STM 32 之can 執行個體+代碼解析

轉自：http://bbs.elecfans.com/jishu_464949_1_1.html

#include "sysdef.h"

#define MAX_MAIL_NUM 3

//CAN總線調試:0=運作 1=自環調試

#define CAN_DEBUG 0

//CAN總線波特率: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_Buf[10]={0xeb,0x90,0x01,0x55,0xAA};

unsigned char Can1_Recv_Buf[10]={0};

extern int angle_num ;

extern unsigned int angle_data ;

static u8 CAN_msg_num[MAX_MAIL_NUM]; // 發送郵箱标記

void CAN1_Config_init(void)

{

CAN_InitTypeDef CAN_InitStructure;

CAN_FilterInitTypeDef CAN_FilterInitStructure;

CAN_DeInit(CAN1);

CAN_StructInit(&CAN_InitStructure);

//36MHz 500Kbps

CAN_InitStructure.CAN_TTCM=DISABLE;//禁止時間觸發通信模式

CAN_InitStructure.CAN_ABOM=DISABLE;//軟體對CAN_MCR寄存器的INRQ位進行置1随後清0後,一旦硬體檢測

//到128次11位連續的隐性位,就退出離線狀态

CAN_InitStructure.CAN_AWUM=DISABLE;//睡眠模式通過清除CAN_MCR寄存器的SLEEP位,由軟體喚醒

CAN_InitStructure.CAN_NART=DISABLE;//CAN封包是否隻發1次,不管發送的結果如何(成功/出錯或仲裁丢失)

CAN_InitStructure.CAN_RFLM=DISABLE;//在接收到溢出時FIFO未被鎖定,當接收到FIFO封包未被讀出,下一個收到的封包會覆寫原有的封包

CAN_InitStructure.CAN_TXFP=DISABLE;//發送的FIFO優先級由封包的辨別符來決定

#if CAN_DEBUG

CAN_InitStructure.CAN_Mode= CAN_Mode_LoopBack;

#else

CAN_InitStructure.CAN_Mode= CAN_Mode_Normal;

#endif

//傳輸波特率

if(CAN1_BPS == 0)

{

CAN_InitStructure.CAN_SJW=CAN_SJW_1tq;//重新同步跳躍寬度1個時間機關

CAN_InitStructure.CAN_BS1=CAN_BS1_12tq;//時間段1為9個時間機關

CAN_InitStructure.CAN_BS2=CAN_BS2_3tq;//時間段2為8個時間機關

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;//重新同步跳躍寬度1個時間機關

CAN_InitStructure.CAN_BS1=CAN_BS1_5tq;//時間段1為9個時間機關

CAN_InitStructure.CAN_BS2=CAN_BS2_2tq;//時間段2為8個時間機關

CAN_InitStructure.CAN_Prescaler= 9;//36M/(1+12+3)/9= 250kbps

}

else

{

CAN_InitStructure.CAN_SJW=CAN_SJW_1tq;//重新同步跳躍寬度1個時間機關

CAN_InitStructure.CAN_BS1=CAN_BS1_2tq;//時間段1為9個時間機關

CAN_InitStructure.CAN_BS2=CAN_BS2_1tq;//時間段2為8個時間機關

CAN_InitStructure.CAN_Prescaler= 9;//36M/(1+12+3)/9= 250kbps

}

CAN_Init(CAN1,&CAN_InitStructure);

CAN_FilterInitStructure.CAN_FilterNumber=0; //指定了待初始化的過濾器0

CAN_FilterInitStructure.CAN_FilterMode=CAN_FilterMode_IdMask;//指定了過濾器将被初始化到的模式為辨別符屏蔽位模式

CAN_FilterInitStructure.CAN_FilterScale=CAN_FilterScale_32bit;;//給出了過濾器位寬1個32位過濾器

CAN_FilterInitStructure.CAN_FilterIdHigh=0x0000;//用來設定過濾器辨別符（32位位寬時為其高段位，16位位寬時為第一個）

CAN_FilterInitStructure.CAN_FilterIdLow=0x0000;;//用來設定過濾器辨別符（32位位寬時為其低段位，16位位寬時為第二個)

CAN_FilterInitStructure.CAN_FilterMaskIdHigh=0x0000;//用來設定過濾器屏蔽辨別符或者過濾器辨別符（32位位寬時為其高段位，16位位寬時為第一個)

CAN_FilterInitStructure.CAN_FilterMaskIdLow=0x0000;//用來設定過濾器屏蔽辨別符或者過濾器辨別符（32位位寬時為其低段位，16位位寬時為第二個)

