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- 2013-8-7
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发表于 2013-8-7 14:02:29
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补充：两路CAN都重新映射了端口；
//////////////////////////////////////////////////////////////////////////////////
//CAN1初始化
//tsjw:重新同步跳跃时间单元.范围:1~3; CAN_SJW_1tq CAN_SJW_2tq CAN_SJW_3tq CAN_SJW_4tq
//tbs2:时间段2的时间单元.范围:1~8;
//tbs1:时间段1的时间单元.范围:1~16; CAN_BS1_1tq ~CAN_BS1_16tq
//brp:波特率分频器.范围:1~1024;(实际要加1,也就是1~1024) tq=(brp)*tpclk1
//注意以上参数任何一个都不能设为0,否则会乱.
//波特率=Fpclk1/((tsjw+tbs1+tbs2)*brp);
//mode:0,普通模式;1,回环模式;
//Fpclk1的时钟在初始化的时候设置为36M,如果设置CAN_Normal_Init(1,8,7,5,1);
//则波特率为:36M/((1+8+7)*5)=450Kbps
//返回值:0,初始化OK;
// 其他,初始化失败;
u8 CAN1_Mode_Init(u8 tsjw,u8 tbs2,u8 tbs1,u16 brp,u8 mode)
{
GPIO_InitTypeDef GPIO_InitStructure;
CAN_InitTypeDef CAN_InitStructure;
CAN_FilterInitTypeDef CAN_FilterInitStructure;
#if CAN1_RX0_INT_ENABLE
NVIC_InitTypeDef NVIC_InitStructure;
#endif
RCC_APB2PeriphClockCmd(RCC_APB2Periph_GPIOB|RCC_APB2Periph_AFIO, ENABLE);//使能PORTB时钟
/********** CAN1 TX  IN ***************/
GPIO_InitStructure.GPIO_Pin = GPIO_Pin_9;
GPIO_InitStructure.GPIO_Speed = GPIO_Speed_50MHz;
GPIO_InitStructure.GPIO_Mode = GPIO_Mode_AF_PP; //复用推挽
GPIO_Init(GPIOB, &GPIO_InitStructure); //初始化IO
/********** CAN1 RX IN ***************/
GPIO_InitStructure.GPIO_Pin = GPIO_Pin_8;
GPIO_InitStructure.GPIO_Mode = GPIO_Mode_IPU;//上拉输入
GPIO_Init(GPIOB, &GPIO_InitStructure);//初始化IO
/* Remap CAN1 GPIOs */
GPIO_PinRemapConfig(GPIO_Remap1_CAN1, ENABLE); //CAN1 重映射 B8 ,PB9
/* CAN1 and CAN2 eriph clocks enable */
RCC_APB1PeriphClockCmd(RCC_APB1Periph_CAN1, ENABLE); //使能CAN1时钟
CAN_DeInit(CAN1);
//CAN单元设置
CAN_InitStructure.CAN_TTCM=DISABLE; //非时间触发通信模式 //
CAN_InitStructure.CAN_ABOM=DISABLE; //软件自动离线管理 //
CAN_InitStructure.CAN_AWUM=DISABLE; //睡眠模式通过软件唤醒(清除CAN->MCR的SLEEP位)//
CAN_InitStructure.CAN_NART=DISABLE; //报文自动传送 //
CAN_InitStructure.CAN_RFLM=DISABLE; //报文不锁定,新的覆盖旧的 //
CAN_InitStructure.CAN_TXFP=DISABLE; //优先级由报文标识符决定 //
CAN_InitStructure.CAN_Mode= mode; //模式设置： mode:0,普通模式;1,回环模式; //
//设置波特率
CAN_InitStructure.CAN_SJW=tsjw; //重新同步跳跃宽度(Tsjw)为tsjw+1个时间单位 CAN_SJW_1tq CAN_SJW_2tq CAN_SJW_3tq CAN_SJW_4tq
