EEPW论坛

unsigned char CAN_MessageSend(void); //报文发送函数
void GPIO_Configuration(void)
{
 GPIO_InitTypeDef GPIO_InitStructure;

   /* Configure PE.02, PE.03, PE.04 and PE.05 as Output push-pull */
   GPIO_InitStructure.GPIO_Pin = GPIO_Pin_2 | GPIO_Pin_3 | GPIO_Pin_4 | GPIO_Pin_5;
   GPIO_InitStructure.GPIO_Mode = GPIO_Mode_Out_PP;
   GPIO_InitStructure.GPIO_Speed = GPIO_Speed_50MHz;
   GPIO_Init(GPIOE, &GPIO_InitStructure);

    GPIO_PinRemapConfig(GPIO_Remap1_CAN1, ENABLE );    //重影射CAN IO脚到 PB8，PB9
   /* Configure CAN pin: RX */
   GPIO_InitStructure.GPIO_Pin = GPIO_Pin_8;
   GPIO_InitStructure.GPIO_Mode = GPIO_Mode_IPU;
   GPIO_Init(GPIOB, &GPIO_InitStructure);
 
   /* Configure CAN pin: TX */
   GPIO_InitStructure.GPIO_Pin = GPIO_Pin_9;
   GPIO_InitStructure.GPIO_Mode = GPIO_Mode_AF_PP;
   GPIO_Init(GPIOB, &GPIO_InitStructure);

 GPIO_SetBits(GPIOE, GPIO_Pin_2);
 GPIO_SetBits(GPIOE, GPIO_Pin_3);
 GPIO_SetBits(GPIOE, GPIO_Pin_4);
 GPIO_SetBits(GPIOE, GPIO_Pin_5);
}
//系统中断管理
void NVIC_Configuration(void)
{
 NVIC_InitTypeDef NVIC_InitStructure;

   /* Configure the NVIC Preemption Priority Bits */ 
   NVIC_PriorityGroupConfig(NVIC_PriorityGroup_0);

 #ifdef  VECT_TAB_RAM 
   /* Set the Vector Table base location at 0x20000000 */
   NVIC_SetVectorTable(NVIC_VectTab_RAM, 0x0);
 #else  /* VECT_TAB_FLASH  */
   /* Set the Vector Table base location at 0x08000000 */
   NVIC_SetVectorTable(NVIC_VectTab_FLASH, 0x0);  
 #endif

}

//配置系统时钟,使能各外设时钟
void RCC_Configuration(void)
{
 SystemInit(); 
 RCC_APB2PeriphClockCmd(RCC_APB2Periph_USART1 | RCC_APB2Periph_GPIOA
                           |RCC_APB2Periph_GPIOB | RCC_APB2Periph_GPIOC
                           |RCC_APB2Periph_GPIOD | RCC_APB2Periph_GPIOE
         |RCC_APB2Periph_ADC1  | RCC_APB2Periph_AFIO
                           |RCC_APB2Periph_SPI1, ENABLE );
    RCC_APB1PeriphClockCmd(RCC_APB1Periph_TIM4 |RCC_APB1Periph_USART3|RCC_APB1Periph_TIM2 , ENABLE );
 RCC_AHBPeriphClockCmd(RCC_AHBPeriph_DMA1, ENABLE);
 RCC_APB1PeriphClockCmd(RCC_APB1Periph_CAN1, ENABLE); //使能CAN的时钟
}

//配置所有外设
void Init_All_Periph(void)
{
 RCC_Configuration(); 
 GPIO_Configuration();
 NVIC_Configuration();
// USART1_Configuration();
}
int main(void)
{ 
 Init_All_Periph();
  while(1)
   {
  /* CAN transmit at 100Kb/s and receive by polling in normal mode */
     TestTx = CAN_MessageSend();
     if (TestTx == 1)
     {
        GPIO_ResetBits(GPIOE,GPIO_Pin_5);
        delay_nms(1000);   // LED1闪烁一次，发送一个字符
        GPIO_SetBits(GPIOE,GPIO_Pin_5);
        delay_nms(1000);
     }
   }
}

unsigned char CAN_MessageSend(void)
{
  CAN_InitTypeDef   CAN_InitStructure;
  CanTxMsg TxMessage;
 volatile u8 TransmitMailbox=0;
  u32 i;
  /* CAN register init */
  CAN_DeInit(CAN1);
  CAN_StructInit(&CAN_InitStructure);

