RT-Thread-使用STM32的SPI实现双机通讯RT-Thread问答社区

使用STM32的SPI实现双机通讯

发布于 2024-07-08 11:07:44 浏览：1012 订阅该版

[tocm]

# 0、写在前面
接触RT-Thread两三个月了，看到了很多人在系统上的贡献和付出。系统功能的强大性和稳定性是经过市场验证的，开发的便捷性也是有目共睹。使用一段时间后感觉爱上此操作系统。因为项目中有需要扩展资源的情况，而方案选择的是SPI双机通信的方式。网上相关的资料都写的不是很详细，故出此篇文章，供大家一起指正和完善开发内容，使实现方式更加合理，代码更加坚固。

# 1、开发环境
笔者使用的是STM32CubeMX+Keil的开发环境。主机使用的是STM32F407，从机是STM32F103。

# 2、电路设计
![screenshot_image.png](https://oss-club.rt-thread.org/uploads/20240708/09f943e3daaca96a92cce11a166b5d22.png.webp)

SPI0_NSS接口是主SPI的使能接口，而SPI0_EN是从机通知主机接收的接口。因为在常规使用中，从机都是被动接收数据的，而双机通信中从机可能需要主动发送数据，此时需要一个接口来通知主机接收从机发送的数据。
备注：SPI0_EN最好设计为下拉，因为在启动过程中有可能会有上升沿脉冲，产生误判消息。

# 3、工程配置
配置原则，主机配置成Master模式，从机配置成Slave模式。参数配置要相同，如通信速率等。因为会使用DMA，所以也要把DMA配置上。
## 3.1 主机的配置

![screenshot_image.png](https://oss-club.rt-thread.org/uploads/20240708/4640fb3a70fc1180b8b0b7a2322f0f9d.png.webp)

![screenshot_image.png](https://oss-club.rt-thread.org/uploads/20240708/5d7fdbf38b33d8c7ac5e96e80891da99.png.webp)

## 3.2 从机的配置

![screenshot_image.png](https://oss-club.rt-thread.org/uploads/20240708/09d5ea5234f1d16b72f8697a8eb5aef3.png.webp)

![screenshot_image.png](https://oss-club.rt-thread.org/uploads/20240708/fba4c9016b8de6c08f90d337da672d7b.png.webp)

