【ST学习小组】STM32F103的CAN 通信之主控器
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原帖地址：http://www.eefocus.com/bbs/article_244_380394.html
本CAN主要实现两个芯片的通讯，主控器通过CAN将获得的从控制发来的数据，通过串口显示在上位机上，在上位机上实时得到一个数据曲线。从控制器通过AD获得数据。
以下是主控制器的代码程序：
本主程序主要分为三个，main.c led.c usart.c can.c
main.c
#include "stm32f10x.h"
#include "misc.h"
#include "led.h"
#include "key.h"
#include "usart.h"
//#include "exti.h"
#include "can.h"
void RCC_Configuration(void);
void Delay(__IO uint32_t nCount);
//___________________Global Variable declare________
u8 CAN_TransmitDataBuf[8];
u8 ADC_num=0;
u16 ADC_Data0[10];
u16 ADC_Data1[10];
u16 ADC_Data2[10];
u16 ADC_Data3[10];
//______________________________________________
//___________________________ADC modue__________
void Adc_Init(void)
{
//先初始化IO口
RCC->APB2ENR|=1<<2; //使能PORTA口时钟
GPIOA->CRL&=0XFFFF0000;//PA0 1 2 3 anolog输入
//通道10/11设置
RCC->APB2ENR|=1<<9; //ADC1时钟使能
RCC->APB2RSTR|=1<<9; //ADC1复位
RCC->APB2RSTR&=~(1<<9);//复位结束
RCC->CFGR&=~(3<<14); //分频因子清零
//SYSCLK/DIV2=12M ADC时钟设置为12M,ADC最大时钟不能超过14M!
//否则将导致ADC准确度下降!
RCC->CFGR|=2<<14;
ADC1->CR1&=0XF0FFFF; //工作模式清零
ADC1->CR1|=0<<16; //独立工作模式
ADC1->CR1&=~(1<<8); //非扫描模式
ADC1->CR2&=~(1<<1); //单次转换模式
ADC1->CR2&=~(7<<17);
ADC1->CR2|=7<<17; //软件控制转换
ADC1->CR2|=1<<20; //使用用外部触发(SWSTART)!!!必须使用一个事件来触发
ADC1->CR2&=~(1<<11); //右对齐
ADC1->SQR1&=~(0XF<<20);
ADC1->SQR1&=0<<20;
//设置通道0~3的采样时间
ADC1->SMPR2&=0XFFFFF000;//通道0,1,2,3采样时间清空
ADC1->SMPR2|=7<<9; //通道3 239.5周期,提高采样时间可以提高精确度
ADC1->SMPR2|=7<<6; //通道2 239.5周期,提高采样时间可以提高精确度
ADC1->SMPR2|=7<<3; //通道1 239.5周期,提高采样时间可以提高精确度
ADC1->SMPR2|=7<<0; //通道0 239.5周期,提高采样时间可以提高精确度
ADC1->CR2|=1<<0; //开启AD转换器
ADC1->CR2|=1<<3; //使能复位校准
while(ADC1->CR2&1<<3); //等待校准结束
//该位由软件设置并由硬件清除。在校准寄存器被初始化后该位将被清除。
ADC1->CR2|=1<<2; //开启AD校准
while(ADC1->CR2&1<<2); //等待校准结束
//该位由软件设置以开始校准，并在校准结束时由硬件清除
}
//获得ADC值
//ch:通道值 0~3
u16 Get_Adc(u8 ch)
{
//设置转换序列
ADC1->SQR3&=0XFFFFFFE0;//规则序列1 通道ch
ADC1->SQR3|=ch;
ADC1->CR2|=1<<22; //启动规则转换通道
while(!(ADC1->SR&1<<1));//等待转换结束
return ADC1->DR;//返回adc值
}
//_________________________________________________
//_____________________ADC 采样值发送________
void ADC_TransmitByCan(u16 Data_CH1,u16 Data_CH2,u16 Data_CH3)
{
}
//////////////////////////////////////////////////////////////////////////////////
//int i=0;
//定时器3中断服务程序
void TIM3_IRQHandler(void)
{
u8 index=0;
u16 Max=0;