CAN_InitStructure.CAN_BS1=tbs1; //Tbs1=tbs1+1个时间单位CAN_BS1_1tq ~CAN_BS1_16tq
CAN_InitStructure.CAN_BS2=tbs2;//Tbs2=tbs2+1个时间单位CAN_BS2_1tq ~ CAN_BS2_8tq
CAN_InitStructure.CAN_Prescaler=brp; //分频系数(Fdiv)为brp+1 //
CAN_Init(CAN1, &CAN_InitStructure); // 初始化CAN1
/* CAN1 filter init */
CAN_FilterInitStructure.CAN_FilterNumber=0; //过滤器0
CAN_FilterInitStructure.CAN_FilterMode=CAN_FilterMode_IdMask;
CAN_FilterInitStructure.CAN_FilterScale=CAN_FilterScale_32bit; //32位
CAN_FilterInitStructure.CAN_FilterIdHigh=0x0000;////32位ID
CAN_FilterInitStructure.CAN_FilterIdLow=0x0000;
CAN_FilterInitStructure.CAN_FilterMaskIdHigh=0x0000;//32位MASK
CAN_FilterInitStructure.CAN_FilterMaskIdLow=0x0000;
CAN_FilterInitStructure.CAN_FilterFIFOAssignment = CAN_Filter_FIFO0;//过滤器0关联到FIFO0
CAN_FilterInitStructure.CAN_FilterActivation=ENABLE; //激活过滤器0
CAN_FilterInit(&CAN_FilterInitStructure);//滤波器初始化
#if CAN1_RX0_INT_ENABLE
CAN_ITConfig(CAN1,CAN_IT_FMP0,ENABLE);//FIFO0消息挂号中断允许.
NVIC_InitStructure.NVIC_IRQChannel = 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);
#endif
return 0;
}
//////////////////////////////////////////////////////////////////////////////////
//CAN2初始化
//tsjw:重新同步跳跃时间单元.范围:1~3; CAN_SJW_1tq CAN_SJW_2tq CAN_SJW_3tq CAN_SJW_4tq
//tbs2:时间段2的时间单元.范围:1~8;
//tbs1:时间段1的时间单元.范围:1~16; CAN_BS1_1tq ~CAN_BS1_16tq
//brp:波特率分频器.范围:1~1024;(实际要加1,也就是1~1024) tq=(brp)*tpclk1
//注意以上参数任何一个都不能设为0,否则会乱.
//波特率=Fpclk1/((tsjw+tbs1+tbs2)*brp);
//mode:0,普通模式;1,回环模式;
//Fpclk1的时钟在初始化的时候设置为36M,如果设置CAN_Normal_Init(1,8,7,5,1);
//则波特率为:36M/((1+8+7)*5)=450Kbps
//返回值:0,初始化OK;
// 其他,初始化失败;
u8 CAN2_Mode_Init(u8 tsjw,u8 tbs2,u8 tbs1,u16 brp,u8 mode)
{
GPIO_InitTypeDef GPIO_InitStructure;
CAN_InitTypeDef CAN_InitStructure;
CAN_FilterInitTypeDef CAN_FilterInitStructure;
#if CAN2_RX1_INT_ENABLE
NVIC_InitTypeDef NVIC_InitStructure;
#endif
RCC_APB2PeriphClockCmd(RCC_APB2Periph_GPIOB|RCC_APB2Periph_AFIO, ENABLE);//使能PORTB时钟
/********** CAN2 TX IN ***************/
GPIO_InitStructure.GPIO_Pin = GPIO_Pin_6;
GPIO_InitStructure.GPIO_Speed = GPIO_Speed_50MHz;
GPIO_InitStructure.GPIO_Mode = GPIO_Mode_AF_PP; //复用推挽
GPIO_Init(GPIOB, &GPIO_InitStructure); //初始化IO
/********** CAN2 RX IN ***************/
