【国民技术N32项目移植】基于freeRTOS的CAN通信

实现基于freeRTOS下的CAN通信。

实现基于freeRTOS下的CAN通信。

一、freeRTOS移植

1.1、freeRTOS源码下载

官网地址：https://www.freertos.org/

github下载地址：https://github.com/FreeRTOS/FreeRTOS

1.2、复制文件

在工程项目下创建freeRTOS文件夹，将下载的freeRTOS源码复制到此文件夹下

替换后

1.3、添加文件到项目

1.4、修改配置文件

freeRTOSConfig.h

/*
 * FreeRTOS V202112.00
 * Copyright (C) 2020 Amazon.com, Inc. or its affiliates.  All Rights Reserved.
 *
 * Permission is hereby granted, free of charge, to any person obtaining a copy of
 * this software and associated documentation files (the "Software"), to deal in
 * the Software without restriction, including without limitation the rights to
 * use, copy, modify, merge, publish, distribute, sublicense, and/or sell copies of
 * the Software, and to permit persons to whom the Software is furnished to do so,
 * subject to the following conditions:
 *
 * The above copyright notice and this permission notice shall be included in all
 * copies or substantial portions of the Software.
 *
 * THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
 * IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY, FITNESS
 * FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE AUTHORS OR
 * COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER LIABILITY, WHETHER
 * IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM, OUT OF OR IN
 * CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE SOFTWARE.
 *
 * http://www.FreeRTOS.org
 * http://aws.amazon.com/freertos
 *
 * 1 tab == 4 spaces!
 */


#ifndef FREERTOS_CONFIG_H
#define FREERTOS_CONFIG_H

#include "sys.h"
#include "usart.h"

/*-----------------------------------------------------------
 * Application specific definitions.
 *
 * These definitions should be adjusted for your particular hardware and
 * application requirements.
 *
 * THESE PARAMETERS ARE DESCRIBED WITHIN THE 'CONFIGURATION' SECTION OF THE
 * FreeRTOS API DOCUMENTATION AVAILABLE ON THE FreeRTOS.org WEB SITE.
 *
 * See http://www.freertos.org/a00110.html
 *----------------------------------------------------------*/

/* Ensure stdint is only used by the compiler, and not the assembler. */
#ifdef __ICCARM__
	#include <stdint.h>
	extern uint32_t SystemCoreClock;
#endif

#define configUSE_PREEMPTION			1
#define configUSE_IDLE_HOOK				0
#define configUSE_TICK_HOOK				0
#define configCPU_CLOCK_HZ				( SystemCoreClock )
#define configTICK_RATE_HZ				( ( TickType_t ) 1000 )
#define configMAX_PRIORITIES			( 32 )
#define configMINIMAL_STACK_SIZE		( ( unsigned short ) 130 )
#define configTOTAL_HEAP_SIZE			( ( size_t ) ( 20 * 1024 ) )
#define configMAX_TASK_NAME_LEN			( 16 )
#define configUSE_TRACE_FACILITY		1
#define configUSE_16_BIT_TICKS			0
#define configIDLE_SHOULD_YIELD			1
#define configUSE_MUTEXES				1
#define configQUEUE_REGISTRY_SIZE		8
#define configCHECK_FOR_STACK_OVERFLOW	0
#define configUSE_RECURSIVE_MUTEXES		1
#define configUSE_MALLOC_FAILED_HOOK	0
#define configUSE_APPLICATION_TASK_TAG	0
#define configUSE_COUNTING_SEMAPHORES	1
#define configGENERATE_RUN_TIME_STATS	0  

/* Co-routine definitions. */
#define configUSE_CO_ROUTINES 		0
#define configMAX_CO_ROUTINE_PRIORITIES ( 2 )

/* Software timer definitions. */
#define configUSE_TIMERS				1
#define configTIMER_TASK_PRIORITY		( configMAX_PRIORITIES-1 )
#define configTIMER_QUEUE_LENGTH		5
#define configTIMER_TASK_STACK_DEPTH	( configMINIMAL_STACK_SIZE * 2 )