u16 Min=0xFF;
u32 ADC0_sum=0;
if(TIM3->SR&0X0001)//溢出中断
{
// ADC_Data1[1]=Get_Adc(ADC_Channel_1);
// ADC_Data2[2]=Get_Adc(ADC_Channel_2);
ADC_Data0[ADC_num]=Get_Adc(ADC_Channel_0);
ADC_num++;
if (ADC_num>=9)
{
ADC_num=0;
for(index=0;index<9;index++)
{
if(ADC_Data0[index]>Max)
{
Max=ADC_Data0[index];
}
if(ADC_Data0[index]<Min)
{
Min=ADC_Data0[index];
}
ADC0_sum+=(u32) (ADC_Data0[index]);
}
ADC0_sum=(ADC0_sum-Max-Min)/8;
CAN_TransmitDataBuf[1]=(ADC0_sum&0x00ff);
CAN_TransmitDataBuf[0]=((ADC0_sum>>8)&0x00ff);
CAN_TransmitData(2,CAN_TransmitDataBuf,0xAAAA);
}
}
TIM3->SR&=~(1<<0);//清除中断标志位
}
//通用定时器中断初始化
//这里时钟选择为APB1的2倍，而APB1为36M
//arr：自动重装值。
//psc：时钟预分频数
//这里使用的是定时器3!
void Timer_init(u16 arr,u16 psc)
{
NVIC_InitTypeDef NVIC_InitStructure;
RCC->APB1ENR|=1<<1;//TIM3时钟使能
TIM3->ARR=arr; //设定计数器自动重装值//刚好1ms
TIM3->PSC=psc; //预分频器7200,得到10Khz的计数时钟
//这两个东东要同时设置才可以使用中断
TIM3->DIER|=1<<0; //允许更新中断
TIM3->DIER|=1<<6; //允许触发中断
TIM3->CR1|=0x01; //使能定时器3
/* Configure the NVIC Preemption Priority Bits */
NVIC_PriorityGroupConfig(NVIC_PriorityGroup_0);
/* Enable the USART1 Interrupt */
NVIC_InitStructure.NVIC_IRQChannel = TIM3_IRQn; //设置串口中断
NVIC_InitStructure.NVIC_IRQChannelSubPriority = 0;
NVIC_InitStructure.NVIC_IRQChannelCmd = ENABLE;
NVIC_Init(&NVIC_InitStructure);
}
//_______________________________________________
int main(void)
{
RCC_Configuration(); //系统时钟配置
LED_GPIO_Config(); //led配置
KEY_GPIO_Config(); //按键配置
USART_Init_Config(); //串口配置
// EXTI_Init_Config();
// Adc_Init();
CAN_Init_Config();
//Timer_init(50,6400);
while (1)
{
LED1_ON;
LED2_ON;
Delay(0xFFFFF);
Delay(0xFFFFF);
}
}
void RCC_Configuration(void)
{
/* Setup the microcontroller system. Initialize the Embedded Flash Interface,
initialize the PLL and update the SystemFrequency variable. */
SystemInit();
RCC_APB2PeriphClockCmd(RCC_APB2Periph_AFIO|RCC_APB2Periph_GPIOB,ENABLE); //打开重映射时钟
RCC_APB2PeriphClockCmd(RCC_APB2Periph_GPIOA, ENABLE); /* GPIOA clock enable */
//RCC_APB2PeriphClockCmd(RCC_APB2Periph_GPIOB, ENABLE); /* GPIOB clock enable */
RCC_APB1PeriphClockCmd(RCC_APB1Periph_CAN1, ENABLE); /* CAN Periph clock enable */
}
void Delay(__IO uint32_t nCount)
{
for(; nCount != 0; nCount--);
}
#ifdef USE_FULL_ASSERT
/**
* @brief Reports the name of the source file and the source line number
* where the assert_param error has occurred.