# 4、menuconfig配置
写相应的Kconfig以及使能SPI外设，跟官网的使用说明一致，不再说明。

# 5、主要代码
## 5.1 主机代码
备注：有些代码是有额外功能的。比如消息队列，不属于SPI通信内容。因为是从项目中拷贝的，未整理，请大家自行分辨。

```c
//////////////////////////////////////华丽分割线/////////////////////////////////////
#include <rtthread.h>
#include <rtdevice.h>
#include <drv_spi.h>
#include <board.h>
#include "app_spi1.h"

#define SPI_BUS_NAME     "spi1"
#define MASTER_SPI_DEVICE_NAME     "spi10"
struct rt_spi_device *spiMaster;
static uint8_t g_spiIrqFlag = 0;  // 用作中断通知标志
/************************************************
* 函数：spi_exirq_callback
* 功能：spi中断回调函数
************************************************/
void spi_exirq_callback(void *args)// 回调函数
{
    g_spiIrqFlag++;
//    rt_kprintf("g_spiIrqFlag=%d\n", g_spiIrqFlag);
    if (g_spiIrqFlag >= 3) { /* 规避主/从上电启动时可能有检测到突变的上升沿 */
        g_spiIrqFlag = 0;
    }
}
/************************************************
* 函数：SpiMasterHardwareConfiguration
* 功能：主SPI硬件信息配置
************************************************/
static void SpiMasterHardwareConfiguration(struct rt_spi_device *spiDev)
{
    struct rt_spi_configuration cfg;
    cfg.data_width = 8;  // 8数据位
    cfg.mode = RT_SPI_MASTER | RT_SPI_MODE_0 | RT_SPI_MSB;  // 主模式0, MSB
    cfg.max_hz = 10.5 * 1000 *1000; /* 10.5MBits/s速率 */
    if (rt_spi_configure(spiDev, &cfg) != RT_EOK) {
        rt_kprintf("master spi configure fail.\n");
    }    
}
/************************************************
* 函数：spi1_tx_thread
* 功能：SPI1发送任务
************************************************/
static void spi1_tx_thread(void* parameter)
{
    uint8_t canBuf[12] = {0}; // 数据接收缓冲区接收12字节的数据
    uint8_t spiBuf[13] = {0};  // spi发送的13个字节数据缓冲区
    
    while(1) {
        /* 从消息队列中接收消息 */
        if (rt_mq_recv(&g_can2MsgQueue, &canBuf, sizeof(canBuf), RT_WAITING_FOREVER) == RT_EOK) {
            rt_kprintf("Spi1 Rcv QueMsg From can2: ");
            for (int i = 0; i < sizeof(canBuf) / sizeof(uint8_t); ++i) {
                rt_kprintf(" %2x", canBuf[i]);
                spiBuf[i] = canBuf[i];  // copy data
            }
            rt_kprintf("\n");
            spiBuf[12] = GetDataChecksum(canBuf, 12); // 0~12,最后一个数据是校验和
            SendQueMsgBySpi(spiBuf, sizeof(spiBuf) / sizeof(uint8_t));
        } else {
            rt_kprintf("master spi recv msg queue fail.\n");
        }   
        rt_thread_mdelay(10);
    }
}
/************************************************
* 函数：SpiSendTaskCreate
* 功能：发送任务创建
************************************************/
static rt_err_t SpiSendTaskCreate(void)
{
    rt_err_t ret = RT_EOK;
    rt_thread_t thread_ptr;
    
    /* 动态创建线程 */
    /* 线程入口函数是SpiSendTask, 参数是RT_NULL
    * 栈空间是1024, 优先级25, 时间片10个OS Tick
    */
    thread_ptr = rt_thread_create("spi1_tx", spi1_tx_thread, RT_NULL, 512, 25, 10);
    /* 启动线程 */
    if (thread_ptr != RT_NULL) {
        rt_thread_startup(thread_ptr);
    } else {
        ret = RT_ERROR;
    }
    return ret;
}

/************************************************
* 函数：spi1_rx_thread
* 功能：SPI接收任务
************************************************/
static void spi1_rx_thread(void* parameter)
{
    uint8_t spiRcvBuf[13] = {0};
    while(1) {
        uint8_t spiRcvLen = 0;
        if (g_spiIrqFlag != 0) {
            spiRcvLen = rt_spi_recv(spiMaster, spiRcvBuf, sizeof(spiRcvBuf) / sizeof(uint8_t));
            if ((spiRcvLen != 0) &&(spiRcvBuf[0] != 0) && (spiRcvBuf[0] != 0xFF)) { /* 接收到数据 */
                if (spiRcvBuf[12] == GetDataChecksum(spiRcvBuf, 12)) {  // 校验和
                    
                    /* 写消息队列发送给CAN */
                    BmsSendQueMsgToNorthward(spiRcvBuf, 12);
                    g_spiIrqFlag = 0;
                }
            }
        }        
        rt_thread_mdelay(10);
    }
}

/************************************************
* 函数：SpiReceiveTaskCreate
* 功能：SPI总线接收任务初始化
************************************************/
static rt_err_t SpiReceiveTaskCreate(void)
{
    rt_err_t ret = RT_EOK;
    rt_thread_t thread_ptr;
    /* 动态创建线程 */
    /* 线程入口函数是SpiSendTask, 参数是RT_NULL
    * 栈空间是512, 优先级25, 时间片10个OS Tick
    */
    thread_ptr = rt_thread_create("spi1_rx", spi1_rx_thread, RT_NULL, 512, 25, 10);
    /* 启动线程 */
    if (thread_ptr != RT_NULL) {
