STM32F103芯片CAN總線應用程序

1、/* -Copyright(a)-作者：日期：修改記錄：描述： STM32共有14組過濾器，用以對接收到的幀進行過濾。每組過濾器包括了2個可配置的32位寄存器：CAN_FxR0和CAN_FxR1。 對于過濾器組，可以將其配置成屏蔽位模式，這樣CAN_FxR0中保存的就是標識符匹配值，CAN_FxR1中保存的是屏蔽碼， 即CAN_FxR1中如果某一位為1， 則CAN_FxR0中相應的位必須與收到的幀的標志符中的相應位吻合才能通過過濾器；CAN_FxR1中為0的位表示CAN_FxR0中的相應位可不必與收到的幀進行匹配。 過濾器組還可以被配置成標識符列表模式，此時CAN_FxR0和CAN_FxR1中

2、的都是要匹配的標識符，收到的幀的標識符必須與其中的一個吻合才能通過過濾。 例如： CAN_FilterInitStructure.CAN_FilterNumber=0; /設置第一組過濾器 CAN_FilterInitStructure.CAN_FilterMode=CAN_FilterMode_IdMask; /屏蔽位模式 CAN_FilterInitStructure.CAN_FilterScale=CAN_FilterScale_32bit; /32位 CAN_FilterInitStructure.CAN_FilterIdHigh=(0x0635<<5); /接收ID為63

3、5的消息 11位幀ID 標準幀因此左移5 CAN_FilterInitStructure.CAN_FilterIdLow=0x0000; CAN_FilterInitStructure.CAN_FilterMaskIdHigh=0xffff; / CAN_FilterInitStructure.CAN_FilterMaskIdLow=0xffff; CAN_FilterInitStructure.CAN_FilterFIFOAssignment=CAN_FIFO0; /第一組過濾器指向FIFO0 CAN_FilterInitStructure.CAN_FilterActivation=ENAB

4、LE; CAN_FilterInit(&CAN_FilterInitStructure); 濾波器配置詳細如下： 1、對擴展數(shù)據(jù)幀進行過濾:(只接收擴展數(shù)據(jù)幀) CAN_FilterInitStructure.CAN_FilterIdHigh = (u32)slave_id<<3)&0xFFFF0000)>>16; CAN_FilterInitStructure.CAN_FilterIdLo=(u32)slave_id<<3)|CAN_ID_EXT|CAN_RTR_DATA)&0xFFFF; CAN_FilterInitStructu

5、re.CAN_FilterMaskIdHigh = 0xFFFF; CAN_FilterInitStructure.CAN_FilterMaskIdLow = 0xFFFF; (注：標準幀數(shù)據(jù)幀、標準遠程幀和擴展遠程幀均被過濾) 2、對擴展遠程幀過濾:(只接收擴展遠程幀) CAN_FilterInitStructure.CAN_FilterIdHigh = (u32)slave_id<<3)&0xFFFF0000)>>16; CAN_FilterInitStructure.CAN_FilterIdLow = (u32)slave_id<<3)|CAN

6、_ID_EXT|CAN_RTR_REMOTE)&0xFFFF; CAN_FilterInitStructure.CAN_FilterMaskIdHigh = 0xFFFF; CAN_FilterInitStructure.CAN_FilterMaskIdLow = 0xFFFF; 3、對標準遠程幀過濾:(只接收標準遠程幀) CAN_FilterInitStructure.CAN_FilterIdHigh = (u32)slave_id<<21)&0xffff0000)>>16; CAN_FilterInitStructure.CAN_FilterIdLo

7、w = (u32)slave_id<<21)|CAN_ID_STD|CAN_RTR_REMOTE)&0xffff; CAN_FilterInitStructure.CAN_FilterMaskIdHigh = 0xFFFF; CAN_FilterInitStructure.CAN_FilterMaskIdLow = 0xFFFF; 4、對標準數(shù)據(jù)幀過濾:(只接收標準數(shù)據(jù)幀) CAN_FilterInitStructure.CAN_FilterIdHigh = (u32)slave_id<<21)&0xffff0000)>>16; CAN_Fi