* @param file: pointer to the source file name
* @param line: assert_param error line source number
* @retval : None
*/
void assert_failed(uint8_t* file, uint32_t line)
{
/* User can add his own implementation to report the file name and line number,
ex: printf("Wrong parameters value: file %s on line %d\r\n", file, line) */
/* Infinite loop */
while (1)
{
}
}
#endif
-------------------------------------------------------------------------------------------------------------------------------
usart.c
#include "usart.h"
USART_InitTypeDef USART_InitStruct;
USART_ClockInitTypeDef USART_ClockInitStruct;
void USART1_GPIO_Config(void)
{
GPIO_InitTypeDef GPIO_InitStructure;
RCC_APB2PeriphClockCmd(RCC_APB2Periph_USART1|RCC_APB2Periph_GPIOA , ENABLE);
//USART1 TX
GPIO_InitStructure.GPIO_Pin = GPIO_Pin_9;
GPIO_InitStructure.GPIO_Mode = GPIO_Mode_AF_PP; //复用推挽输出
GPIO_Init(GPIOA, &GPIO_InitStructure); //A端口
//USART1 RX
GPIO_InitStructure.GPIO_Pin = GPIO_Pin_10;
GPIO_InitStructure.GPIO_Mode = GPIO_Mode_IN_FLOATING; //复用开漏输入
GPIO_Init(GPIOA, &GPIO_InitStructure);
}
void USART1_NVIC_Configuration(void)
{
NVIC_InitTypeDef NVIC_InitStructure;
/* Configure the NVIC Preemption Priority Bits */
NVIC_PriorityGroupConfig(NVIC_PriorityGroup_0);
/* Enable the USART1 Interrupt */
NVIC_InitStructure.NVIC_IRQChannel = USART1_IRQn; //设置串口中断
NVIC_InitStructure.NVIC_IRQChannelSubPriority = 0;
NVIC_InitStructure.NVIC_IRQChannelCmd = ENABLE;
NVIC_Init(&NVIC_InitStructure);
}
void USART_Config(USART_TypeDef* USARTx)
{
USART_InitTypeDef USART_InitStructure;
USART_InitStructure.USART_BaudRate = 115200; //速率115200bps
USART_InitStructure.USART_WordLength = USART_WordLength_8b;//数据位8位
USART_InitStructure.USART_StopBits = USART_StopBits_1;//停止位1位
USART_InitStructure.USART_Parity = USART_Parity_No;//无校验位
USART_InitStructure.USART_HardwareFlowControl = USART_HardwareFlowControl_None; //无硬件流控
USART_InitStructure.USART_Mode = USART_Mode_Rx | USART_Mode_Tx;//收发模式
/* Configure USART1 */
USART_Init(USARTx, &USART_InitStructure); //配置串口参数函数
/* Enable USART1 Receive and Transmit interrupts */
USART_ITConfig(USART1, USART_IT_RXNE, ENABLE); //使能接收中断
//USART_ITConfig(USART1, USART_IT_TXE, ENABLE); //使能发送缓冲空中断
//USART_ITConfig(USART1, USART_IT_TC, ENABLE); //使能发送完成中断
/* Enable the USART1 */
USART_Cmd(USART1, ENABLE);
}
void USART_Init_Config(void)
{
USART1_GPIO_Config(); //端口配置
USART_Config(USART1); //数据格式配置
USART1_NVIC_Configuration(); //中断配置
}
void Usart_transmitByte(uint8_t Usart_TransmitDatebuf)
{
USART1->DR=Usart_TransmitDatebuf;
while((USART1->SR&0X40)==0);//wait
}
void Usart_TransmitData(u16 Usart_TransmitDataLength,uint8_t * Usart_TransmitDatebuf)
{
u16 Usart_Transmitindex;
//_____________________send the start byte_______________________
Usart_transmitByte(0xFF);
