STM32 can配置PA11 PA12

/* Private variables ---------------------------------------------------------*/
uint16_t CAN_ID;
uint8_t CAN_DATA0,CAN_DATA1,CAN_DATA2,CAN_DATA3,CAN_DATA4,CAN_DATA5,CAN_DATA6,CAN_DATA7;
uint8_t CanFlag,Display;




void CAN_GPIO_Config(void)
{
GPIO_InitTypeDef GPIO_InitStructure;   
/* CAN Periph clock enable */
  RCC_APB2PeriphClockCmd(RCC_APB2Periph_GPIOA ,ENABLE);
// RCC_APB2PeriphClockCmd(RCC_APB2Periph_GPIOA | RCC_APB2Periph_AFIO,ENABLE);
  RCC_APB1PeriphClockCmd(RCC_APB1Periph_CAN1, ENABLE);

  /* Configure CAN pin: TX */
  GPIO_InitStructure.GPIO_Pin = GPIO_Pin_12;
GPIO_InitStructure.GPIO_Speed = GPIO_Speed_50MHz;
  GPIO_InitStructure.GPIO_Mode = GPIO_Mode_AF_PP;
  GPIO_Init(GPIOA, &GPIO_InitStructure);   
 /* Configure CAN pin: RX */
  GPIO_InitStructure.GPIO_Pin = GPIO_Pin_11;
  GPIO_InitStructure.GPIO_Mode = GPIO_Mode_IPU; 
  GPIO_Init(GPIOA, &GPIO_InitStructure);   
// GPIO_PinRemapConfig(GPIO_Remap1_CAN1 , ENABLE);
}


void CAN_NVIC_Configuration(void)
{
 NVIC_InitTypeDef NVIC_InitStructure;   
   
#ifdef  VECT_TAB_RAM     
  /* Set the Vector Table base location at 0x20000000 */    
  NVIC_SetVectorTable(NVIC_VectTab_RAM, 0x0);    
#else  /* VECT_TAB_FLASH  */   
  /* Set the Vector Table base location at 0x08000000 */    
  NVIC_SetVectorTable(NVIC_VectTab_FLASH, 0x0);      
#endif   
   
  /* enabling interrupt */   
  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_init(void)
{
CAN_InitTypeDef        CAN_InitStructure;
CAN_FilterInitTypeDef  CAN_FilterInitStructure; 

CAN_GPIO_Config();
CAN_NVIC_Configuration();
/* CAN register init */
CAN_DeInit(CAN1);
CAN_StructInit(&CAN_InitStructure);