8、lterInitStructure.CAN_FilterIdLow = (u32)slave_id<<21)|CAN_ID_STD|CAN_RTR_DATA)&0xffff; CAN_FilterInitStructure.CAN_FilterMaskIdHigh = 0xFFFF; CAN_FilterInitStructure.CAN_FilterMaskIdLow = 0xFFFF; 5、對擴展幀進行過濾:(擴展幀不會被過濾掉) CAN_FilterInitStructure.CAN_FilterIdHigh = (u32)slave_id<<3)&

9、;0xFFFF0000)>>16; CAN_FilterInitStructure.CAN_FilterIdLow = (u32)slave_id<<3)|CAN_ID_EXT)&0xFFFF; CAN_FilterInitStructure.CAN_FilterMaskIdHigh = 0xFFFF; CAN_FilterInitStructure.CAN_FilterMaskIdLow = 0xFFFC; 6、對標準幀進行過濾:(標準幀不會被過濾掉) CAN_FilterInitStructure.CAN_FilterIdHigh = (u32)slave_

10、id<<21)&0xffff0000)>>16; CAN_FilterInitStructure.CAN_FilterIdLow = (u32)slave_id<<21)|CAN_ID_STD)&0xffff; CAN_FilterInitStructure.CAN_FilterMaskIdHigh = 0xFFFF; CAN_FilterInitStructure.CAN_FilterMaskIdLow = 0xFFFC; 注：slave_id為要過濾的id號。*/#include "CAN.h"/*/全局變量聲明/引用

11、處extern volatile unsigned char Can_Flag; /CAN發(fā)送數(shù)據(jù)完成flag 標志/*作者：描述：CAN 初始化、CAN波特率=PCLK1/(BRP+1)*(TS1+TS2+3)*/void Init_CAN(void) NVIC_InitTypeDef NVIC_InitStructure; GPIO_InitTypeDef GPIO_InitStructure; CAN_InitTypeDef CAN_InitStructure; CAN_FilterInitTypeDef CAN_FilterInitStructure; RCC_APB1PeriphCl

12、ockCmd(RCC_APB1Periph_CAN1, ENABLE); / CAN 口時鐘使能 RCC_APB2PeriphClockCmd(RCC_APB2Periph_GPIOA, ENABLE); / I/O 口時鐘使能 /* Configure CAN pin: RX PA11 */ GPIO_InitStructure.GPIO_Pin = GPIO_Pin_11; GPIO_InitStructure.GPIO_Mode = GPIO_Mode_IPU; GPIO_Init(GPIOA, &GPIO_InitStructure); /* Configure CAN pin

13、: TX PA12*/ GPIO_InitStructure.GPIO_Pin = GPIO_Pin_12; GPIO_InitStructure.GPIO_Mode = GPIO_Mode_AF_PP; GPIO_Init(GPIOA, &GPIO_InitStructure); /* CAN register init */ CAN_DeInit(CAN1); CAN_StructInit(&CAN_InitStructure); /* CAN cell init */ CAN_InitStructure.CAN_TTCM=DISABLE; /禁止時間觸發(fā)通信模式 CAN_

14、InitStructure.CAN_ABOM=DISABLE; CAN_InitStructure.CAN_AWUM=DISABLE; /睡眠模式通過清除sleep位來喚醒 CAN_InitStructure.CAN_NART=DISABLE; /ENABLE;報文自動重傳 CAN_InitStructure.CAN_RFLM=DISABLE; /接收溢出時，F(xiàn)IFO未鎖定 CAN_InitStructure.CAN_TXFP=DISABLE; /發(fā)送的優(yōu)先級由標示符的大小決定 CAN_InitStructure.CAN_Mode=CAN_Mode_Normal; /CAN_Mode_Loop