Usart_transmitByte(0x00);
// _____________________send the end byte________________________
for(Usart_Transmitindex=0;Usart_Transmitindex<Usart_TransmitDataLength;Usart_Transmitindex++)
{
if(Usart_TransmitDatebuf[Usart_Transmitindex]==0xFF)
{
if(Usart_TransmitDatebuf[Usart_Transmitindex+1]==0x00)
{
Usart_transmitByte(0xFF);
Usart_transmitByte(0x00);
Usart_transmitByte(0xFF);
Usart_transmitByte(0x00);
Usart_Transmitindex++;
}
else
{
Usart_transmitByte(Usart_TransmitDatebuf[Usart_Transmitindex]);
}
}
else
{
Usart_transmitByte(Usart_TransmitDatebuf[Usart_Transmitindex]);
}
}
//___________________End Transmit Data________________________
Usart_transmitByte(0xFF);
Usart_transmitByte(0x00);
//_____________________date
Usart_transmitByte(0x00);
}
-------------------------------------------------------------------------------------------------------------------------------------------------
led.c
#include "led.h"
---------------------------------------------------------------------------------------------------------------------------------------------------------------------------------
can.c
#include "can.h"
u16 ret;
/******************CAN1中断配置函数*********************************************/
//优先级：0
//中断服务程序：USB_LP_CAN1_RX0_IRQn------stm32f10x_it.
void CAN_NVIC_Configuration(void)
{
NVIC_InitTypeDef NVIC_InitStructure;
/* Enable CAN1 RX0 interrupt IRQ channel */
NVIC_InitStructure.NVIC_IRQChannel = USB_LP_CAN1_RX0_IRQn;
NVIC_InitStructure.NVIC_IRQChannelPreemptionPriority = 0;
NVIC_InitStructure.NVIC_IRQChannelSubPriority = 0;
NVIC_InitStructure.NVIC_IRQChannelCmd = ENABLE;
NVIC_Init(&NVIC_InitStructure);
}
/******************CAN1端口配置函数*********************************************/
//引脚：CAN1RX-PA8、CAN1Tx-PB8
//说明：开启端口B的时钟、CAN1的时钟
void CAN_GPIO_Configuration(void)
{
GPIO_InitTypeDef GPIO_InitStructure;
/* Configure CAN pin: RX */
GPIO_InitStructure.GPIO_Pin = GPIO_Pin_11;
GPIO_InitStructure.GPIO_Speed=GPIO_Speed_50MHz;
GPIO_InitStructure.GPIO_Mode = GPIO_Mode_IPU;
GPIO_Init(GPIOA, &GPIO_InitStructure);
/* Configure CAN pin: TX */
GPIO_InitStructure.GPIO_Pin = GPIO_Pin_12;
GPIO_InitStructure.GPIO_Speed=GPIO_Speed_50MHz;
GPIO_InitStructure.GPIO_Mode = GPIO_Mode_AF_PP;
GPIO_Init(GPIOA, &GPIO_InitStructure);
/*端口重映射到PB8、PB9上*/
// GPIO_PinRemapConfig(GPIO_Remap2_CAN1, ENABLE); //配置CAN总线为从映射
RCC_APB1PeriphClockCmd(RCC_APB1Periph_CAN1, ENABLE); /* CAN Periph clock enable */
}
/******************CAN1查询接受配置函数*****************************************/
//波特率：SJW-1tq、BS1-8tq、BS2-7tq、Prescaler-5;
//
u8 CAN_Polling(void)
{
CAN_InitTypeDef CAN_InitStructure;
CAN_FilterInitTypeDef CAN_FilterInitStructure;
CanTxMsg TxMessage;
CanRxMsg RxMessage;
uint32_t i = 0;
uint8_t TransmitMailbox = 0;
/* CAN register init */
CAN_DeInit(CAN1);
CAN_StructInit(&CAN_InitStructure);
