2024年3月13日发(作者：错元)

//stm32f407程序：

#include "sys.h"

#include "delay.h"

#include "usart.h"

#include "can.h"

int main(void)

{

u8 i=0;

u8 canbuf[8];

u8 Can_Send_Flag;

NVIC_PriorityGroupConfig(NVIC_PriorityGroup_2);

delay_init(168);

uart_init(115200);

CAN1_Mode_Init(CAN_SJW_1tq,CAN_BS2_6tq,CAN_BS1_7tq,3,CAN_Mode_No

rmal);

for(i=0;i<8;i++)

canbuf[i]=i;

Can_Send_Flag=CAN1_Send_Msg(canbuf,8);//发送8个字节

Can_Send_Flag=CAN1_Send_Msg(canbuf,8);//发送8个字节

if(Can_Send_Flag) printf("data Send failed");

else printf("data Send ok");

while(1);

}

//can.c

#include "can.h"

#include "delay.h"

#include "usart.h"

//CAN初始化

//tsjw:重新同步跳跃时间单元.范围:CAN_SJW_1tq~ CAN_SJW_4tq

//tbs2:时间段2的时间单元. 范围:CAN_BS2_1tq~CAN_BS2_8tq;

//tbs1:时间段1的时间单元. 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

CAN1_Mode_Init(CAN_SJW_1tq,CAN_BS2_6tq,CAN_BS1_7tq,6,CAN_Mode_LoopBa

ck);

//则波特率为:42M/((6+7+1)*6)=500Kbps

//返回值:0,初始化OK;

// 其他,初始化失败;

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);//使能PORTA

时钟

RCC_APB1PeriphClockCmd(RCC_APB1Periph_CAN1, ENABLE);//使能CAN1时

钟

//初始化GPIO

GPIO__Pin = GPIO_Pin_11| GPIO_Pin_12;

GPIO__Mode = GPIO_Mode_AF;//复用功能

GPIO__OType = GPIO_OType_PP;//推挽输出

GPIO__Speed = GPIO_Speed_100MHz;//100MHz

GPIO__PuPd = GPIO_PuPd_UP;//上拉

GPIO_Init(GPIOA, &GPIO_InitStructure);//初始化PA11,PA12

//引脚复用映射配置

GPIO_PinAFConfig(GPIOA,GPIO_PinSource11,GPIO_AF_CAN1); //GPIOA11复

用为CAN1

GPIO_PinAFConfig(GPIOA,GPIO_PinSource12,GPIO_AF_CAN1); //GPIOA12复

用为CAN1

//CAN单元设置

CAN__TTCM=DISABLE; //非时间触发通信模式

CAN__ABOM=DISABLE; //软件自动离线管理

CAN__AWUM=DISABLE;//睡眠模式通过软件唤醒(清除CAN-

>MCR的SLEEP位)

CAN__NART=ENABLE; //禁止报文自动传送

CAN__RFLM=DISABLE; //报文不锁定,新的覆盖旧的

CAN__TXFP=DISABLE; //优先级由报文标识符决定

CAN__Mode= mode; //模式设置

CAN__SJW=tsjw; //重新同步跳跃宽度(Tsjw)为tsjw+1个时间单

位 CAN_SJW_1tq~CAN_SJW_4tq

CAN__BS1=tbs1; //Tbs1范围CAN_BS1_1tq ~CAN_BS1_16tq

CAN__BS2=tbs2;//Tbs2范围CAN_BS2_1tq ~ CAN_BS2_8tq

CAN__Prescaler=brp; //分频系数(Fdiv)为brp+1

CAN_Init(CAN1, &CAN_InitStructure); // 初始化CAN1

//配置过滤器

CAN__FilterNumber=0; //过滤器0

CAN__FilterMode=CAN_FilterMode_IdMask;

CAN__FilterScale=CAN_FilterScale_32bit; //32位

CAN__FilterIdHigh=0x0000;////32位ID

CAN__FilterIdLow=0x0000;

