2021-08-30 stm32f103rc can

功能测试正常………可以上硬件………

1/gpioa pin2
2/晶振 8mhz
can ———usart1----rs485----modbus
can———uart4------putchar----printf

250k j1939

/arm uart4 初始化 转

GPIO_InitTypeDef GPIO_InitStructure;
USART_InitTypeDef USART_InitStructure;       RCC_APB2PeriphClockCmd(RCC_APB2Periph_GPIOC,ENABLE);         RCC_APB2PeriphClockCmd(RCC_APB2Periph_AFIO,ENABLE);        RCC_APB1PeriphClockCmd(RCC_APB1Periph_UART4,ENABLE); //uart4是挂载在APB1总线上的，用RCC_APB1PeriphClockCmd()函数初始化！
	//³õʼ»¯UART4-TX-PC10
	GPIO_InitStructure.GPIO_Pin = GPIO_Pin_10;
	GPIO_InitStructure.GPIO_Mode = GPIO_Mode_AF_PP;
	GPIO_InitStructure.GPIO_Speed = GPIO_Speed_50MHz;
	GPIO_Init(GPIOC, &GPIO_InitStructure);
//		//UART-RX-PC11
	GPIO_InitStructure.GPIO_Pin=GPIO_Pin_11;
	GPIO_InitStructure.GPIO_Mode = GPIO_Mode_IPU;

	      
	USART_InitStructure.USART_BaudRate = 9600;
	USART_InitStructure.USART_WordLength = USART_WordLength_8b;
	USART_InitStructure.USART_StopBits = USART_StopBits_1;
	USART_InitStructure.USART_Parity = USART_Parity_No ;
	USART_InitStructure.USART_HardwareFlowControl = USART_HardwareFlowControl_None;
	USART_InitStructure.USART_Mode = USART_Mode_Rx | USART_Mode_Tx;
	
	USART_Init(UART4, &USART_InitStructure); 
	USART_Cmd(UART4, ENABLE);	
	USART_ClearFlag(UART4,USART_FLAG_TC);

/can 初始化 转

/*CAN RX0 中断优先级配置  */
void CAN_NVIC_Configuration(void)
{
NVIC_InitTypeDef NVIC_InitStructure;

	/* Configure the NVIC Preemption Priority Bits */  
 NVIC_PriorityGroupConfig(NVIC_PriorityGroup_0);

#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);
}

/*CAN GPIO 和时钟配置 */
 void CAN_GPIO_Config(void)
{
  GPIO_InitTypeDef GPIO_InitStructure; 
RCC_APB2PeriphClockCmd(RCC_APB2Periph_GPIOB, ENABLE);//使能外设时钟

  /* 复用功能和GPIOB端口时钟使能*/	 
  RCC_APB2PeriphClockCmd(RCC_APB2Periph_AFIO , ENABLE);	                        											 

 GPIO_PinRemapConfig(GPIO_Remap1_CAN1, ENABLE);

 /* Configure CAN pin: RX */	 // PB8
 GPIO_InitStructure.GPIO_Pin = GPIO_Pin_8;
 GPIO_InitStructure.GPIO_Mode = GPIO_Mode_IPU;	 // 上拉输入
GPIO_InitStructure.GPIO_Speed = GPIO_Speed_50MHz;
GPIO_Init(GPIOB, &GPIO_InitStructure);

/* Configure CAN pin: TX */   // PB9
GPIO_InitStructure.GPIO_Pin = GPIO_Pin_9;
GPIO_InitStructure.GPIO_Mode = GPIO_Mode_AF_PP; // 复用推挽输出
GPIO_InitStructure.GPIO_Speed = GPIO_Speed_50MHz;
GPIO_Init(GPIOB, &GPIO_InitStructure);

/* CAN1 模块时钟使能 */
 RCC_APB1PeriphClockCmd(RCC_APB1Periph_CAN1, ENABLE);
 }

/*	CAN初始化 */
void CAN_INIT(void)
{
CAN_InitTypeDef        CAN_InitStructure;
CAN_FilterInitTypeDef  CAN_FilterInitStructure;
 CanTxMsg TxMessage;  

