GD32F4xx CAN

fh456123fh

已于 2023-11-01 13:30:46 修改

阅读量377

点赞数 12

文章标签：单片机

于 2023-11-01 09:12:58 首次发布

本文链接：https://blog.csdn.net/fh456123fh/article/details/134153445

版权

本文详细介绍了GD32F4xx微控制器中CAN模块的GPIO配置、CAN初始化过程，包括时钟设置、中断配置、参数设定以及CAN滤波器的初始化，为开发者提供了一个实用的示例。

摘要由CSDN通过智能技术生成

GD32F4xx CAN

8.例子

void can_gpio_config(void)
{
/* enable CAN clock */
rcu_periph_clock_enable(RCU_CAN0);
rcu_periph_clock_enable(RCU_CAN1);
rcu_periph_clock_enable(RCU_GPIOB);

/* configure CAN1 GPIO */
gpio_output_options_set(GPIOB, GPIO_OTYPE_PP, GPIO_OSPEED_50MHZ, GPIO_PIN_5);
gpio_mode_set(GPIOB, GPIO_MODE_AF, GPIO_PUPD_NONE, GPIO_PIN_5);
gpio_af_set(GPIOB, GPIO_AF_9, GPIO_PIN_5);

gpio_output_options_set(GPIOB, GPIO_OTYPE_PP, GPIO_OSPEED_50MHZ, GPIO_PIN_6);
gpio_mode_set(GPIOB, GPIO_MODE_AF, GPIO_PUPD_NONE, GPIO_PIN_6);
gpio_af_set(GPIOB, GPIO_AF_9, GPIO_PIN_6);

/* configure CAN0 GPIO */
gpio_output_options_set(GPIOB, GPIO_OTYPE_PP, GPIO_OSPEED_50MHZ, GPIO_PIN_8);
gpio_mode_set(GPIOB, GPIO_MODE_AF, GPIO_PUPD_NONE, GPIO_PIN_8);
gpio_af_set(GPIOB, GPIO_AF_9, GPIO_PIN_8);

gpio_output_options_set(GPIOB, GPIO_OTYPE_PP, GPIO_OSPEED_50MHZ, GPIO_PIN_9);
gpio_mode_set(GPIOB, GPIO_MODE_AF, GPIO_PUPD_NONE, GPIO_PIN_9);
gpio_af_set(GPIOB, GPIO_AF_9, GPIO_PIN_9);

/* configure CAN0 NVIC */
nvic_irq_enable(CAN1_RX0_IRQn,0,0);

/* configure CAN1 NVIC */
nvic_irq_enable(CAN0_RX0_IRQn,1,1);

/* enable can receive FIFO0 not empty interrupt */
can_interrupt_enable(CAN0, CAN_INT_RFNE0);
can_interrupt_enable(CAN1, CAN_INT_RFNE0);
}

void vCan0Can1Init(void)
{
can_parameter_struct can_parameter;
can_filter_parameter_struct can_filter;
can_struct_para_init(CAN_INIT_STRUCT, &can_parameter);
can_struct_para_init(CAN_FILTER_STRUCT, &can_filter);

can_gpio_config();
/* initialize CAN register */
can_deinit(CAN0);
can_deinit(CAN1);

/* initialize CAN parameters */
// can_parameter.time_triggered = DISABLE;
// can_parameter.auto_bus_off_recovery = ENABLE;
// can_parameter.auto_wake_up = DISABLE;
// can_parameter.auto_retrans = ENABLE;
// can_parameter.rec_fifo_overwrite = DISABLE;
// can_parameter.trans_fifo_order = DISABLE;


/* initialize CAN */
can_parameter.time_triggered = DISABLE;
can_parameter.auto_bus_off_recovery = ENABLE;
can_parameter.auto_wake_up = DISABLE;
can_parameter.auto_retrans = DISABLE;
can_parameter.rec_fifo_overwrite = ENABLE;
can_parameter.trans_fifo_order = DISABLE;


can_parameter.working_mode = CAN_NORMAL_MODE;
can_parameter.resync_jump_width = CAN_BT_SJW_1TQ;
can_parameter.time_segment_1 = CAN_BT_BS1_7TQ;
can_parameter.time_segment_2 = CAN_BT_BS2_2TQ;

can_parameter.prescaler = 40;
/* initialize CAN */
can_init(CAN0, &can_parameter);
can_init(CAN1, &can_parameter);

