STM32F107 CAN调试笔记标准库打卡

参考网站：https://www.cnblogs.com/craigtao/p/3645148.html
https://blog.csdn.net/qq_29413829/article/details/53230716
https://blog.csdn.net/qq_36355662/article/details/80607453

void CAN1_Init(void)
{
GPIO_InitTypeDef GPIO_InitStructure;
NVIC_InitTypeDef NVIC_InitStructure;
CAN_InitTypeDef CAN_InitStructure;
CAN_FilterInitTypeDef CAN_FilterInitStructure;
/* 复用功能和GPIOD端口时钟使能*/
RCC_APB2PeriphClockCmd(RCC_APB2Periph_AFIO | RCC_APB2Periph_GPIOD, ENABLE);
/* CAN1 模块时钟使能*/
RCC_APB1PeriphClockCmd(RCC_APB1Periph_CAN1, ENABLE);
/CAN 重映射–/
GPIO_PinRemapConfig(GPIO_Remap2_CAN1, ENABLE);
/**************************************************************************************************
CAN 重映射根据需要修改
CASE 1: CAN_RX mapped to PB8, CAN_TX mapped to PB9 (not available on 36-pin package)
#define GPIO_Remap1_CAN1 ((uint32_t)0x001D4000) /*!< CAN1 Alternate Function mapping /
CASE 2: CAN_RX mapped to PD0, CAN_TX mapped to PD1
#define GPIO_Remap2_CAN1 ((uint32_t)0x001D6000) /!< CAN1 Alternate Function mapping */
***********************************************************************************************************/
/ Configure CAN pin: RX / // PD0
GPIO_InitStructure.GPIO_Pin = GPIO_Pin_0;
GPIO_InitStructure.GPIO_Mode = GPIO_Mode_IPU;
GPIO_Init(GPIOD, &GPIO_InitStructure);
/ Configure CAN pin: TX */ // PD1
GPIO_InitStructure.GPIO_Pin = GPIO_Pin_1;
GPIO_InitStructure.GPIO_Mode = GPIO_Mode_AF_PP;
GPIO_InitStructure.GPIO_Speed=GPIO_Speed_50MHz;
GPIO_Init(GPIOD, &GPIO_InitStructure);

/* enabling interrupt */ NVIC_InitStructure.NVIC_IRQChannel = CAN1_RX0_IRQn; ; NVIC_InitStructure.NVIC_IRQChannelPreemptionPriority = 3; NVIC_InitStructure.NVIC_IRQChannelSubPriority = 2; NVIC_InitStructure.NVIC_IRQChannelCmd = ENABLE; NVIC_Init(&NVIC_InitStructure); CAN_DeInit(CAN1); //can 反初始化 CAN_StructInit(&CAN_InitStructure); /* CAN cell init */ CAN_InitStructure.CAN_TTCM=DISABLE; //时间触发模式 CAN_InitStructure.CAN_ABOM=DISABLE; //自动离线管理 CAN_InitStructure.CAN_AWUM=DISABLE; //自动唤醒模式 CAN_InitStructure.CAN_NART=DISABLE; //非自动重传模式 CAN_InitStructure.CAN_RFLM=DISABLE; //接收FIFO锁定模式 CAN_InitStructure.CAN_TXFP=DISABLE; //发送FIFO优先级 CAN_InitStructure.CAN_Mode=CAN_Mode_Normal; //CAN设置为正常模式 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_3tq; //时间段1为3个时间单位 CAN_InitStructure.CAN_BS2=CAN_BS2_2tq; //时间段2为2个时间单位 CAN_InitStructure.CAN_Prescaler=60; //时间长度为60 CAN_Init(CAN1,&CAN_InitStructure); //波特率72/2/(60(1+3+2))=0.1 即波特率为100kbps //APB1操作速度限于36MHz， APB2操作于全速(最高72MHz)//过滤器不过滤任何邮箱ID CAN_FilterInitStructure.CAN_FilterNumber=0; CAN_FilterInitStructure.CAN_FilterMode=CAN_FilterMode_IdMask; //掩码模式 CAN_FilterInitStructure.CAN_FilterScale=CAN_FilterScale_32bit; CAN_FilterInitStructure.CAN_FilterIdHigh=0X0000; //要过滤的ID高位 CAN_FilterInitStructure.CAN_FilterIdLow= CAN_ID_EXT|CAN_RTR_DATA; //要过滤的ID低位 CAN_FilterInitStructure.CAN_FilterMaskIdHigh=0x0000; //过滤器屏蔽标识符高16位值 CAN_FilterInitStructure.CAN_FilterMaskIdLow=0x0000; //过滤器屏蔽标识符低16位值 CAN_FilterInitStructure.CAN_FilterFIFOAssignment=CAN_FIFO0; //设定指向过滤器的FIFO为0 CAN_FilterInitStructure.CAN_FilterActivation=ENABLE; //使能过滤器 CAN_FilterInit(&CAN_FilterInitStructure); //初始化过滤器/* CAN FIFO0 message pending interrupt enable */ CAN_ITConfig(CAN1,CAN_IT_FMP0, ENABLE); //使能FIFO消息挂号中断 CAN_ITConfig(CAN1,CAN_IT_TME,ENABLE); //发送中断使能

【STM32F107 CAN调试笔记标准库】}

uint8_t CAN_SendMsg(CAN_TypeDef* CANx, uint8_t IDdata ,uint8_t* data,uint8_t size) { u8 mbox; u16 i=0; CanTxMsg TxMessage; TxMessage.StdId= IDdata; TxMessage.ExtId=0x00; TxMessage.IDE =CAN_ID_STD; TxMessage.RTR=CAN_RTR_DATA; TxMessage.DLC=size; memcpy(TxMessage.Data,data,size); mbox= CAN_Transmit(CANx, &TxMessage); while((CAN_TransmitStatus(CAN1, mbox)==CAN_TxStatus_Failed)&&(i<0XFFF))i++; if(i>=0XFFF)return 1; return 0; }