实现简单版的CAN通信

小杨安迪

于 2024-07-17 02:17:51 发布

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文章标签：单片机嵌入式硬件

通过回环模式进行测试

#include "stm32f4xx.h"
#include "can.h"

void CAN_GPIO_Init(void)
{
    GPIO_InitTypeDef  GPIO_InitStructure;

    RCC_AHB1PeriphClockCmd(RCC_AHB1Periph_GPIOA, ENABLE);//使能GPIOB时钟
    RCC_APB1PeriphClockCmd(RCC_APB1Periph_CAN1, ENABLE);//使能SPI1时钟

    //MOSI,SCK,MISO
    GPIO_InitStructure.GPIO_Pin=GPIO_Pin_11 | GPIO_Pin_12; 
    GPIO_InitStructure.GPIO_Mode= GPIO_Mode_AF; //复用模式
    GPIO_InitStructure.GPIO_PuPd=GPIO_PuPd_UP; //上拉模式
    GPIO_InitStructure.GPIO_OType=GPIO_OType_PP; //推挽输出
    GPIO_InitStructure.GPIO_Speed=GPIO_High_Speed; //引脚响应速度
    GPIO_Init(GPIOA ,&GPIO_InitStructure);


    //PB3、4、5引脚复用
    GPIO_PinAFConfig(GPIOA, GPIO_PinSource11, GPIO_AF_CAN1);
    GPIO_PinAFConfig(GPIOA, GPIO_PinSource12, GPIO_AF_CAN1);

    CAN_Self_Init();
    can_Filter_Init();
}

//中断服务函数，已配置未使用
//static void CAN_SELF_NVIC_Init(void)
//{
//	NVIC_InitTypeDef NVIC_InitStructure;	
//	NVIC_InitStructure.NVIC_IRQChannel=CAN1_RX0_IRQn;
//	NVIC_InitStructure.NVIC_IRQChannelPreemptionPriority=0x1;
//	NVIC_InitStructure.NVIC_IRQChannelSubPriority=0x1;
//	NVIC_InitStructure.NVIC_IRQChannelCmd=ENABLE;
//	NVIC_Init(&NVIC_InitStructure);
//}

//配置CAN单元
static void CAN_Self_Init(void)
{
    CAN_InitTypeDef  CAN_InitStructure;
    CAN_InitStructure.CAN_Prescaler = 6-1 ; //42MHZ / 6 = 6mhz
    CAN_InitStructure.CAN_Mode = CAN_Mode_LoopBack;
    //1MBPS = 42MHZ/PSC+1 /7     7(7是1+BS1+BS2)
    CAN_InitStructure.CAN_SJW = CAN_SJW_2tq;
    CAN_InitStructure.CAN_BS1 = CAN_BS1_4tq;
    CAN_InitStructure.CAN_BS2 = CAN_BS2_2tq;
    CAN_InitStructure.CAN_TTCM = DISABLE;
    CAN_InitStructure.CAN_ABOM = ENABLE;
    CAN_InitStructure.CAN_AWUM = ENABLE;
    CAN_InitStructure.CAN_NART = ENABLE; 
    CAN_InitStructure.CAN_RFLM = DISABLE; 
    CAN_InitStructure.CAN_TXFP = DISABLE;
    CAN_Init(CAN1 ,&CAN_InitStructure);
}

//配置过滤器
void can_Filter_Init(void)
{
    CAN_FilterInitTypeDef CAN_FilterInitStructure;
    CAN_FilterInitStructure.CAN_FilterNumber = 0; /* 筛选器编号，范围0-27*/
    CAN_FilterInitStructure.CAN_FilterMode = CAN_FilterMode_IdMask; /* 筛选器模式*/
     CAN_FilterInitStructure.CAN_FilterScale = CAN_FilterScale_32bit; /* 设置筛选器的尺度*/
    CAN_FilterInitStructure.CAN_FilterFIFOAssignment = CAN_Filter_FIFO0; /* 设置经过筛选后数据存储到哪个接收FIFO*/
    
    //id:0X0000000
    CAN_FilterInitStructure.CAN_FilterIdHigh = 0x0000; /*CAN_FxR1 寄存器的高16 位*/
    CAN_FilterInitStructure.CAN_FilterIdLow = 0x0000; /*CAN_FxR1 寄存器的低16 位*/
    
    //掩码
    CAN_FilterInitStructure.CAN_FilterMaskIdHigh = 0x0000; /*CAN_FxR2 寄存器的高16 位*/
    CAN_FilterInitStructure.CAN_FilterMaskIdLow = 0x0000; /*CAN_FxR2 寄存器的低16 位*/
   
    CAN_FilterInitStructure.CAN_FilterActivation = ENABLE; /* 是否使能本筛选器*/
    CAN_FilterInit(&CAN_FilterInitStructure);
}

//发送报文
uint8_t Can_Send_byte(uint8_t *msg)
{
    uint8_t i, info;
    uint32_t time = 0;
    
    CanTxMsg TxMssage;
    TxMssage.StdId = 0x11; /* 存储报文的标准标识符11 位，0-0x7FF. */
    TxMssage.ExtId = 0x11; /* 存储报文的扩展标识符29 位，0-0x1FFFFFFF. */
    TxMssage.IDE = CAN_Id_Standard; /* 存储IDE 扩展标志*/
    TxMssage.RTR = CAN_RTR_Data; /* 存储RTR 远程帧标志*/
    TxMssage.DLC = 8; /* 存储报文数据段的长度，0-8 */
     
    
    for(i=0; i<8; i++)
    {
        TxMssage.Data[i] = msg[i];/* 存储报文数据段的内容*/

    }
    info = CAN_Transmit(CAN1, &TxMssage);
    while((CAN_TransmitStatus(CAN1,info) == CAN_TxStatus_Failed) && (time < 0xfff))
    {
        time++;
    }
    if(time>=0xfff)
    {
        return 1;
    }
    return 0;
}

/**
 * 接收结构体
 */
 uint8_t CAN_Rx_byte(uint8_t *rcv)
{
    uint32_t i;
    CanRxMsg  RxMsgage;
    
    if(CAN_MessagePending(CAN1, CAN_FIFO0) == 0)
    {
        return 0;
    }
    CAN_Receive(CAN1, CAN_FIFO0, &RxMsgage);
    
    for(i=0; i<RxMsgage.DLC; i++)
    {
        rcv[i] = RxMsgage.Data[i]; /* 存储了报文数据段的内容*/
    }
    return RxMsgage.DLC;
}
int main(void)
{
    uint8_t rcv;
    uint8_t i=0;
	uint8_t cnt=0;
	uint8_t canbuf[8];
	uint8_t res;
    
    
    SysTick_Init();
    //串口通信
    usart1_init(115200);
    
    //CAN初始化
    CAN_GPIO_Init();
    
    while(1)
    {
        for(i=0;i<8;i++)
        {
            canbuf[i]=cnt+i;//填充发送缓冲区
        }
        res = Can_Send_byte(canbuf);//发送8个字节 
        if(res)
        {
            printf("发送失败\r\n");
        }
        else
        {                
            printf("发送成功\r\n");								   
        }		
        rcv=CAN_Rx_byte(canbuf);
        if(rcv)//接收到有数据
        {
            printf("接收到数据为");	//显示接收到的数据

            for(int i = 0; i < rcv; i++)
            {
                printf(" %x ",canbuf[i]);	//显示数据
            }
            printf("\r\n");
        }
        Delay_ms(10);
        cnt++;
        printf("第 %d 次成功回环: \r\n",cnt);	//显示第一次发送
        Delay_ms(2000);        
        printf("\r\n");
    }
}