【STM32F407】关于can通讯的简单boot loader设计

最新推荐文章于 2025-05-11 10:23:04 发布

bug快跑~

最新推荐文章于 2025-05-11 10:23:04 发布

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分类专栏： STM32 文章标签： stm32 单片机嵌入式硬件

本文链接：https://blog.youkuaiyun.com/2301_76504439/article/details/129948230

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一、基础知识

关于can和boot loader是什么，这里不阐释，网上很多资料，也可参考以下链接。

can:https://zhuanlan.zhihu.com/p/358266880

BootLoader:https://zhuanlan.zhihu.com/p/556181275

二、代码

此部分都是基于正点原子例程的修改

1、can部分

can.c

#include "can.h"
#include "led.h"
#include "delay.h"
#include "usart.h"

//can的初始化 
//tsjw:重新同步跳跃时间单位，范围:CAN_SJW_1tq~ CAN_SJW_4tq
//tbs2:时间段2的时间单位，范围:CAN_BS2_1tq~CAN_BS2_8tq;
//tbs1:时间段1的时间单位，范围:CAN_BS1_1tq ~CAN_BS1_16tq
//brp :波特率分频器，范围:1~1024; tq=(brp)*tpclk1
//波特率=Fpclk1/((tbs1+1+tbs2+1+1)*brp);
//mode:CAN_Mode_Normal,普通模式;CAN_Mode_LoopBack,回环模式;
//Fpclk1的时钟在初始化的时候设置为42M,
//如果设置为CAN1_Mode_Init(CAN_SJW_1tq,CAN_BS2_6tq,CAN_BS1_7tq,6,CAN_Mode_LoopBack);
//波特率: 42M/((6+7+1)*6)=500Kbps

CanRxMsg RxMessage;
u8 CANRecFlag = 0;

u8 CAN1_Mode_Init(u8 tsjw,u8 tbs2,u8 tbs1,u16 brp,u8 mode)
{

  	GPIO_InitTypeDef GPIO_InitStructure; 
	CAN_InitTypeDef        CAN_InitStructure;
  	CAN_FilterInitTypeDef  CAN_FilterInitStructure;
#if CAN1_RX0_INT_ENABLE 
   	NVIC_InitTypeDef  NVIC_InitStructure;
#endif
    //使能相关时钟
	RCC_AHB1PeriphClockCmd(RCC_AHB1Periph_GPIOA, ENABLE);	                   											 

  	RCC_APB1PeriphClockCmd(RCC_APB1Periph_CAN1, ENABLE);
	
    //初始化GPIO
	GPIO_InitStructure.GPIO_Pin = GPIO_Pin_11| GPIO_Pin_12;
    GPIO_InitStructure.GPIO_Mode = GPIO_Mode_AF;
    GPIO_InitStructure.GPIO_OType = GPIO_OType_PP;
    GPIO_InitStructure.GPIO_Speed = GPIO_Speed_100MHz;//100MHz
    GPIO_InitStructure.GPIO_PuPd = GPIO_PuPd_UP;
    GPIO_Init(GPIOA,&GPIO_InitStructure);
	
	//引脚复用映射配置
	GPIO_PinAFConfig(GPIOA,GPIO_PinSource11,GPIO_AF_CAN1);
	GPIO_PinAFConfig(GPIOA,GPIO_PinSource12,GPIO_AF_CAN1);
	  
  	//CAN单元设置
   	CAN_InitStructure.CAN_TTCM=DISABLE;	   
  	CAN_InitStructure.CAN_ABOM=DISABLE;	  
  	CAN_InitStructure.CAN_AWUM=DISABLE;
  	CAN_InitStructure.CAN_NART=ENABLE;	
  	CAN_InitStructure.CAN_RFLM=DISABLE;	 
  	CAN_InitStructure.CAN_TXFP=DISABLE;	
  	CAN_InitStructure.CAN_Mode= mode;	 
  	CAN_InitStructure.CAN_SJW=tsjw;	
  	CAN_InitStructure.CAN_BS1=tbs1; 
  	CAN_InitStructure.CAN_BS2=tbs2;
  	CAN_InitStructure.CAN_Prescaler=brp; 	
  	CAN_Init(CAN1,&CAN_InitStructure);   
    
	//配置过滤器
 	CAN_FilterInitStructure.CAN_FilterNumber=0;	
  	CAN_FilterInitStructure.CAN_FilterMode=CAN_FilterMode_IdMask; 
  	CAN_FilterInitStructure.CAN_FilterScale=CAN_FilterScale_32bit; 
  	CAN_FilterInitStructure.CAN_FilterIdHigh=0x0000;
  	CAN_FilterInitStructure.CAN_FilterIdLow=0x0000;
  	CAN_FilterInitStructure.CAN_FilterMaskIdHigh=0x0000;
  	CAN_FilterInitStructure.CAN_FilterMaskIdLow=0x0000;
   	CAN_FilterInitStructure.CAN_FilterFIFOAssignment=CAN_Filter_FIFO0;
  	CAN_FilterInitStructure.CAN_FilterActivation=ENABLE; 
  	CAN_FilterInit(&CAN_FilterInitStructure);
		
#if CAN1_RX0_INT_ENABLE
	
	CAN_ITConfig(CAN1,CAN_IT_FMP0,ENABLE);		    
  
  	NVIC_InitStructure.NVIC_IRQChannel = CAN1_RX0_IRQn;
  	NVIC_InitStructure.NVIC_IRQChannelPreemptionPriority = 1;   
  	NVIC_InitStructure.NVIC_IRQChannelSubPriority = 0;          
  	NVIC_InitStructure.NVIC_IRQChannelCmd = ENABLE;
  	NVIC_Init(&NVIC_InitStructure);
#endif
	return 0;
}   
 