/* Set the following definitions to 1 to include the API function, or zero
to exclude the API function. */
#define INCLUDE_vTaskPrioritySet		1
#define INCLUDE_uxTaskPriorityGet		1
#define INCLUDE_vTaskDelete				1
#define INCLUDE_vTaskCleanUpResources	1
#define INCLUDE_vTaskSuspend			1
#define INCLUDE_vTaskDelayUntil			1
#define INCLUDE_vTaskDelay				1

/* Cortex-M specific definitions. */
#ifdef __NVIC_PRIO_BITS
	/* __BVIC_PRIO_BITS will be specified when CMSIS is being used. */
	#define configPRIO_BITS       		__NVIC_PRIO_BITS
#else
	#define configPRIO_BITS       		4        /* 15 priority levels */
#endif

/* The lowest interrupt priority that can be used in a call to a "set priority"
function. */
#define configLIBRARY_LOWEST_INTERRUPT_PRIORITY			0xf

/* The highest interrupt priority that can be used by any interrupt service
routine that makes calls to interrupt safe FreeRTOS API functions.  DO NOT CALL
INTERRUPT SAFE FREERTOS API FUNCTIONS FROM ANY INTERRUPT THAT HAS A HIGHER
PRIORITY THAN THIS! (higher priorities are lower numeric values. */
#define configLIBRARY_MAX_SYSCALL_INTERRUPT_PRIORITY	5

/* Interrupt priorities used by the kernel port layer itself.  These are generic
to all Cortex-M ports, and do not rely on any particular library functions. */
#define configKERNEL_INTERRUPT_PRIORITY 		( configLIBRARY_LOWEST_INTERRUPT_PRIORITY << (8 - configPRIO_BITS) )
/* !!!! configMAX_SYSCALL_INTERRUPT_PRIORITY must not be set to zero !!!!
See http://www.FreeRTOS.org/RTOS-Cortex-M3-M4.html. */
#define configMAX_SYSCALL_INTERRUPT_PRIORITY 	( configLIBRARY_MAX_SYSCALL_INTERRUPT_PRIORITY << (8 - configPRIO_BITS) )
	
/* Normal assert() semantics without relying on the provision of an assert.h
header file. */
#define configASSERT( x ) if( ( x ) == 0 ) { taskDISABLE_INTERRUPTS(); for( ;; ); }	
	
/* Definitions that map the FreeRTOS port interrupt handlers to their CMSIS
standard names. */
#define vPortSVCHandler SVC_Handler
#define xPortPendSVHandler PendSV_Handler
//#define xPortSysTickHandler SysTick_Handler

#endif /* FREERTOS_CONFIG_H */

二、测试线程

上面的工程创建后，创建线程测试下

2.1、创建两个打印线程

#include "main.h"
#include <stdio.h>
#include <stdint.h>
#include "led.h"
#include "delay.h"
#include "st7789.h"
#include "FreeRTOS.h"
#include "usart.h"
#include "task.h"

#define START_TASK_PRIO		1
#define START_STK_SIZE 		128  
TaskHandle_t StartTask_Handler;
void start_task(void *pvParameters);

#define TASK1_TASK_PRIO		2
#define TASK1_STK_SIZE 		128  
TaskHandle_t Task1Task_Handler;
void task1_task(void *pvParameters);

#define TASK2_TASK_PRIO		3
#define TASK2_STK_SIZE 		128  
TaskHandle_t Task2Task_Handler;
void task2_task(void *pvParameters);

int main(void)
{
	
	delay_init();	    				//延时函数初始化	 
	uart_init(115200);					//初始化串口
	LED_Init();