CAN__FilterMaskIdHigh=0x0000;//32位MASK

CAN__FilterMaskIdLow=0x0000;

CAN__FilterFIFOAssignment=CAN_Filter_FIFO0;//过滤器

0关联到FIFO0

CAN__FilterActivation=ENABLE; //激活过滤器0

CAN_FilterInit(&CAN_FilterInitStructure);//滤波器初始化

#if CAN1_RX0_INT_ENABLE

CAN_ITConfig(CAN1,CAN_IT_FMP0,ENABLE);//FIFO0消息挂号中断允许.

NVIC__IRQChannel = CAN1_RX0_IRQn;

NVIC__IRQChannelPreemptionPriority = 1; // 主优先级为

1

NVIC__IRQChannelSubPriority = 0; // 次优先级为0

NVIC__IRQChannelCmd = ENABLE;

NVIC_Init(&NVIC_InitStructure);

#endif

return 0;

}

#if CAN1_RX0_INT_ENABLE //使能RX0中断

//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]:%drn",i,[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8个字节.

//返回值:0,成功;

// 其他,失败;

u8 CAN1_Send_Msg(u8* msg,u8 len)

{

u8 mbox;

u16 i=0;

CanTxMsg TxMessage;

=0x12; // 标准标识符为0

=0x12; // 设置扩展标示符（29位）

=0; // 使用扩展标识符

=0; // 消息类型为数据帧，一帧8位

=len; // 发送两帧信息

for(i=0;i

[i]=msg[i]; // 第一帧信息

mbox= CAN_Transmit(CAN1, &TxMessage);

i=0;

while((CAN_TransmitStatus(CAN1,

mbox)==CAN_TxStatus_Failed)&&(i<0XFFF))i++; //等待发送结束

if(i>=0XFFF)return 1;

return 0;

}

//can口接收数据查询

//buf:数据缓存区;

//返回值:0,无数据被收到;

// 其他,接收的数据长度;

u8 CAN1_Receive_Msg(u8 *buf)

{

u32 i;

CanRxMsg RxMessage;

if( CAN_MessagePending(CAN1,CAN_FIFO0)==0)return 0;

收到数据,直接退出

CAN_Receive(CAN1, CAN_FIFO0, &RxMessage);//读取数据

for(i=0;i<;i++)

buf[i]=[i];

return ;

//没有接

}

#ifndef __CAN_H

#define __CAN_H

#include "sys.h"

//CAN1接收RX0中断使能

#define CAN1_RX0_INT_ENABLE 0 //0,不使能;1,使能.

u8 CAN1_Mode_Init(u8 tsjw,u8 tbs2,u8 tbs1,u16 brp,u8 mode);//CAN初始化

u8 CAN1_Send_Msg(u8* msg,u8 len);

据

//发送数

u8 CAN1_Receive_Msg(u8 *buf);

据

//接收数

#endif

//stm32f103程序：

#include "led.h"

#include "delay.h"

#include "sys.h"

#include "usart.h"

#include "can.h"

int main(void)

{

delay_init();

NVIC_PriorityGroupConfig(NVIC_PriorityGroup_2);

uart_init(115200); //串口初始化为115200

CAN_Mode_Init(CAN_SJW_1tq,CAN_BS2_3tq,CAN_BS1_8tq,3,CAN_Mode_Nor

mal);//CAN普通模式初始化, 波特率500Kbps

while(1);

}

//can.c

#include "can.h"

#include "led.h"

#include "delay.h"

#include "usart.h"

//CAN初始化

//tsjw:重新同步跳跃时间单元.范围:CAN_SJW_1tq~ CAN_SJW_4tq

//tbs2:时间段2的时间单元. 范围:CAN_BS2_1tq~CAN_BS2_8tq;

//tbs1:时间段1的时间单元. 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36M,如果设置

CAN_Mode_Init(CAN_SJW_1tq,CAN_BS2_8tq,CAN_BS1_9tq,4,CAN_Mode_LoopBac

k);

