STM32F1CAN通讯

本次通讯试用到硬件开发板STM32F103C8T6（数据发送），STM32F103C6T6（数据接收），CAN收发器VP230。硬件连接如下图所示：

由于我使用的开发板不自带CAN收发器，所以只有外接CAN收发器才能保证两个开发板的正常通讯。
数据发送端（STM32F103C8T6）代码部分

/********************can.c**********************/
#include "can.h"

u8 CAN_RX_BUF[8];

unsigned char CAN_RX_FLAG = 0;

void CAN_GPIO_Config(void)
{
	GPIO_InitTypeDef GPIO_InitSturcture;
	
	RCC_APB2PeriphClockCmd(RCC_APB2Periph_GPIOB,ENABLE);
	RCC_APB2PeriphClockCmd(RCC_APB2Periph_AFIO,ENABLE);
	
	//CAN_RX PB8
	GPIO_InitSturcture.GPIO_Pin = CAN_RX_Pin;
	GPIO_InitSturcture.GPIO_Mode = GPIO_Mode_IPU;
	GPIO_InitSturcture.GPIO_Speed = GPIO_Speed_50MHz;
	
	//CAN_TX PB9
	GPIO_InitSturcture.GPIO_Pin  =CAN_TX_Pin;
	GPIO_InitSturcture.GPIO_Mode = GPIO_Mode_AF_PP;
	GPIO_InitSturcture.GPIO_Speed = GPIO_Speed_50MHz;
	
	GPIO_Init(CAN_GPIO_PORT,&GPIO_InitSturcture);
}

void CAN_NVIC_Config(void)
{
	NVIC_InitTypeDef NVIC_InitStructure;
	
	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);
}

void CAN_Mode_Init(u32 tsjw,u32 tbs1,u32 tbs2,u16 brp,u32 mode)
{
	CAN_InitTypeDef CAN_InitStructure;
	
	RCC_APB1PeriphClockCmd(RCC_APB1Periph_CAN1,ENABLE);
	
	GPIO_PinRemapConfig(GPIO_Remap1_CAN1 , ENABLE);
	
	CAN_DeInit(CAN1);
	CAN_StructInit(&CAN_InitStructure);
	
	CAN_InitStructure.CAN_SJW = tsjw;
	CAN_InitStructure.CAN_BS1 = tbs1;
	CAN_InitStructure.CAN_BS2 = tbs2;
	CAN_InitStructure.CAN_Mode = mode;
	CAN_InitStructure.CAN_Prescaler = brp;
	CAN_InitStructure.CAN_NART  =ENABLE;
	CAN_InitStructure.CAN_ABOM = DISABLE;
	CAN_InitStructure.CAN_AWUM = DISABLE;
	CAN_InitStructure.CAN_RFLM = ENABLE;
	CAN_InitStructure.CAN_TTCM = DISABLE;
	CAN_InitStructure.CAN_TXFP = DISABLE;
	
	CAN_Init(CAN1,&CAN_InitStructure);
}

/********数据发送端可不配置过滤器，设置默认值即可***********/
void CAN_Filter_Init(void)
{
	CAN_FilterInitTypeDef CAN_FilterInitStructure;
	
	CAN_FilterInitStructure.CAN_FilterIdHigh = 0x0000;
	CAN_FilterInitStructure.CAN_FilterIdLow = 0x0000;
	CAN_FilterInitStructure.CAN_FilterMaskIdHigh = 0x0000;
	CAN_FilterInitStructure.CAN_FilterMaskIdLow = 0x0000;
	CAN_FilterInitStructure.CAN_FilterActivation = ENABLE;
	CAN_FilterInitStructure.CAN_FilterFIFOAssignment = CAN_FIFO0;
	CAN_FilterInitStructure.CAN_FilterMode = CAN_FilterMode_IdMask;
	CAN_FilterInitStructure.CAN_FilterNumber = 0;
	CAN_FilterInitStructure.CAN_FilterScale = CAN_FilterScale_32bit;
	
	CAN_ITConfig(CAN1,CAN_IT_FMP0,ENABLE);
	CAN_FilterInit(&CAN_FilterInitStructure);
}

void Can_Init(void)
{
	CAN_GPIO_Config();
	CAN_NVIC_Config();
	CAN_Mode_Init(CAN_SJW_1tq,CAN_BS1_3tq,CAN_BS2_2tq,12,CAN_Mode_Normal);
	//CAN_Mode_Normal  CAN_Mode_LoopBack
	CAN_Filter_Init();
}

u8 CAN_Send_Msg(u8* msg,u8 len)
{
	CanTxMsg TxMessage;
	u8 i,mbox;
	u16 cunt = 0;