//创建开始任务
    xTaskCreate((TaskFunction_t )start_task,            
                (const char*    )"start_task",          
                (uint16_t       )START_STK_SIZE,        
                (void*          )NULL,                  
                (UBaseType_t    )START_TASK_PRIO,       
                (TaskHandle_t*  )&StartTask_Handler);              
    vTaskStartScheduler();          
}	


void start_task(void *pvParameters)
{
    taskENTER_CRITICAL();          

    xTaskCreate((TaskFunction_t )task1_task,             
                (const char*    )"task1_task",           
                (uint16_t       )TASK1_STK_SIZE,        
                (void*          )NULL,                  
                (UBaseType_t    )TASK1_TASK_PRIO,        
                (TaskHandle_t*  )&Task1Task_Handler);   
    
    xTaskCreate((TaskFunction_t )task2_task,     
                (const char*    )"task2_task",   
                (uint16_t       )TASK2_STK_SIZE,
                (void*          )NULL,
                (UBaseType_t    )TASK2_TASK_PRIO,
                (TaskHandle_t*  )&Task2Task_Handler); 
    vTaskDelete(StartTask_Handler); 
    taskEXIT_CRITICAL();          
}

void task1_task(void *pvParameters)
{
	
	while(1)
	{
		printf("task1 running...    !\r\n");
		vTaskDelay(1000);                           
	}
}

void task2_task(void *pvParameters)
{
	
	while(1)
	{
		printf("task2 running...    !\r\n");
		vTaskDelay(200);                            
	}
}

2.2、串口输出

上面的工程创建完成。

三、添加CAN通信

3.1、CAN驱动程序
can.c

#include "n32g45x.h"
#include "can.h"

uint8_t CAN_Tx_Index=0;
CanTxMessage CAN_TxMessage;
CanTxMessage CAN_TxMessages[CAN_TX_MESSAGE_BUFF_SIZE];
CanRxMessage CAN_RxMessage[CAN_RX_MESSAGE_BUFF_SIZE];
uint8_t CAN_RxMessage_Write_Cursor=0;
uint8_t CAN_RxMessage_Read_Cursor=0;


void CAN_Filter_Init(void)
{
    CAN_FilterInitType CAN_FilterInitStructure;
    /* CAN filter init */
    CAN_FilterInitStructure.Filter_Num            = CAN_FILTERNUM0;
    CAN_FilterInitStructure.Filter_Mode           = CAN_Filter_IdMaskMode;
    CAN_FilterInitStructure.Filter_Scale          = CAN_Filter_32bitScale;
    CAN_FilterInitStructure.Filter_HighId         = CAN_FILTER_STDID(0x400);
    CAN_FilterInitStructure.Filter_LowId          = CAN_FILTER_STDID(0x400);
    CAN_FilterInitStructure.FilterMask_HighId     = CAN_STD_ID_H_MASK_DONT_CARE;
    CAN_FilterInitStructure.FilterMask_LowId      = CAN_STD_ID_L_MASK_DONT_CARE;
    CAN_FilterInitStructure.Filter_FIFOAssignment = CAN_FIFO0;
    CAN_FilterInitStructure.Filter_Act            = ENABLE;
    CAN1_InitFilter(&CAN_FilterInitStructure);
    CAN_INTConfig(CAN1, CAN_INT_FMP0, ENABLE);
}

void CAN_NVIC_Config(void)
{
    NVIC_InitType NVIC_InitStructure;
    /* Configure the NVIC Preemption Priority Bits */
    NVIC_PriorityGroupConfig(NVIC_PriorityGroup_0);
    NVIC_InitStructure.NVIC_IRQChannel                   = USB_LP_CAN1_RX0_IRQn;
    NVIC_InitStructure.NVIC_IRQChannelPreemptionPriority = 0x0;
    NVIC_InitStructure.NVIC_IRQChannelSubPriority        = 0x0;
    NVIC_InitStructure.NVIC_IRQChannelCmd                = ENABLE;
    NVIC_Init(&NVIC_InitStructure);
}

uint8_t CANTxMessage(CAN_Module* CANx,CanTxMessage* TxMessage)
{
    return CAN_TransmitMessage(CANx, TxMessage);
}


