STM32-CAN总线使用说明

1、STM32F103和永的CAN总线使用说明1.配置CAN时钟、映射、IO口RCC_APB1PeriphClockCmd(RCC_APB1Periph_CAN1,ENABLE);RCC_APB2PeriphClockCmd(RCC_APB2Periph_USARTlIRCC_APB2Periph_GPI0AIRCC_APB2Periph_GP10BIRCC_APB2Periph_GPI0CIRCC_APB2Periph_AFI0.ENABLE);GPIO_PinRemapConfig(GPIO_Remapl.CAN1.ENABLE);打开对应IO/*ConfigureCANpin:RX*/GPI

2、O_InitStmcture.GPIO_Pin=GPIO_Pin_8;GPIO_InitStmcture.GPIO_Mode=GPIO_Modc_IPU;GPIO_Init(GPIOB.&GPIOnitStnicturc);/*ConfigureCANpin:TX*/GPIO_InitStmcture.GPIO_Pin=GPIO_Pin_9;GPIO_InitStmcture.GPIO_Mode=GPIO_Modc_AF_PP;GPIO_Init(GPIOB.&GPIOnitStnicture);2使能CAN中断向量NVICniruclure.NVIC_IRQChannel=USB_LP_CA

3、Nl_RX0_IRQn;NVICnitStructure.NVIC_IRQChannelPreemptionPriority=0;NVICnitStruclure.NVICRQChannelSubPriority=1;NVICniruclure.NVIC_IRQChannelCmd=ENABLE;NVICLInit(&NVIC_InitStructure);3.CAN硬件寄存器配置初始化CAN_DeInit(CANl);与2.0库有区别；CAN_StructInit(&CAN_InitStructure);CANnitStructure.CAN_TTCM=DISABLE;CAN_InitStr

4、ucture.CAN_ABOM=ENABLE:总线断开后自动修复：CAN_InitStructure.CAN_AWUM=DISABLE:CANnitStructure.CAN_NART=DISABLE;CANnitStructure.CAN_RFLM=DISABLE;CAN_InitStructure.CAN_TXFP=DlSABLE;CANnitStructurcCAN_Mode=：CAN_Modc_LoopBack;/CAN_Modc_Silent;/CAN_Mode_Normal;/CAN_Mode_LoopBack;/CAN_InitStructure.CAN_SJW=CAN_SJW_

5、ltq;CANnitStructure.CAN_BS1=CAN_BSl_6tq;CANnitStructure.CAN_BS2=CAN_BS2_4tq:CANnitStructure.CAN_Presca!er=CAN_100k_Prescaler;CAN_Init(CAN1,&CANJnitStructure);4过滤器初始化CAN_FilterInitStructure.CAN_FilterNumber=O;CAN_FilterInitStructure.CAN_FilterMode=CAN_FilterMode_IdMask;/CAN_FilterMode_IdList;标识符模式；/C

6、AN_FilterInitStructure.CAN_FilterMode=CAN_FilterMode_IdList;/r展模式滤波器CAN_FilterInitStructure.CAN_FilterScale=CAN_FilterScale_32bit:/32位过滤器；CAN_FilterInitStructure.CAN_FilterIdHigh=0 x0260;适用TxMessage.StdId=Ox13;标识符寄存器：CAN_FilterInitStructure.CAN_FilterIdLow=OxOOOO;CAN_FilterInitStructure.CAN_FilterMa

7、skIdHigh=0 x0260;屏蔽寄存器(不屏蔽)；CAN_FilterInitStructure.CAN_FilterMaskIdLow=OxOOOO;严屏蔽寄存器0表示屏蔽，1表示不屏蔽*/CAN_FilterInitStructure.CAN_FilterFIFOAssignment=0;CAN_FilterInitStructure.CAN_FilterActivation=ENABLE;CAN_FilterInit(&CAN_FilterInitStructure);5打开CAN接收中断CANTConfig(CANl.CANJT_FN1PO.ENABLE);6编辑发送数据(标识符

