STM 32 之can 实例+代码解析

来源：互联网发布：韩国直播软件app 编辑：程序博客网时间：2024/06/01 23:27
#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_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];   // 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 = (BRP[9:0] + 1) x tPCLK//       tPCLK = CAN's clock = APB1's 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_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;        /* 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(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;  //圈数    Can1_Send_Buf[1]=angle_h; //总角度    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)    {        //发送失败,没有空邮箱        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;} //解析数据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;      }}//发送完中断函数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;        }    }}//接收中断函数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);             //解析数据:             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);            //解析数据             CAN1_Rx_Data(RxMessage);          }           break;     } } void  CAN1_Main(unsigned char flg ){      if(flg)      {        if(Can1_Send_Delay == 0)           CAN1_Tx_data();      }}
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