void Tx_Frame_Message_Init(void)
{
    uint8_t CAN_Tx_Frame1_Data[8]={0x01,0x02,0x03,0x04,0x05,0x06,0x07,0x08};
    uint8_t CAN_Tx_Frame2_Data[8]={0x08,0x07,0x06,0x05,0x04,0x03,0x02,0x01};
    uint8_t i = 0;
    /* Init Transmit frame*/
    CAN_TxMessages[0].StdId   = CAN_TX1_SID; 
    CAN_TxMessages[0].IDE     = CAN_ID_STD;  
    CAN_TxMessages[0].RTR     = CAN_RTRQ_DATA;   
    CAN_TxMessages[0].DLC     = CAN_TXDLC_8;  
    for(i=0;i<CAN_TXDLC_8;i++)
    {
       CAN_TxMessages[0].Data[i]=CAN_Tx_Frame1_Data[i];
    }
    CAN_TxMessages[1].ExtId   = CAN_TX2_EID;
    CAN_TxMessages[1].IDE     = CAN_ID_EXT;
    CAN_TxMessages[1].RTR     = CAN_RTRQ_DATA;
    CAN_TxMessages[1].DLC     = CAN_TXDLC_8;
    for(i=0;i<CAN_TXDLC_8;i++)
    {
       CAN_TxMessages[1].Data[i]=CAN_Tx_Frame2_Data[i];
    }
}

void CAN_Recieve_Process(void)
{
    uint8_t i=0;
    if(CAN_RxMessage_Write_Cursor!=CAN_RxMessage_Read_Cursor)
    {
       if(CAN_RxMessage[CAN_RxMessage_Read_Cursor].IDE==CAN_Extended_Id)
       {
          printf("\r\n Receive Frame:%X %X ",\
                  CAN_RxMessage[CAN_RxMessage_Read_Cursor].ExtId,\
                  CAN_RxMessage[CAN_RxMessage_Read_Cursor].DLC);
       }
       else
       {
          printf("\r\n Receive Frame:%X %X ",\
                  CAN_RxMessage[CAN_RxMessage_Read_Cursor].StdId,\
                  CAN_RxMessage[CAN_RxMessage_Read_Cursor].DLC);
       }
       for(i=0;i<8;i++) 
          printf(" %X",CAN_RxMessage[CAN_RxMessage_Read_Cursor].Data[i]);
       printf("\r\n");
       if(CAN_RxMessage_Read_Cursor++>=CAN_RX_MESSAGE_BUFF_SIZE)CAN_RxMessage_Read_Cursor=0;
    }
}

void can_txdat(uint8_t *dat)
{
	uint8_t i=0;
	for(i=0;i<8;i++)
	{
		CAN_TxMessages[0].Data[i]=dat[i];
	}
	
	CANTxMessage(CAN1,&CAN_TxMessages[0]);                                                  
	//while ((CAN_TransmitSTS(CAN1, TransmitMailbox) != CANTXSTSOK) && (Time_out != 0)) Time_out--;
}


void init_can(void)
{
	CAN_InitType CAN_InitStructure;
	GPIO_InitType GPIO_InitStructure;
	
	GPIO_InitStruct(&GPIO_InitStructure);
	/* Configures CAN1 IOs */
	RCC_EnableAPB2PeriphClk(RCC_APB2_PERIPH_AFIO | RCC_APB2_PERIPH_GPIOB, ENABLE);
	/* Configure CAN1 RX pin */
	GPIO_InitStructure.Pin       = GPIO_PIN_8;
	GPIO_InitStructure.GPIO_Mode = GPIO_Mode_IPU;
	GPIO_InitPeripheral(GPIOB, &GPIO_InitStructure);
	/* Configure CAN1 TX pin */
	GPIO_InitStructure.Pin        = GPIO_PIN_9;
	GPIO_InitStructure.GPIO_Mode  = GPIO_Mode_AF_PP;
	GPIO_InitStructure.GPIO_Speed = GPIO_Speed_50MHz;
	GPIO_InitPeripheral(GPIOB, &GPIO_InitStructure);
	/* Remap CAN1 GPIOs */
	GPIO_ConfigPinRemap(GPIO_RMP2_CAN1, ENABLE);
	
