1、打开STM32 CAN系统工作时钟
RCC_APB2PeriphClockCmd(RCC_APB2Periph_GPIOA | RCC_APB2Periph_AFIO, ENABLE);
RCC_APB1PeriphClockCmd(RCC_APB1Periph_CAN1, ENABLE);
2、开放系统中断,根据实际情况选择
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);
// NVIC_InitStructure.NVIC_IRQChannel = CAN1_RX1_IRQn;
// NVIC_InitStructure.NVIC_IRQChannelPreemptionPriority = 5;
// NVIC_InitStructure.NVIC_IRQChannelSubPriority = 0;
// NVIC_InitStructure.NVIC_IRQChannelCmd = ENABLE;
// NVIC_Init(&NVIC_InitStructure);
//NVIC_InitStructure.NVIC_IRQChannel = CAN1_SCE_IRQn;
//NVIC_InitStructure.NVIC_IRQChannelPreemptionPriority = 3;
//NVIC_InitStructure.NVIC_IRQChannelSubPriority = 0;
//NVIC_InitStructure.NVIC_IRQChannelCmd = ENABLE;
//NVIC_Init(&NVIC_InitStructure);
// NVIC_InitStructure.NVIC_IRQChannel = USB_HP_CAN1_TX_IRQn;
// NVIC_InitStructure.NVIC_IRQChannelPreemptionPriority = 4;
// NVIC_InitStructure.NVIC_IRQChannelSubPriority = 0;
// NVIC_InitStructure.NVIC_IRQChannelCmd = ENABLE;
// NVIC_Init(&NVIC_InitStructure);
3、端口配置
//初始化MCU_CAN_RXD---PA11
GPIO_InitStructure.GPIO_Pin = GPIO_Pin_11;
GPIO_InitStructure.GPIO_Mode = GPIO_Mode_IPU;
GPIO_Init(GPIOA, &GPIO_InitStructure);
//初始化MCU_CAN_TXD---PA12
GPIO_InitStructure.GPIO_Pin = GPIO_Pin_12;
GPIO_InitStructure.GPIO_Mode = GPIO_Mode_AF_PP;
GPIO_InitStructure.GPIO_Speed = GPIO_Speed_50MHz;
GPIO_Init(GPIOA, &GPIO_InitStructure);
4、CAN初始化
void CAN_Configuration(void)
{
CAN_InitTypeDef CAN_InitStructure;
CAN_FilterInitTypeDef CAN_FilterInitStructure;
CAN_DeInit(CAN1);
CAN_StructInit(&CAN_InitStructure);
CAN_InitStructure.CAN_TTCM = DISABLE;
CAN_InitStructure.CAN_ABOM = DISABLE;
CAN_InitStructure.CAN_AWUM = DISABLE;
CAN_InitStructure.CAN_NART = ENABLE;
CAN_InitStructure.CAN_RFLM = DISABLE;
CAN_InitStructure.CAN_TXFP = ENABLE;
//CAN_InitStructure.CAN_Mode = CAN_Mode_LoopBack;
CAN_InitStructure.CAN_Mode = CAN_Mode_Normal;
CAN_InitStructure.CAN_SJW = CAN_SJW_1tq;
CAN_InitStructure.CAN_BS1 = CAN_BS1_9tq;
CAN_InitStructure.CAN_BS2 = CAN_BS2_8tq;
CAN_InitStructure.CAN_Prescaler = 200;
//此处Tseg1+1 = CAN_BS1_8tp
if (CAN_Init(CAN1,&CAN_InitStructure) == CANINITFAILED)
{
}
CAN_FilterInitStructure.CAN_FilterNumber=0;
CAN_FilterInitStructure.CAN_FilterMode=CAN_FilterMode_IdMask;
CAN_FilterInitStructure.CAN_FilterScale=CAN_FilterScale_32bit;