/* CAN cell init */
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_LoopBack;
CAN_InitStructure.CAN_SJW=CAN_SJW_1tq;
CAN_InitStructure.CAN_BS1=CAN_BS1_8tq;
CAN_InitStructure.CAN_BS2=CAN_BS2_7tq;
CAN_InitStructure.CAN_Prescaler=5;
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);
/* transmit */
TxMessage.StdId=0x11;
TxMessage.RTR=CAN_RTR_DATA;
TxMessage.IDE=CAN_ID_STD;
TxMessage.DLC=2;
TxMessage.Data[0]=0xAA;
TxMessage.Data[1]=0xAA;
TransmitMailbox=CAN_Transmit(CAN1, &TxMessage);
i = 0;
while((CAN_TransmitStatus(CAN1, TransmitMailbox) != CANTXOK) && (i != 0xFF))
{
i++;
}
i = 0;
while((CAN_MessagePending(CAN1, CAN_FIFO0) < 1) && (i != 0xFF))
{
i++;
}
/* receive */
RxMessage.StdId=0x00;
RxMessage.IDE=CAN_ID_STD;
RxMessage.DLC=0;
RxMessage.Data[0]=0x00;
RxMessage.Data[1]=0x00;
CAN_Receive(CAN1, CAN_FIFO0, &RxMessage);
if( (RxMessage.StdId!=0x11)|(RxMessage.StdId!=0x12) )
{
return 1;
}
if (RxMessage.IDE!=CAN_ID_STD)
{
return 1;
}
if (RxMessage.DLC!=2)
{
return 1;
}
if ((RxMessage.Data[0]<<8|RxMessage.Data[1])!=0xCAFE)
{
return 1;
}
return 0; /* Test Passed */
}
/******************CAN1中断接受配置函数*****************************************/
//波特率：SJW-1tq、BS1-8tq、BS2-7tq、Prescaler-5;
//
void CAN_Interrupt(void)
{
CAN_InitTypeDef CAN_InitStructure;
CAN_FilterInitTypeDef CAN_FilterInitStructure;
/* CAN register init */
CAN_DeInit(CAN1);
CAN_StructInit(&CAN_InitStructure);
/* CAN cell init */
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; //Normal
CAN_InitStructure.CAN_SJW=CAN_SJW_1tq;
CAN_InitStructure.CAN_BS1=CAN_BS1_8tq;
CAN_InitStructure.CAN_BS2=CAN_BS2_7tq;
CAN_InitStructure.CAN_Prescaler=1;
CAN_Init(CAN1, &CAN_InitStructure);
/* CAN filter init */
CAN_FilterInitStructure.CAN_FilterNumber=1;
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=CAN_FIFO0;
CAN_FilterInitStructure.CAN_FilterActivation=ENABLE;
CAN_FilterInit(&CAN_FilterInitStructure);
/* CAN FIFO0 message pending interrupt enable */
CAN_ITConfig(CAN1, CAN_IT_FMP0, ENABLE); //CAN 中断使能
}
/******************CAN1数据传送函数*******************************************/
//
//
void CAN_TransmitData(u8 DataLength,u8 *Data_Buf,u32 ID) /* transmit 1 message */
{
CanTxMsg TxMessage;
u8 CAN_Transmitindex=0;
TxMessage.StdId=ID;
TxMessage.ExtId=ID;
TxMessage.IDE=CAN_ID_EXT;
TxMessage.RTR=CAN_RTR_DATA;
//_______________Set Data length _________________
TxMessage.DLC=DataLength;
for(CAN_Transmitindex=0;CAN_Transmitindex<DataLength;CAN_Transmitindex++)
{
TxMessage.Data[CAN_Transmitindex]=Data_Buf[CAN_Transmitindex];
}
//_____________________________________________
CAN_Transmit(CAN1, &TxMessage);
}
void CAN_Init_Config(void)
{
CAN_NVIC_Configuration(); //中断配置
CAN_GPIO_Configuration(); //端口配置
CAN_Interrupt(); //中断接受配置
}
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