	/* Configure CAN */
	RCC_EnableAPB1PeriphClk(RCC_APB1_PERIPH_CAN1, ENABLE);
	/* CAN register init */
	CAN_DeInit(CAN1);
	/* Struct init*/
	CAN_InitStruct(&CAN_InitStructure);
	/* CAN cell init */
	CAN_InitStructure.TTCM              = DISABLE;
	CAN_InitStructure.ABOM              = DISABLE;
	CAN_InitStructure.AWKUM             = DISABLE;
	CAN_InitStructure.NART              = DISABLE;
	CAN_InitStructure.RFLM              = DISABLE;
	CAN_InitStructure.TXFP              = ENABLE;
	CAN_InitStructure.OperatingMode     = OPERATINGMODE;
	CAN_InitStructure.RSJW              = CAN_BIT_RSJW;
	CAN_InitStructure.TBS1              = CAN_BIT_BS1;
	CAN_InitStructure.TBS2              = CAN_BIT_BS2;
	CAN_InitStructure.BaudRatePrescaler = CAN_BAUDRATEPRESCALER;
	/*Initializes the CAN */
	CAN_Init(CAN1, &CAN_InitStructure);
	CAN_Filter_Init();
	CAN_NVIC_Config();
	Tx_Frame_Message_Init();
}

can.h

#ifndef __CAN_H__
#define __CAN_H__

#ifdef __cplusplus
extern "C" {
#endif



#define  CAN_MODE_TYPE_NORMAL            1
#define  CAN_MODE_TYPE_LOOPBACK          2
#define  CAN_MODE_TYPE_SILENT            3
#define  CAN_MODE_TYPE_SILENT_LOOPBACK   4
#define  CAN_MODE_TYPE                   CAN_MODE_TYPE_NORMAL

#if(CAN_MODE_TYPE==CAN_MODE_TYPE_NORMAL)
#define  OPERATINGMODE                   CAN_Normal_Mode
#elif(CAN_MODE_TYPE==CAN_MODE_TYPE_LOOPBACK)
#define  OPERATINGMODE                   CAN_LoopBack_Mode
#elif(CAN_MODE_TYPE==CAN_MODE_TYPE_SILENT)
#define  OPERATINGMODE                   CAN_Silent_Mode
#elif(CAN_MODE_TYPE==CAN_MODE_TYPE_SILENT_LOOPBACK)
#define  OPERATINGMODE                   CAN_Silent_LoopBack_Mode
#endif

#define  CAN_BAUDRATE_1M                 1
#define  CAN_BAUDRATE_500K               2
#define  CAN_BAUDRATE_250K               3
#define  CAN_BAUDRATE_125K               4
#define  CAN_BAUDRATE                    CAN_BAUDRATE_500K

#if(CAN_BAUDRATE==CAN_BAUDRATE_1M)
#define   CAN_BIT_RSJW                   CAN_RSJW_1tq
#define   CAN_BIT_BS1                    CAN_TBS1_5tq
#define   CAN_BIT_BS2                    CAN_TBS2_3tq
#define   CAN_BAUDRATEPRESCALER          4
#elif(CAN_BAUDRATE==CAN_BAUDRATE_500K)
#define   CAN_BIT_RSJW                   CAN_RSJW_1tq
#define   CAN_BIT_BS1                    CAN_TBS1_14tq
#define   CAN_BIT_BS2                    CAN_TBS2_3tq
#define   CAN_BAUDRATEPRESCALER          4
#elif(CAN_BAUDRATE==CAN_BAUDRATE_250K)
#define   CAN_BIT_RSJW                   CAN_RSJW_1tq
#define   CAN_BIT_BS1                    CAN_TBS1_14tq
#define   CAN_BIT_BS2                    CAN_TBS2_3tq
#define   CAN_BAUDRATEPRESCALER          8
#elif(CAN_BAUDRATE==CAN_BAUDRATE_125K)
#define   CAN_BIT_RSJW                   CAN_RSJW_2tq
#define   CAN_BIT_BS1                    CAN_TBS1_13tq
#define   CAN_BIT_BS2                    CAN_TBS2_4tq
#define   CAN_BAUDRATEPRESCALER          16
#endif


