STM32_CAN總線使用說明

1、STM32F103*的CAN總線使用說明1.配置CAN時鐘、映射、IO 口RCC_APB 1 PeriphClockCmd(RCC_APB 1 Periph.CAN I. ENABLE);RCC_APB2PeriphClockCmd(RCC_APB2Periph_USARTl I RCC_APB2Periph_GPI0A I RCC_APB2Pcriph_GPI0B I RCC_APB2Pcriph_GPI0C I RCC_APB2Pcriph_AH0. ENABLE);GPIO_PinRemapConfig(GPIO_Remap 1 _CAN 1 .ENABLE);打開對應IO/* Conf

2、igure CAN pin: RX */GPIOJnitStnicture.GPIO_Pin = GPIO_Pin_ &GPIO InitStructure.GPIO Mode = GPIO Mode 1PU;GPI0_Init(GP10B. &GPIO_InitStructurc);/* Configure CAN pin: TX */GPIO InitStructure.GPIO Pin = GPIO Pin 9;GPIO_InitStructurc.GPIO_Modc = GPIO_Modc_AF_PP:GPIO_Init(GPIOB. &GPIOJnitStru

3、cture);2使能CAN中斷向量NVICnitStructurc.NVICRQCh;umcl = USB_LP_CANl_RXOJRQn: NVIC_InitStnicture.NVIC_IRQChannelPreemptionPriority = 0;NVIC_lnitStmcture.NVICRQChannclSubPriority = 1; NVIC_InitStructure.NVIC_lRQChiinneICind = ENABLE;NVICnit(&NVICJnitStructurc);3.CAN硬件寄存器配置初始化CAN_DeInit(CANl);與 2.0 庫何區(qū)別：

4、CAN_StructInit(&CAN_InitStructurc);CAN_InitStructure.CAN_TTCM=DISABLE;CANnitStructure.CAN_ABOM=ENABLE;總線斷開后口動修復；CAN_InitSlructurc.CAN_AWUM=DlSABLE:CAN_InitStructurc.CAN_NART=DISABLE; CANJnitStructure.CAN_RFLM=DISABLE;CANnitStructure.CAN_TXFP=DISABLE:CAN InitStructure.CAN Modc=CAN Mode LoopBack;/

5、CAN Mode Silent;/CAN Mode Normal ;/CAN_Mode_LoopBacky/CAN_InitStructure.CAN_SJW=CAN_SJW_ltq;CAN_InitStructurc.CAN_BSl=CAN_BSl_6tq;CAN_InitStructurc.CAN_BS2=CAN_BS2_4tq;CANnitStructure.CAN_Prescaler=C ANOOk.Prescaler;CANnit(CANL &CANnitStructure);4 過濾器初始化CAN_ElterInitStnicture.CAN_FilterNumber=O;

6、CAN_FilterInitStructure.CAN_FilterMode=CAN_FilterMode_IdMask;/CAN_FilterMode_IdL ist; 標識符模式；/CAN_FilterInitStructure.CAN_FikerMo<lc=CAN_FilterMode_IdList;/r 展模式濾波器CAN_FilterInitStructure.CAN_FiltcrScale=CAN_FiltcrScale_32bit: 32 位過濾器：CAN_FilterInitStructure.CAN_FilterIdHigh=OxO26O;適用 TxMessage.St

7、dId=Ox 13;標識符寄存器；CAN_FilterInitStructure.CAN_FilterIdLow=OxOOOO:CAN_FilterInitStructure.CAN_FiltcrMaskIdHigh=0x0260:屏蔽寄存器(不屏蔽)；CAN_FilterInitStructure.CAN_FilterMaskIdLow=OxOOOO;產(chǎn)屏蔽寄存器0表示屏蔽，1表示不屏蔽*/CAN_FilterInitStructure.CAN_FilterFIFOAssignment=0;CAN_FilterInitStmcture.CAN_FilterActivation=ENABLE;

8、 CAN_FilterInit(&CAN_FilterInitStructure);5打開CAN接收中斷CANTConfig(CANl, CAN_IT_FMPO. ENABLE);6編輯發(fā)送數(shù)據(jù)(標識符模式和擴展模式)TxMcssage.StdId=Ox 10:TxMessage.RTR=CAN_RTR_DATA:TxMessage.IDE=CAND_STD;/(標識符模式)/ CAN_ID_EXT (擴展標識符模式)TxMessage.DLC=8:TxMessage.DataO =0x01;TxMessage.Data| 1 =0x01;TxMessage.Data| 2 =0x01

