(void);
void TIM2_IRQHandler(void);
void CAN2_RX0_IRQHandler(void);
void CAN2_RX1_IRQHandler(void);
/* USER CODE BEGIN EFP */
/* USER CODE END EFP */

159
Src/can.c
View file

@ -24,8 +24,65 @@
/* USER CODE END 0 */
CAN_HandleTypeDef hcan1;
CAN_HandleTypeDef hcan2;
/* CAN1 init function */
void MX_CAN1_Init(void)
{
/* USER CODE BEGIN CAN1_Init 0 */
/* USER CODE END CAN1_Init 0 */
/* USER CODE BEGIN CAN1_Init 1 */
/* USER CODE END CAN1_Init 1 */
hcan1.Instance = CAN1;
hcan1.Init.Prescaler = 5;
hcan1.Init.Mode = CAN_MODE_LOOPBACK;
hcan1.Init.SyncJumpWidth = CAN_SJW_1TQ;
hcan1.Init.TimeSeg1 = CAN_BS1_7TQ;
hcan1.Init.TimeSeg2 = CAN_BS2_1TQ;
hcan1.Init.TimeTriggeredMode = DISABLE;
hcan1.Init.AutoBusOff = ENABLE;
hcan1.Init.AutoWakeUp = DISABLE;
hcan1.Init.AutoRetransmission = ENABLE;
hcan1.Init.ReceiveFifoLocked = DISABLE;
hcan1.Init.TransmitFifoPriority = DISABLE;
if (HAL_CAN_Init(&hcan1) != HAL_OK)
{
Error_Handler();
}
/* USER CODE BEGIN CAN1_Init 2 */
/*##-2- Configure the CAN Filter ###########################################*/
CAN_FilterTypeDef sFilterConfig;
sFilterConfig.FilterBank = 0;
sFilterConfig.FilterMode = CAN_FILTERMODE_IDMASK;
sFilterConfig.FilterScale = CAN_FILTERSCALE_32BIT;
sFilterConfig.FilterIdHigh = 0x0000;
sFilterConfig.FilterIdLow = 0x0000;
sFilterConfig.FilterMaskIdHigh = 0x0000;
sFilterConfig.FilterMaskIdLow = 0x0000;
sFilterConfig.FilterFIFOAssignment = CAN_RX_FIFO0;
sFilterConfig.FilterActivation = ENABLE;
sFilterConfig.SlaveStartFilterBank = 14;
if(HAL_CAN_ConfigFilter(&hcan1, &sFilterConfig) != HAL_OK)
{
/* Filter configuration Error */
Error_Handler();
}
/*##-3- Start the CAN peripheral ###########################################*/
if (HAL_CAN_Start(&hcan1) != HAL_OK)
{
/* Start Error */
Error_Handler();
}
/* USER CODE END CAN1_Init 2 */
}
/* CAN2 init function */
void MX_CAN2_Init(void)
{
@ -38,15 +95,15 @@ void MX_CAN2_Init(void)
/* USER CODE END CAN2_Init 1 */
hcan2.Instance = CAN2;
hcan2.Init.Prescaler = 16;
hcan2.Init.Prescaler = 5;
hcan2.Init.Mode = CAN_MODE_NORMAL;
hcan2.Init.SyncJumpWidth = CAN_SJW_1TQ;
hcan2.Init.TimeSeg1 = CAN_BS1_1TQ;
hcan2.Init.TimeSeg1 = CAN_BS1_7TQ;
hcan2.Init.TimeSeg2 = CAN_BS2_1TQ;
hcan2.Init.TimeTriggeredMode = DISABLE;
hcan2.Init.AutoBusOff = DISABLE;
hcan2.Init.AutoBusOff = ENABLE;
hcan2.Init.AutoWakeUp = DISABLE;
hcan2.Init.AutoRetransmission = DISABLE;
hcan2.Init.AutoRetransmission = ENABLE;
hcan2.Init.ReceiveFifoLocked = DISABLE;
hcan2.Init.TransmitFifoPriority = DISABLE;
if (HAL_CAN_Init(&hcan2) != HAL_OK)
@ -54,23 +111,86 @@ void MX_CAN2_Init(void)
Error_Handler();
}