CAN_FilterInitStructure.CAN_FilterIdHigh=0x0000;
CAN_FilterInitStructure.CAN_FilterIdLow=0x0000;
CAN_FilterInitStructure.CAN_FilterMaskIdHigh=0x0000;
CAN_FilterInitStructure.CAN_FilterMaskIdLow=0x0000;
CAN_FilterInitStructure.CAN_FilterFIFOAssignment=0;
CAN_FilterInitStructure.CAN_FilterActivation=ENABLE;
CAN_FilterInit(&CAN_FilterInitStructure);
CAN_FilterInitStructure.CAN_FilterNumber=1;
CAN_FilterInitStructure.CAN_FilterMode=CAN_FilterMode_IdMask;
CAN_FilterInitStructure.CAN_FilterScale=CAN_FilterScale_32bit;
CAN_FilterInitStructure.CAN_FilterIdHigh=0x0000;
CAN_FilterInitStructure.CAN_FilterIdLow=0x0000;
CAN_FilterInitStructure.CAN_FilterMaskIdHigh=0x0000;
CAN_FilterInitStructure.CAN_FilterMaskIdLow=0x0000;
CAN_FilterInitStructure.CAN_FilterFIFOAssignment=1;
//CAN_FilterInitStructure.CAN_FilterActivation=ENABLE;
CAN_FilterInit(&CAN_FilterInitStructure);
CAN_ITConfig(CAN1,CAN_IT_FMP0, ENABLE);
CAN_ITConfig(CAN2, CAN_IT_TME, ENABLE); //打开发送中断
CAN_ITConfig(CAN2, CAN_IT_FMP1, ENABLE); //打开接收中断
CAN_ITConfig(CAN2, CAN_IT_EWG|CAN_IT_EPV|CAN_IT_BOF|CAN_IT_LEC|CAN_IT_ERR, ENABLE);//打开错误中断
//CAN_ITConfig(CAN1,CAN_IT_FMP0, ENABLE); //FIFO0 消息挂号中断屏蔽
//CAN_ITConfig(CAN1,CAN_IT_TME, ENABLE); //发送邮箱空中断屏蔽
//CAN_ITConfig(CAN1,CAN_IT_BOF, ENABLE); //离线中断允许
}
5、发送数据函数
void CanWriteData(uint16_t CanAddress,uint8_t SendData[8])
{
CanTxMsg TxMessage; //定义数据结构类型变量
u8 TransmitMailbox = 0;
u16 i = 0;
TxMessage.StdId = CanAddress;
TxMessage.ExtId=0x00; //tempId 为接受板地址,应用过程中要左移13位
TxMessage.IDE=CAN_ID_STD;//使用标准id
TxMessage.RTR=CAN_RTR_DATA;//发送数据帧
TxMessage.DLC= 8; //设置发送数据的长度
TxMessage.Data[0] = SendData[0];//赋值待发送
TxMessage.Data[1] = SendData[1];//赋值待发送
TxMessage.Data[2] = SendData[2];//赋值待发送
TxMessage.Data[3] = SendData[3];//赋值待发送
TxMessage.Data[4] = SendData[4];//赋值待发送
TxMessage.Data[5] = SendData[5];//赋值待发送
TxMessage.Data[6] = SendData[6];//赋值待发送
TxMessage.Data[7] = SendData[7];//赋值待发送
TransmitMailbox = CAN_Transmit(CAN1,&TxMessage);//开始发送数据
i = 0;
//通过检查CANTXOK位来确认发送是否成功
while((CAN_TransmitStatus(CAN1,TransmitMailbox) != CANTXOK) && (i != 0xFF))
{
i++;
}
i = 0;
while((CAN_MessagePending(CAN1,CAN_FIFO0) < 1) && (i != 0xFF)) //返回被挂起的报文量是否为0
{
i++;
}
}
void SEND_CAN_TQ_COMMAND(u8 device_add,u8 GFB_flag,u8 TQ_A_flag,u8 TQ_B_flag)