  /* CAN cell init */
  CAN_InitStructure.CAN_TTCM=DISABLE; //禁止时间触发通讯模式
  CAN_InitStructure.CAN_ABOM=DISABLE; //禁止自动离线模式
  CAN_InitStructure.CAN_AWUM=DISABLE; //禁止自动唤醒模式
  CAN_InitStructure.CAN_NART=DISABLE; //自动重传模式
  CAN_InitStructure.CAN_RFLM=DISABLE; //禁止接收FIFO锁定模式,当接收FIFO的报文未被读出，下一个收到的报文会覆盖原有的报文
  CAN_InitStructure.CAN_TXFP=DISABLE; //禁止发送FIFO优先级,优先级由报文的标识符来决定
  CAN_InitStructure.CAN_Mode=CAN_Mode_Normal;//CAN硬件工作在正常模式
  CAN_InitStructure.CAN_SJW=CAN_SJW_1tq;//重新同步跳跃宽度1个时间单位
  CAN_InitStructure.CAN_BS1=CAN_BS1_8tq;//时间段1为8个时间单位
  CAN_InitStructure.CAN_BS2=CAN_BS2_7tq;//时间段2为7个时间单位
  CAN_InitStructure.CAN_Prescaler=5;        //  (pclk1/((1+8+7)*9)) = 36Mhz/[(CAN_SJW_1tq+CAN_BS1_8tq+CAN_BS2_7tq)*(CAN_Prescaler)] = 100Kbits
                                            //  设定了一个时间单位的长度
  CAN_Init(CAN1,&CAN_InitStructure);//初始化CAN

  /* transmit 1 message */
  TxMessage.StdId=0x00;
  TxMessage.ExtId=0x1234;
  TxMessage.IDE=CAN_ID_EXT;//使用标准格式,扩展格式为：TxMessage.IDE=CAN_ID_EXT;
  TxMessage.RTR=CAN_RTR_DATA; //数据帧
  TxMessage.DLC=2;
  TxMessage.Data[0]=0xDE;
  TxMessage.Data[1]=0xCA;

            
  /*数据发送*/  
  TransmitMailbox = CAN_Transmit(CAN1,&TxMessage);
  i = 0;
  while((CAN_TransmitStatus(CAN1,TransmitMailbox) != CANTXOK) && (i != 0xFF)) //等待CAN总线传输数据成功
  {
      i++;
   
  }        
  if(i==0xff)//发送超时，但发送不成功
  {
           GPIO_ResetBits(GPIOE,GPIO_Pin_4);
        delay_nms(1000);   // LED1闪烁一次，发送一个字符
        GPIO_SetBits(GPIOE,GPIO_Pin_4);
        delay_nms(1000);
    return 0;
  }

   return 1;
}

接收程序：


#include "stm32f10x.h"
//#include "USART.h"
#include "delay.h"

typedef enum {FAILED = 0, PASSED = !FAILED} TestStatus;
vu32 ret = 0; /* for return of the interrupt handling */
ErrorStatus HSEStartUpStatus;

void CAN_Interrupt_MessageReceive(void);//中断方式

void GPIO_Configuration(void)
{
 GPIO_InitTypeDef GPIO_InitStructure;

   GPIO_InitStructure.GPIO_Pin = GPIO_Pin_2 | GPIO_Pin_3 | GPIO_Pin_4 | GPIO_Pin_5;
   GPIO_InitStructure.GPIO_Mode = GPIO_Mode_Out_PP;
   GPIO_InitStructure.GPIO_Speed = GPIO_Speed_50MHz;
   GPIO_Init(GPIOE, &GPIO_InitStructure);

   /* Configure CAN pin: RX */
   GPIO_InitStructure.GPIO_Pin = GPIO_Pin_8;
   GPIO_InitStructure.GPIO_Mode = GPIO_Mode_IPU;
   GPIO_Init(GPIOB, &GPIO_InitStructure);
 
   /* Configure CAN pin: TX */
   GPIO_InitStructure.GPIO_Pin = GPIO_Pin_9;
   GPIO_InitStructure.GPIO_Mode = GPIO_Mode_AF_PP;
   GPIO_Init(GPIOB, &GPIO_InitStructure);
 GPIO_PinRemapConfig(GPIO_Remap1_CAN1, ENABLE );    //重影射CAN IO脚到 PB8，PB9

 GPIO_SetBits(GPIOE, GPIO_Pin_2);
 GPIO_SetBits(GPIOE, GPIO_Pin_3);
 GPIO_SetBits(GPIOE, GPIO_Pin_4);
 GPIO_SetBits(GPIOE, GPIO_Pin_5);
}
//系统中断管理
void NVIC_Configuration(void)
{
 NVIC_InitTypeDef NVIC_InitStructure;
   /* Configure the NVIC Preemption Priority Bits */ 
   NVIC_PriorityGroupConfig(NVIC_PriorityGroup_0);

 #ifdef  VECT_TAB_RAM 
   /* Set the Vector Table base location at 0x20000000 */
   NVIC_SetVectorTable(NVIC_VectTab_RAM, 0x0);
 #else  /* VECT_TAB_FLASH  */
   /* Set the Vector Table base location at 0x08000000 */
   NVIC_SetVectorTable(NVIC_VectTab_FLASH, 0x0);  
 #endif

 /* enabling interrupt */
   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);
}

//配置系统时钟,使能各外设时钟
void RCC_Configuration(void)
{
 SystemInit(); 
 RCC_APB2PeriphClockCmd(RCC_APB2Periph_USART1 | RCC_APB2Periph_GPIOA
                           |RCC_APB2Periph_GPIOB | RCC_APB2Periph_GPIOC
                           |RCC_APB2Periph_GPIOD | RCC_APB2Periph_GPIOE
         |RCC_APB2Periph_ADC1  | RCC_APB2Periph_AFIO
                           |RCC_APB2Periph_SPI1, ENABLE );
     RCC_APB1PeriphClockCmd(RCC_APB1Periph_TIM4
                           |RCC_APB1Periph_USART3|RCC_APB1Periph_TIM2                           
                           , ENABLE );
  RCC_AHBPeriphClockCmd(RCC_AHBPeriph_DMA1, ENABLE);