/* USER CODE BEGIN CAN2_Init 2 */
/*##-2- Configure the CAN Filter ###########################################*/
CAN_FilterTypeDef sFilterConfig;
sFilterConfig.FilterBank = 14;
sFilterConfig.FilterMode = CAN_FILTERMODE_IDMASK;
sFilterConfig.FilterScale = CAN_FILTERSCALE_32BIT;
sFilterConfig.FilterIdHigh = 0x0000;
sFilterConfig.FilterIdLow = 0x0000;
sFilterConfig.FilterMaskIdHigh = 0x0000;
sFilterConfig.FilterMaskIdLow = 0x0000;
sFilterConfig.FilterFIFOAssignment = CAN_RX_FIFO0;
sFilterConfig.FilterActivation = ENABLE;
sFilterConfig.SlaveStartFilterBank = 14;
if(HAL_CAN_ConfigFilter(&hcan2, &sFilterConfig) != HAL_OK)
{
/* Filter configuration Error */
Error_Handler();
}
/*##-3- Start the CAN peripheral ###########################################*/
if (HAL_CAN_Start(&hcan2) != HAL_OK)
{
/* Start Error */
Error_Handler();
}
/* USER CODE END CAN2_Init 2 */
}
static uint32_t HAL_RCC_CAN1_CLK_ENABLED=0;
void HAL_CAN_MspInit(CAN_HandleTypeDef* canHandle)
{
GPIO_InitTypeDef GPIO_InitStruct = {0};
if(canHandle->Instance==CAN2)
if(canHandle->Instance==CAN1)
{
/* USER CODE BEGIN CAN1_MspInit 0 */
/* USER CODE END CAN1_MspInit 0 */
/* CAN1 clock enable */
HAL_RCC_CAN1_CLK_ENABLED++;
if(HAL_RCC_CAN1_CLK_ENABLED==1){
__HAL_RCC_CAN1_CLK_ENABLE();
}
__HAL_RCC_GPIOB_CLK_ENABLE();
/**CAN1 GPIO Configuration
PB8 ------> CAN1_RX
PB9 ------> CAN1_TX
*/
GPIO_InitStruct.Pin = GPIO_PIN_8;
GPIO_InitStruct.Mode = GPIO_MODE_AF_PP;
GPIO_InitStruct.Pull = GPIO_PULLUP;
GPIO_InitStruct.Speed = GPIO_SPEED_FREQ_VERY_HIGH;
GPIO_InitStruct.Alternate = GPIO_AF9_CAN1;
HAL_GPIO_Init(GPIOB, &GPIO_InitStruct);
GPIO_InitStruct.Pin = GPIO_PIN_9;
GPIO_InitStruct.Mode = GPIO_MODE_AF_PP;
GPIO_InitStruct.Pull = GPIO_NOPULL;
GPIO_InitStruct.Speed = GPIO_SPEED_FREQ_VERY_HIGH;
GPIO_InitStruct.Alternate = GPIO_AF9_CAN1;
HAL_GPIO_Init(GPIOB, &GPIO_InitStruct);
/* USER CODE BEGIN CAN1_MspInit 1 */
/* USER CODE END CAN1_MspInit 1 */
}
else if(canHandle->Instance==CAN2)
{
/* USER CODE BEGIN CAN2_MspInit 0 */
/* USER CODE END CAN2_MspInit 0 */
/* CAN2 clock enable */
__HAL_RCC_CAN2_CLK_ENABLE();
HAL_RCC_CAN1_CLK_ENABLED++;
if(HAL_RCC_CAN1_CLK_ENABLED==1){
__HAL_RCC_CAN1_CLK_ENABLE();
}
__HAL_RCC_GPIOB_CLK_ENABLE();
/**CAN2 GPIO Configuration
@ -93,14 +213,38 @@ void HAL_CAN_MspInit(CAN_HandleTypeDef* canHandle)
void HAL_CAN_MspDeInit(CAN_HandleTypeDef* canHandle)
{
if(canHandle->Instance==CAN2)
if(canHandle->Instance==CAN1)
{
/* USER CODE BEGIN CAN1_MspDeInit 0 */
/* USER CODE END CAN1_MspDeInit 0 */
/* Peripheral clock disable */
HAL_RCC_CAN1_CLK_ENABLED--;
if(HAL_RCC_CAN1_CLK_ENABLED==0){