9、;TxMessage.Data3 =0x01;TxMessage.Data4 =0x01;TxMessage.Data|5 =0x01;TxMessage.Data|6| =0x01;T xMessage. Data 7 =0x01;CAN_Transmit(CAN 1, &TxMessage);7 査詢是否發(fā)送完成i = 0;while(CAN_TransmitStatus(CAN 1, TransmitMailbox) != CANTXOK) && (i != Ox卜卜卜) 與2.0庫有異；判斷發(fā)送數(shù)據(jù)成功i+；if(CAN_TransmitStatus(CAN 1

10、. TransmitMailbox) = CANTXPENDING)表示數(shù)據(jù)疋在發(fā)送屮。8 接收數(shù)據(jù)void receive(void)u32 i;CanRxMsg RxMessage;i = 0;while(CAN_MessagePending(CAN 1 CAN_F1FOO) < 1) && (i != OxFF)if（i=OxFF） 表示沒自收到數(shù)據(jù)elseRxMcssage.StdId=OxOO;RxMessage.IDE=CAN_ID_STD;RxMessage.DLC=O;RxMessage.Data0=0x00;RxMessagc.Data 1 =0x00:

11、RxMessage.Data2=0x00;RxMessage.Data|3=0x00;RxMessage.Data4=OxOO;RxMessagc.Data5=0x00;RxMessage.Data6=OxOO;RxMessage.Data| 7 |=0x00;CAN_Receive(CAN 1, CAN_FIFOO, &RxMessage);void USB.LP.CAN 1.RX0 JRQHandlcr(void) CanRxMsg RxMessage;RxMessage.StdId=OxOO:RxMessage.ExtId=OxOO：RxMessage.IDE=O;RxMessa

12、gc.DLC=O;RxMessage.FMI=O;RxMessage.Data0=OxOO;RxMessage.Data| 1 |=0x00;RxMessage.Data 2 |=OxOO;RxMessage.Dataf 3 =OxOO;RxMessage.Data4=0x00;RxMessage.Data5 |=OxOO;RxMessage.Data|6|=0x00;RxMessage.Data7 =0x00;CAN_Receive(CANl, CAN_FIFOO. &RxMessage);if(RxMessage.IDE=CAN_ID_STD)ret = 1;elseret = 0

13、;I發(fā)送ID與過濾器設置的對應求值算法:發(fā)送數(shù)據(jù)的ID耍求：TxMessage.StdId=0x00;TxMessage.ExtId=Ox 1234;T xMcssage.IDE=0x04;TxMessage.RTR=O;過濾器所對應的配置:32位，標識符模式31:2423:1615:87:0STID|10:3STID2:0EXID17:13EXID|12:5EXID|4:0 IDE RTR 0000000000(X)000001001000110100100CAN FilterIdHighCAN FilterIdLow000091A4得出：CAN_HlterInitStructure.CAN

14、_FilterIdHigh=0x0000;CAN_FilterInitStructure.CAN_FilterIdLow=0x91A4;備注總線模式說明：何詢CAN總線上的數(shù)據(jù)，不対總線進行任何操作的設直: 總線模式選擇CAN_Mode_Silent不要在總線上發(fā)送數(shù)據(jù)；過濾器設置為：CAN_FilterInitStructure.CAN_FilterIdHigh=0x0000;CAN_FilterInitStructurc.CAN_FilterIdLow=0x0000;CAN_FilterInitStructure.CAN_FiltcrMaskIdHigh=OxOOOO:CAN_Filter

15、InitStructure.CAN_FilterMaskIdLow=OxOOOO;開啟接收函數(shù):receive(); void receive(void)u32 Error:CanRxMsg RxMessage;i = 0;while(CAN_MessagePending(CAN 1, CAN_F1FOO) < I) && (i != OxFF) 有異：判斷接收到數(shù)據(jù)i+；if(i=0xFF)/ status = CAN_GetFlagStatus(CAN 1 .CAN_FLAG_BOF):/Error = C AN_GetError( C AN 1);/ Usart 1 Scnd32Bit(Error);elseRxMcssagc.StdId=OxOO:RxMes