STM32的CAN程序.docx

#include sysdef.h #define MAX_MAIL_NUM 3 /CAN总线调试:0=运行 1=自环调试 #define CAN_DEBUG 0 /CAN总线波特率:0=250kbps,1=500kbps,2=1Mbps #define CAN1_BPS 0 unsigned char can1_addr = 0; unsigned short Can1_Tx_Count =0; unsigned short Can1_Rx_Count =0; unsigned short Can1_Send_Delay =0; unsigned char Can1_Send_Buf10=0xeb,0x90,0x01,0x55,0xAA; unsigned char Can1_Recv_Buf10=0; extern int angle_num ; extern unsigned int angle_data ; static u8 CAN_msg_numMAX_MAIL_NUM; / 发送邮箱标记 void CAN1_Config_init(void) CAN_InitTypeDef CAN_InitStructure; CAN_FilterInitTypeDef CAN_FilterInitStructure; /* CAN register init */CAN_DeInit(CAN1); CAN_StructInit(&CAN_InitStructure); /* CAN cell init */ /36MHz 500Kbps CAN_InitStructure.CAN_TTCM=DISABLE;/禁止时间触发通信模式 CAN_InitStructure.CAN_ABOM=DISABLE;/软件对CAN_MCR寄存器的INRQ位进行置1随后清0后,一旦硬件检测 /到128次11位连续的隐性位,就退出离线状态 CAN_InitStructure.CAN_AWUM=DISABLE;/睡眠模式通过清除CAN_MCR寄存器的SLEEP位,由软件唤醒 CAN_InitStructure.CAN_NART=DISABLE;/CAN报文是否只发1次,不管发送的结果如何(成功/出错或仲裁丢失) CAN_InitStructure.CAN_RFLM=DISABLE;/在接收到溢出时FIFO未被锁定,当接收到FIFO报文未被读出,下一个收到的报文会覆盖原有的报文 CAN_InitStructure.CAN_TXFP=DISABLE;/发送的FIFO优先级由报文的标识符来决定 #if CAN_DEBUG CAN_InitStructure.CAN_Mode= CAN_Mode_LoopBack; #else CAN_InitStructure.CAN_Mode= CAN_Mode_Normal; #endif /传输波特率 if(CAN1_BPS = 0) CAN_InitStructure.CAN_SJW=CAN_SJW_1tq;/重新同步跳跃宽度1个时间单位 CAN_InitStructure.CAN_BS1=CAN_BS1_12tq;/时间段1为9个时间单位 CAN_InitStructure.CAN_BS2=CAN_BS2_3tq;/时间段2为8个时间单位 CAN_InitStructure.CAN_Prescaler= 9;/36M/(1+12+3)/9= 250kbps /36M/(1+5+2)/9 = 500kbps /36M(1+2+1)/9 = 1M else if(CAN1_BPS = 1) CAN_InitStructure.CAN_SJW=CAN_SJW_1tq;/重新同步跳跃宽度1个时间单位 CAN_InitStructure.CAN_BS1=CAN_BS1_5tq;/时间段1为9个时间单位 CAN_InitStructure.CAN_BS2=CAN_BS2_2tq;/时间段2为8个时间单位 CAN_InitStructure.CAN_Prescaler= 9;/36M/(1+12+3)/9= 250kbps else CAN_InitStructure.CAN_SJW=CAN_SJW_1tq;/重新同步跳跃宽度1个时间单位 CAN_InitStructure.CAN_BS1=CAN_BS1_2tq;/时间段1为9个时间单位 CAN_InitStructure.CAN_BS2=CAN_BS2_1tq;/时间段2为8个时间单位 CAN_InitStructure.CAN_Prescaler= 9;/36M/(1+12+3)/9= 250kbps CAN_Init(CAN1,&CAN_InitStructure); /* CAN filter init */CAN_FilterInitStructure.CAN_FilterNumber=0; /指定了待初始化的过滤器0 