__HAL_RCC_CAN1_CLK_DISABLE();
}
/**CAN1 GPIO Configuration
PB8 ------> CAN1_RX
PB9 ------> CAN1_TX
*/
HAL_GPIO_DeInit(GPIOB, GPIO_PIN_8|GPIO_PIN_9);
/* USER CODE BEGIN CAN1_MspDeInit 1 */
/* USER CODE END CAN1_MspDeInit 1 */
}
else if(canHandle->Instance==CAN2)
{
/* USER CODE BEGIN CAN2_MspDeInit 0 */
/* USER CODE END CAN2_MspDeInit 0 */
/* Peripheral clock disable */
__HAL_RCC_CAN2_CLK_DISABLE();
HAL_RCC_CAN1_CLK_ENABLED--;
if(HAL_RCC_CAN1_CLK_ENABLED==0){
__HAL_RCC_CAN1_CLK_DISABLE();
}
/**CAN2 GPIO Configuration
PB12 ------> CAN2_RX
@ -108,9 +252,6 @@ void HAL_CAN_MspDeInit(CAN_HandleTypeDef* canHandle)
*/
HAL_GPIO_DeInit(GPIOB, GPIO_PIN_12|GPIO_PIN_13);
/* CAN2 interrupt Deinit */
HAL_NVIC_DisableIRQ(CAN2_RX0_IRQn);
HAL_NVIC_DisableIRQ(CAN2_RX1_IRQn);
/* USER CODE BEGIN CAN2_MspDeInit 1 */
/* USER CODE END CAN2_MspDeInit 1 */

147
Src/main.c
View file

@ -27,7 +27,9 @@
/* Private includes ----------------------------------------------------------*/
/* USER CODE BEGIN Includes */
#include "CAN_API.h"
#include "InitDrive.h"
/* USER CODE END Includes */
/* Private typedef -----------------------------------------------------------*/
@ -72,7 +74,8 @@ static void MX_NVIC_Init(void);
* @brief The application entry point.
* @retval int
*/
int main(void) {
int main(void)
{
/* USER CODE BEGIN 1 */
__disable_irq();
/* USER CODE END 1 */
@ -103,9 +106,10 @@ int main(void) {
MX_TIM1_Init();
MX_USART1_UART_Init();
MX_USART2_UART_Init();
MX_CAN2_Init();
MX_TIM2_Init();
MX_SPI2_Init();
MX_CAN1_Init();
MX_CAN2_Init();
/* Initialize interrupts */
MX_NVIC_Init();
@ -131,12 +135,14 @@ int main(void) {
LL_TIM_EnableCounter(TIM2);
LL_GPIO_SetOutputPin(AS5045_CS_GPIO_Port, AS5045_CS_Pin);
LL_SPI_SetBaudRatePrescaler(SPI2,LL_SPI_BAUDRATEPRESCALER_DIV64 );
LL_SPI_SetBaudRatePrescaler(SPI2, LL_SPI_BAUDRATEPRESCALER_DIV64);
LL_SPI_Enable(SPI2);
/*Init Control structure*/
float TSAMPLE_FAST = 1.f / PWM_FRQ_HZ;
float TSAMPLE_SLOW = 1.f / ALG_TIMER_HZ;
DriveInit(TSAMPLE_FAST, TSAMPLE_SLOW);
//initCAN(CAN_BAUD_1000);
__enable_irq();
/* USER CODE END 2 */
@ -148,7 +154,8 @@ int main(void) {
/* USER CODE BEGIN 3 */
if (!LL_SPI_IsActiveFlag_OVR(SPI2)) {
LL_GPIO_ResetOutputPin(AS5045_CS_GPIO_Port, AS5045_CS_Pin);
while (!LL_SPI_IsActiveFlag_TXE(SPI2)){};
while (!LL_SPI_IsActiveFlag_TXE(SPI2)) {
};
LL_SPI_TransmitData16(SPI2, 0xFFFF);
while (!LL_SPI_IsActiveFlag_RXNE(SPI2)) {
}
@ -159,6 +166,39 @@ int main(void) {
} else {
LL_SPI_ClearFlag_OVR(SPI2);
}
CAN_TxHeaderTypeDef txheader;
uint8_t txdata[8];
txheader.DLC = 8;
txheader.ExtId = 0x11111111;
txheader.IDE = CAN_ID_STD;
txheader.RTR = CAN_RTR_DATA;