#if CAN1_RX0_INT_ENABLE	
//中断服务函数		    
void CAN1_RX0_IRQHandler(void)
{
  	CanRxMsg RxMessage;
	int i=0;
    CAN_Receive(CAN1,0,&RxMessage);
	for(i=0;i<8;i++)
	printf("rxbuf[%d]:%d\r\n",i,RxMessage.Data[i]);
}
#endif


//can：发送一组数据(固定格式:ID为0X12,标准帧，数据帧）	
//len:数据长度（最大为8）			     
//msg:数据指针，最大为八个字节。

u8 CAN1_Send_Msg(u8* msg,u8 len)
{	
  u8 mbox;
  u16 i=0;
  CanTxMsg TxMessage;
  TxMessage.StdId=0x12;	 
  TxMessage.ExtId=0x12;	 
  TxMessage.IDE=0;		 
  TxMessage.RTR=0;		  
  TxMessage.DLC=len;						
  for(i=0;i<len;i++)
  TxMessage.Data[i]=msg[i];				      
  mbox= CAN_Transmit(CAN1,&TxMessage);   
  i=0;
  while((CAN_TransmitStatus(CAN1, mbox)==CAN_TxStatus_Failed)&&(i<0XFFF))i++;	
  if(i>=0XFFF)return 1;
  return 0;		

}

//can:接收数据
//buf:数据缓存区	 
u8 CAN1_Receive_Msg(u8 *buf)
{		   		   
 	u32 i;
	CanRxMsg RxMessage;
    if(CAN_MessagePending(CAN1,CAN_FIFO0)==0)return 0;		
    CAN_Receive(CAN1, CAN_FIFO0, &RxMessage);//读取数据
    for(i=0;i<RxMessage.DLC;i++)
    buf[i]=RxMessage.Data[i];  
	return RxMessage.DLC;	
}

can.h

#ifndef __CAN_H
#define __CAN_H	 
#include "sys.h"	    


#define CAN1_RX0_INT_ENABLE	0										    
										 							 				    
u8 CAN1_Mode_Init(u8 tsjw,u8 tbs2,u8 tbs1,u16 brp,u8 mode);
 
u8 CAN1_Send_Msg(u8* msg,u8 len);						

u8 CAN1_Receive_Msg(u8 *buf);							
#endif

二、flash部分

stm32flash.c

#include "stmflash.h"
#include "delay.h"
#include "usart.h" 
 

u32 STMFLASH_ReadWord(u32 faddr)
{
	return *(vu32*)faddr; 
}  


uint16_t STMFLASH_GetFlashSector(u32 addr)
{
	if(addr<ADDR_FLASH_SECTOR_1)return FLASH_Sector_0;
	else if(addr<ADDR_FLASH_SECTOR_2)return FLASH_Sector_1;
	else if(addr<ADDR_FLASH_SECTOR_3)return FLASH_Sector_2;
	else if(addr<ADDR_FLASH_SECTOR_4)return FLASH_Sector_3;
	else if(addr<ADDR_FLASH_SECTOR_5)return FLASH_Sector_4;
	else if(addr<ADDR_FLASH_SECTOR_6)return FLASH_Sector_5;
	else if(addr<ADDR_FLASH_SECTOR_7)return FLASH_Sector_6;
	else if(addr<ADDR_FLASH_SECTOR_8)return FLASH_Sector_7;
	else if(addr<ADDR_FLASH_SECTOR_9)return FLASH_Sector_8;
	else if(addr<ADDR_FLASH_SECTOR_10)return FLASH_Sector_9;
	else if(addr<ADDR_FLASH_SECTOR_11)return FLASH_Sector_10; 
	return FLASH_Sector_11;	
}


void STMFLASH_Write(u32 WriteAddr,u32 *pBuffer,u32 NumToWrite)	
{ 
  FLASH_Status status = FLASH_COMPLETE;
	u32 addrx=0;
	u32 endaddr=0;	
  if(WriteAddr<STM32_FLASH_BASE||WriteAddr%4)return;	
	FLASH_Unlock();									
  FLASH_DataCacheCmd(DISABLE);
 		
	addrx=WriteAddr;				
	endaddr=WriteAddr+NumToWrite*4;	
	if(addrx<0X1FFF0000)			
	{
		while(addrx<endaddr)		
		{
			if(STMFLASH_ReadWord(addrx)!=0XFFFFFFFF)
			{   
				status=FLASH_EraseSector(STMFLASH_GetFlashSector(addrx),VoltageRange_3);
				if(status!=FLASH_COMPLETE)break;	
			}else addrx+=4;
		} 
	}
	if(status==FLASH_COMPLETE)
	{
		while(WriteAddr<endaddr)
		{
			if(FLASH_ProgramWord(WriteAddr,*pBuffer)!=FLASH_COMPLETE)
			{ 
				break;	
			}
			WriteAddr+=4;
			pBuffer++;
		} 
	}
  FLASH_DataCacheCmd(ENABLE);	
	FLASH_Lock();
} 


void STMFLASH_Read(u32 ReadAddr,u32 *pBuffer,u32 NumToRead)   	
{
	u32 i;
	for(i=0;i<NumToRead;i++)
	{
		pBuffer[i]=STMFLASH_ReadWord(ReadAddr);
		ReadAddr+=4;//Æ«ÒÆ4¸ö×Ö½Ú.	
	}
}

明天放假，后天更新，拜拜。。。