stm32f103主板编写can接收程序

whjdll · 发表于 2021-7-19 09:41:21

有大神给个例子参考下呗，急求！！！

JYun · 发表于 2021-7-19 09:41:22

/***********F103C6T6 CAN接收部分******************/
/*                      can.h函数                                     */
/*****************************************************/
#include "can.h"

u8 CAN_RX_BUF[8];

unsigned char CAN_RX_FLAG = 0;

void CAN_GPIO_Config(void)
{
GPIO_InitTypeDef GPIO_InitSturcture;

RCC_APB2PeriphClockCmd(RCC_APB2Periph_GPIOB,ENABLE);
RCC_APB2PeriphClockCmd(RCC_APB2Periph_AFIO,ENABLE);

//CAN_RX PB8
GPIO_InitSturcture.GPIO_Pin = CAN_RX_Pin;
GPIO_InitSturcture.GPIO_Mode = GPIO_Mode_IPU;
GPIO_InitSturcture.GPIO_Speed = GPIO_Speed_50MHz;

//CAN_TX PB9
GPIO_InitSturcture.GPIO_Pin  =CAN_TX_Pin;
GPIO_InitSturcture.GPIO_Mode = GPIO_Mode_AF_PP;
GPIO_InitSturcture.GPIO_Speed = GPIO_Speed_50MHz;

GPIO_Init(CAN_GPIO_PORT,&GPIO_InitSturcture);
}

void CAN_NVIC_Config(void)
{
NVIC_InitTypeDef NVIC_InitStructure;

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);
}

void CAN_Mode_Init(u32 tsjw,u32 tbs1,u32 tbs2,u16 brp,u32 mode)
{
CAN_InitTypeDef CAN_InitStructure;

RCC_APB1PeriphClockCmd(RCC_APB1Periph_CAN1,ENABLE);

GPIO_PinRemapConfig(GPIO_Remap1_CAN1 , ENABLE);

CAN_DeInit(CAN1);
CAN_StructInit(&CAN_InitStructure);

CAN_InitStructure.CAN_SJW = tsjw;
CAN_InitStructure.CAN_BS1 = tbs1;
CAN_InitStructure.CAN_BS2 = tbs2;
CAN_InitStructure.CAN_Mode = mode;
CAN_InitStructure.CAN_Prescaler = brp;
CAN_InitStructure.CAN_NART  =ENABLE;
CAN_InitStructure.CAN_ABOM = DISABLE;
CAN_InitStructure.CAN_AWUM = DISABLE;
CAN_InitStructure.CAN_RFLM = ENABLE;
CAN_InitStructure.CAN_TTCM = DISABLE;
CAN_InitStructure.CAN_TXFP = DISABLE;

CAN_Init(CAN1,&CAN_InitStructure);
}

void CAN_Filter_Init(void)
{
CAN_FilterInitTypeDef CAN_FilterInitStructure;

CAN_FilterInitStructure.CAN_FilterIdHigh = (((u32)0x1001<<3)&0xFFFF0000)>>16;
CAN_FilterInitStructure.CAN_FilterIdLow = (((u32)0x1001<<3)|CAN_ID_EXT|CAN_RTR_DATA)&0xFFFF;
CAN_FilterInitStructure.CAN_FilterMaskIdHigh = 0xFFFF;
CAN_FilterInitStructure.CAN_FilterMaskIdLow = 0xFFFF;
CAN_FilterInitStructure.CAN_FilterActivation = ENABLE;
CAN_FilterInitStructure.CAN_FilterFIFOAssignment = CAN_FIFO0;
CAN_FilterInitStructure.CAN_FilterMode = CAN_FilterMode_IdMask;
CAN_FilterInitStructure.CAN_FilterNumber = 0;
CAN_FilterInitStructure.CAN_FilterScale = CAN_FilterScale_32bit;

CAN_ITConfig(CAN1,CAN_IT_FMP0,ENABLE);
CAN_FilterInit(&CAN_FilterInitStructure);
}

void Can_Init(void)
{
CAN_GPIO_Config();
CAN_NVIC_Config();
CAN_Mode_Init(CAN_SJW_1tq,CAN_BS1_3tq,CAN_BS2_2tq,12,CAN_Mode_Normal);
//CAN_Mode_Normal  CAN_Mode_LoopBack
CAN_Filter_Init();
}

u8 CAN_Send_Msg(u8* msg,u8 len)
{
CanTxMsg TxMessage;
u8 i,mbox;
u16 cunt = 0;