for (uint8_t i = 0; i < 8; i++) {
txdata[i] = i;
}
static uint32_t txMailBox = 0;
if (HAL_CAN_AddTxMessage(&hcan2, &txheader, txdata,
(uint32_t*) &txMailBox) != HAL_OK) {
HAL_CAN_AbortTxRequest(&hcan2,
CAN_TX_MAILBOX0 | CAN_TX_MAILBOX1 | CAN_TX_MAILBOX2);
}
/*
if (HAL_CAN_AddTxMessage(&hcan1, &txheader, txdata,
(uint32_t*) &txMailBox) != HAL_OK) {
HAL_CAN_AbortTxRequest(&hcan1,
CAN_TX_MAILBOX0 | CAN_TX_MAILBOX1 | CAN_TX_MAILBOX2);
}
if (HAL_CAN_AddTxMessage(&hcan2, &txheader, txdata,
(uint32_t*) &txMailBox) != HAL_OK) {
HAL_CAN_AbortTxRequest(&hcan2,
CAN_TX_MAILBOX0 | CAN_TX_MAILBOX1 | CAN_TX_MAILBOX2);
}
*/
HAL_Delay(10);
static uint16_t state =0;
//state = HAL_CAN_GetState(&hcan2);
//LL_GPIO_TogglePin(CAN2_RX_GPIO_Port, CAN2_RX_Pin);
//LL_GPIO_TogglePin(CAN2_TX_GPIO_Port, CAN2_TX_Pin);
}
/* USER CODE END 3 */
}
@ -167,71 +207,73 @@ int main(void) {
* @brief System Clock Configuration
* @retval None
*/
void SystemClock_Config(void) {
LL_FLASH_SetLatency(LL_FLASH_LATENCY_5);
while (LL_FLASH_GetLatency() != LL_FLASH_LATENCY_5) {
}
LL_PWR_SetRegulVoltageScaling(LL_PWR_REGU_VOLTAGE_SCALE1);
LL_PWR_EnableOverDriveMode();
LL_RCC_HSE_Enable();
void SystemClock_Config(void)
{
RCC_OscInitTypeDef RCC_OscInitStruct = {0};
RCC_ClkInitTypeDef RCC_ClkInitStruct = {0};
/* Wait till HSE is ready */
while (LL_RCC_HSE_IsReady() != 1) {
/** Configure the main internal regulator output voltage
*/
__HAL_RCC_PWR_CLK_ENABLE();
__HAL_PWR_VOLTAGESCALING_CONFIG(PWR_REGULATOR_VOLTAGE_SCALE1);
}
LL_RCC_PLL_ConfigDomain_SYS(LL_RCC_PLLSOURCE_HSE, LL_RCC_PLLM_DIV_4, 180,
LL_RCC_PLLP_DIV_2);
LL_RCC_PLL_Enable();
/* Wait till PLL is ready */
while (LL_RCC_PLL_IsReady() != 1) {
}
LL_RCC_SetAHBPrescaler(LL_RCC_SYSCLK_DIV_1);
LL_RCC_SetAPB1Prescaler(LL_RCC_APB1_DIV_4);
LL_RCC_SetAPB2Prescaler(LL_RCC_APB2_DIV_2);
LL_RCC_SetSysClkSource(LL_RCC_SYS_CLKSOURCE_PLL);
/* Wait till System clock is ready */
while (LL_RCC_GetSysClkSource() != LL_RCC_SYS_CLKSOURCE_STATUS_PLL) {
}
LL_SetSystemCoreClock(180000000);
/* Update the time base */
if (HAL_InitTick(TICK_INT_PRIORITY) != HAL_OK) {
/** 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 = 4;
RCC_OscInitStruct.PLL.PLLN = 180;
RCC_OscInitStruct.PLL.PLLP = RCC_PLLP_DIV2;
RCC_OscInitStruct.PLL.PLLQ = 2;
RCC_OscInitStruct.PLL.PLLR = 2;
if (HAL_RCC_OscConfig(&RCC_OscInitStruct) != HAL_OK)
{
Error_Handler();
}
/** Activate the Over-Drive mode
*/
if (HAL_PWREx_EnableOverDrive() != 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();
}
LL_RCC_SetTIMPrescaler(LL_RCC_TIM_PRESCALER_TWICE);
}
/**
* @brief NVIC Configuration.