//则波特率为:36M/((8+9+1)*4)=500Kbps

//返回值:0,初始化OK;

// 其他,初始化失败;

u8 CAN_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 CAN_RX0_INT_ENABLE

NVIC_InitTypeDef NVIC_InitStructure;

#endif

RCC_APB2PeriphClockCmd(RCC_APB2Periph_GPIOA, ENABLE);//使能PORTA

时钟

RCC_APB1PeriphClockCmd(RCC_APB1Periph_CAN1, ENABLE);//使能CAN1时

钟

GPIO__Pin = GPIO_Pin_12;

GPIO__Speed = GPIO_Speed_50MHz;

GPIO__Mode = GPIO_Mode_AF_PP; //复用推挽

GPIO_Init(GPIOA, &GPIO_InitStructure); //初始化IO

GPIO__Pin = GPIO_Pin_11;

GPIO__Mode = GPIO_Mode_IPU; //上拉输入

GPIO_Init(GPIOA, &GPIO_InitStructure); //初始化IO

//CAN单元设置

CAN__TTCM=DISABLE; //非时间触发通信模式

CAN__ABOM=DISABLE;

//软件自动离线管理

CAN__AWUM=DISABLE;

唤醒(清除CAN->MCR的SLEEP位)

//睡眠模式通过软件

CAN__NART=ENABLE; //禁止报文自动传送

CAN__RFLM=DISABLE; //报文不锁定,新的覆盖旧的

CAN__TXFP=DISABLE; //优先级由报文标识符决定

CAN__Mode= mode; //模式设置： mode:0,普通模式;1,

回环模式;

//设置波特率

CAN__SJW=tsjw;

为tsjw+1个时间单位 CAN_SJW_1tq

CAN_SJW_4tq

//重新同步跳跃宽度(Tsjw)

CAN_SJW_3tq CAN_SJW_2tq

CAN__BS1=tbs1;

CAN_BS1_1tq ~CAN_BS1_16tq

//Tbs1=tbs1+1个时间单位

CAN__BS2=tbs2;

CAN_BS2_1tq ~ CAN_BS2_8tq

//Tbs2=tbs2+1个时间单位

CAN__Prescaler=brp; //分频系数(Fdiv)为brp+1

CAN_Init(CAN1, &CAN_InitStructure); //初始化CAN1

CAN__FilterNumber=0; //过滤器0

CAN__FilterMode=CAN_FilterMode_IdMask; //屏蔽位

模式

CAN__FilterScale=CAN_FilterScale_32bit; //32位宽

CAN__FilterIdHigh=0x0000; //32位ID

CAN__FilterIdLow=0x0000;

CAN__FilterMaskIdHigh=0x0000;//32位MASK

CAN__FilterMaskIdLow=0x0000;

CAN__FilterFIFOAssignment=CAN_Filter_FIFO0;//过滤器

0关联到FIFO0

CAN__FilterActivation=ENABLE;//激活过滤器0

CAN_FilterInit(&CAN_FilterInitStructure); //滤波器初始化

#if CAN_RX0_INT_ENABLE

CAN_ITConfig(CAN1,CAN_IT_FMP0,ENABLE);

号中断允许.

//FIFO0消息挂

NVIC__IRQChannel = USB_LP_CAN1_RX0_IRQn;

NVIC__IRQChannelPreemptionPriority = 1; // 主优先级为

1

NVIC__IRQChannelSubPriority = 0; // 次优先级为0

NVIC__IRQChannelCmd = ENABLE;

NVIC_Init(&NVIC_InitStructure);

#endif

return 0;

}

#if CAN_RX0_INT_ENABLE //使能RX0中断

//中断服务函数

void USB_LP_CAN1_RX0_IRQHandler(void)

{

CanRxMsg RxMessage;

int i=0;

CAN_Receive(CAN1, 0, &RxMessage);

for(i=0;i<8;i++)

printf("rxbuf[%d]:%drn",i,[i]);

printf("data Receive Successedrn");

}

#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8个字节.