#define  CAN_TXDLC_8                    ((uint8_t)8)
#define  CAN_FILTERNUM0                 ((uint8_t)0)
#define  CAN_TX1_SID                    0x0400
#define  CAN_TX2_EID                    0x12345678
#define  CAN_TX_MESSAGE_BUFF_SIZE       2
#define  CAN_RX_MESSAGE_BUFF_SIZE       10

#define  CAN_FILTER_STDID(STDID)        ((STDID&0x7FF)<<5)
#define  CAN_FILTER_EXTID_H(EXTID)      ((uint16_t)(((EXTID>>18)<<5)|((EXTID&0x2FFFF)>>13)))
#define  CAN_FILTER_EXTID_L(EXTID)      ((uint16_t)((EXTID&0x2FFFF)<<3))

#define  CAN_STD_ID_H_MASK_CARE         0xFFE0
#define  CAN_STD_ID_L_MASK_CARE         0x0000
#define  CAN_STD_ID_H_MASK_DONT_CARE    0x0000
#define  CAN_STD_ID_L_MASK_DONT_CARE    0x0000

#define  CAN_EXT_ID_H_MASK_CARE         0xFFFF
#define  CAN_EXT_ID_L_MASK_CARE         0xFFF8
#define  CAN_EXT_ID_H_MASK_DONT_CARE    0x0000
#define  CAN_EXT_ID_L_MASK_DONT_CARE    0x0000


typedef enum
{
    FAILED = 0,
    PASSED = !FAILED
} Status;

extern uint8_t CAN_Tx_Index;
extern uint8_t CAN_RxMessage_Write_Cursor;
extern uint8_t CAN_RxMessage_Read_Cursor;
extern CanRxMessage CAN_RxMessage[CAN_RX_MESSAGE_BUFF_SIZE];
extern CanTxMessage CAN_TxMessages[CAN_TX_MESSAGE_BUFF_SIZE];

//extern void CAN_Tx_Process(void);
//extern void CAN_GPIO_Config(void);
//extern void CAN_Config(void);
//extern void Tx_Frame_Message_Init(void);
//extern void CAN_Recieve_Process(void);


void init_can(void);
void can_txdat(uint8_t *dat);

#ifdef __cplusplus
}
#endif


#endif/*__USER_CAN_CONFIG_H__*/

can中断程序

void USB_LP_CAN1_RX0_IRQHandler(void)
{  
    CAN_ReceiveMessage(CAN1, CAN_FIFO0, &CAN_RxMessage[CAN_RxMessage_Write_Cursor]);
    if(CAN_RxMessage_Write_Cursor++>=CAN_RX_MESSAGE_BUFF_SIZE)CAN_RxMessage_Write_Cursor=0;
}

3.2、主程序

线程1发送CAN数据
线程2接收CAN数据

void task1_task(void *pvParameters)
{
	uint8_t can_txbuf[8];
	uint8_t i=0;
	uint8_t cnt=0;
	init_can();
	for(i=0;i<8;i++)
	{
		can_txbuf[i]=0;
	}
	
	
	while(1)
	{
		can_txbuf[0]=cnt;
		printf("task1 can txdat[0]    !\r\n",can_txbuf[0]);
		can_txdat(can_txbuf);
		cnt++;
		vTaskDelay(1000);                           
	}
}

void task2_task(void *pvParameters)
{
	
	while(1)
	{
		//printf("task2 running...    !\r\n");
		CAN_Recieve_Process();
		vTaskDelay(20);                            
	}
}

四、运行

电路板连接

CAN收发的数据

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【国民技术N32项目移植】基于freeRTOS的CAN通信

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