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robot_h743
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修改FDCAN波特率

master
Lizongdi 2 weeks ago
parent
548f0565a8
commit
3af64bb2b2
4 changed files with 18 additions and 17 deletions
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  1. 4
      Core/Src/fdcan.c
  2. 15
      cmake/stm32cubemx/CMakeLists.txt
  3. 2
      robot
  4. 14
      robot_h743.ioc

4
Core/Src/fdcan.c
View File

@ -47,7 +47,7 @@ void MX_FDCAN1_Init(void)
hfdcan1.Init.NominalPrescaler = 20; hfdcan1.Init.NominalPrescaler = 20;
hfdcan1.Init.NominalSyncJumpWidth = 1; hfdcan1.Init.NominalSyncJumpWidth = 1;
hfdcan1.Init.NominalTimeSeg1 = 5; hfdcan1.Init.NominalTimeSeg1 = 5;
hfdcan1.Init.NominalTimeSeg2 = 1; hfdcan1.Init.NominalTimeSeg2 = 2;
hfdcan1.Init.DataPrescaler = 1; hfdcan1.Init.DataPrescaler = 1;
hfdcan1.Init.DataSyncJumpWidth = 1; hfdcan1.Init.DataSyncJumpWidth = 1;
hfdcan1.Init.DataTimeSeg1 = 1; hfdcan1.Init.DataTimeSeg1 = 1;
@ -95,7 +95,7 @@ void MX_FDCAN2_Init(void)
hfdcan2.Init.NominalPrescaler = 20; hfdcan2.Init.NominalPrescaler = 20;
hfdcan2.Init.NominalSyncJumpWidth = 1; hfdcan2.Init.NominalSyncJumpWidth = 1;
hfdcan2.Init.NominalTimeSeg1 = 5; hfdcan2.Init.NominalTimeSeg1 = 5;
hfdcan2.Init.NominalTimeSeg2 = 1; hfdcan2.Init.NominalTimeSeg2 = 2;
hfdcan2.Init.DataPrescaler = 1; hfdcan2.Init.DataPrescaler = 1;
hfdcan2.Init.DataSyncJumpWidth = 1; hfdcan2.Init.DataSyncJumpWidth = 1;
hfdcan2.Init.DataTimeSeg1 = 1; hfdcan2.Init.DataTimeSeg1 = 1;

15
cmake/stm32cubemx/CMakeLists.txt
View File

@ -108,7 +108,7 @@ set(FreeRTOS_Src
${CMAKE_CURRENT_SOURCE_DIR}/../../Middlewares/Third_Party/FreeRTOS/Source/timers.c ${CMAKE_CURRENT_SOURCE_DIR}/../../Middlewares/Third_Party/FreeRTOS/Source/timers.c
${CMAKE_CURRENT_SOURCE_DIR}/../../Middlewares/Third_Party/FreeRTOS/Source/CMSIS_RTOS_V2/cmsis_os2.c ${CMAKE_CURRENT_SOURCE_DIR}/../../Middlewares/Third_Party/FreeRTOS/Source/CMSIS_RTOS_V2/cmsis_os2.c
${CMAKE_CURRENT_SOURCE_DIR}/../../Middlewares/Third_Party/FreeRTOS/Source/portable/MemMang/heap_4.c ${CMAKE_CURRENT_SOURCE_DIR}/../../Middlewares/Third_Party/FreeRTOS/Source/portable/MemMang/heap_4.c
${CMAKE_CURRENT_SOURCE_DIR}/../../Middlewares/Third_Party/FreeRTOS/Source/portable/GCC/ARM_CM4F/port.c ${CMAKE_CURRENT_SOURCE_DIR}/../../Middlewares/Third_Party/FreeRTOS/Source/portable/GCC/ARM_CM4F/port.c
) )
set(LwIP_Src set(LwIP_Src
${CMAKE_CURRENT_SOURCE_DIR}/../../Middlewares/Third_Party/LwIP/src/netif/ppp/auth.c ${CMAKE_CURRENT_SOURCE_DIR}/../../Middlewares/Third_Party/LwIP/src/netif/ppp/auth.c
@ -203,8 +203,7 @@ set(MX_LINK_DIRS
set(MX_LINK_LIBS set(MX_LINK_LIBS
STM32_Drivers STM32_Drivers
${TOOLCHAIN_LINK_LIBRARIES} ${TOOLCHAIN_LINK_LIBRARIES}
FreeRTOS FreeRTOS LwIP
LwIP
) )
# Interface library for includes and symbols # Interface library for includes and symbols
add_library(stm32cubemx INTERFACE) add_library(stm32cubemx INTERFACE)
@ -216,11 +215,11 @@ add_library(STM32_Drivers OBJECT)
target_sources(STM32_Drivers PRIVATE ${STM32_Drivers_Src}) target_sources(STM32_Drivers PRIVATE ${STM32_Drivers_Src})
target_link_libraries(STM32_Drivers PUBLIC stm32cubemx) target_link_libraries(STM32_Drivers PUBLIC stm32cubemx)
# Create FreeRTOS static library # Create FreeRTOS static library
add_library(FreeRTOS OBJECT) add_library(FreeRTOS OBJECT)
target_sources(FreeRTOS PRIVATE ${FreeRTOS_Src}) target_sources(FreeRTOS PRIVATE ${FreeRTOS_Src})
target_link_libraries(FreeRTOS PUBLIC stm32cubemx) target_link_libraries(FreeRTOS PUBLIC stm32cubemx)
# Create LwIP static library # Create LwIP static library
add_library(LwIP OBJECT) add_library(LwIP OBJECT)