	//TxMessage.StdId = 0x0000;
	TxMessage.ExtId = 0x1001;      //设置发送扩展ID
	TxMessage.IDE = CAN_ID_EXT;
	TxMessage.RTR = CAN_RTR_DATA;
	TxMessage.DLC = len;
	for(i = 0;i < len;i ++)
	{
		TxMessage.Data[i] = msg[i];
	}
	mbox = CAN_Transmit(CAN1,&TxMessage);
	
	while((CAN_TransmitStatus(CAN1, mbox)==CAN_TxStatus_Failed)&&(cunt<0XFFF))
		cunt++;
	if(cunt >= 0xFFF)
		return 0;
	return 1;
}

void USB_LP_CAN1_RX0_IRQHandler(void)
{
	CanRxMsg RxMessage;
	uint8_t i;
	
	if(CAN_GetITStatus(CAN1,CAN_IT_FMP0) != RESET)
	{
		CAN_RX_FLAG = 1;
		CAN_Receive(CAN1,CAN_FIFO0,&RxMessage);
		
		for(i = 0;i < 8;i ++)
			CAN_RX_BUF[i] = RxMessage.Data[i];
		
		CAN_FIFORelease(CAN1,CAN_FIFO0);
		CAN_ClearITPendingBit(CAN1,CAN_IT_FMP0);
	}
}

主函数部分

#include "main.h"   
int main(void) 
{	
	u8 send_buf[8] = {0x00,0x11,0x22,0x33,0x44,0x55,0x66,0x77};
	u8 i = 0x00;
	
	NVIC_Configuration();
	LED_Init();
	Delay_Init();
	Usart1_Init(9600);
	Can_Init();
	printf("这里是CAN的测试程序\r\n");
	LED0 = 1;
	while(1)                        //主循环
	{
		i++;
		send_buf[0] = i;
		CAN_Send_Msg(send_buf,8);
		Delay_Ms(100);
		LED0 = !LED0;
	}
}

/分割线//
以下是CAN通讯数据接收端（STM32F103C6T6）代码：
接收端的中断、GPIO和CAN_Mode配置都跟发送设置的一样，直接复制粘贴即可。下面是配置接收端的过滤器，接收扩展ID为1001设备的数据。其他数据一律过滤不接收，当然如果想不过滤ID，接收端过滤器配置全部设置成更发送端一样即可。

void CAN_Filter_Init(void)
{
	CAN_FilterInitTypeDef CAN_FilterInitStructure;
	
	//只接受ID为1001的设备
	CAN_FilterInitStructure.CAN_FilterIdHigh = (((u32)0x1001<<3)&0xFFFF0000)>>16;
	CAN_FilterInitStructure.CAN_FilterIdLow = (((u32)0x1001<<3)|CAN_ID_EXT|CAN_RTR_DATA)&0xFFFF;
	CAN_FilterInitStructure.CAN_FilterMaskIdHigh = 0xFFFF;
	CAN_FilterInitStructure.CAN_FilterMaskIdLow = 0xFFFF;
	CAN_FilterInitStructure.CAN_FilterActivation = ENABLE;
	CAN_FilterInitStructure.CAN_FilterFIFOAssignment = CAN_FIFO0;
	CAN_FilterInitStructure.CAN_FilterMode = CAN_FilterMode_IdMask;
	CAN_FilterInitStructure.CAN_FilterNumber = 0;
	CAN_FilterInitStructure.CAN_FilterScale = CAN_FilterScale_32bit;
	
	CAN_ITConfig(CAN1,CAN_IT_FMP0,ENABLE);
	CAN_FilterInit(&CAN_FilterInitStructure);
}

中断接收函数

void USB_LP_CAN1_RX0_IRQHandler(void)
{
	CanRxMsg RxMessage;
	uint8_t i;
	
	if(CAN_GetITStatus(CAN1,CAN_IT_FMP0) != RESET)
	{
		CAN_RX_FLAG = 1;
		CAN_Receive(CAN1,CAN_FIFO0,&RxMessage);
		
		for(i = 0;i < 8;i ++)
			CAN_RX_BUF[i] = RxMessage.Data[i];
		
		CAN_FIFORelease(CAN1,CAN_FIFO0);
		CAN_ClearITPendingBit(CAN1,CAN_IT_FMP0);
	}
}

主函数部分

#include "main.h"   
int main(void) 
{	 
	NVIC_Configuration();
	LED_Init();
	Delay_Init();
	Usart1_Init(9600);
	Can_Init();
	printf("这里是CAN的测试程序\r\n");
	LED0 = 1;
	while(1)                        //主循环
	{
		if(CAN_RX_FLAG == 1)
		{
			CAN_RX_FLAG = 0;
			USART1TxData_hex(CAN_RX_BUF,8);
		}
		
		Delay_Ms(100);
		LED0 = !LED0;
	}
}

通过串口调试助手打印出接收端接收到数据。