/* initialize filter */
can_filter.filter_number=0;
can_filter.filter_mode = CAN_FILTERMODE_MASK;
can_filter.filter_bits = CAN_FILTERBITS_32BIT;
can_filter.filter_list_high = 0x0000;
can_filter.filter_list_low = 0x0000;
can_filter.filter_mask_high = 0x0000;
can_filter.filter_mask_low = 0x0000;
can_filter.filter_fifo_number = CAN_FIFO0;
can_filter.filter_enable = ENABLE;

can_filter_init(&can_filter);

/* CAN1 filter number */
can_filter.filter_number = 15;
can_filter_init(&can_filter);

/* enable can receive FIFO0 not empty interrupt */
can_interrupt_enable(CAN0, CAN_INT_RFNE0);
can_interrupt_enable(CAN1, CAN_INT_RFNE0);

}

1.外设寄存器说明

2.外设库函数说明

3.结构体

4.CAN外设库使用到的各类结构体初始化

can_parameter_struct can_init;

can_struct_para_init (CAN_INIT_STRUCT, &can_init);

5.初始化外设CAN

先决条件 can_struct_para_init()

   /* initialize CAN */
   can_parameter.time_triggered = DISABLE;
   can_parameter.auto_bus_off_recovery = ENABLE;
   can_parameter.auto_wake_up = DISABLE;
   can_parameter.auto_retrans = DISABLE;
   can_parameter.rec_fifo_overwrite = ENABLE;
   can_parameter.trans_fifo_order = DISABLE;

   can_parameter.working_mode = CAN_NORMAL_MODE;      //工作模式
   can_parameter.resync_jump_width = CAN_BT_SJW_1TQ;   //再同步补偿宽度
   can_parameter.time_segment_1 = CAN_BT_BS1_7TQ;       //位段1
   can_parameter.time_segment_2 = CAN_BT_BS2_2TQ;       //位段2

   /* baudrate 125k bps */
   can_parameter.prescaler = 40;                       //波特率分频系数
   can_init(CAN0, &can_parameter);

6.CAN过滤器初始化

先决条件 can_struct_para_init()

   /* initialize filter */
   /* CAN0 filter number */
   can_filter.filter_number = 0;

   /* initialize filter */
   can_filter.filter_mode = CAN_FILTERMODE_MASK;
   can_filter.filter_bits = CAN_FILTERBITS_32BIT;

   can_filter.filter_list_high = 0;               //(listid>>16)&0xFFFF;
   can_filter.filter_list_low = 0;                //(listid>>0)&0xFFFF;
   can_filter.filter_mask_high = 0;           //(maskid>>16)&0xFFFF;
   can_filter.filter_mask_low = 0;             //(maskid>>0)&0xFFFF;
   can_filter.filter_fifo_number = CAN_FIFO0;
   can_filter.filter_enable = ENABLE;
   can_filter_init(&can_filter);

7.CAN中断使能

/* enable can receive FIFO0 not empty interrupt */
can_interrupt_enable(CAN0, CAN_INT_RFNE0);
can_interrupt_enable(CAN1, CAN_INT_RFNE0);

8.例子

void vCan0Can1Init(void)
{
can_parameter_struct can_parameter;
can_filter_parameter_struct can_filter;
can_struct_para_init(CAN_INIT_STRUCT, &can_parameter);
can_struct_para_init(CAN_FILTER_STRUCT, &can_filter);

       can_gpio_config();
/* initialize CAN register */
can_deinit(CAN0);
can_deinit(CAN1);

/* initialize CAN parameters */
// can_parameter.time_triggered = DISABLE;
// can_parameter.auto_bus_off_recovery = ENABLE;
// can_parameter.auto_wake_up = DISABLE;
// can_parameter.auto_retrans = ENABLE;
// can_parameter.rec_fifo_overwrite = DISABLE;
// can_parameter.trans_fifo_order = DISABLE;


       /* initialize CAN */
       can_parameter.time_triggered = DISABLE;
       can_parameter.auto_bus_off_recovery = ENABLE;
       can_parameter.auto_wake_up = DISABLE;
       can_parameter.auto_retrans = DISABLE;
       can_parameter.rec_fifo_overwrite = ENABLE;
       can_parameter.trans_fifo_order = DISABLE;


can_parameter.working_mode = CAN_NORMAL_MODE;
can_parameter.resync_jump_width = CAN_BT_SJW_1TQ;
can_parameter.time_segment_1 = CAN_BT_BS1_7TQ;
can_parameter.time_segment_2 = CAN_BT_BS2_2TQ;