//======================================================================================//
使用32位的掩码模式,但只使用了后16位作为ID 。发送的话我们直接使用32位的扩展ID:
过滤器的ID和掩码MASK需要做按位平移
CAN_FilterInitStructure.CAN_FilterMode=CAN_FilterMode_IdMask;
CAN_FilterInitStructure.CAN_FilterScale=CAN_FilterScale_32bit; //32位
CAN_FilterInitStructure.CAN_FilterIdHigh=((Mask_ID<<3) >>16) &0xffff;32位ID
CAN_FilterInitStructure.CAN_FilterIdLow=(Mask_ID <<3);
CAN_FilterInitStructure.CAN_FilterMaskIdHigh= 0x0007;//32位MASK
CAN_FilterInitStructure.CAN_FilterMaskIdLow= 0xFFF8;
下图中红线处是我们要设置的ID位置。
//======================================================================================//
下面是实现程序:
使用头文件:
#ifndef __CAN_H
#define __CAN_H
#include "stm32f10x.h"
#define master 1
#if master
#define SEND_ID 0x1314 //从设备ID,用于发送
#define Mask_ID 0x1315 //过滤器识别ID
#else
#define SEND_ID 0x1315 //从设备ID,用于发送
#define Mask_ID 0x1314 //过滤器识别ID
#endif
u8 CAN_Mode_Init(void);//CAN初始化
u8 Can_Send_Msg(u8* msg,u8 len); //发送数据
u8 Can_Receive_Msg(u8 *buf); //接收数据
#endif
使用c文件:
#include "can.h"
#include "stdio.h"
u8 CAN_Mode_Init(void)//PA11-CAN_RX PA12-CAN_TX
{
GPIO_InitTypeDef GPIO_InitStructure;
CAN_InitTypeDef CAN_InitStructure;
CAN_FilterInitTypeDef CAN_FilterInitStructure;
NVIC_InitTypeDef NVIC_InitStructure;
RCC_APB2PeriphClockCmd(RCC_APB2Periph_AFIO | RCC_APB2Periph_GPIOA ENABLE);//使能PORTA时钟
RCC_APB1PeriphClockCmd(RCC_APB1Periph_CAN1, ENABLE);//使能CAN1时钟
GPIO_InitStructure.GPIO_Pin = GPIO_Pin_12;
GPIO_InitStructure.GPIO_Speed = GPIO_Speed_50MHz;
GPIO_InitStructure.GPIO_Mode = GPIO_Mode_AF_PP; //复用推挽
GPIO_Init(GPIOA, &GPIO_InitStructure); //初始化IO
GPIO_InitStructure.GPIO_Pin = GPIO_Pin_11;
GPIO_InitStructure.GPIO_Mode = GPIO_Mode_IPU;//上拉输入
GPIO_Init(GPIOA, &GPIO_InitStructure);//初始化IO
CAN_DeInit(CAN1);
//CAN单元设置
CAN_InitStructure.CAN_TTCM=DISABLE; //非时间触发通信模式 //
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(清除CAN->MCR的SLEEP位)//
CAN_InitStructure.CAN_NART=DISABLE; //禁止报文自动传送 //
CAN_InitStructure.CAN_RFLM=DISABLE; //报文不锁定,新的覆盖旧的 //
CAN_InitStructure.CAN_TXFP=DISABLE; //优先级由报文标识符决定 //
CAN_InitStructure.CAN_Mode= CAN_Mode_Normal; //模式设置: mode:0,普通模式;1,回环模式; //
//设置波特率
CAN_InitStructure.CAN_SJW=CAN_SJW_1tq; //重新同步跳跃宽度(Tsjw)为tsjw+1个时间单位 CAN_SJW_1tq CAN_SJW_2tq CAN_SJW_3tq CAN_SJW_4tq
CAN_InitStructure.CAN_BS1=CAN_BS1_8tq; //Tbs1=tbs1+1个时间单位CAN_BS1_1tq ~CAN_BS1_16tq
CAN_InitStructure.CAN_BS2=CAN_BS2_7tq; //Tbs2=tbs2+1个时间单位CAN_BS2_1tq ~CAN_BS2_8tq
CAN_InitStructure.CAN_Prescaler=50; //分频系数(Fdiv)为brp+1 //
CAN_Init(CAN1, &CAN_InitStructure); // 初始化CAN1
/*= 36000 / ((7+1+8)*50) =45kps*/
CAN_FilterInitStructure.CAN_FilterNumber=0; //过滤器0
CAN_FilterInitStructure.CAN_FilterMode=CAN_FilterMode_IdMask;
CAN_FilterInitStructure.CAN_FilterScale=CAN_FilterScale_32bit; //32位
CAN_FilterInitStructure.CAN_FilterIdHigh=((Mask_ID<<3) >>16) &0xffff;32位ID
CAN_FilterInitStructure.CAN_FilterIdLow=(Mask_ID <<3);
CAN_FilterInitStructure.CAN_FilterMaskIdHigh= 0x0007;//32位MASK
CAN_FilterInitStructure.CAN_FilterMaskIdLow= 0xFFF8;
CAN_FilterInitStructure.CAN_FilterFIFOAssignment=CAN_Filter_FIFO0;//过滤器0关联到FIFO0
CAN_FilterInitStructure.CAN_FilterActivation=ENABLE; //激活过滤器0
CAN_FilterInit(&CAN_FilterInitStructure);//滤波器初始化
CAN_ITConfig(CAN1,CAN_IT_FMP0,ENABLE);//FIFO0消息挂号中断允许. //接收中断允许.
NVIC_InitStructure.NVIC_IRQChannel = USB_LP_CAN1_RX0_IRQn;
NVIC_InitStructure.NVIC_IRQChannelPreemptionPriority = 0; // 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);
return 0;
}
//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]);
}
//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.
u8 Can_Send_Msg(u8* msg,u8 len)
{
u8 mbox;
u16 i=0;
CanTxMsg TxMessage;
TxMessage.StdId=0; // 标准标识符为0
TxMessage.ExtId=SEND_ID; // 设置扩展标示符(29位)
TxMessage.IDE=CAN_ID_EXT; // 使用扩展标识符
TxMessage.RTR=CAN_RTR_DATA; // 消息类型为数据帧,一帧8位
TxMessage.DLC=len; // 发送两帧信息
for(i=0;i<len;i++)
TxMessage.Data[i]=msg[i]; // 第一帧信息
mbox= CAN_Transmit(CAN1, &TxMessage);
i=0;
while((CAN_TransmitStatus(CAN1, mbox)==CAN_TxStatus_Failed)&&(i<0XFFF))i++; //等待发送结束
if(i>=0XFFF)return 1;
return 0;
}