        rt_thread_startup(thread_ptr);
    } else {
        ret = RT_ERROR;
    }
    
    /* SPI1消息队列初始化 */
    ret = Spi1MsgQueInit();
    RT_ASSERT(ret == RT_EOK);
    return ret;
}

/************************************************
* 函数：SpiExtInterruptIint
* 功能：SPI外部中断输入引脚初始化,通知Master SPI接收数据
************************************************/
static rt_err_t SpiExtInterruptIint(void)
{
    rt_err_t ret = RT_EOK;
    rt_pin_mode(SPI_EXT_INTERRUPT_PIN, PIN_MODE_INPUT_PULLDOWN); /* 下拉输入 */
 
    /* 下降和上升都检测 */
    rt_pin_attach_irq(SPI_EXT_INTERRUPT_PIN, PIN_IRQ_MODE_RISING_FALLING, spi_exirq_callback, RT_NULL);
    rt_pin_irq_enable(SPI_EXT_INTERRUPT_PIN, PIN_IRQ_ENABLE); /* 使能中断 */
    return ret;
}
/************************************************
* 函数：APP_SpiMasterInit
* 功能：初始化SPI总线配置以及收发任务初始化
************************************************/
rt_err_t APP_SpiMasterInit(void)
{  
    rt_err_t ret = RT_EOK;
    char name[RT_NAME_MAX];
    rt_strncpy(name, MASTER_SPI_DEVICE_NAME, RT_NAME_MAX);
    /* 查找设备前挂接设备,CS=PA15 */
    rt_hw_spi_device_attach("spi1", "spi10", GET_PIN(A, 15));
    
    /* 查找spi设备获取设备句柄 */
    spiMaster = (struct rt_spi_device *)rt_device_find(name);
    if (!spiMaster) {
        rt_kprintf("spi can't find %s device!\n", name);
    } else {
        SpiMasterHardwareConfiguration(spiMaster);  /* find之后要配置SPI */
    }
    /* 创建收发任务 */
    ret = SpiSendTaskCreate();
    if (ret != RT_EOK) {
        rt_kprintf("SpiTxTask fail.\n");
        return ret;
    }
    ret = SpiReceiveTaskCreate();
    if (ret != RT_EOK) {
        rt_kprintf("SpiRxTask fail.\n");
        return ret;
    }
    rt_kprintf("SpiInit   ok.\n");
    
    /* 配置SPI外部中断 */
    if (SpiExtInterruptIint() != RT_EOK) {
        rt_kprintf("Spi master exirq inti fail.\n");
    } 
    return ret;
}
MSH_CMD_EXPORT(APP_SpiMasterInit, spi sample);

## 5.1 从机主要代码
#include <rtthread.h>
#include <rtdevice.h>
#include <drv_spi.h>
#include <board.h>
#include "app_spi2.h"

#define SPI_BUS_NAME     "spi2"
#define SPI_DEVICE_NAME     "spi20"

static struct rt_spi_device *spiSlaveDev;

/************************************************
* 函数：SpiSlaveHardwareConfiguration
* 功能：从SPI硬件信息配置
************************************************/
static rt_err_t SpiSlaveHardwareConfiguration(struct rt_spi_device *spiDev)
{
    rt_err_t result = RT_EOK;
    struct rt_spi_configuration cfg;
    cfg.data_width = 8; // 数据位宽
    /* 从模式, Mode 0:CPOL=0&CPHA=0. MSB: */
    cfg.mode = RT_SPI_SLAVE | RT_SPI_MODE_0 | RT_SPI_MSB; // SPI从模式
    cfg.max_hz = 10.5 * 1000 *1000; /* 10.5MBits/s */
    if (rt_spi_configure(spiDev, &cfg) != RT_EOK) {
        return RT_ERROR;
    }
    return result;
}

/************************************************
* 函数：AuxMcuSendQueMsgBySpi
* 功能：辅助MCU通过SPI将数据发送给主MCU
************************************************/

static rt_err_t AuxMcuSendQueMsgBySpi(const uint8_t *data, const uint8_t len)
{
    rt_err_t ret = RT_EOK;
    struct rt_spi_message msg1;
    msg1.send_buf = data;
    msg1.recv_buf = RT_NULL;
    msg1.length = len; // len字节数据
    msg1.cs_take = 1;  /* 选中片选 */
    msg1.cs_release = 1; /* 函数返回时释放片选 */ 
    msg1.next = RT_NULL;
    
    rt_pin_write(SPI_INFORM_MASTER_PIN, PIN_HIGH); /* 给主MCU发送数据接收通知信号 */
    if (rt_spi_transfer_message(spiSlaveDev, &msg1) == RT_NULL){      
        rt_spi_release(spiSlaveDev); /* 传输完成后释放片选 */
        rt_spi_release_bus(spiSlaveDev);  /* 尽快释放总线 */
        rt_thread_delay(2); // 2ms     
        rt_pin_write(SPI_INFORM_MASTER_PIN, PIN_LOW);  /* 给主MCU发送数据发送完信号 */
    } else {
        rt_thread_delay(2); // 2ms 
        /* 传输失败也要拉低信号,以便spi总线恢复的时候能恢复正常的数据传输 */
        rt_pin_write(SPI_INFORM_MASTER_PIN, PIN_LOW);
        return RT_ERROR;
    }
    return ret;
}

/************************************************
* 函数：spi_tx_thread
* 功能：SPI数据发送任务函数
************************************************/
static void spi_tx_thread(void *parameter)
{
    uint8_t buf[12] = {0}; // 数据接收缓冲区接收12字节的数据
    uint8_t spiBuf[13] = {0};  
    while(1) 
    {
#ifdef USING_SPI_LOOP_SEND
        SpiLoopSendData();
#else        
        /* 从消息队列中接收消息 */
        if (rt_mq_recv(&g_canMsgQueue, &buf, sizeof(buf), RT_WAITING_FOREVER) == RT_EOK) {