CAN_FilterInitStructure.CAN_FilterFIFOAssignment=CAN_FIFO0;;//設定了指向過濾器的FIFO0

CAN_FilterInitStructure.CAN_FilterActivation=ENABLE;//使能過濾器

CAN_FilterInit(&CAN_FilterInitStructure);

}

// ***************************************************************

// BaudRate = 1 / NominalBitTime

// NominalBitTime = 1tq + tBS1 + tBS2

// tq = (BRP[9:0] + 1) x tPCLK

// tPCLK = CAN's clock = APB1's clock

// 1Mbps 速率下，采用點的位置在6tq位置處，BS1=5, BS2=2

// 500kbps 速率下，采用點的位置在8tq位置處，BS1=7, BS2=3

// 250kbps 速率下，采用點的位置在14tq位置處，BS1=13, BS2=2

// 125k, 100k, 50k, 20k, 10k 的采用點位置與 250K 相同

// ****************************************************************

void CAN1_Com_init(void)

{

GPIO_InitTypeDef GPIO_InitStruct;

NVIC_InitTypeDef NVIC_InitStructure;

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中斷

CAN_ITConfig(CAN1,CAN_IT_FMP1 | CAN_IT_FF1 | CAN_IT_FOV1, ENABLE); // fifo1中斷

CAN_ITConfig(CAN1,CAN_IT_TME, DISABLE); // 發送中斷

// CAN緩存初始化

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)

{

//發送失敗

return 0;

}

else

{

CAN_msg_num[TransmitMailbox] = 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;

TxMessage.StdId=0x6f1;//設定标準辨別符

TxMessage.ExtId=0x1234;//設定擴充辨別符

TxMessage.RTR=CAN_RTR_DATA;//設定待傳輸消息的幀類型

TxMessage.IDE=CAN_ID_STD;//設定消息辨別符的類型

TxMessage.DLC=6; //資料長度

angle=angle_data/10;

if(angle>9999) 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_Buf[0]=angle_num; //圈數

Can1_Send_Buf[1]=angle_h; //總角度

Can1_Send_Buf[2]=angle_l;

Can1_Send_Buf[3]=0;

Can1_Send_Buf[4]=0;

Can1_Send_Buf[5]=angle_dir;

for(i=0;i < TxMessage.DLC;i++)

{

TxMessage.Data[i] = Can1_Send_Buf[i];

}

TransmitMailbox = CAN_Transmit(CAN1,&TxMessage);

if(CAN_NO_MB == TransmitMailbox)

{

//發送失敗,沒有空郵箱

return 0;

}

else

{

CAN_msg_num[TransmitMailbox] = 1;

}

CAN_ITConfig(CAN1,CAN_IT_TME, ENABLE);

Can1_Tx_Count++;

if(Can1_Tx_Count > 10000)

Can1_Tx_Count =0;

Can1_Send_Delay =200;

return 1;

}

//解析資料

void CAN1_Rx_Data(CanRxMsg RxMessage)

{

u8 i =0;

if((RxMessage.StdId==0x6f1) && (RxMessage.IDE==CAN_ID_STD) && ((RxMessage.Data[1]|RxMessage.Data[0]<<8)==0xEB90))

{

for(i=0;i < RxMessage.DLC;i++)

{

Can1_Recv_Buf[i] = RxMessage.Data[i];

}

Can1_Rx_Count++;

if(Can1_Rx_Count > 10000)

Can1_Rx_Count =0;

}

//發送完中斷函數

void CAN1_Send(void)

{

if(CAN_msg_num[0])

{

if(CAN_GetITStatus(CAN1,CAN_IT_RQCP0))

{

CAN_ClearITPendingBit(CAN1,CAN_IT_RQCP0);

CAN_ITConfig(CAN1,CAN_IT_TME, DISABLE);

CAN_msg_num[0] = 0;

}

if(CAN_msg_num[1])

{

if(CAN_GetITStatus(CAN1,CAN_IT_RQCP1))

{

CAN_ClearITPendingBit(CAN1,CAN_IT_RQCP1);

CAN_ITConfig(CAN1,CAN_IT_TME, DISABLE);

CAN_msg_num[1] = 0;

}

if(CAN_msg_num[2])

{

if(CAN_GetITStatus(CAN1,CAN_IT_RQCP2))

{

CAN_ClearITPendingBit(CAN1,CAN_IT_RQCP2);

CAN_ITConfig(CAN1,CAN_IT_TME, DISABLE);

CAN_msg_num[2] = 0;

}

//接收中斷函數

void CAN1_Recv(unsigned char num)