CAN_GPIO_Config();//CAN管脚初始化
CAN_NVIC_Configuration(); //CAN中断初始化   

 /* CAN register init */
 CAN_DeInit(CAN1);	//将外设CAN的全部寄存器重设为缺省值
CAN_StructInit(&CAN_InitStructure);//把CAN_InitStruct中的每一个参数按缺省值填入

 /* CAN cell init */
 CAN_InitStructure.CAN_TTCM=DISABLE;//没有使能时间触发模式
 CAN_InitStructure.CAN_ABOM=ENABLE;//使能自动离线管理
 CAN_InitStructure.CAN_AWUM=DISABLE;//没有使能自动唤醒模式
CAN_InitStructure.CAN_NART=DISABLE;//没有使能非自动重传模式
 CAN_InitStructure.CAN_RFLM=DISABLE;//没有使能接收FIFO锁定模式
 CAN_InitStructure.CAN_TXFP=DISABLE;//没有使能发送FIFO优先级
 CAN_InitStructure.CAN_Mode=CAN_Mode_Normal;//CAN设置为正常模式
 CAN_InitStructure.CAN_SJW=CAN_SJW_1tq; //重新同步跳跃宽度1个时间单位
 CAN_InitStructure.CAN_BS1=CAN_BS1_2tq; //时间段1为3个时间单位
 CAN_InitStructure.CAN_BS2=CAN_BS2_3tq; //时间段2为2个时间单位
 CAN_InitStructure.CAN_Prescaler=12;  //时间单位长度为60	
 CAN_Init(CAN1,&CAN_InitStructure);
                                  //波特率为：72M/2/12(1+3+2)=0.5 即500K

 /* CAN filter init */
 CAN_FilterInitStructure.CAN_FilterNumber=1;//指定过滤器为1
 CAN_FilterInitStructure.CAN_FilterMode=CAN_FilterMode_IdMask;//指定过滤器为标识符屏蔽位模式
 CAN_FilterInitStructure.CAN_FilterScale=CAN_FilterScale_32bit;//过滤器位宽为32位
CAN_FilterInitStructure.CAN_FilterIdHigh=0x0000;// 过滤器标识符的高16位值
CAN_FilterInitStructure.CAN_FilterIdLow=0x0000;//	 过滤器标识符的低16位值
 CAN_FilterInitStructure.CAN_FilterMaskIdHigh=0x0000;//过滤器屏蔽标识符的高16位值
 CAN_FilterInitStructure.CAN_FilterMaskIdLow=0x0000;//	过滤器屏蔽标识符的低16位值
CAN_FilterInitStructure.CAN_FilterFIFOAssignment=CAN_FIFO0;// 设定了指向过滤器的FIFO为0
 CAN_FilterInitStructure.CAN_FilterActivation=ENABLE;// 使能过滤器
 CAN_FilterInit(&CAN_FilterInitStructure);//	按上面的参数初始化过滤器

 /* CAN FIFO0 message pending interrupt enable */ 
CAN_ITConfig(CAN1,CAN_IT_FMP0, ENABLE); //使能FIFO0消息挂号中断
}  

/can接收中断处理

#if CAN1_RX0_INT_ENABLE 
void USB_LP_CAN1_RX0_IRQHandler(const char *id)
{
	int i=0;
   
          
          CanRxMsg RxMessage;
       	RxMessage.StdId=0x00;	 //new id
      	RxMessage.ExtId=0x00;	 
	RxMessage.IDE=0;		  
	RxMessage.RTR=0;		
	    RxMessage.FMI=0;
	    for(i=0;i<8;i++)
		     RxMessage.Data[i]=0;
	
            CAN_Receive(CAN1, 0, &RxMessage);
	//USART1_DATA(RxMessage.Data,RxMessage.DLC);
	printf("IRQ RxMessage.Data = %s\r\n", RxMessage.Data);	
}
#endif

F4 先系问pd1 0