 /* CAN cell init */
  CAN_InitStructure.CAN_TTCM = DISABLE; /* 时间触发禁止, 时间触发：CAN硬件的内部定时器被激活，并且被用于产生时间戳 */
  CAN_InitStructure.CAN_ABOM = DISABLE; /* 自动离线禁止，自动离线：一旦硬件监控到128次11个隐性位，就自动退出离线状态。在这里要软件设定后才能退出 */
  CAN_InitStructure.CAN_AWUM = DISABLE; /* 自动唤醒禁止，有报文来的时候自动退出休眠*/
  CAN_InitStructure.CAN_NART = DISABLE; /* 报文重传, 如果错误一直传到成功止，否则只传一次 */
  CAN_InitStructure.CAN_RFLM = DISABLE; /* 接收FIFO锁定, 1--锁定后接收到新的报文摘不要，0--接收到新的报文则覆盖前一报文*/
  CAN_InitStructure.CAN_TXFP = DISABLE;  /* 发送优先级  0---由标识符决定  1---由发送请求顺序决定*/
  CAN_InitStructure.CAN_Mode = CAN_Mode_Normal; /* 模式*/
  CAN_InitStructure.CAN_SJW = CAN_SJW_1tq;      /* 重新同步跳宽，只有can硬件处于初始化模式时才能访问这个寄存器 */
  CAN_InitStructure.CAN_BS1 = CAN_BS1_9tq;      /* 时间段1 */
  CAN_InitStructure.CAN_BS2 = CAN_BS2_6tq;      /* 时间段2 */
  CAN_InitStructure.CAN_Prescaler = 8;         /* 波特率预分频数 */  
CAN_Init(CAN1, &CAN_InitStructure);            // 初始化CAN1 
  /* 波特率计算方法 */
  /* CANbps= Fpclk/((BRP+1)*((Tseg1+1)+(Tseg2+1)+1)  此处计算为  CANbps=64000000/(16*(13+2+1))=250kHz */ 
  /* 配置大方向: Tseg1>=Tseg2  Tseg2>=tq; Tseg2>=2TSJW */
  /* 使用CAN波特率计算器得到CANBTR = 0x001C000F   具体某些位对应SJW BS1 BS2 介绍网址http://blog.csdn.net/flydream0/article/details/8170185  */
  if (CAN_Init(CAN1,&CAN_InitStructure) == CANINITFAILED) //F
  {
rt_kprintf("CAN error \r\n");
    /* 初始化时先设置CAN_MCR的初始化位 */   
    /* 然后查看硬件是否真的设置了CAN_MSR的初始化位来确认是否进入了初始化模式  */                  
  } 
  /* 配置CAN过滤器 */
  /* 32位对应的id */
  /* stdid[10:0]，extid[17:0],ide,rtr */
  /* 16位对应的id */
  /* stdid[10:0],ide,rtr,extid[17:15] */
  /* 一般使用屏蔽模式 */
  /* 要注意的是fifo接收存满了中断，还有就是fifo的概念，即取的一直是最早那一个数据， 要释放才能取下一个数据 */
  /* 常使用的中断有 */
  /* 1,有信息中断，即fifo挂号中断 */
  /* 2,fifo满中断 */
  /* 3,fifo满之后又有信息来则中断，即fifo溢出中断 */
  CAN_FilterInitStructure.CAN_FilterNumber=0;     /* 过滤器0 */
  CAN_FilterInitStructure.CAN_FilterMode=CAN_FilterMode_IdMask;  /* 屏敝模式 */
  CAN_FilterInitStructure.CAN_FilterScale=CAN_FilterScale_32bit; /* 32位 */
  CAN_FilterInitStructure.CAN_FilterIdHigh=0x0000;  /* 以下四个都为0, 表明不过滤任何id */
  CAN_FilterInitStructure.CAN_FilterIdLow=0x0000;
  CAN_FilterInitStructure.CAN_FilterMaskIdHigh=0x0000;
  CAN_FilterInitStructure.CAN_FilterMaskIdLow=0x0000;
  CAN_FilterInitStructure.CAN_FilterFIFOAssignment=CAN_FIFO0;  /* 能够通过该过滤器的报文存到fifo0中 */
  CAN_FilterInitStructure.CAN_FilterActivation=ENABLE;
  CAN_ITConfig(CAN1, CAN_IT_FMP0, ENABLE);   /* 挂号中断, 进入中断后读fifo的报文函数释放报文清中断标志 */
  CAN_FilterInit(&CAN_FilterInitStructure);


}


void CanWData(void)
{

  CanTxMsg TxMessage;
#if 0
 /* transmit 1 message */   
//  TxMessage.StdId=0x12;   
//  TxMessage.ExtId=0x34;   
    TxMessage.StdId=0x00;   //???00   
    TxMessage.ExtId=0x00;  //???00   
  TxMessage.IDE=CAN_ID_EXT;   
  TxMessage.RTR=CAN_RTR_DATA;   
  TxMessage.DLC=2;   
//  TxMessage.Data[0]=0xDE;   
//  TxMessage.Data[1]=0xCA;   
  TxMessage.Data[0]=0xBB;   //???BB   
  TxMessage.Data[1]=0xBB;  //???BB   
  CAN_Transmit(CAN1,&TxMessage);  
#else
uint32_t ID = 0x5a5;
  CAN_DATA0=rand()%0xff;  CAN_DATA1=rand()%0xff;  
  CAN_DATA2=rand()%0xff;  CAN_DATA3=rand()%0xff;  
  CAN_DATA4=rand()%0xff;  CAN_DATA5=rand()%0xff;
  CAN_DATA6=rand()%0xff;  CAN_DATA7=rand()%0xff; 


  /* transmit */
  TxMessage.StdId = ID;  /* 设置标准id  注意标准id的最高7位不能全是隐性(1)。共11位 */
//TxMessage.ExtId = 0x00;     //设置扩展id  扩展id共18位
  TxMessage.RTR = CAN_RTR_DATA; /* 设置为数据帧 */
  TxMessage.IDE = CAN_ID_STD;   /* 使用标准id */
  TxMessage.DLC = 8;            /* 数据长度, can报文规定最大的数据长度为8字节 */
  TxMessage.Data[0] = CAN_DATA0;    
  TxMessage.Data[1] = CAN_DATA1;    
  TxMessage.Data[2] = CAN_DATA2;    
  TxMessage.Data[3] = CAN_DATA3;    
  TxMessage.Data[4] = CAN_DATA4;    
  TxMessage.Data[5] = CAN_DATA5;     
  TxMessage.Data[6] = CAN_DATA6;    
  TxMessage.Data[7] = CAN_DATA7;     

  CAN_Transmit(CAN1,&TxMessage);  /* 返回这个信息请求发送的邮箱号0,1,2或没有邮箱申请发送no_box */
#endif
}

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]);
}