  RCC_APB1PeriphClockCmd(RCC_APB1Periph_CAN1, ENABLE);
}

//配置所有外设
void Init_All_Periph(void)
{
 RCC_Configuration(); 
 GPIO_Configuration();
 NVIC_Configuration();
// USART1_Configuration();
}
int main(void)
{ 
 Init_All_Periph();
 /* CAN transmit at 100Kb/s*/
        CAN_Interrupt_MessageReceive();
  while(1)
   {
  if(ret == 1)
     {
        GPIO_ResetBits(GPIOE,GPIO_Pin_3);
        delay_nms(1000);   // LED1闪烁一次，发送一个字符
        GPIO_SetBits(GPIOE ,GPIO_Pin_3);
        delay_nms(1000);
       ret = 0;//复位标志
     }
   }
}
/*******************************************************************************
* Function Name  : CAN_Interrupt
* Description    : Configures the CAN, transmit and receive using interrupt.
* Input          : None
* Output         : None
* Return         : PASSED if the reception is well done, FAILED in other case
*******************************************************************************/
void CAN_Interrupt_MessageReceive(void) //CAN中断接收配置程序
{
  CAN_InitTypeDef        CAN_InitStructure;
  CAN_FilterInitTypeDef  CAN_FilterInitStructure;
 

  /* CAN register init */
  CAN_DeInit(CAN1);
  CAN_StructInit(&CAN_InitStructure);

  /* CAN cell init */
  CAN_InitStructure.CAN_TTCM=DISABLE;
  CAN_InitStructure.CAN_ABOM=DISABLE;
  CAN_InitStructure.CAN_AWUM=DISABLE;
  CAN_InitStructure.CAN_NART=DISABLE;
  CAN_InitStructure.CAN_RFLM=DISABLE;
  CAN_InitStructure.CAN_TXFP=DISABLE;
  CAN_InitStructure.CAN_Mode=CAN_Mode_Normal;
  CAN_InitStructure.CAN_SJW=CAN_SJW_1tq;
  CAN_InitStructure.CAN_BS1=CAN_BS1_8tq;
  CAN_InitStructure.CAN_BS2=CAN_BS2_7tq;
  CAN_InitStructure.CAN_Prescaler=5;  //波特率=1/[(1+8+7)*5/36000000]=450kHZ
  CAN_Init(CAN1,&CAN_InitStructure); 

  /* CAN filter init */
  CAN_FilterInitStructure.CAN_FilterNumber=0;
  CAN_FilterInitStructure.CAN_FilterMode=CAN_FilterMode_IdMask;
  CAN_FilterInitStructure.CAN_FilterScale=CAN_FilterScale_32bit;
  CAN_FilterInitStructure.CAN_FilterIdHigh=0x0000;
  CAN_FilterInitStructure.CAN_FilterIdLow=0x91a4;
  CAN_FilterInitStructure.CAN_FilterMaskIdHigh=0xffff;
  CAN_FilterInitStructure.CAN_FilterMaskIdLow=0xffff;
  CAN_FilterInitStructure.CAN_FilterFIFOAssignment=CAN_FIFO0;
  CAN_FilterInitStructure.CAN_FilterActivation=ENABLE;
  CAN_FilterInit(&CAN_FilterInitStructure);

  /* CAN FIFO0 message pending interrupt enable */
  CAN_ITConfig(CAN1,CAN_IT_FMP0, ENABLE);
}
/*******************************************************************************
* Function Name  : USB_LP_CAN_RX0_IRQHandler
* Description    : This function handles USB Low Priority or CAN RX0 interrupts
*                  requests.
* Input          : None
* Output         : None
* Return         : None
*******************************************************************************/
void USB_LP_CAN1_RX0_IRQHandler(void)//CAN接受中断服务程序
{
  CanRxMsg RxMessage;

  RxMessage.StdId=0x00;
  RxMessage.ExtId=0x00;
  RxMessage.IDE=0;
  RxMessage.DLC=1;
  RxMessage.FMI=0;
  RxMessage.Data[0]=0x00;
  RxMessage.Data[1]=0x00;

  CAN_Receive(CAN1,CAN_FIFO0, &RxMessage);

  if((RxMessage.ExtId==0x1234) && (RxMessage.IDE==CAN_ID_EXT)
     && (RxMessage.DLC==2) && ((RxMessage.Data[1]|RxMessage.Data[0]<<8)==0xDECA))
  {
//        GPIO_ResetBits(GPIOE,GPIO_Pin_5);
//        delay_nms(1000);   // LED1闪烁一次，发送一个字符
//        GPIO_SetBits(GPIOE,GPIO_Pin_5);
//        delay_nms(1000);
    ret = 1;
  }
  else
  {
    ret = 0;
  }
}