* @retval None
*/
static void MX_NVIC_Init(void) {
static void MX_NVIC_Init(void)
{
/* TIM1_BRK_TIM9_IRQn interrupt configuration */
NVIC_SetPriority(TIM1_BRK_TIM9_IRQn,
NVIC_EncodePriority(NVIC_GetPriorityGrouping(), 1, 0));
NVIC_SetPriority(TIM1_BRK_TIM9_IRQn, NVIC_EncodePriority(NVIC_GetPriorityGrouping(),1, 0));
NVIC_EnableIRQ(TIM1_BRK_TIM9_IRQn);
/* TIM1_CC_IRQn interrupt configuration */
NVIC_SetPriority(TIM1_CC_IRQn,
NVIC_EncodePriority(NVIC_GetPriorityGrouping(), 3, 0));
NVIC_SetPriority(TIM1_CC_IRQn, NVIC_EncodePriority(NVIC_GetPriorityGrouping(),3, 0));
NVIC_EnableIRQ(TIM1_CC_IRQn);
/* TIM2_IRQn interrupt configuration */
NVIC_SetPriority(TIM2_IRQn,
NVIC_EncodePriority(NVIC_GetPriorityGrouping(), 4, 0));
NVIC_SetPriority(TIM2_IRQn, NVIC_EncodePriority(NVIC_GetPriorityGrouping(),4, 0));
NVIC_EnableIRQ(TIM2_IRQn);
/* ADC_IRQn interrupt configuration */
NVIC_SetPriority(ADC_IRQn,
NVIC_EncodePriority(NVIC_GetPriorityGrouping(), 2, 0));
NVIC_SetPriority(ADC_IRQn, NVIC_EncodePriority(NVIC_GetPriorityGrouping(),2, 0));
NVIC_EnableIRQ(ADC_IRQn);
/* CAN2_RX0_IRQn interrupt configuration */
HAL_NVIC_SetPriority(CAN2_RX0_IRQn, 5, 0);
HAL_NVIC_EnableIRQ(CAN2_RX0_IRQn);
/* CAN2_RX1_IRQn interrupt configuration */
HAL_NVIC_SetPriority(CAN2_RX1_IRQn, 5, 0);
HAL_NVIC_EnableIRQ(CAN2_RX1_IRQn);
}
/* USER CODE BEGIN 4 */
@ -242,7 +284,8 @@ static void MX_NVIC_Init(void) {
* @brief This function is executed in case of error occurrence.
* @retval None
*/
void Error_Handler(void) {
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();

30
Src/stm32f4xx_it.c
View file

@ -55,7 +55,7 @@
/* USER CODE END 0 */
/* External variables --------------------------------------------------------*/
extern CAN_HandleTypeDef hcan2;
/* USER CODE BEGIN EV */
/* USER CODE END EV */
@ -251,34 +251,6 @@ void TIM2_IRQHandler(void)
/* USER CODE END TIM2_IRQn 1 */
}
/**
* @brief This function handles CAN2 RX0 interrupt.
*/
void CAN2_RX0_IRQHandler(void)
{
/* USER CODE BEGIN CAN2_RX0_IRQn 0 */
/* USER CODE END CAN2_RX0_IRQn 0 */
HAL_CAN_IRQHandler(&hcan2);
/* USER CODE BEGIN CAN2_RX0_IRQn 1 */
/* USER CODE END CAN2_RX0_IRQn 1 */
}
/**
* @brief This function handles CAN2 RX1 interrupt.
