程序实现的是将激光传感器TTL信号转CAN信号发出,串口波特率为38400,CAN波特率为250Kbps。
单片机源程序如下:
- #include "can.h"
- #include "usart.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+tbs2+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;
- void 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;
-
- #if CAN_RX0_INT_ENABLE
- NVIC_InitTypeDef NVIC_InitStructure;
- #endif
-
- RCC_APB1PeriphClockCmd(RCC_APB1Periph_CAN1, ENABLE); //打开CAN1时钟
- RCC_APB2PeriphClockCmd(RCC_APB2Periph_GPIOA, ENABLE); //PA端口时钟打开
-
- GPIO_InitStructure.GPIO_Pin = GPIO_Pin_11; //PA11
- GPIO_InitStructure.GPIO_Mode = GPIO_Mode_IPU; //上拉输入模式
- GPIO_Init(GPIOA, &GPIO_InitStructure);
- GPIO_InitStructure.GPIO_Pin = GPIO_Pin_12; //PA12
- GPIO_InitStructure.GPIO_Mode = GPIO_Mode_AF_PP; //复用推挽输出
- GPIO_InitStructure.GPIO_Speed = GPIO_Speed_50MHz; //IO口速度为50MHz
- GPIO_Init(GPIOA, &GPIO_InitStructure);
-
- //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; //使用报文自动传送
- 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
- 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_4tq
- CAN_InitStructure.CAN_BS1=tbs1; //Tbs1范围CAN_BS1_1tq ~CAN_BS1_16tq
- CAN_InitStructure.CAN_BS2=tbs2;//Tbs2范围CAN_BS2_1tq ~ CAN_BS2_8tq
- CAN_InitStructure.CAN_Prescaler=brp; //分频系数(Fdiv)为brp+1
- CAN_Init(CAN1, &CAN_InitStructure); // 初始化CAN1
-
- //配置过滤器
- CAN_FilterInitStructure.CAN_FilterNumber=0; //过滤器0
- CAN_FilterInitStructure.CAN_FilterMode=CAN_FilterMode_IdMask;
- CAN_FilterInitStructure.CAN_FilterScale=CAN_FilterScale_32bit; //32位
- CAN_FilterInitStructure.CAN_FilterIdHigh=0x0000;////32位ID
- CAN_FilterInitStructure.CAN_FilterIdLow=0x0000;
- CAN_FilterInitStructure.CAN_FilterMaskIdHigh=0x0000;//32位MASK
- CAN_FilterInitStructure.CAN_FilterMaskIdLow=0x0000;
- CAN_FilterInitStructure.CAN_FilterFIFOAssignment=CAN_Filter_FIFO0;//过滤器0关联到FIFO0
- CAN_FilterInitStructure.CAN_FilterActivation=ENABLE; //激活过滤器0
- CAN_FilterInit(&CAN_FilterInitStructure);//滤波器初始化
-
- #if CAN_RX0_INT_ENABLE
- 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);
- #endif
- }
- #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, 0, &RxMessage);
- for(i=0;i<8;i++)
- printf("rxbuf[%d]:%d\r\n",i,RxMessage.Data[i]);
- }
- #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)
- {
- u8 mbox;
- u16 i=0;
- CanTxMsg TxMessage;
- TxMessage.StdId=0x12; // 标准标识符为0
- TxMessage.ExtId=0x12; // 设置扩展标示符(29位)
- TxMessage.IDE=0; // 使用扩展标识符
- TxMessage.RTR=0; // 消息类型为数据帧,一帧8位
- TxMessage.DLC=len; // 发送两帧信息
- for(i=0;i<len;i++)
- TxMessage.Data[i]=msg[i]; // 第一帧信息
- 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<RxMessage.DLC;i++)
- buf[i]=RxMessage.Data[i];
- RxMessage.ExtId=0x11;
- RxMessage.StdId=0x11;
- RxMessage.IDE=0;
- RxMessage.RTR=0;
- return RxMessage.DLC;
- }
复制代码- #include "system.h"
- #include "SysTick.h"
- #include "led.h"
- #include "usart.h"
- #include "can.h"
- #include "key.h"
- #include "time.h"
- //u8 sign;
- u8 tbuf[8];
- /*******************************************************************************
- * 函 数 名 : main
- * 函数功能 : 主函数
- * 输 入 : 无
- * 输 出 : 无
- *******************************************************************************/
- int main()
- {
- u8 i=0;
- // u16 data=1234;
- // float fdata=12.34;
- // char str[]="Hello World!";
- SysTick_Init(72);
- NVIC_PriorityGroupConfig(NVIC_PriorityGroup_2); //中断优先级分组 分2组
- LED_Init();
- USART1_Init(38400);
- CAN_Mode_Init(CAN_SJW_1tq,CAN_BS2_8tq,CAN_BS1_9tq,8,CAN_Mode_Normal);//500Kbps波特率
- KEY_Init();
- TIM4_Init(1000,7200-1); //定时100ms
- while(1)
- {
- // key=KEY_Scan(1);
- // switch(key)
- // {
- // case KEY_UP:
- // {
- // led2=!led2;
- // printf("iSM");
- //
- // }
- // break;
- // }
- if(sign==1)
- {
- printf("\n");
- printf("%c",Mydata[0]);
- printf("%c",Mydata[1]);
- printf("%c",Mydata[2]);
- printf("%c",Mydata[3]);
- printf("%c",Mydata[4]);
- printf("%c",Mydata[5]);
- printf("%c",Mydata[6]);
- printf("%c",Mydata[7]);
- //printf("%c",Mydata[8]);
- tbuf[0]=(u8)Mydata[0];
- tbuf[1]=(u8)Mydata[1];
- tbuf[2]=(u8)Mydata[2];
- tbuf[3]=(u8)Mydata[3];
- tbuf[4]=(u8)Mydata[4];
- tbuf[5]=(u8)Mydata[5];
- tbuf[6]=(u8)Mydata[6];
- tbuf[7]=(u8)Mydata[7];
- CAN_Send_Msg(tbuf,8);
- sign=0;
- number=0;
- }
-
- i++;
- if(i%20==0)
- {
- led1=!led1;
- }
- //delay_ms(10);
- }
- }
复制代码
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串口1数据转为CAN数据发送.7z
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