CAN_FilterInitStructure.CAN_FilterMode=CAN_FilterMode_IdMask;/指定了过滤器将被初始化到的模式为标识符屏蔽位模式 CAN_FilterInitStructure.CAN_FilterScale=CAN_FilterScale_32bit;/给出了过滤器位宽1个32位过滤器 CAN_FilterInitStructure.CAN_FilterIdHigh=0x0000;/用来设定过滤器标识符（32位位宽时为其高段位，16位位宽时为第一个） CAN_FilterInitStructure.CAN_FilterIdLow=0x0000;/用来设定过滤器标识符（32位位宽时为其低段位，16位位宽时为第二个) CAN_FilterInitStructure.CAN_FilterMaskIdHigh=0x0000;/用来设定过滤器屏蔽标识符或者过滤器标识符（32位位宽时为其高段位，16位位宽时为第一个) CAN_FilterInitStructure.CAN_FilterMaskIdLow=0x0000;/用来设定过滤器屏蔽标识符或者过滤器标识符（32位位宽时为其低段位，16位位宽时为第二个) CAN_FilterInitStructure.CAN_FilterFIFOAssignment=CAN_FIFO0;/设定了指向过滤器的FIFO0 CAN_FilterInitStructure.CAN_FilterActivation=ENABLE;/使能过滤器 CAN_FilterInit(&CAN_FilterInitStructure); / * / BaudRate = 1 / NominalBitTime / NominalBitTime = 1tq + tBS1 + tBS2 / tq = (BRP9:0 + 1) x tPCLK / tPCLK = CANs clock = APB1s clock / 1Mbps 速率下，采用点的位置在6tq位置处，BS1=5, BS2=2 / 500kbps 速率下，采用点的位置在8tq位置处，BS1=7, BS2=3 / 250kbps 速率下，采用点的位置在14tq位置处，BS1=13, BS2=2 / 125k, 100k, 50k, 20k, 10k 的采用点位置与 250K 相同 / * void CAN1_Com_init(void) GPIO_InitTypeDef GPIO_InitStruct; NVIC_InitTypeDef NVIC_InitStructure; /* Enable CAN RX0 interrupt IRQ channel */NVIC_InitStructure.NVIC_IRQChannel = USB_LP_CAN1_RX0_IRQn; NVIC_InitStructure.NVIC_IRQChannelPreemptionPriority = 2; NVIC_InitStructure.NVIC_IRQChannelSubPriority = 0; NVIC_InitStructure.NVIC_IRQChannelCmd = ENABLE; NVIC_Init(&NVIC_InitStructure); NVIC_InitStructure.NVIC_IRQChannel = USB_HP_CAN1_TX_IRQn; NVIC_InitStructure.NVIC_IRQChannelPreemptionPriority = 2; NVIC_InitStructure.NVIC_IRQChannelSubPriority = 0; NVIC_InitStructure.NVIC_IRQChannelCmd = ENABLE; NVIC_Init(&NVIC_InitStructure); NVIC_InitStructure.NVIC_IRQChannel = CAN1_RX1_IRQn; NVIC_InitStructure.NVIC_IRQChannelPreemptionPriority = 2; NVIC_InitStructure.NVIC_IRQChannelSubPriority = 0; NVIC_InitStructure.NVIC_IRQChannelCmd = ENABLE; NVIC_Init(&NVIC_InitStructure); RCC_APB2PeriphClockCmd(RCC_APB2Periph_GPIOA, ENABLE); RCC_APB1PeriphClockCmd(RCC_APB1Periph_CAN1, ENABLE); /Can Rx GPIO_InitStruct.GPIO_Pin = GPIO_Pin_11; GPIO_InitStruct.GPIO_Speed = GPIO_Speed_50MHz; GPIO_InitStruct.GPIO_Mode = GPIO_Mode_IPU; GPIO_Init(GPIOA,&GPIO_InitStruct); /Can