GPIO_InitStructure.GPIO_Pin = GPIO_Pin_5;
GPIO_InitStructure.GPIO_Mode = GPIO_Mode_IPU;//上拉输入
GPIO_Init(GPIOB, &GPIO_InitStructure);//初始化IO
/* Remap CAN2 GPIOs */
GPIO_PinRemapConfig(GPIO_Remap_CAN2, ENABLE); //CAN2 重映射 B5 ,PB6
/* CAN2 eriph clocks enable */
RCC_APB1PeriphClockCmd(RCC_APB1Periph_CAN2, ENABLE); //使能CAN2时钟
CAN_DeInit(CAN2);
//CAN单元设置
CAN_InitStructure.CAN_TTCM=DISABLE; //非时间触发通信模式 //
CAN_InitStructure.CAN_ABOM=DISABLE; //软件自动离线管理 //
CAN_InitStructure.CAN_AWUM=DISABLE; //睡眠模式通过软件唤醒(清除CAN->MCR的SLEEP位)//
CAN_InitStructure.CAN_NART=DISABLE; //报文自动传送 //
CAN_InitStructure.CAN_RFLM=DISABLE; //报文不锁定,新的覆盖旧的 //
CAN_InitStructure.CAN_TXFP=DISABLE; //优先级由报文标识符决定 //
CAN_InitStructure.CAN_Mode= mode; //模式设置： mode:0,普通模式;1,回环模式; //
//设置波特率
CAN_InitStructure.CAN_SJW=tsjw; //重新同步跳跃宽度(Tsjw)为tsjw+1个时间单位 CAN_SJW_1tq CAN_SJW_2tq CAN_SJW_3tq CAN_SJW_4tq
CAN_InitStructure.CAN_BS1=tbs1; //Tbs1=tbs1+1个时间单位CAN_BS1_1tq ~CAN_BS1_16tq
CAN_InitStructure.CAN_BS2=tbs2; //Tbs2=tbs2+1个时间单位CAN_BS2_1tq ~ CAN_BS2_8tq
CAN_InitStructure.CAN_Prescaler=brp; //分频系数(Fdiv)为brp+1 //
CAN_Init(CAN2, &CAN_InitStructure); // 初始化CAN2
/* CAN2 filter init */
CAN_FilterInitStructure.CAN_FilterNumber=15; //过滤器0
CAN_FilterInitStructure.CAN_FilterMode=CAN_FilterMode_IdMask;
CAN_FilterInitStructure.CAN_FilterScale=CAN_FilterScale_32bit; //32位
CAN_FilterInitStructure.CAN_FilterIdHigh=0x0000;////32位ID
CAN_FilterInitStructure.CAN_FilterIdLow=0x0000;
CAN_FilterInitStructure.CAN_FilterMaskIdHigh=0x0000;//32位MASK
CAN_FilterInitStructure.CAN_FilterMaskIdLow=0x0000;
CAN_FilterInitStructure.CAN_FilterFIFOAssignment = CAN_Filter_FIFO1;//过滤器0关联到FIFO1
CAN_FilterInitStructure.CAN_FilterActivation=ENABLE; //激活过滤器0
CAN_FilterInit(&CAN_FilterInitStructure);//滤波器初始化
#if CAN2_RX1_INT_ENABLE
CAN_ITConfig(CAN2,CAN_IT_FMP1,ENABLE);//FIFO1消息挂号中断允许.
NVIC_InitStructure.NVIC_IRQChannel = CAN2_RX1_IRQn;
NVIC_InitStructure.NVIC_IRQChannelPreemptionPriority = 1; // 主优先级为1
NVIC_InitStructure.NVIC_IRQChannelSubPriority = 1; // 次优先级为0
NVIC_InitStructure.NVIC_IRQChannelCmd = ENABLE;
NVIC_Init(&NVIC_InitStructure);
#endif
return 0;
} |
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楼主
发表于 2013-7-31 20:54:24