TxMessage.StdId = 0x0000;
TxMessage.ExtId = 0x0000;
TxMessage.IDE = CAN_ID_STD;
TxMessage.RTR = CAN_RTR_DATA;
TxMessage.DLC = len;
for(i = 0;i < len;i ++)
{
TxMessage.Data[i] = msg[i];
}
mbox = CAN_Transmit(CAN1,&TxMessage);

while((CAN_TransmitStatus(CAN1, mbox)==CAN_TxStatus_Failed)&&(cunt<0XFFF))
cunt++;
if(cunt >= 0xFFF)
return 0;
return 1;
}

void USB_LP_CAN1_RX0_IRQHandler(void)
{
CanRxMsg RxMessage;
uint8_t i;

if(CAN_GetITStatus(CAN1,CAN_IT_FMP0) != RESET)
{
CAN_RX_FLAG = 1;
CAN_Receive(CAN1,CAN_FIFO0,&RxMessage);

for(i = 0;i < 8;i ++)
CAN_RX_BUF[i] = RxMessage.Data[i];

CAN_FIFORelease(CAN1,CAN_FIFO0);
CAN_ClearITPendingBit(CAN1,CAN_IT_FMP0);
}
}
/***********************man.h**************************/
#include "main.h"
int main(void)
{
NVIC_Configuration();
LED_Init();
Delay_Init();
Usart1_Init(9600);
Can_Init();
printf("这里是CAN的测试程序\r\n");
LED0 = 1;
while(1)                      //主循环
{
if(CAN_RX_FLAG == 1)
{
CAN_RX_FLAG = 0;
USART1TxData_hex(CAN_RX_BUF,8);
}
//CAN_Send_Msg(send_buf,8);

Delay_Ms(100);
LED0 = !LED0;
}
}
can发送开发板用的是C8T6，其中中断、GPIO和CAN_Mode配置都是一样的可直接赋值粘贴，过滤器再发送的时候是不需要设置的，所以改成如下：
void CAN_Filter_Init(void)
{
CAN_FilterInitTypeDef CAN_FilterInitStructure;

CAN_FilterInitStructure.CAN_FilterIdHigh = 0x0000;
CAN_FilterInitStructure.CAN_FilterIdLow = 0x0000;
CAN_FilterInitStructure.CAN_FilterMaskIdHigh = 0x0000;
CAN_FilterInitStructure.CAN_FilterMaskIdLow = 0x0000;
CAN_FilterInitStructure.CAN_FilterActivation = ENABLE;
CAN_FilterInitStructure.CAN_FilterFIFOAssignment = CAN_FIFO0;
CAN_FilterInitStructure.CAN_FilterMode = CAN_FilterMode_IdMask;
CAN_FilterInitStructure.CAN_FilterNumber = 0;
CAN_FilterInitStructure.CAN_FilterScale = CAN_FilterScale_32bit;

CAN_ITConfig(CAN1,CAN_IT_FMP0,ENABLE);
CAN_FilterInit(&CAN_FilterInitStructure);
}
再更改下CAN_Send_Msg函数，因为需要发送数据，所以要设置发送ID，不然C6不能正确接收数据。
u8 CAN_Send_Msg(u8* msg,u8 len)
{
CanTxMsg TxMessage;
u8 i,mbox;
u16 cunt = 0;

//TxMessage.StdId = 0x0000;
TxMessage.ExtId = 0x1001;
TxMessage.IDE = CAN_ID_EXT;
TxMessage.RTR = CAN_RTR_DATA;
TxMessage.DLC = len;
for(i = 0;i < len;i ++)
{
TxMessage.Data[i] = msg[i];
}
mbox = CAN_Transmit(CAN1,&TxMessage);

while((CAN_TransmitStatus(CAN1, mbox)==CAN_TxStatus_Failed)&&(cunt<0XFFF))
cunt++;
if(cunt >= 0xFFF)
return 0;
return 1;
}
/***********************main.h******************/
#include "main.h"
int main(void)
{
u8 send_buf[8] = {0x00,0x11,0x22,0x33,0x44,0x55,0x66,0x77};
u8 i = 0x00;

NVIC_Configuration();
LED_Init();
Delay_Init();
Usart1_Init(9600);
Can_Init();
printf("这里是CAN的测试程序\r\n");
LED0 = 1;
while(1)                      //主循环
{
// if(CAN_RX_FLAG == 1)
// {
// CAN_RX_FLAG = 0;
// USART1TxData_hex(CAN_RX_BUF,8);
// }

i++;

send_buf[0] = i;

CAN_Send_Msg(send_buf,8);

Delay_Ms(100);
LED0 = !LED0;
}
}
需要注意！！！！两个开发板的CAN_RX和CAN_TX不能直接对接，需要在此之间接上CAN收发器。