//返回值:0,成功;

// 其他,失败;

u8 Can_Send_Msg(u8* msg,u8 len)

{

u8 mbox;

u16 i=0;

CanTxMsg TxMessage;

=0x12; // 标准标识符

=0x12; // 设置扩展标示符

=CAN_Id_Standard; // 标准帧

=CAN_RTR_Data; // 数据帧

=len; // 要发送的数据长度

for(i=0;i

[i]=msg[i];

mbox= CAN_Transmit(CAN1, &TxMessage);

i=0;

while((CAN_TransmitStatus(CAN1,

mbox)==CAN_TxStatus_Failed)&&(i<0XFFF))i++; //等待发送结束

if(i>=0XFFF)return 1;

return 0;

}

//can口接收数据查询

//buf:数据缓存区;

//返回值:0,无数据被收到;

// 其他,接收的数据长度;

u8 Can_Receive_Msg(u8 *buf)

{

u32 i;

CanRxMsg RxMessage;

if( CAN_MessagePending(CAN1,CAN_FIFO0)==0)return 0;

收到数据,直接退出

CAN_Receive(CAN1, CAN_FIFO0, &RxMessage);//读取数据

//没有接

for(i=0;i<8;i++)

buf[i]=[i];

return ;

}

#ifndef __CAN_H

#define __CAN_H

#include "sys.h"

//CAN接收RX0中断使能

#define CAN_RX0_INT_ENABLE

1 //0,不使能;1,使能.

u8 CAN_Mode_Init(u8 tsjw,u8 tbs2,u8 tbs1,u16 brp,u8 mode);//CAN初始化

u8 Can_Send_Msg(u8* msg,u8 len); //发送数据

u8 Can_Receive_Msg(u8 *buf); //接收数据

#endif

2024年3月13日发(作者：错元)

//stm32f407程序：

#include "sys.h"

#include "delay.h"

#include "usart.h"

#include "can.h"

int main(void)

{

u8 i=0;

u8 canbuf[8];

u8 Can_Send_Flag;

NVIC_PriorityGroupConfig(NVIC_PriorityGroup_2);

delay_init(168);

uart_init(115200);

CAN1_Mode_Init(CAN_SJW_1tq,CAN_BS2_6tq,CAN_BS1_7tq,3,CAN_Mode_No

rmal);

for(i=0;i<8;i++)

canbuf[i]=i;

Can_Send_Flag=CAN1_Send_Msg(canbuf,8);//发送8个字节

Can_Send_Flag=CAN1_Send_Msg(canbuf,8);//发送8个字节

if(Can_Send_Flag) printf("data Send failed");

else printf("data Send ok");

while(1);

}

//can.c

#include "can.h"

#include "delay.h"

#include "usart.h"

//CAN初始化

//tsjw:重新同步跳跃时间单元.范围:CAN_SJW_1tq~ CAN_SJW_4tq

//tbs2:时间段2的时间单元. 范围:CAN_BS2_1tq~CAN_BS2_8tq;

//tbs1:时间段1的时间单元. 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

CAN1_Mode_Init(CAN_SJW_1tq,CAN_BS2_6tq,CAN_BS1_7tq,6,CAN_Mode_LoopBa

ck);

//则波特率为:42M/((6+7+1)*6)=500Kbps

//返回值:0,初始化OK;

// 其他,初始化失败;

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);//使能PORTA

时钟

RCC_APB1PeriphClockCmd(RCC_APB1Periph_CAN1, ENABLE);//使能CAN1时

钟

//初始化GPIO

GPIO__Pin = GPIO_Pin_11| GPIO_Pin_12;

