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#include "can.h"/************************************************************* 函数名：CAN_Mode_Init(u8 tsjw,u8 tbs2,u8 tbs1,u16 brp,u8 mode) 功能：CAN初始化 变量： //tsjw:重新同步跳跃时间单元.范围:CAN_SJW_1tq~ CAN_SJW_4tq //tbs2:时间段2的时间单元.范围:CAN_BS2_1tq~CAN_BS2_8tq; //tbs1:时间段1的时间单元.范围:CAN_BS1_1tq ~CAN_BS1_16tq //brp :波特率分频器.范围:1~1024; tq=(brp)*tpclk1 //波特率=Fpclk1/((tbs1+tbs2+1)*brp); //mode:CAN_Mode_Normal,普通模式; CAN_Mode_LoopBack,回环模式; //Fpclk1的时钟在初始化的时候设置为36M,如果设置CAN_Mode_Init(CAN_SJW_1tq,CAN_BS2_8tq,CAN_BS1_9tq,4,CAN_Mode_LoopBack); //则波特率为:36M/((8+9+1)*4)=500Kbps //返回值:0,初始化OK; //其他,初始化失败; **************************************************************/ void CAN_Mode_Init(u8 tsjw,u8 tbs2,u8 tbs1,u16 brp,u8 mode) { GPIO_InitTypeDef GPIO_InitStructure; CAN_InitTypeDef CAN_InitStructure; CAN_FilterInitTypeDef CAN_FilterStructure; #if CAN_RX0_INT_ENABLE NVIC_InitTypeDefNVIC_InitStructure; #endif //1*开启CAN时钟和对应引脚时钟 RCC_APB1PeriphClockCmd(RCC_APB1Periph_CAN1,ENABLE); RCC_APB2PeriphClockCmd(RCC_APB2Periph_GPIOA,ENABLE); //2*引脚初始化配置 GPIO_InitStructure.GPIO_Pin = GPIO_Pin_11; GPIO_InitStructure.GPIO_Mode = GPIO_Mode_IPU; //上拉输入模式 GPIO_InitStructure.GPIO_Speed = GPIO_Speed_50MHz; GPIO_Init(GPIOA,&GPIO_InitStructure); GPIO_InitStructure.GPIO_Pin = GPIO_Pin_12; GPIO_InitStructure.GPIO_Mode = GPIO_Mode_AF_PP; //复用推挽输出 GPIO_InitStructure.GPIO_Speed = GPIO_Speed_50MHz; GPIO_Init(GPIOA,&GPIO_InitStructure); //3*CAN初始化配置 CAN_InitStructure.CAN_Prescaler = brp; //分频系数为brp+1 CAN_InitStructure.CAN_Mode=mode; //模式设置 CAN_InitStructure.CAN_BS1=tbs1; //Tbs1范围 CAN_InitStructure.CAN_BS2=tbs2; //Tbs2范围 CAN_InitStructure.CAN_SJW=tsjw; //重新同步跳跃宽度的 CAN_InitStructure.CAN_ABOM=DISABLE; //软件自动离线管理 CAN_InitStructure.CAN_AWUM=DISABLE; //睡眠模式通过软件唤醒 CAN_InitStructure.CAN_NART=ENABLE; //使用报文自动传输 CAN_InitStructure.CAN_RFLM=DISABLE; //报文不锁定，新的覆盖旧的 CAN_InitStructure.CAN_TTCM=DISABLE; //非时间触发通信模式 CAN_InitStructure.CAN_TXFP=DISABLE; //优先级由报文标识符决定 CAN_Init(CAN1,&CAN_InitStructure); //4*过滤器初始化配置 CAN_FilterStructure.CAN_FilterNumber =0; //过滤器0 CAN_FilterStructure.CAN_FilterMode=CAN_FilterMode_IdMask; //掩码模式，缺点是有误差，报表模式缺点是可识别ID少 CAN_FilterStructure.CAN_FilterScale=CAN_FilterScale_32bit; //32位 CAN_FilterStructure.CAN_FilterIdHigh=0x0000; //32位ID CAN_FilterStructure.CAN_FilterIdLow = 0x0000; CAN_FilterStructure.CAN_FilterMaskIdHigh=0x0000; //32位掩码 CAN_FilterStructure.CAN_FilterMaskIdLow=0x0000; CAN_FilterStructure.CAN_FilterFIFOAssignment=CAN_FilterFIFO0; //过滤器0关联到FIFO0（邮箱0） CAN_FilterStructure.CAN_FilterActivation=ENABLE; //激活过滤器0 CAN_FilterInit(&CAN_FilterStructure); //滤波器初始化#if CAN_RX0_INT_ENABLE CAN_ITConfig(CAN1,CAN_IT_FMP0,ENABLE); //FIFO0消息挂号中断允许.NVIC_InitStructure.NVIC_IRQChannel = USB_LP_CAN1_RX0_IRQn; NVIC_InitStructure.NVIC_IRQChannelPreemptionPriority = 1; // 主优先级为1 NVIC_InitStructure.NVIC_IRQChannelSubPriority = 0; // 次优先级为0 NVIC_InitStructure.NVIC_IRQChannelCmd = ENABLE; NVIC_Init(&NVIC_InitStructure); #endif }#if CAN_RX0_INT_ENABLE//使能RX0中断 //中断服务函数 void USB_LP_CAN1_RX0_IRQHandler(void) { CanRxMsg RxMessage; int i=0; CAN_Receive(CAN1, 0, &RxMessage); for(i=0; i<8; i++) printf("rxbuf[%d]:%d\r\n",i,RxMessage.Data[i]); } #endif//can发送一组数据(固定格式:ID为0X12,标准帧,数据帧) //len:数据长度(最大为8) //msg:数据指针,最大为8个字节. //返回值:0,成功; //其他,失败; u8 CAN_Send_Msg(u8 *msg,u8 len) { u16 i=0; u8 mbox; CanTxMsg TxMessage; TxMessage.StdId=0x12; //标准ID，设置为扩展时自动变0 TxMessage.ExtId=0x12; //扩展ID TxMessage.IDE=0; //决定是标准(1)还是扩展模式(0) TxMessage.RTR=0; //表明是数据帧(0)还是遥控帧(1),当是遥控帧时TxMessage.Data为0 TxMessage.DLC=len; //数据长度(最大为8) for(i=0; i=0xfff) return 1; //失败 return 0; //成功 }//can口接收数据查询 //buf:数据缓存区; //返回值:0,无数据被收到; //其他,接收的数据长度; u8 CAN_Receive_Msg(u8 *buf) { u32 i; CanRxMsg RxMessage; //结构体定义 if(CAN_MessagePending(CAN1,CAN_FIFO0)==0) return 0; //邮箱为空 CAN_Receive(CAN1,CAN_FIFO0,&RxMessage); for(i=0; i