{

CanRxMsg RxMessage;

switch(num)

{

case 0:

if(CAN_GetITStatus(CAN1,CAN_IT_FF0))

{

CAN_ClearITPendingBit(CAN1,CAN_IT_FF0);

}

else if(CAN_GetITStatus(CAN1,CAN_IT_FOV0))

{

CAN_ClearITPendingBit(CAN1,CAN_IT_FOV0);

}

else

{

CAN_Receive(CAN1,CAN_FIFO0, &RxMessage);

//解析資料:

CAN1_Rx_Data(RxMessage);

}

break;

case 1:

if(CAN_GetITStatus(CAN1,CAN_IT_FF1))

{

CAN_ClearITPendingBit(CAN1,CAN_IT_FF1);

}

else if(CAN_GetITStatus(CAN1,CAN_IT_FOV1))

{

CAN_ClearITPendingBit(CAN1,CAN_IT_FOV1);

}

else

{

CAN_Receive(CAN1,CAN_FIFO1, &RxMessage);

//解析資料

CAN1_Rx_Data(RxMessage);

}

break;

}

void CAN1_Main(unsigned char flg )

{

if(flg)

{

if(Can1_Send_Delay == 0)

CAN1_Tx_data();

}

轉自：http://bbs.21ic.com/icview-433785-1-1.html

//CAN寄存器配置

void GPIO_CAN_init()

{

RCC_AHB1PeriphClockCmd(RCC_AHB1Periph_GPIOD, ENABLE); //CAN IO時鐘

RCC_APB1PeriphClockCmd(RCC_APB1Periph_CAN1, ENABLE); //CAN 時鐘

GPIO_DeInit(GPIOD);

GPIO_InitStructure.GPIO_Pin = GPIO_Pin_0; //RX引腳

GPIO_InitStructure.GPIO_Mode = GPIO_Mode_AF; //設定複用模式

GPIO_InitStructure.GPIO_OType = GPIO_OType_PP; //設定為推挽

GPIO_InitStructure.GPIO_Speed = GPIO_Speed_50MHz;

// GPIO_InitStructure.GPIO_PuPd = GPIO_PuPd_UP; //設定上拉

GPIO_Init(GPIOD, &GPIO_InitStructure);

GPIO_InitStructure.GPIO_Pin = GPIO_Pin_1; //TX引腳

GPIO_InitStructure.GPIO_Mode = GPIO_Mode_AF; //設定複用模式

GPIO_InitStructure.GPIO_OType = GPIO_OType_PP; //設定為推挽

GPIO_InitStructure.GPIO_Speed = GPIO_Speed_50MHz;

// GPIO_InitStructure.GPIO_PuPd = GPIO_PuPd_NOPULL; //其他未置引腳懸空

GPIO_Init(GPIOD, &GPIO_InitStructure);

GPIO_PinAFConfig(GPIOD, GPIO_PinSource0, GPIO_AF_CAN1); //啟動IO複用功能

GPIO_PinAFConfig(GPIOD, GPIO_PinSource1, GPIO_AF_CAN1);

CAN_DeInit(CAN1); //複位所有設定

CAN_StructInit(&CAN_InitStructure);

CAN_InitStructure.CAN_TTCM = DISABLE;

CAN_InitStructure.CAN_ABOM = DISABLE ; //使能離線管理

// CAN_InitStructure.CAN_ABOM = ENABLE ; //使能離線管理

CAN_InitStructure.CAN_AWUM = DISABLE;

CAN_InitStructure.CAN_NART = DISABLE ; //使能自動重傳

// CAN_InitStructure.CAN_NART = ENABLE ; //使能自動重傳

CAN_InitStructure.CAN_RFLM = DISABLE;

CAN_InitStructure.CAN_TXFP = DISABLE; //複位所有設定

CAN_InitStructure.CAN_Mode = CAN_Mode_Normal; //設定為正常模式

//CAN外設頻率為系統4分頻 168/4=42MHZ

CAN_InitStructure.CAN_SJW = CAN_SJW_1tq; //波特率相關設定

CAN_InitStructure.CAN_BS1 = CAN_BS1_6tq;

CAN_InitStructure.CAN_BS2 = CAN_BS2_8tq;

CAN_InitStructure.CAN_Prescaler = 14;

CAN_Init(CAN1, &CAN_InitStructure);

// while(CAN_Init(CAN1, &CAN_InitStructure)!=CANINITOK); //此處為線上調試斷點，程式卡在這裡，初始化成功則繼續往下

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);

CAN_ITConfig(CAN1, CAN_IT_FMP0, ENABLE);

}

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