*/
void CAN2_RX1_IRQHandler(void)
{
/* USER CODE BEGIN CAN2_RX1_IRQn 0 */
/* USER CODE END CAN2_RX1_IRQn 0 */
HAL_CAN_IRQHandler(&hcan2);
/* USER CODE BEGIN CAN2_RX1_IRQn 1 */
/* USER CODE END CAN2_RX1_IRQn 1 */
}
/* USER CODE BEGIN 1 */
/* USER CODE END 1 */

68
processor32f446.ioc
View file

@ -24,26 +24,41 @@ ADC1.master=1
CAD.formats=
CAD.pinconfig=
CAD.provider=
CAN2.CalculateBaudRate=937500
CAN2.CalculateTimeBit=1066
CAN2.CalculateTimeQuantum=355.55555555555554
CAN2.IPParameters=CalculateTimeQuantum,CalculateTimeBit,CalculateBaudRate
CAN1.ABOM=ENABLE
CAN1.BS1=CAN_BS1_7TQ
CAN1.CalculateBaudRate=1000000
CAN1.CalculateTimeBit=1000
CAN1.CalculateTimeQuantum=111.11111111111111
CAN1.IPParameters=CalculateTimeQuantum,CalculateTimeBit,CalculateBaudRate,Prescaler,Mode,SJW,ABOM,NART,BS1
CAN1.Mode=CAN_MODE_LOOPBACK
CAN1.NART=ENABLE
CAN1.Prescaler=5
CAN1.SJW=CAN_SJW_1TQ
CAN2.ABOM=ENABLE
CAN2.BS1=CAN_BS1_7TQ
CAN2.CalculateBaudRate=1000000
CAN2.CalculateTimeBit=1000
CAN2.CalculateTimeQuantum=111.11111111111111
CAN2.IPParameters=CalculateTimeQuantum,CalculateTimeBit,CalculateBaudRate,Prescaler,BS1,ABOM,NART
CAN2.NART=ENABLE
CAN2.Prescaler=5
File.Version=6
GPIO.groupedBy=Group By Peripherals
KeepUserPlacement=false
Mcu.CPN=STM32F446RET6
Mcu.Family=STM32F4
Mcu.IP0=ADC1
Mcu.IP1=CAN2
Mcu.IP2=NVIC
Mcu.IP3=RCC
Mcu.IP4=SPI2
Mcu.IP5=SYS
Mcu.IP6=TIM1
Mcu.IP7=TIM2
Mcu.IP8=USART1
Mcu.IP9=USART2
Mcu.IPNb=10
Mcu.IP1=CAN1
Mcu.IP10=USART2
Mcu.IP2=CAN2
Mcu.IP3=NVIC
Mcu.IP4=RCC
Mcu.IP5=SPI2
Mcu.IP6=SYS
Mcu.IP7=TIM1
Mcu.IP8=TIM2
Mcu.IP9=USART1
Mcu.IPNb=11
Mcu.Name=STM32F446R(C-E)Tx
Mcu.Package=LQFP64
Mcu.Pin0=PH0-OSC_IN
@ -71,16 +86,18 @@ Mcu.Pin28=PD2
Mcu.Pin29=PB6
Mcu.Pin3=PA0-WKUP
Mcu.Pin30=PB7
Mcu.Pin31=VP_SYS_VS_Systick
Mcu.Pin32=VP_TIM1_VS_no_output4
Mcu.Pin33=VP_TIM2_VS_ClockSourceINT
Mcu.Pin31=PB8
Mcu.Pin32=PB9
Mcu.Pin33=VP_SYS_VS_Systick
Mcu.Pin34=VP_TIM1_VS_no_output4
Mcu.Pin35=VP_TIM2_VS_ClockSourceINT
Mcu.Pin4=PA1
Mcu.Pin5=PA2
Mcu.Pin6=PA3
Mcu.Pin7=PA4
Mcu.Pin8=PA5
Mcu.Pin9=PA6
Mcu.PinsNb=34
Mcu.PinsNb=36
Mcu.ThirdPartyNb=0
Mcu.UserConstants=
Mcu.UserName=STM32F446RETx
@ -88,13 +105,11 @@ MxCube.Version=6.7.0
MxDb.Version=DB.6.0.70
NVIC.ADC_IRQn=true\:2\:0\:true\:true\:true\:4\:true\:true\:true
NVIC.BusFault_IRQn=true\:0\:0\:false\:false\:true\:false\:false\:false