Tx GPIO_InitStruct.GPIO_Pin = GPIO_Pin_12; GPIO_InitStruct.GPIO_Speed = GPIO_Speed_50MHz; GPIO_InitStruct.GPIO_Mode = GPIO_Mode_AF_PP; GPIO_Init(GPIOA,&GPIO_InitStruct); CAN1_Config_init(); CAN_ITConfig(CAN1,CAN_IT_FMP0 | CAN_IT_FF0 | CAN_IT_FOV0, ENABLE); / fifo0中断 CAN_ITConfig(CAN1,CAN_IT_FMP1 | CAN_IT_FF1 | CAN_IT_FOV1, ENABLE); / fifo1中断 CAN_ITConfig(CAN1,CAN_IT_TME, DISABLE); / 发送中断 CAN_ITConfig(CAN1,CAN_IT_EWG | CAN_IT_EPV | CAN_IT_BOF | CAN_IT_LEC | CAN_IT_ERR | CAN_IT_WKU | CAN_IT_SLK, ENABLE); / ERR中断 / CAN缓存初始化 memset(CAN_msg_num,0,MAX_MAIL_NUM); int CAN1_Tx_msg(CanTxMsg TxMessage) u8 TransmitMailbox = 0; TransmitMailbox = CAN_Transmit(CAN1,&TxMessage); if(CAN_NO_MB = TransmitMailbox) /发送失败 return 0; else CAN_msg_numTransmitMailbox = 1; CAN_ITConfig(CAN1,CAN_IT_TME, ENABLE); return 1; u16 angle=0,angle_h=0,angle_l=0; extern unsigned char angle_dir; int CAN1_Tx_data(void) CanTxMsg TxMessage; u8 TransmitMailbox = 0,i=0; /* transmit */TxMessage.StdId=0x6f1;/设定标准标识符 TxMessage.ExtId=0x1234;/设置扩展标识符 TxMessage.RTR=CAN_RTR_DATA;/设定待传输消息的帧类型 TxMessage.IDE=CAN_ID_STD;/设定消息标识符的类型 TxMessage.DLC=6; /数据长度 angle=angle_data/10; if(angle9999) angle=9999; angle_h=angle/100; angle_h=angle_h/10*16+angle_h%10; angle_l=angle%100; angle_l=angle_l/10*16+angle_l%10; Can1_Send_Buf0=angle_num; /圈数 Can1_Send_Buf1=angle_h; /总角度 Can1_Send_Buf2=angle_l; Can1_Send_Buf3=0; Can1_Send_Buf4=0; Can1_Send_Buf5=angle_dir; for(i=0;i 10000) Can1_Tx_Count =0; Can1_Send_Delay =200; return 1; /解析数据 void CAN1_Rx_Data(CanRxMsg RxMessage) u8 i =0; if(RxMessage.StdId=0x6f1) & (RxMessage.IDE=CAN_ID_STD) & (RxMessage.Data1|RxMessage.Data08)=0xEB90) for(i=0;i 10000) Can1_Rx_Count =0; /发送完中断函数 void CAN1_Send(void) if(CAN_msg_num0) if(CAN_GetITStatus(CAN1,CAN_IT_RQCP0) CAN_ClearITPendingBit(CAN1,CAN_IT_RQCP0); CAN_ITConfig(CAN1,CAN_IT_TME, DISABLE); CAN_msg_num0 = 0; if(CAN_msg_num1) if(CAN_GetITStatus(CAN1,CAN_IT_RQCP1) CAN_ClearITPendingBit(CAN1,CAN_IT_RQCP1); CAN_ITConfig(CAN1,CAN_IT_TME, DISABLE); CAN_msg_num1 = 0; if(CAN_msg_num2) if(CAN_GetITStatus(CAN1,CAN_IT_RQCP2) CAN_ClearITPendingBit(CAN1,CAN_IT_RQCP2); CAN_ITConfi