15、Back;/ CAN_InitStructure.CAN_SJW=CAN_SJW_1tq; /SJW=0 /波特率計算，PCLK1=36MHZ,CAN波特率=36MHZ/(2+1)*(15+6+3)=500Kbs CAN_InitStructure.CAN_BS1=CAN_BS1_16tq; /TS1=15 /波特率計算，PCLK1=36MHZ,CAN波特率=PCLK1/(BRP+1)*(TS1+TS2+3) CAN_InitStructure.CAN_BS2=CAN_BS2_7tq; /TS2=6 CAN_InitStructure.CAN_Prescaler=3; /BRP=2 9/ 45

16、=50K/ CAN_Init(CAN1,&CAN_InitStructure); /* CAN filter init */ CAN_FilterInitStructure.CAN_FilterNumber=0; /第1組過濾器 CAN_FilterInitStructure.CAN_FilterMode=CAN_FilterMode_IdMask; /屏蔽位模式 CAN_FilterInitStructure.CAN_FilterScale=CAN_FilterScale_32bit; /32位 CAN_FilterInitStructure.CAN_FilterIdHigh=0x0

17、000; CAN_FilterInitStructure.CAN_FilterIdLow=0x0000; CAN_FilterInitStructure.CAN_FilterMaskIdHigh=0x0000; CAN_FilterInitStructure.CAN_FilterMaskIdLow=0x0000; CAN_FilterInitStructure.CAN_FilterFIFOAssignment=0; /第一組過濾器指向FIFO0 CAN_FilterInitStructure.CAN_FilterActivation=ENABLE; CAN_FilterInit(&CA

18、N_FilterInitStructure); /* Enable CAN RX0 interrupt IRQ channel*/ NVIC_PriorityGroupConfig(NVIC_PriorityGroup_0); /中斷優(yōu)先級組選擇0組使用 NVIC_InitStructure.NVIC_IRQChannel = USB_LP_CAN1_RX0_IRQn; /USB_HP_CAN1_TX_IRQn 接收中斷使能 NVIC_InitStructure.NVIC_IRQChannelPreemptionPriority = 1; /搶占優(yōu)先級 NVIC_InitStructure.N

19、VIC_IRQChannelSubPriority = 2; /響應優(yōu)先級 NVIC_InitStructure.NVIC_IRQChannelCmd = ENABLE; NVIC_Init(&NVIC_InitStructure); /* CAN FIFO0 message pending interrupt enable */ CAN_ITConfig(CAN1,CAN_IT_FMP0, ENABLE); /使能過濾器中斷 /*作者：描述：CAN 發(fā)送 一標準幀數(shù)據(jù)*/void CAN_Send(unsigned short int SID,unsigned char data1,

20、unsigned char data2,unsigned char data3,unsigned char data4,unsigned char data5,unsigned char data6,unsigned char data7) /CAN 發(fā)送 一標準幀數(shù)據(jù) CanTxMsg TxMessage; CanRxMsg RxMessage; unsigned char TransmitMailbox; Can_Flag = 0; /* transmit 1 message */ TxMessage.StdId=SID;/0x101; /SID;/0x00; ID標示符/ TxMessa

21、ge.ExtId=0x1234; TxMessage.RTR=CAN_RTR_DATA; /選擇數(shù)據(jù)幀 TxMessage.IDE=CAN_ID_STD; /CAN_ID_EXT;/ /選擇標準幀 TxMessage.DLC=7; TxMessage.Data0=data1; /data1; TxMessage.Data1=data2; /data2; TxMessage.Data2=data3; /data3; TxMessage.Data3=data4; /data4; TxMessage.Data4=data5; /data5; TxMessage.Data5=data6; /data6; TxMessage.Data6=data7; /data7;/ TxMessage.Data7=0x00; /data8;TransmitMailbox = CAN_Transmit(CAN1,&TxMessage); while(CAN_TransmitStatus(CAN1,TransmitMailbox) != CANTXOK); Can_Flag = 1; /* receive*/ RxMessage.StdId=0x00; RxMessage.IDE=CAN_ID_