8、模式和扩展模式)TxMessage.StdId=Ox10;TxMessage.RTR=CAN_RTR_DATA;TxMessage.IDE=CAN_ID_STD:/(标识符模式)/CAN_ID_EXT(扩展标识符模式)TxMessage.DLC=8:TxMessage.DataO=0 x01;TxMessage.Data1=0 x01;TxMessage.Data2=0 x01;TxMessage.Data3=0 x01;TxMessage.Data4=0 x01;TxMessage.Data5=0 x01;TxMessage.Data=0 x01;TxMessage.Data7=0 x01;

9、CAN_Transmit(CAN1、&TxMessage);7查询是否发送完成i=0;while(CAN_TransmitStatus(CAN1,TransmitMailbox)!=CANTXOK)&(i!=OxFFF)与2.0库有异；判断发送数据成功i+；if(CAN_TransmitStatus(CAN1,TransmitMailbox)=CANTXPENDING)表示数据正在发送中。&接收数据voidreceive(void)u32i;CanRxMsgRxMessage;i=0;while(CAN_MessagePending(CANl,CAN_FIFOO)1)&(i!=OxFF)冷+:

10、if(i=OxFF)表示没有收到数据elseRxMessage.StdId=OxOO:RxMessage.IDE=CAN_ID_STD;RxMessage.DLC=O;RxMessage.Data0=0 x00:RxMessage.Data1=0 x00:RxMessage.Data2=0 x00;RxMessage.Data3=0 x00;RxMessage.Data4=0 x00;RxMessage.Data5=0 x00;RxMessage.Data6=0 x00;RxMessage.Data7=0 x00:CAN_Receive(CANI、CAN_FIFOO.&RxMessage);9

11、中断函?voidUSB_LP_CANl_RXO_IRQHandler(void)CanRxMsgRxMessage;RxMessage.StdId=OxOO:RxMessage.ExtId=OxOO;RxMessage.IDE=O;RxMessage.DLC=O;RxMessage.FMI=O;RxMessage.Data0=0 x00;RxMessage.Data1=0 x00:RxMessage.Data2=0 x00:RxMessage.Data3=OxOO:RxMessage.Data4=0 x00;RxMessage.Data5=OxOO:RxMessage.Data6=0 x00:

12、RxMessage.Data7=0 x00:CAN_Receive(CAN1,CAN_FIFOO.&RxMessage);if(RxMessage.IDE=CAN_ID_STD)ret=I;elseret=0;发送ID与过滤器设置的对应求值算法:发送数据的ID要求：TxMessage.StdId=0 x00:TxMessage.ExtId=Ox1234;TxMessage.IDE=0 x04:TxMessage.RTR=0;过滤器所对应的配置:32位，标识符模式31:2423:1615:87:0STID10:3STID2:0EXID17:13EXID12:5EXID4:0IDERTR00000

13、0000000000001001000110100100CAN.FilterldHighCAN.FilterldLow000091A4得出：CAN_FilterInitStructure.CAN_FilterIdHigh=OxOOOO;CAN_FilterInitStructure.CAN_FilterIdLow=0 x91A4;备注总线模式说明：查询CAN总线上的数据，不对总线进行任何操作的设置:总线模式选择CAN_Mode_Silent不要在总线上发送数据；过滤器设置为：CAN_FilterInitStructure.CAN_FilterIdHigh=OxOOOO;CAN_FilterIn

14、itStructure.CAN_FilterIdLow=0 x0000;CAN_FilterInitStructure.CAN_FilterMaskIdHigh=OxOOOO;CAN_FilterInitStructure.CAN_FilterMaskIdLow=OxOOOO:开启接收函数：receive();voidreceive(void)u32i,Error;CanRxMsgRxMessage;i=0;while(CAN_MessagePending(CANLCAN_FIFOO)1)&(i!=OxFF)有异；判断接收到数据i+：if(i=OxFF)/status=CAN_GetFlagStatus(CAN1、CAN_FLAG_BOF);/Error=CAN_GetError(CAN1);/Usart1Send32Bit(Error);elseRxMessage.StdId=OxOO;RxMe