GPIO__Mode = GPIO_Mode_AF;//复用功能

GPIO__OType = GPIO_OType_PP;//推挽输出

GPIO__Speed = GPIO_Speed_100MHz;//100MHz

GPIO__PuPd = GPIO_PuPd_UP;//上拉

GPIO_Init(GPIOA, &GPIO_InitStructure);//初始化PA11,PA12

//引脚复用映射配置

GPIO_PinAFConfig(GPIOA,GPIO_PinSource11,GPIO_AF_CAN1); //GPIOA11复

用为CAN1

GPIO_PinAFConfig(GPIOA,GPIO_PinSource12,GPIO_AF_CAN1); //GPIOA12复

用为CAN1

//CAN单元设置

CAN__TTCM=DISABLE; //非时间触发通信模式

CAN__ABOM=DISABLE; //软件自动离线管理

CAN__AWUM=DISABLE;//睡眠模式通过软件唤醒(清除CAN-

>MCR的SLEEP位)

CAN__NART=ENABLE; //禁止报文自动传送

CAN__RFLM=DISABLE; //报文不锁定,新的覆盖旧的

CAN__TXFP=DISABLE; //优先级由报文标识符决定

CAN__Mode= mode; //模式设置

CAN__SJW=tsjw; //重新同步跳跃宽度(Tsjw)为tsjw+1个时间单

位 CAN_SJW_1tq~CAN_SJW_4tq

CAN__BS1=tbs1; //Tbs1范围CAN_BS1_1tq ~CAN_BS1_16tq

CAN__BS2=tbs2;//Tbs2范围CAN_BS2_1tq ~ CAN_BS2_8tq

CAN__Prescaler=brp; //分频系数(Fdiv)为brp+1

CAN_Init(CAN1, &CAN_InitStructure); // 初始化CAN1

//配置过滤器

CAN__FilterNumber=0; //过滤器0

CAN__FilterMode=CAN_FilterMode_IdMask;

CAN__FilterScale=CAN_FilterScale_32bit; //32位

CAN__FilterIdHigh=0x0000;////32位ID

CAN__FilterIdLow=0x0000;

CAN__FilterMaskIdHigh=0x0000;//32位MASK

CAN__FilterMaskIdLow=0x0000;

CAN__FilterFIFOAssignment=CAN_Filter_FIFO0;//过滤器

0关联到FIFO0

CAN__FilterActivation=ENABLE; //激活过滤器0

CAN_FilterInit(&CAN_FilterInitStructure);//滤波器初始化

#if CAN1_RX0_INT_ENABLE

CAN_ITConfig(CAN1,CAN_IT_FMP0,ENABLE);//FIFO0消息挂号中断允许.

NVIC__IRQChannel = CAN1_RX0_IRQn;

NVIC__IRQChannelPreemptionPriority = 1; // 主优先级为

1

NVIC__IRQChannelSubPriority = 0; // 次优先级为0

NVIC__IRQChannelCmd = ENABLE;

NVIC_Init(&NVIC_InitStructure);

#endif

return 0;

}

#if CAN1_RX0_INT_ENABLE //使能RX0中断

//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]:%drn",i,[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8个字节.

//返回值:0,成功;

// 其他,失败;

u8 CAN1_Send_Msg(u8* msg,u8 len)

{

u8 mbox;

u16 i=0;

CanTxMsg TxMessage;

=0x12; // 标准标识符为0

=0x12; // 设置扩展标示符（29位）

=0; // 使用扩展标识符

=0; // 消息类型为数据帧，一帧8位

=len; // 发送两帧信息

for(i=0;i

[i]=msg[i]; // 第一帧信息

mbox= CAN_Transmit(CAN1, &TxMessage);

i=0;

while((CAN_TransmitStatus(CAN1,

mbox)==CAN_TxStatus_Failed)&&(i<0XFFF))i++; //等待发送结束

if(i>=0XFFF)return 1;

return 0;

}

//can口接收数据查询

//buf:数据缓存区;

//返回值:0,无数据被收到;