{
u16 Send_add,num;
u8 Send_Data[8];
if(device_add == 0)
{
switch(GFB_flag)
{
case 90:
if(TQ_A_flag == 0x22)
{
TQ_CON_A = 1;
TQ_CON_B = 1;
TQ_CON_C = 1;
JDQ_A_Flag = 0x07;
Net_Node_CapA[0] = Net_Node_CapA[0]|0x07;
}
else if(TQ_A_flag == 0x11)
{
TQ_CON_A = 0;
TQ_CON_B = 0;
TQ_CON_C = 0;
JDQ_A_Flag = 0x00;
Net_Node_CapA[0] = Net_Node_CapA[0]&0x00;
}
if(TQ_B_flag == 0x22)
{
TQ_CON_2A = 1;
TQ_CON_2B = 1;
TQ_CON_2C = 1;
JDQ_B_Flag = 0x07;
Net_Node_CapB[0] = Net_Node_CapB[0]|0x07;
}
else if(TQ_B_flag == 0x11)
{
TQ_CON_2A = 0;
TQ_CON_2B = 0;
TQ_CON_2C = 0;
JDQ_B_Flag = 0x00;
Net_Node_CapB[0] = Net_Node_CapB[0]&0x00;
}
break;
case 91:
if(TQ_A_flag == 0x22)
{
TQ_CON_A = 1;
JDQ_A_Flag |= 0x04;
Net_Node_CapA[0] = Net_Node_CapA[0]|0x04;
}
else if(TQ_A_flag == 0x11)
{
TQ_CON_A = 0;
JDQ_A_Flag &= 0xFB;
Net_Node_CapA[0] = Net_Node_CapA[0]&0xFB;
}
break;
case 92:
if(TQ_A_flag == 0x22)
{
TQ_CON_A = 1;
JDQ_A_Flag |= 0x02;
Net_Node_CapA[0] = Net_Node_CapA[0]|0x02;
}
else if(TQ_A_flag == 0x11)
{
TQ_CON_A = 0;
JDQ_A_Flag &= 0xFD;
Net_Node_CapA[0] = Net_Node_CapA[0]&0xFD;
}
break;
case 93:
if(TQ_A_flag == 0x22)
{
TQ_CON_A = 1;
JDQ_A_Flag |= 0x01;
Net_Node_CapA[0] = Net_Node_CapA[0]|0x01;
}
else if(TQ_A_flag == 0x11)
{
TQ_CON_A = 0;
JDQ_A_Flag &= 0xFE;
Net_Node_CapA[0] = Net_Node_CapA[0]&0xFE;
}
break;
}
}
else
{
Send_add = 0x100 + device_add;
Send_Data[0] = 0x55;
Send_Data[1] = 0x01;
Send_Data[2] = device_add; //从机地址
Send_Data[3] = GFB_flag; //共补投入控制指令
Send_Data[4] = TQ_A_flag;
Send_Data[5] = TQ_B_flag;
num = Send_Data[1] + Send_Data[2] + Send_Data[3] + Send_Data[4] + Send_Data[5];
Send_Data[6] = num&0xFF;
Send_Data[7] = 0xAA;
CanWriteData(Send_add,Send_Data);
switch(GFB_flag)
{
case 90:
if(TQ_A_flag == 0x22)
{
Net_Node_CapA[device_add] = Net_Node_CapA[device_add]|0x07;
}
else if(TQ_A_flag == 0x11)
{
Net_Node_CapA[device_add] = Net_Node_CapA[device_add]&0x00;
}
if(TQ_B_flag == 0x22)
{
Net_Node_CapB[device_add] = Net_Node_CapB[device_add]|0x07;
}
else if(TQ_B_flag == 0x11)
{
Net_Node_CapB[device_add] = Net_Node_CapB[device_add]&0x00;
}
break;
case 91:
if(TQ_A_flag == 0x22)
{
Net_Node_CapA[device_add] = Net_Node_CapA[device_add]|0x04;
}
else if(TQ_A_flag == 0x11)
{
Net_Node_CapA[device_add] = Net_Node_CapA[device_add]&0xFB;
