stm32 CAN总线例子.doc

stm32 CAN总线例子 利用stm32实现了1个简单的CAN功能，使用了队列缓存can.c 文件#include includes.h#define GPIO_CAN GPIOB#define RCC_APB2Periph_GPIO_CAN RCC_APB2Periph_GPIOB#define GPIO_Pin_RX GPIO_Pin_8#define GPIO_Pin_TX GPIO_Pin_9#define GPIO_Remap_CAN GPIO_Remap1_CAN1#define MAX_MAIL_NUM 3static u8 CAN_msg_numMAX_MAIL_NUM; / 发送邮箱标记/* * brief Configures the CAN, transmit and receive by polling * param None * retval : PASSED if the reception is well done, FAILED in other case */void CAN_config_init(void) CAN_InitTypeDef CAN_InitStructure; CAN_FilterInitTypeDef CAN_FilterInitStructure; /* CAN register init */ CAN_DeInit(CAN1); CAN_StructInit(&CAN_InitStructure); /* CAN cell init */ / 36M 250k速率 CAN_InitStructure.CAN_TTCM=DISABLE; CAN_InitStructure.CAN_ABOM=DISABLE; CAN_InitStructure.CAN_AWUM=DISABLE; CAN_InitStructure.CAN_NART=DISABLE; CAN_InitStructure.CAN_RFLM=DISABLE; CAN_InitStructure.CAN_TXFP=DISABLE; CAN_InitStructure.CAN_Mode=CAN_Mode_Normal; CAN_InitStructure.CAN_SJW=CAN_SJW_1tq; CAN_InitStructure.CAN_BS1=CAN_BS1_12tq; CAN_InitStructure.CAN_BS2=CAN_BS2_3tq; CAN_InitStructure.CAN_Prescaler=9; CAN_Init(CAN1, &CAN_InitStructure); /* CAN filter init */ 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=0; CAN_FilterInitStructure.CAN_FilterActivation=ENABLE; CAN_FilterInit(&CAN_FilterInitStructure); void CAN_init(void) NVIC_InitTypeDef NVIC_InitStructure; GPIO_InitTypeDef GPIO_InitStructure; / 首先打开电源及时钟 /* GPIO for CAN and GPIO for LEDs clock enable */ RCC_APB2PeriphClockCmd(RCC_APB2Periph_AFIOI |RCC_APB2Periph_GPIO_CAN, ENABLE); /* CAN1 Periph clock enable */ RCC_APB1PeriphClockCmd(RCC_APB1Periph_CAN1, ENABLE); /* Enable CAN1 RX0 interrupt IRQ channel */ NVIC_InitStructure.NVIC_IRQChannel = USB_LP_CAN1_RX0_IRQn; NVIC_InitStructure.NVIC_IRQChannelPreemptionPriority = 3; NVIC_InitStructure.NVIC_IRQChannelSubPriority = 0; NVIC_InitStructure.NVIC_IRQChannelCmd = ENABLE; NVIC_Init(&NVIC_InitStructure); /* Enable CAN1 TX0 interrupt IRQ channel */ NVIC_InitStructure.NVIC_IRQChannel = USB_HP_CAN1_TX_IRQn; NVIC_InitStructure.NVIC_IRQChannelPreemptionPriority = 3; NVIC_InitStructure.NVIC_IRQChannelSubPriority = 0; NVIC_InitStructure.NVIC_IRQChannelCmd = ENABLE; NVIC_Init(&NVIC_InitStructure); / 然后配置pin /* Configure CAN pin: RX */ GPIO_InitStructure.GPIO_Pin = GPIO_Pin_RX; GPIO_InitStructure.GPIO_Mode = GPIO_Mode_IPU; / GPIO_InitStructure.GPIO_Speed = GPIO_Speed_50MHz; GPIO_Init(GPIO_CAN, &GPIO_InitStructure); /* Configure CAN pin: TX */ GPIO_InitStructure.GPIO_Pin = GPIO_Pin_TX; GPIO_InitStructure.GPIO_Mode = GPIO_Mode_AF_PP; GPIO_InitStructure.GPIO_Speed = GPIO_Speed_50MHz; GPIO_Init(GPIO_CAN, &GPIO_InitStructure); / 映射下 GPIO_PinRemapConfig(GPIO_Remap_CAN , ENABLE); / 波特率过滤器初始化 CAN_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); ClearCanQueue();int CAN_tx_msg(CanTxMsg TxMessage) uint8_t TransmitMailbox = 0; OS_CPU_SR cpu_sr = 0; TransmitMailbox = CAN_Transmit(CAN1, &TxMessage); if(CAN_NO_MB = TransmitMailbox) printf(tx can failrn); return 0; else OS_ENTER_CRITICAL(); CAN_msg_numTransmitMailbox = 1; OS_EXIT_CRITICAL(); CAN_ITConfig(CAN1, CAN_IT_TME, ENABLE); return 1;int CAN_tx_data(void) CanTxMsg TxMessage; uint8_t TransmitMailbox = 0; OS_CPU_SR cpu_sr = 0; /* transmit */ TxMessage.StdId=0x6f1; TxMessage.RTR=CAN_RTR_DATA; TxMessage.IDE=CAN_ID_STD; TxMessage.DLC=4; TxMessage.Data0=0x40; TxMessage.Data1=0x02; TxMessage.Data2=0x1a; TxMessage.Data3=0x80; TransmitMailbox = CAN_Transmit(CAN1, &TxMessage); if(CAN_NO_MB = TransmitMailbox) printf(tx can failrn); return 0; else OS_ENTER_CRITICAL(); CAN_msg_numTransmitMailbox = 1; OS_EXIT_CRITICAL(); CAN_ITConfig(CAN1, CAN_IT_TME, ENABLE); return 1;/ 发送中断void USB_HP_CAN1_TX_IRQHandler(void) if(CAN_msg_num0) if(SET = 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(SET = 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(SET = CAN_GetITStatus(CAN1,CAN_IT_RQCP2) CAN_ClearITPendingBit(CAN1,CAN_IT_RQCP2); CAN_ITConfig(CAN1, CAN_IT_TME, DISABLE); CAN_msg_num2 = 0; /* * brief This function handles USB Low Priority or CAN RX0 interrupts * requests. * param None * retval : None */void USB_LP_CAN1_RX0_IRQHandler(void) / u32 i; CanRxMsg RxMessage; if(SET = CAN_GetITStatus(CAN1,CAN_IT_FF0) CAN_ClearITPendingBit(CAN1,CAN_IT_FF0); else if(SET = CAN_GetITStatus(CAN1,CAN_IT_FOV0) CAN_ClearITPendingBit(CAN1,CAN_IT_FOV0); else CAN_Receive(CAN1, CAN_FIFO0, &RxMessage); InsertCanQueue(RxMessage); / printf(CAN_FIFO0 RxMessage.StdId is 0x%xrn,RxMessage.StdId); / printf(RxMessage.DLC is 0x%xrn,RxMessage.DLC); / for(i = 0; i RxMessage.DLC; i+) / / printf(data%d is 0x%xrn,i,RxMessage.Datai); / / printf(rn); void CAN1_RX1_IRQHandler(void) / u32 i; CanRxMsg RxMessage; if(SET = CAN_GetITStatus(CAN1,CAN_IT_FF1) CAN_ClearITPendingBit(CAN1,CAN_IT_FF1); else if(SET = CAN_GetITStatus(CAN1,CAN_IT_FOV1) CAN_ClearITPendingBit(CAN1,CAN_IT_FOV1); else CAN_Receive(CAN1, CAN_FIFO1, &RxMessage); InsertCanQueue(RxMessage); / printf(CAN_FIFO1 RxMessage.StdId is 0x%xrn,RxMessage.StdId); / printf(RxMessage.DLC is 0x%xrn,RxMessage.DLC); / for(i = 0; i RxMessage.DLC; i+) / / printf(data%d is 0x%xrn,i,RxMessage.Datai); / / printf(rn); void CAN1_SCE_IRQHandler(void) can.h文件#ifndef _CAN_H_#define _CAN_H_void CAN_init(void);int CAN_tx_data(void);int CAN_tx_msg(CanTxMsg TxMessage);#endif can_queue.c文件#include includes.hstruct _CANQueue CANQueue;/*作 者:版 权: 函数名称:函数功能: 清除通信队列入口参数: 无返 回 值: 无相关调用:备 注:修改信息: */void ClearCanQueue(void) int i; for(i = 0; i MAX_CAN_SIZE; i+) memset(&CANQueue.Elemi,0,sizeof(CanRxMsg); CANQueue.front = 0; CANQueue.rear = 0;/*作 者:版 权: 函数名称:函数功能: 判断串口队列是否为空入口参数:返 回 值: 1: 空; 0:非空相关调用:备 注:修改信息: */u8 IsEmptyCanQueue(void) if(CANQueue.front = CANQueue.rear) return 1; else return 0; /*作 者:版 权:函数名称:函数功能: 判队列是否满入口参数:返 回 值: 1: 满; 0:非满相关调用:备 注:修改信息: */u8 IsFullCanQueue(void) if( CANQueue.front = (CANQueue.rear+1) % MAX_CAN_SIZE) return 1; else return 0; /*作 者:版 权: 函数名称:函数功能: 将数据插入队列入口参数: element:被插元素返 回 值: 1: 成功; 0:失败相关调用:备 注:修改信息: */u8 InsertCanQueue(CanRxMsg element) if(!IsFullCanQueue() /是否为满 memcpy(&CANQueue.ElemCANQueue.rear,&element,sizeof(CanRxMsg); CANQueue.rear = (CANQueue.rear + 1) % MAX_CAN_SIZE; return 1; else /队列满 / printf(CAN queue is fullrn); return 0; /*作 者:版 权:函数名称:函数功能: 重新设置队列头指针入口参数: head: 新头返 回 值: 无相关调用:备 注:修改信息: */void SetHeadCanQueue(u16 head) if(CANQueue.front != CANQueue.rear) CANQueue.front = head; /*作 者:版 权:函数名称:函数功能: 取对头入口参数: head:对头;*element;数据返 回 值: 1: 成功 0: 失败相关调用:备 注:修改信息: */u8 GetCanQueue(u16 head,CanRxMsg *element) if(head != CANQueue.rear) /到队列尾 memcpy(element,&CANQueue.Elemhead,sizeof(CanRxMsg);/得到数据 return 1; else return 0; /无指定对头数据 /*作 者:版 权:函数名称:函数功能: can数据处理入口参数:返 回 值:相关调用:备 注:修改信息: */void Can_data_process(void) u16 head; / u32 i; CanRxMsg RxMessage; CanTxMsg TxMessage; head = CANQueue.front; if(1 = GetCanQueue(head,&RxMessage) head = (head + 1) % MAX_CAN_SIZE; /查询头前滚 SetHeadC