// 其他,接收的数据长度;

u8 CAN1_Receive_Msg(u8 *buf)

{

u32 i;

CanRxMsg RxMessage;

if( CAN_MessagePending(CAN1,CAN_FIFO0)==0)return 0;

收到数据,直接退出

CAN_Receive(CAN1, CAN_FIFO0, &RxMessage);//读取数据

for(i=0;i<;i++)

buf[i]=[i];

return ;

//没有接

}

#ifndef __CAN_H

#define __CAN_H

#include "sys.h"

//CAN1接收RX0中断使能

#define CAN1_RX0_INT_ENABLE 0 //0,不使能;1,使能.

u8 CAN1_Mode_Init(u8 tsjw,u8 tbs2,u8 tbs1,u16 brp,u8 mode);//CAN初始化

u8 CAN1_Send_Msg(u8* msg,u8 len);

据

//发送数

u8 CAN1_Receive_Msg(u8 *buf);

据

//接收数

#endif

//stm32f103程序：

#include "led.h"

#include "delay.h"

#include "sys.h"

#include "usart.h"

#include "can.h"

int main(void)

{

delay_init();

NVIC_PriorityGroupConfig(NVIC_PriorityGroup_2);

uart_init(115200); //串口初始化为115200

CAN_Mode_Init(CAN_SJW_1tq,CAN_BS2_3tq,CAN_BS1_8tq,3,CAN_Mode_Nor

mal);//CAN普通模式初始化, 波特率500Kbps

while(1);

}

//can.c

#include "can.h"

#include "led.h"

#include "delay.h"

#include "usart.h"

//CAN初始化

//tsjw:重新同步跳跃时间单元.范围:CAN_SJW_1tq~ CAN_SJW_4tq

//tbs2:时间段2的时间单元. 范围:CAN_BS2_1tq~CAN_BS2_8tq;

//tbs1:时间段1的时间单元. 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36M,如果设置

CAN_Mode_Init(CAN_SJW_1tq,CAN_BS2_8tq,CAN_BS1_9tq,4,CAN_Mode_LoopBac

k);

//则波特率为:36M/((8+9+1)*4)=500Kbps

//返回值:0,初始化OK;

// 其他,初始化失败;

u8 CAN_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 CAN_RX0_INT_ENABLE

NVIC_InitTypeDef NVIC_InitStructure;

#endif

RCC_APB2PeriphClockCmd(RCC_APB2Periph_GPIOA, ENABLE);//使能PORTA

时钟

RCC_APB1PeriphClockCmd(RCC_APB1Periph_CAN1, ENABLE);//使能CAN1时

钟

GPIO__Pin = GPIO_Pin_12;

GPIO__Speed = GPIO_Speed_50MHz;

GPIO__Mode = GPIO_Mode_AF_PP; //复用推挽

GPIO_Init(GPIOA, &GPIO_InitStructure); //初始化IO

GPIO__Pin = GPIO_Pin_11;

GPIO__Mode = GPIO_Mode_IPU; //上拉输入

GPIO_Init(GPIOA, &GPIO_InitStructure); //初始化IO

//CAN单元设置

CAN__TTCM=DISABLE; //非时间触发通信模式

CAN__ABOM=DISABLE;

//软件自动离线管理

CAN__AWUM=DISABLE;

唤醒(清除CAN->MCR的SLEEP位)

//睡眠模式通过软件

CAN__NART=ENABLE; //禁止报文自动传送

CAN__RFLM=DISABLE; //报文不锁定,新的覆盖旧的

CAN__TXFP=DISABLE; //优先级由报文标识符决定

CAN__Mode= mode; //模式设置： mode:0,普通模式;1,

回环模式;

//设置波特率

CAN__SJW=tsjw;

为tsjw+1个时间单位 CAN_SJW_1tq

CAN_SJW_4tq

//重新同步跳跃宽度(Tsjw)

CAN_SJW_3tq CAN_SJW_2tq

CAN__BS1=tbs1;