}
break;
case 92:
if(TQ_A_flag == 0x22)
{
Net_Node_CapA[device_add] = Net_Node_CapA[device_add]|0x02;
}
else if(TQ_A_flag == 0x11)
{
Net_Node_CapA[device_add] = Net_Node_CapA[device_add]&0xFD;
}
break;
case 93:
if(TQ_A_flag == 0x22)
{
Net_Node_CapA[device_add] = Net_Node_CapA[device_add]|0x01;
}
else if(TQ_A_flag == 0x11)
{
Net_Node_CapA[device_add] = Net_Node_CapA[device_add]&0xFE;
}
break;
}
}
}
6、中断接收函数
void USB_LP_CAN1_RX0_IRQHandler(void) //CAN中断函数
{
CanRxMsg RxMessage;
u8 i;
RxMessage.StdId=0x00; //初始化接收数据池
RxMessage.ExtId=0x00;
RxMessage.IDE=0;
RxMessage.DLC=0;
RxMessage.FMI=0;
RxMessage.Data[0]=0x00;
RxMessage.Data[1]=0x00;
RxMessage.Data[2]=0x00;
RxMessage.Data[3]=0x00;
RxMessage.Data[4]=0x00;
RxMessage.Data[5]=0x00;
RxMessage.Data[6]=0x00;
RxMessage.Data[7]=0x00;
//while(CAN_IT_FF0==0);
for(i=0;i<8;i++)
{
if(Can_Receive_Flag[i] == 0)
{
if(CAN_IT_FF0 > 0)
{
CAN_Receive(CAN1, CAN_FIFO0, &RxMessage); //从CAN1口缓冲器FIFO 0接收报文到 RxMessage
CAN_Receive_data[i][0] = (RxMessage.StdId>>8)&0xff;
CAN_Receive_data[i][1] = (RxMessage.StdId)&0xff;
CAN_Receive_data[i][2] = RxMessage.Data[0];
CAN_Receive_data[i][3] = RxMessage.Data[1];
CAN_Receive_data[i][4] = RxMessage.Data[2];
CAN_Receive_data[i][5] = RxMessage.Data[3];
CAN_Receive_data[i][6] = RxMessage.Data[4];
CAN_Receive_data[i][7] = RxMessage.Data[5];
CAN_Receive_data[i][8] = RxMessage.Data[6];
CAN_Receive_data[i][9] = RxMessage.Data[7];
CAN_Receive_data[i][10] = 0xff;
Can_Receive_Flag[i] = 1;
break;
}
if(CAN_IT_FF1 > 0)
{
CAN_Receive(CAN1, CAN_FIFO1, &RxMessage); //从CAN1口缓冲器FIFO 0接收报文到 RxMessage
CAN_Receive_data[i][0] = (RxMessage.StdId>>8)&0xff;
CAN_Receive_data[i][1] = (RxMessage.StdId)&0xff;
CAN_Receive_data[i][2] = RxMessage.Data[0];
CAN_Receive_data[i][3] = RxMessage.Data[1];
CAN_Receive_data[i][4] = RxMessage.Data[2];
CAN_Receive_data[i][5] = RxMessage.Data[3];
CAN_Receive_data[i][6] = RxMessage.Data[4];
CAN_Receive_data[i][7] = RxMessage.Data[5];
CAN_Receive_data[i][8] = RxMessage.Data[6];
CAN_Receive_data[i][9] = RxMessage.Data[7];
CAN_Receive_data[i][10] = 0xff;
Can_Receive_Flag[i] = 1;
break;
}
}
}
CAN_ClearITPendingBit(CAN1, CAN_IT_FMP0);
}
附录:
接收与发送函数为目前项目中测试程序代码,根据实际情况可调整。
原帖网址:http://blog.sina.com.cn/s/blog_56e19aa70101f44t.html