stm32 can中断通信

1、初始化can时钟

void canRCCInit()
{
    RCC_APB2PeriphClockCmd(RCC_APB2Periph_GPIOB, ENABLE);
    RCC_APB2PeriphClockCmd(RCC_APB2Periph_AFIO, ENABLE);
    RCC_APB1PeriphClockCmd(RCC_APB1Periph_CAN1, ENABLE);
}

2、配置can的GPIO引脚

void canGPIOConfigure()
{
    GPIO_PinRemapConfig(GPIO_Remap1_CAN1, ENABLE);

    GPIO_InitTypeDef gpioInit;
    gpioInit.GPIO_Pin = GPIO_Pin_8;
    gpioInit.GPIO_Mode = GPIO_Mode_IPU;
    gpioInit.GPIO_Speed = GPIO_Speed_50MHz;

    GPIO_Init(GPIOB, &gpioInit);

    gpioInit.GPIO_Pin = GPIO_Pin_9;
    gpioInit.GPIO_Mode = GPIO_Mode_AF_PP;
    GPIO_Init(GPIOB, &gpioInit);

3、配置并使能can

void canConfigure()
{
    CAN_InitTypeDef can_init;
    CAN_DeInit(CAN1);
    CAN_StructInit(&can_init);

    //关闭时间触发模式
    can_init.CAN_TTCM = DISABLE;    
    //关闭自动离线管理
    can_init.CAN_ABOM = DISABLE;
    //关闭自动唤醒模式
    can_init.CAN_AWUM = DISABLE;
    //禁止报文自动重发
    can_init.CAN_NART = DISABLE;
    //FIFO 溢出时报文覆盖原文件
    can_init.CAN_RFLM = DISABLE;
    //报文发送优先级取决于ID号
    can_init.CAN_TXFP = DISABLE;
    //回环模式
    can_init.CAN_Mode = CAN_Mode_LoopBack;

    //配置时钟频率
    can_init.CAN_SJW = CAN_SJW_1tq;
    can_init.CAN_BS1 = CAN_BS1_3tq;
    can_init.CAN_BS2 = CAN_BS2_2tq;
    can_init.CAN_Prescaler = 48;

    CAN_Init(CAN1, &can_init);

    CAN_FilterInitTypeDef can_filter;

    //屏蔽滤波
    can_filter.CAN_FilterNumber = 0;
    //屏蔽模式
    can_filter.CAN_FilterMode = CAN_FilterMode_IdMask;
    //32位寄存器
    can_filter.CAN_FilterScale = CAN_FilterScale_32bit;
    //高16位
    can_filter.CAN_FilterIdHigh = 0x0000;
    //低16位
    can_filter.CAN_FilterIdLow = 0;
    //屏蔽位高16位
    can_filter.CAN_FilterMaskIdHigh = 0;
    //屏蔽位低16位
    can_filter.CAN_FilterMaskIdLow = 0;
    //过滤器0关联到FIFO0
    can_filter.CAN_FilterFIFOAssignment = CAN_FilterFIFO0;
    //使能过滤器
    can_filter.CAN_FilterActivation = ENABLE;
    //初始化过滤器
    CAN_FilterInit(&can_filter);

    //使能接收中断
    CAN_ITConfig(CAN1, CAN_IT_FMP0, ENABLE);
}

4、配置中断源

void canNvicConfigure()
{
    NVIC_InitTypeDef nvic_init;
    nvic_init.NVIC_IRQChannel = USB_LP_CAN1_RX0_IRQn;
    nvic_init.NVIC_IRQChannelPreemptionPriority = 0;
    nvic_init.NVIC_IRQChannelSubPriority = 0;
    nvic_init.NVIC_IRQChannelCmd = ENABLE;
    NVIC_Init(&nvic_init);

    nvic_init.NVIC_IRQChannel = USB_HP_CAN1_TX_IRQn;
    nvic_init.NVIC_IRQChannelPreemptionPriority = 0;
    nvic_init.NVIC_IRQChannelSubPriority = 1;
    nvic_init.NVIC_IRQChannelCmd = ENABLE;
    NVIC_Init(&nvic_init);
}

5、实现中断处理函数

void USB_LP_CAN1_RX0_IRQHandler(void)
{
    CanRxMsg rx;
    CAN_Receive(CAN1, CAN_FIFO0, &rx);
    for(int i = 0; i < rx.DLC; i++){
        printf("recv data: %c\r\n",rx.Data[i]);
    }
}

void USB_HP_CAN1_TX_IRQHandler(void)
{
    if(count < len){
        txMessage.Data[0] = txBuf[count++];
        CAN_Transmit(CAN1, &txMessage);
    }
    else {
        CAN_ITConfig(CAN1, CAN_IT_TME, DISABLE);
    }
}

6、实现发送函数

void canWrite(const char *p)
{
    strcpy(txBuf, p);
    len = strlen(p);
    count = 0;
    txMessage.StdId = 0xFE00 >> 5;
    txMessage.ExtId = 0;
    txMessage.IDE = CAN_ID_STD;
    txMessage.RTR = CAN_RTR_DATA;
    txMessage.DLC = 1;  //此处最多可传输8个字节
    txMessage.Data[0] = txBuf[count++];
    CAN_Transmit(CAN1, &txMessage);

    CAN_ITConfig(CAN1, CAN_IT_TME, ENABLE);
}

7、总结：在写can总线协议时，需要自己仔细阅读stm32的官方手册，can总线有多种模式及标识符列表模式、标识符屏蔽模式等，需要自己仔细琢磨。