            rt_kprintf("Aux Spi Rcv can QueMsg: ");
            for (int i = 0; i < sizeof(buf) / sizeof(uint8_t); ++i) {
                rt_kprintf(" %2x", buf[i]);
                spiBuf[i] = buf[i]; // copy data
            }
            rt_kprintf("\n");
            spiBuf[12] = GetDataChecksum(buf, 12);
            AuxMcuSendQueMsgBySpi(spiBuf, sizeof(spiBuf) / sizeof(uint8_t));
            rt_kprintf("Aux Spi send Msg.\n");
        } else {
            rt_kprintf("SPI recv msg queue fail(timeout).\n");
        }    
#endif   
        rt_thread_delay(5); // 5ms        
    }
}

/************************************************
* 函数：APP_SpiSendTaskCreate
* 功能：SPI发送任务创建
************************************************/
rt_err_t APP_SpiSendTaskCreate(void)
{
    rt_err_t res = 0;
    rt_thread_t thread;

/* 创建数据发送线程 */
    thread = rt_thread_create("spi_tx", spi_tx_thread, RT_NULL, 1024, 28, 10); // 栈空间1024，28优先级，10ms时间片
    if (thread != RT_NULL) {
        rt_thread_startup(thread);
    } else {
        rt_kprintf("create spi_tx thread failed!\n");
    }
    return res;
}

/************************************************
* 函数：spi_rx_thread
* 功能：SPI数据接收任务函数
************************************************/
static void spi_rx_thread(void *parameter)
{
    uint8_t spiRcvBuf[13] = {0}; 
    uint8_t spiRcvLen = 0;   
    while(1) 
    {
        rt_err_t ret = RT_EOK;
        spiRcvLen = rt_spi_recv(spiSlaveDev, spiRcvBuf, sizeof(spiRcvBuf) / sizeof(uint8_t));
        if ((spiRcvLen != 0) && ((spiRcvBuf[0] != 0) && (spiRcvBuf[0] != 0xFF))) { // 接收到数据
            if (spiRcvBuf[12] == GetDataChecksum(spiRcvBuf, 12)) { // 校验和      
                /* 写消息队列发送给CAN */
                ret = rt_mq_send(&g_spiMsgQueue, spiRcvBuf, 12); // 只需要发送前12个数据,第十三个是校验和
                if (ret != RT_EOK) {
                    rt_kprintf("Spi send queMsg fail.\n");
                    ret = RT_ERROR;
                } else {
                    rt_kprintf("Spi->QueMsg->Can.\n");
                }
            } else {
                rt_kprintf("Slave Spi rcv data checksum fail.\n");
            }
        }
        rt_thread_delay(10);
    }
}

/************************************************
* 函数：APP_SpiReceiveTaskCreate
* 功能：SPI接收任务创建
************************************************/
rt_err_t APP_SpiReceiveTaskCreate(void)
{
    rt_err_t res = 0;
    rt_thread_t thread;

/* 创建数据接收线程 */
    thread = rt_thread_create("spi_rx", spi_rx_thread, RT_NULL, 1024, 28, 10);
    if (thread != RT_NULL) {
        rt_thread_startup(thread);
    } else {
        rt_kprintf("create spi_rx thread failed!\n");
    }
    return res;
}

/************************************************
* 函数：APP_SpiInformGpioInit
* 功能：SPI通知主MCU接收数据接口初始化
************************************************/
rt_err_t APP_SpiInformGpioInit(void)
{
    /* set pin mode to output */
    rt_pin_mode(SPI_INFORM_MASTER_PIN, PIN_MODE_OUTPUT);
  
    /* output low*/
    rt_pin_write(SPI_INFORM_MASTER_PIN, PIN_LOW);
    return RT_EOK;
}

/************************************************
* 函数：APP_SpiDeviceInit
* 功能：SPI设备初始化
************************************************/
rt_err_t APP_SpiDeviceInit(void)
{
    rt_err_t ret = RT_EOK;
    char name[RT_NAME_MAX];
    rt_strncpy(name, SPI_DEVICE_NAME, RT_NAME_MAX);

/* 查找之前要挂接设备,CS = PB12 */
    rt_hw_spi_device_attach("spi2", "spi20", GET_PIN(B, 12));

/* 查找spi设备获取设备句柄 */
    spiSlaveDev = (struct rt_spi_device *)rt_device_find(name);
    if (!spiSlaveDev){
        rt_kprintf("Aux spi can't find %s device!\n", name);
    } else {
        // find之后要配置SPI
        if (SpiSlaveHardwareConfiguration(spiSlaveDev) != RT_EOK) {
            rt_kprintf("SpiConfigure fail.\n");
            return ret;
        }        
    }
    /* SPI消息队列初始化 */
    ret = SpiMsgQueInit();
    RT_ASSERT(ret == RT_EOK);
    
    /* 创建收发任务 */
    ret = APP_SpiReceiveTaskCreate();
    if (ret != RT_EOK) {
        rt_kprintf("SpiRxTask fail.\n");
        return ret;
    } 
    ret = APP_SpiSendTaskCreate();
    if (ret != RT_EOK) {
        rt_kprintf("SpiTxTask fail.\n");
        return ret;
    }
    rt_kprintf("SpiInit  ok.\n");  
    return ret;
}

MSH_CMD_EXPORT(APP_SpiDeviceInit, spi2 sample);
```