2
robot

@ -1 +1 @@
Subproject commit 2b68578a946d91386e7ff70c84a04b1bc8c3f608 Subproject commit 778a14c63b91f62ea8b058caf330792cfc4050cc

14
robot_h743.ioc
View File

@ -183,21 +183,23 @@ ETH.RxBuffAddress=0x30040400
ETH.RxBuffLen=1528 ETH.RxBuffLen=1528
ETH.RxDescAddress=0x30040000 ETH.RxDescAddress=0x30040000
ETH.TxDescAddress=0x30040200 ETH.TxDescAddress=0x30040200
FDCAN1.CalculateBaudRateNominal=285714 FDCAN1.CalculateBaudRateNominal=250000
FDCAN1.CalculateTimeBitNominal=3500 FDCAN1.CalculateTimeBitNominal=4000
FDCAN1.CalculateTimeQuantumNominal=500.0 FDCAN1.CalculateTimeQuantumNominal=500.0
FDCAN1.IPParameters=NominalPrescaler,NominalTimeSeg1,RxFifo0ElmtsNbr,TxFifoQueueElmtsNbr,CalculateTimeQuantumNominal,CalculateTimeBitNominal,CalculateBaudRateNominal FDCAN1.IPParameters=NominalPrescaler,NominalTimeSeg1,RxFifo0ElmtsNbr,TxFifoQueueElmtsNbr,CalculateTimeQuantumNominal,CalculateTimeBitNominal,CalculateBaudRateNominal,NominalTimeSeg2
FDCAN1.NominalPrescaler=20 FDCAN1.NominalPrescaler=20
FDCAN1.NominalTimeSeg1=5 FDCAN1.NominalTimeSeg1=5
FDCAN1.NominalTimeSeg2=2
FDCAN1.RxFifo0ElmtsNbr=32 FDCAN1.RxFifo0ElmtsNbr=32
FDCAN1.TxFifoQueueElmtsNbr=32 FDCAN1.TxFifoQueueElmtsNbr=32
FDCAN2.CalculateBaudRateNominal=285714 FDCAN2.CalculateBaudRateNominal=250000
FDCAN2.CalculateTimeBitNominal=3500 FDCAN2.CalculateTimeBitNominal=4000
FDCAN2.CalculateTimeQuantumNominal=500.0 FDCAN2.CalculateTimeQuantumNominal=500.0
FDCAN2.IPParameters=NominalPrescaler,NominalTimeSeg1,RxFifo0ElmtsNbr,TxFifoQueueElmtsNbr,CalculateTimeQuantumNominal,CalculateTimeBitNominal,CalculateBaudRateNominal,MessageRAMOffset FDCAN2.IPParameters=NominalPrescaler,NominalTimeSeg1,RxFifo0ElmtsNbr,TxFifoQueueElmtsNbr,CalculateTimeQuantumNominal,CalculateTimeBitNominal,CalculateBaudRateNominal,MessageRAMOffset,NominalTimeSeg2
FDCAN2.MessageRAMOffset=0x500 FDCAN2.MessageRAMOffset=0x500
FDCAN2.NominalPrescaler=20 FDCAN2.NominalPrescaler=20
FDCAN2.NominalTimeSeg1=5 FDCAN2.NominalTimeSeg1=5
FDCAN2.NominalTimeSeg2=2
FDCAN2.RxFifo0ElmtsNbr=32 FDCAN2.RxFifo0ElmtsNbr=32
FDCAN2.TxFifoQueueElmtsNbr=32 FDCAN2.TxFifoQueueElmtsNbr=32
FREERTOS.FootprintOK=true FREERTOS.FootprintOK=true

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