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发表于 2018-1-16 12:00:49
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本帖最后由 木子电子 于 2018-1-17 10:50 编辑
[mw_shl_code=c,true]extern CanTxMsg TxMessage;
extern CanRxMsg RxMessage;
void GPIO_CAN_Configuration(void)
{
GPIO_InitTypeDef GPIO_InitStructure;
RCC_APB2PeriphClockCmd(RCC_APB2Periph_AFIO | RCC_APB2Periph_GPIOA, ENABLE);
/* Configure CAN pin: RX */
GPIO_InitStructure.GPIO_Pin = GPIO_Pin_11;
GPIO_InitStructure.GPIO_Mode = GPIO_Mode_IPU;
GPIO_Init(GPIOA, &GPIO_InitStructure);
/* Configure CAN pin: TX */
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);
}
void CAN_Interrupt(void)
{
CAN_InitTypeDef CAN_InitStructure;
CAN_FilterInitTypeDef CAN_FilterInitStructure;
/* CAN register init */
RCC_APB1PeriphClockCmd(RCC_APB1Periph_CAN1, ENABLE); //使能CAN1时钟
CAN_DeInit(CAN1);
CAN_StructInit(&CAN_InitStructure);
/* CAN cell init */
CAN_InitStructure.CAN_TTCM = DISABLE; // 时间触发通信禁止
CAN_InitStructure.CAN_ABOM = DISABLE; // 离线退出是在中断置位清0后退出
CAN_InitStructure.CAN_AWUM = DISABLE; // 自动唤醒模式：清零sleep
CAN_InitStructure.CAN_NART = DISABLE; // 自动重新传送报文，直到发送成功
CAN_InitStructure.CAN_RFLM = DISABLE; // FIFO没有锁定，新报文覆盖旧报文
CAN_InitStructure.CAN_TXFP = DISABLE; // 发送报文优先级确定：标志符
CAN_InitStructure.CAN_Mode = CAN_Mode_Normal;
//CAN_InitStructure.CAN_Mode = CAN_Mode_LoopBack;
CAN_InitStructure.CAN_SJW = CAN_SJW_1tq; // 1tq、BS1、BS2的值跟波特率有关
CAN_InitStructure.CAN_BS1 = CAN_BS1_9tq;
CAN_InitStructure.CAN_BS2 = CAN_BS2_8tq;
CAN_InitStructure.CAN_Prescaler=4; // 分频系数为1
CAN_Init(CAN1, &CAN_InitStructure); // 初始化CAN1
/* CAN filter init */
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 = CAN_FilterFIFO0;
CAN_FilterInitStructure.CAN_FilterActivation = ENABLE;
CAN_FilterInit(&CAN_FilterInitStructure);
/* CAN FIFO0 message pending interrupt enable */
CAN_ITConfig(CAN1, CAN_IT_FMP0, ENABLE); //中断使能
}
static void CAN_NVIC_Configuration(void)
{
NVIC_InitTypeDef NVIC_InitStructure;
/* Enable CAN1 RX0 interrupt IRQ channel */
NVIC_InitStructure.NVIC_IRQChannel = USB_LP_CAN1_RX0_IRQn;
NVIC_InitStructure.NVIC_IRQChannelPreemptionPriority = 1; // 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);
}
void CAN_Config(void)
{
GPIO_CAN_Configuration();
CAN_NVIC_Configuration();
CAN_Interrupt();
}
u8 CAN_SetMsg(void)
{
u8 mailBox;
u16 i = 0;
TxMessage.StdId=0x00; //ID标识符
TxMessage.RTR = CAN_RTR_DATA; //数据帧
TxMessage.IDE = CAN_ID_STD; //标准帧格式
TxMessage.DLC=8; //帧长度，单位：字节
TxMessage.Data[0] = 0xF1; //待传数据
TxMessage.Data[1] = 0xF2;
TxMessage.Data[2] = 0xF3;
TxMessage.Data[3] = 0xF4;
TxMessage.Data[4] = 0xF5;
TxMessage.Data[5] = 0xF6;
TxMessage.Data[6] = 0xF7;
TxMessage.Data[7] = 0xF8;
mailBox = CAN_Transmit(CAN1, &TxMessage);
while((CAN_TransmitStatus(CAN1, mailBox)==CANTXFAILED) && (i != 0XFF))
{
i++; //等待发送结束
}
}
void USB_LP_CAN1_RX0_IRQHandler(void)
{
RxMessage.StdId=0x00;
RxMessage.IDE=CAN_ID_STD;
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;
CAN_Receive(CAN1, CAN_FIFO0, &RxMessage);
//LED灯闪烁
if(GPIO_ReadOutputDataBit(GPIOA,GPIO_Pin_1))
{
GPIO_ResetBits(GPIOA,GPIO_Pin_1);
}else
{
GPIO_SetBits(GPIOA,GPIO_Pin_1);
}
}[/mw_shl_code] |
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发表于 2018-1-16 11:59:54
发表于 2018-1-17 01:10:55
