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楼主 |
发表于 2017-12-31 16:49:53
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上面讲过了定时器，下面就是CAN的发送与接收函数。
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;
NVIC_InitTypeDef NVIC_InitStructure;
RCC_AHB1PeriphClockCmd(RCC_AHB1Periph_GPIOA, ENABLE);
RCC_APB1PeriphClockCmd(RCC_APB1Periph_CAN1, ENABLE);
GPIO_InitStructure.GPIO_Pin = GPIO_Pin_12;
GPIO_InitStructure.GPIO_Mode = GPIO_Mode_AF;
GPIO_InitStructure.GPIO_OType = GPIO_OType_PP;
GPIO_InitStructure.GPIO_Speed = GPIO_Speed_100MHz;
GPIO_InitStructure.GPIO_PuPd = GPIO_PuPd_UP;
GPIO_Init(GPIOA, &GPIO_InitStructure);
GPIO_InitStructure.GPIO_Pin = GPIO_Pin_11;
GPIO_InitStructure.GPIO_Mode = GPIO_Mode_AF;
GPIO_Init(GPIOA, &GPIO_InitStructure);
GPIO_PinAFConfig(GPIOA,GPIO_PinSource11,GPIO_AF_CAN1);
GPIO_PinAFConfig(GPIOA,GPIO_PinSource12,GPIO_AF_CAN1);
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=DISABLE;
CAN_InitStructure.CAN_Mode= mode;
CAN_InitStructure.CAN_SJW=tsjw;
CAN_InitStructure.CAN_BS1=tbs1;
CAN_InitStructure.CAN_BS2=tbs2;
CAN_InitStructure.CAN_Prescaler=brp;
CAN_Init(CAN1, &CAN_InitStructure);
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_Filter_FIFO0;
CAN_FilterInitStructure.CAN_FilterActivation=ENABLE;
CAN_FilterInit(&CAN_FilterInitStructure);
CAN_ITConfig(CAN1,CAN_IT_FMP0,ENABLE);
NVIC_InitStructure.NVIC_IRQChannel = CAN1_RX0_IRQn;
NVIC_InitStructure.NVIC_IRQChannelPreemptionPriority = 1;
NVIC_InitStructure.NVIC_IRQChannelSubPriority = 0;
NVIC_InitStructure.NVIC_IRQChannelCmd = ENABLE;
NVIC_Init(&NVIC_InitStructure);
return 0;
}
void CAN1_RX0_IRQHandler(void)
{
u32 i;
Message m;
CanRxMsg RxMessage;
CAN_Receive(CAN1, CAN_FIFO0, &RxMessage);
m.cob_id=RxMessage.StdId;
if(RxMessage.RTR == CAN_RTR_REMOTE)
m.rtr=1;
else if(RxMessage.RTR == CAN_RTR_DATA)
m.rtr=0;
m.len=RxMessage.DLC;
for(i = 0; i < RxMessage.DLC; i++)
m.data[i] = RxMessage.Data[i];
canDispatch(&TestSlave_Data, &m);
}
unsigned char canSend(CAN_PORT notused, Message *m)
{
uint32_t i;
CanTxMsg TxMessage;
CanTxMsg *ptx_msg=&TxMessage;
ptx_msg->StdId = m->cob_id;
if(m->rtr)
ptx_msg->RTR = CAN_RTR_REMOTE;
else
ptx_msg->RTR = CAN_RTR_DATA;
ptx_msg->IDE = CAN_ID_STD;
ptx_msg->DLC = m->len;
for(i = 0; i < m->len; i++)
ptx_msg->Data[i] = m->data[i];
if( CAN_Transmit( CAN1, ptx_msg )==CAN_NO_MB)
{
return 0xff;
}
else
{
return 0x00;
}
}
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( 粤ICP备12000418号-1 )
发表于 2017-12-31 16:27:32
发表于 2019-1-22 01:51:22
ata[0]= 0x%X,Data[1]=0x%X \r\n",hcan->pRxMsg->Data[0],hcan->pRxMsg->Data[1]);
