CAN通信求助

水龙王2016 · 发表于 2016-11-7 20:16:25

本帖最后由水龙王2016 于 2016-11-7 21:55 编辑

原子，你好：，我在学习STM32F103的CAN通信，我想设置我的板子ID为1，切只接收发送ID为1的邮件，应该怎么设置？我反复看了CAN通信例程，也搜索了论坛有关CAN的帖子，也没有搞懂，希望你能帮助我，谢谢！！

extern u8 table[20][8];


u8 CAN_Mode_Init(u8 tsjw,u8 tbs2,u8 tbs1,u16 brp,u8 mode)
{
      u16 i=0;
      if(tsjw==0||tbs2==0||tbs1==0||brp==0)return 1;
      tsjw-=1;
      tbs2-=1;
      tbs1-=1;
      brp-=1;

      RCC->APB2ENR|=1<<2;
      GPIOA->CRH&=0XFFF00FFF;
      GPIOA->CRH|=0X000B8000;
  GPIOA->ODR|=3<<11;

      RCC->APB1ENR|=1<<25;
      CAN->MCR=0x0000;
      CAN->MCR|=1<<0;
      while((CAN->MSR&1<<0)==0)
      {
            i++;
            if(i>100)return 2;
      }
      CAN->MCR|=0<<7;
      CAN->MCR|=0<<6;
      CAN->MCR|=0<<5;
      CAN->MCR|=1<<4;
      CAN->MCR|=0<<3;
      CAN->MCR|=0<<2;
      CAN->BTR=0x00000000;
      CAN->BTR|=mode<<30;
      CAN->BTR|=tsjw<<24;
      CAN->BTR|=tbs2<<20;
      CAN->BTR|=tbs1<<16;
      CAN->BTR|=brp<<0;

      CAN->MCR&=~(1<<0);
      while((CAN->MSR&1<<0)==1)
      {
            i++;
            if(i>0XFFF0)return 3;
      }

      CAN->FMR|=1<<0;
      CAN->FA1R&=~(1<<0);
      CAN->FS1R|=1<<0;
      CAN->FM1R|=0<<0;
      CAN->FFA1R|=0<<0;
      CAN->sFilterRegister[0].FR1=0x00000001; //32Î位ID，对吗？
      CAN->sFilterRegister[0].FR2=0xffffffff;       //32Î位MASK，对吗？
      CAN->FA1R|=1<<0;
      CAN->FMR&=0<<0;

#if CAN_RX0_INT_ENABLE

      CAN->IER|=1<<1;
      MY_NVIC_Init(1,0,USB_LP_CAN_RX0_IRQChannel,2);
#endif
      return 0;
}