NVIC.CAN2_RX0_IRQn=true\:5\:0\:true\:true\:true\:5\:true\:true\:true
NVIC.CAN2_RX1_IRQn=true\:5\:0\:true\:true\:true\:6\:true\:true\:true
NVIC.DebugMonitor_IRQn=true\:0\:0\:false\:false\:true\:false\:false\:false
NVIC.ForceEnableDMAVector=true
NVIC.HardFault_IRQn=true\:0\:0\:false\:false\:true\:false\:false\:false
NVIC.MemoryManagement_IRQn=true\:0\:0\:false\:false\:true\:false\:false\:false
NVIC.NonMaskableInt_IRQn=true\:0\:0\:false\:false\:true\:false\:false\:false
NVIC.NonMaskableInt_IRQn=true\:0\:0\:false\:false\:true\:false\:true\:false
NVIC.PendSV_IRQn=true\:0\:0\:false\:false\:true\:false\:false\:false
NVIC.PriorityGroup=NVIC_PRIORITYGROUP_4
NVIC.SVCall_IRQn=true\:0\:0\:false\:false\:true\:false\:false\:false
@ -139,7 +154,6 @@ PB1.Locked=true
PB1.Signal=ADCx_IN9
PB10.Mode=Full_Duplex_Master
PB10.Signal=SPI2_SCK
PB12.Locked=true
PB12.Mode=CAN_Activate
PB12.Signal=CAN2_RX
PB13.Mode=CAN_Activate
@ -158,6 +172,14 @@ PB6.Mode=Asynchronous
PB6.Signal=USART1_TX
PB7.Mode=Asynchronous
PB7.Signal=USART1_RX
PB8.GPIOParameters=GPIO_PuPd
PB8.GPIO_PuPd=GPIO_PULLUP
PB8.Locked=true
PB8.Mode=CAN_Activate
PB8.Signal=CAN1_RX
PB9.Locked=true
PB9.Mode=CAN_Activate
PB9.Signal=CAN1_TX
PC1.Mode=Full_Duplex_Master
PC1.Signal=SPI2_MOSI
PC10.GPIOParameters=GPIO_Label
@ -216,7 +238,7 @@ ProjectManager.StackSize=0x400
ProjectManager.TargetToolchain=STM32CubeIDE
ProjectManager.ToolChainLocation=
ProjectManager.UnderRoot=true
ProjectManager.functionlistsort=1-MX_GPIO_Init-GPIO-false-LL-true,2-SystemClock_Config-RCC-false-LL-false,3-MX_ADC1_Init-ADC1-false-LL-true,4-MX_ADC2_Init-ADC2-false-LL-true,5-MX_ADC3_Init-ADC3-false-LL-true,6-MX_TIM1_Init-TIM1-false-LL-true,7-MX_USART1_UART_Init-USART1-false-LL-true,8-MX_USART2_UART_Init-USART2-false-LL-true,9-MX_CAN2_Init-CAN2-false-HAL-true,10-MX_TIM2_Init-TIM2-false-LL-true,11-MX_SPI2_Init-SPI2-false-LL-true
ProjectManager.functionlistsort=1-MX_GPIO_Init-GPIO-false-LL-true,2-SystemClock_Config-RCC-false-HAL-false,3-MX_ADC1_Init-ADC1-false-LL-true,4-MX_TIM1_Init-TIM1-false-LL-true,5-MX_USART1_UART_Init-USART1-false-LL-true,6-MX_USART2_UART_Init-USART2-false-LL-true,7-MX_TIM2_Init-TIM2-false-LL-true,8-MX_SPI2_Init-SPI2-false-LL-true,9-MX_CAN1_Init-CAN1-false-HAL-true
RCC.AHBFreq_Value=180000000
RCC.APB1CLKDivider=RCC_HCLK_DIV4
RCC.APB1Freq_Value=45000000