一、 CAN.H。
#ifndef __CAN_H
#define __CAN_H
#include "stm32f10x.h"
#include "SysTick.h" //PA11--CANRX PA12--CANTX
//CAN接收RX0中断使能
#define CAN_RX0_INT_ENABLE 0 //0,不使能;1,使能.u8 CAN_Mode_Init(u8 tsjw,u8 tbs2,u8 tbs1,u16 brp,u8 mode);//CAN初始化u8 Can_Send_Msg(u8* msg,u8 len,u32* id); //发送数据u8 Can_Receive_Msg(u8 *buf); //接收数据#endif二、 CAN.C
#include "can.h"//CAN初始化
//tsjw:重新同步跳跃时间单元.范围:CAN_SJW_1tq~ CAN_SJW_4tq
//tbs2:时间段2的时间单元. 范围:CAN_BS2_1tq~CAN_BS2_8tq;
//tbs1:时间段1的时间单元. 范围:CAN_BS1_1tq ~CAN_BS1_16tq
//brp :波特率分频器.范围:1~1024; tq=(brp)*tpclk1
//波特率=Fpclk1/((tbs1+1+tbs2+1+1)*brp);
//mode:CAN_Mode_Normal,普通模式;CAN_Mode_LoopBack,回环模式;
//Fpclk1的时钟在初始化的时候设置为36M,如果设置CAN_Mode_Init(CAN_SJW_1tq,CAN_BS2_8tq,CAN_BS1_9tq,4,CAN_Mode_LoopBack);
//则波特率为:36M/((8+9+1)*4)=500Kbps
//返回值:0,初始化OK;
// 其他,初始化失败;
u8 CAN_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_APB2PeriphClockCmd(RCC_APB2Periph_GPIOA, ENABLE);//使能PORTA时钟 RCC_APB1PeriphClockCmd(RCC_APB1Periph_CAN1, ENABLE);//使能CAN1时钟 GPIO_InitStructure.GPIO_Pin = GPIO_Pin_12;GPIO_InitStructure.GPIO_Speed = GPIO_Speed_50MHz;GPIO_InitStructure.GPIO_Mode = GPIO_Mode_AF_PP; //复用推挽GPIO_Init(GPIOA, &GPIO_InitStructure); //初始化IOGPIO_InitStructure.GPIO_Pin = GPIO_Pin_11;GPIO_InitStructure.GPIO_Speed = GPIO_Speed_50MHz;GPIO_InitStructure.GPIO_Mode = GPIO_Mode_IPU; //上拉输入GPIO_Init(GPIOA, &GPIO_InitStructure); //初始化IO//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=ENABLE; //禁止报文自动传送 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_4tqCAN_InitStructure.CAN_BS1=tbs1; //Tbs1=tbs1+1个时间单位CAN_BS1_1tq ~CAN_BS1_16tqCAN_InitStructure.CAN_BS2=tbs2; //Tbs2=tbs2+1个时间单位CAN_BS2_1tq ~ CAN_BS2_8tqCAN_InitStructure.CAN_Prescaler=brp; //分频系数(Fdiv)为brp+1 CAN_Init(CAN1, &CAN_InitStructure); //初始化CAN1 CAN_FilterInitStructure.CAN_FilterNumber=0; //过滤器0CAN_FilterInitStructure.CAN_FilterMode=CAN_FilterMode_IdMask; //屏蔽位模式CAN_FilterInitStructure.CAN_FilterScale=CAN_FilterScale_32bit; //32位宽 CAN_FilterInitStructure.CAN_FilterIdHigh=0x0000; //32位IDCAN_FilterInitStructure.CAN_FilterIdLow=0x0000;CAN_FilterInitStructure.CAN_FilterMaskIdHigh=0x0000;//32位MASKCAN_FilterInitStructure.CAN_FilterMaskIdLow=0x0000;CAN_FilterInitStructure.CAN_FilterFIFOAssignment=CAN_Filter_FIFO0;//过滤器0关联到FIFO0CAN_FilterInitStructure.CAN_FilterActivation=ENABLE;//激活过滤器0CAN_FilterInit(&CAN_FilterInitStructure); //滤波器初始化// CAN_ITConfig(CAN1,CAN_IT_FMP0,ENABLE); //FIFO0消息挂号中断允许. // 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);return 0;
} //#if CAN_RX0_INT_ENABLE //使能RX0中断
中断服务函数
void USB_LP_CAN1_RX0_IRQHandler(void)
{CanRxMsg RxMessage;int i=0;CAN_Receive(CAN1, i, &RxMessage);}
//#endif//can发送一组数据(固定格式:ID为0X12,标准帧,数据帧)
//len:数据长度(最大为8)
//msg:数据指针,最大为8个字节.
//返回值:0,成功;
// 其他,失败;
u8 Can_Send_Msg(u8* msg,u8 len,u32* id)
{ u8 mbox;u16 i=0;CanTxMsg TxMessage;TxMessage.StdId=0X12; // 标准标识符 TxMessage.ExtId=*id; // 设置扩展标示符 TxMessage.IDE=CAN_Id_Extended; // 扩展帧TxMessage.RTR=CAN_RTR_Data; // 数据帧TxMessage.DLC=len; // 要发送的数据长度for(i=0;i<len;i++)TxMessage.Data[i]=msg[i]; mbox= CAN_Transmit(CAN1, &TxMessage); i=0; while((CAN_TransmitStatus(CAN1, mbox)==CAN_TxStatus_Failed)&&(i<0XFFF))i++; //等待发送结束if(i>=0XFFF)return 1;return 0;
}
//can口接收数据查询
//buf:数据缓存区;
//返回值:0,无数据被收到;
// 其他,接收的数据长度;
u8 Can_Receive_Msg(u8 *buf)
{ u32 i;CanRxMsg RxMessage;if( CAN_MessagePending(CAN1,CAN_FIFO0)==0)return 0; //没有接收到数据,直接退出 CAN_Receive(CAN1, CAN_FIFO0, &RxMessage);//读取数据 for(i=0;i<8;i++)buf[i]=RxMessage.Data[i]; return RxMessage.DLC;
}三、 MAIN.C。
#include "user.h"extern u8 Power_On;
extern u8 Power_Off;
extern u32 VStatus,AStatus,TStatus,mode,b;
int main(void){ NVIC_PriorityGroupConfig(NVIC_PriorityGroup_2);//设置中断优先级分组为组2：2位抢占优先级，2位响应优先级SysTick_Init(72);LED_Init();OLED_Init();EXTIX_Init();CAN_Mode_Init(CAN_SJW_1tq,CAN_BS2_8tq,CAN_BS1_9tq,16,CAN_Mode_Normal);//CAN初始化正常模式,波特率125Kbps while(1){user_main();}
} 四、 收发应用。
#include "user.h"
#include "bmp.h"u8 VA_Set_Buf[8]; //设置电压电流u32 Broad_ID_Buf1[6]={0x1907c080,0x1907c081,0x1907c082,0x1907c083,0x1907c084,0x1907c085};void user_main(void)
{ Can_Send_Msg(VA_Set_Buf,8,&Broad_ID_Buf1[1]);//发送电压电流设置
} 