CAN_BS1_1tq ~CAN_BS1_16tq

//Tbs1=tbs1+1个时间单位

CAN__BS2=tbs2;

CAN_BS2_1tq ~ CAN_BS2_8tq

//Tbs2=tbs2+1个时间单位

CAN__Prescaler=brp; //分频系数(Fdiv)为brp+1

CAN_Init(CAN1, &CAN_InitStructure); //初始化CAN1

CAN__FilterNumber=0; //过滤器0

CAN__FilterMode=CAN_FilterMode_IdMask; //屏蔽位

模式

CAN__FilterScale=CAN_FilterScale_32bit; //32位宽

CAN__FilterIdHigh=0x0000; //32位ID

CAN__FilterIdLow=0x0000;

CAN__FilterMaskIdHigh=0x0000;//32位MASK

CAN__FilterMaskIdLow=0x0000;

CAN__FilterFIFOAssignment=CAN_Filter_FIFO0;//过滤器

0关联到FIFO0

CAN__FilterActivation=ENABLE;//激活过滤器0

CAN_FilterInit(&CAN_FilterInitStructure); //滤波器初始化

#if CAN_RX0_INT_ENABLE

CAN_ITConfig(CAN1,CAN_IT_FMP0,ENABLE);

号中断允许.

//FIFO0消息挂

NVIC__IRQChannel = USB_LP_CAN1_RX0_IRQn;

NVIC__IRQChannelPreemptionPriority = 1; // 主优先级为

1

NVIC__IRQChannelSubPriority = 0; // 次优先级为0

NVIC__IRQChannelCmd = ENABLE;

NVIC_Init(&NVIC_InitStructure);

#endif

return 0;

}

#if CAN_RX0_INT_ENABLE //使能RX0中断

//中断服务函数

void USB_LP_CAN1_RX0_IRQHandler(void)

{

CanRxMsg RxMessage;

int i=0;

CAN_Receive(CAN1, 0, &RxMessage);

for(i=0;i<8;i++)

printf("rxbuf[%d]:%drn",i,[i]);

printf("data Receive Successedrn");

}

#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8个字节.

//返回值:0,成功;

// 其他,失败;

u8 Can_Send_Msg(u8* msg,u8 len)

{

u8 mbox;

u16 i=0;

CanTxMsg TxMessage;

=0x12; // 标准标识符

=0x12; // 设置扩展标示符

=CAN_Id_Standard; // 标准帧

=CAN_RTR_Data; // 数据帧

=len; // 要发送的数据长度

for(i=0;i

[i]=msg[i];

mbox= CAN_Transmit(CAN1, &TxMessage);

i=0;

while((CAN_TransmitStatus(CAN1,

mbox)==CAN_TxStatus_Failed)&&(i<0XFFF))i++; //等待发送结束

if(i>=0XFFF)return 1;

return 0;

}

//can口接收数据查询

//buf:数据缓存区;

//返回值:0,无数据被收到;

// 其他,接收的数据长度;

u8 Can_Receive_Msg(u8 *buf)

{

u32 i;

CanRxMsg RxMessage;

if( CAN_MessagePending(CAN1,CAN_FIFO0)==0)return 0;

收到数据,直接退出

CAN_Receive(CAN1, CAN_FIFO0, &RxMessage);//读取数据

//没有接

for(i=0;i<8;i++)

buf[i]=[i];

return ;

}

#ifndef __CAN_H

#define __CAN_H

#include "sys.h"

//CAN接收RX0中断使能

#define CAN_RX0_INT_ENABLE

1 //0,不使能;1,使能.

u8 CAN_Mode_Init(u8 tsjw,u8 tbs2,u8 tbs1,u16 brp,u8 mode);//CAN初始化

u8 Can_Send_Msg(u8* msg,u8 len); //发送数据

u8 Can_Receive_Msg(u8 *buf); //接收数据

#endif