# 6、测试情况
## 6.1 主机发送从机接收
（1）发送
![screenshot_image.png](https://oss-club.rt-thread.org/uploads/20240708/3c9c61652b00a2d8f80c6359a606c2b2.png.webp)
![screenshot_image.png](https://oss-club.rt-thread.org/uploads/20240708/4095df6778cd8c98fd0b516c36cf63f1.png)
（2）接收
![screenshot_image.png](https://oss-club.rt-thread.org/uploads/20240708/2f51870d8909d1af514f0a1460c467ec.png)
![screenshot_image.png](https://oss-club.rt-thread.org/uploads/20240708/3f9bf49e37054287a51ad3680004e85d.png.webp)
## 6.2 从机发送主机接收
（1）发送
![screenshot_image.png](https://oss-club.rt-thread.org/uploads/20240708/e1e4de20936d4eee9797ac24206502fc.png.webp)

![screenshot_image.png](https://oss-club.rt-thread.org/uploads/20240708/c471052d373d72d7b4743ddde0450a4a.png)

（2）接收
![screenshot_image.png](https://oss-club.rt-thread.org/uploads/20240708/d9b547aa7a027231d6368c6174c1cc7d.png.webp)
![screenshot_image.png](https://oss-club.rt-thread.org/uploads/20240708/e4336589032a21ec93399020a6d5b3bd.png)

# 7、后话
初步把主要内容整理出来了。有疑问和需要帮助的同学请留言。如有需要后续可将完整工程代码共享出来。