碧海蓝天在做CAN模块的多线路控制系统的程序，现在把简单的发送和接收的程序贴出来供大家参考，注释写的很清楚了，这里我就不废话了，直接上代码了——
文件can.c
#include "stm32f10x.h"
#include "can.h"
#define GPIO_CAN GPIOA
#define RCC_APB2Periph_GPIO_CAN RCC_APB2Periph_GPIOA
#define GPIO_Pin_RX GPIO_Pin_11
#define GPIO_Pin_TX GPIO_Pin_12
#define GPIO_Remap_CAN GPIO_Remap1_CAN1
#define LED_SET() GPIO_SetBits(GPIOB,GPIO_Pin_15)
#define LED_RST() GPIO_ResetBits(GPIOB,GPIO_Pin_15)
void CAN_config_init(void)
{
CAN_InitTypeDef CAN_InitStructure;
CAN_FilterInitTypeDef CAN_FilterInitStructure;
CAN_DeInit(CAN1);
CAN_StructInit(&CAN_InitStructure);
// 36M 250k速率
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_12tq;
CAN_InitStructure.CAN_BS2=CAN_BS2_3tq;
CAN_InitStructure.CAN_Prescaler=9;
CAN_Init(CAN1, &CAN_InitStructure);
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=0x0000;
CAN_FilterInitStructure.CAN_FilterMaskIdHigh=0x0000;
CAN_FilterInitStructure.CAN_FilterMaskIdLow=0x0000;
CAN_FilterInitStructure.CAN_FilterFIFOAssignment=0;
CAN_FilterInitStructure.CAN_FilterActivation=ENABLE;
CAN_FilterInit(&CAN_FilterInitStructure);
}
void CAN_init(void)
{
NVIC_InitTypeDef NVIC_InitStructure;
GPIO_InitTypeDef GPIO_InitStructure;
// 首先打开电源及时钟
RCC_APB2PeriphClockCmd(RCC_APB2Periph_AFIO |RCC_APB2Periph_GPIO_CAN, ENABLE);
RCC_APB1PeriphClockCmd(RCC_APB1Periph_CAN1, ENABLE);
NVIC_InitStructure.NVIC_IRQChannel = USB_LP_CAN1_RX0_IRQn;
NVIC_InitStructure.NVIC_IRQChannelPreemptionPriority = 3;
NVIC_InitStructure.NVIC_IRQChannelSubPriority = 0;
NVIC_InitStructure.NVIC_IRQChannelCmd = ENABLE;
NVIC_Init(&NVIC_InitStructure);
NVIC_InitStructure.NVIC_IRQChannel = USB_HP_CAN1_TX_IRQn;
NVIC_InitStructure.NVIC_IRQChannelPreemptionPriority = 3;
NVIC_InitStructure.NVIC_IRQChannelSubPriority = 0;
NVIC_InitStructure.NVIC_IRQChannelCmd = ENABLE;
NVIC_Init(&NVIC_InitStructure);
// 然后配置pin
GPIO_InitStructure.GPIO_Pin = GPIO_Pin_RX;
GPIO_InitStructure.GPIO_Mode = GPIO_Mode_IPU;
GPIO_Init(GPIO_CAN, &GPIO_InitStructure);
GPIO_InitStructure.GPIO_Pin = GPIO_Pin_TX;
GPIO_InitStructure.GPIO_Mode = GPIO_Mode_AF_PP;
GPIO_InitStructure.GPIO_Speed = GPIO_Speed_50MHz;
GPIO_Init(GPIO_CAN, &GPIO_InitStructure);
// 映射下
GPIO_PinRemapConfig(GPIO_Remap_CAN , ENABLE);
// 波特率过滤器初始化
CAN_config_init();
CAN_ITConfig(CAN1, CAN_IT_FMP0 | CAN_IT_FF0 | CAN_IT_FOV0, ENABLE); // fifo0中断
CAN_ITConfig(CAN1, CAN_IT_FMP1 | CAN_IT_FF1 | CAN_IT_FOV1, ENABLE); // fifo1中断
CAN_ITConfig(CAN1, CAN_IT_TME, DISABLE); // 发送中断
}
int CAN_tx_data(void)
{
CanTxMsg TxMessage;
uint8_t TransmitMailbox = 0;
u32 i;
TxMessage.StdId=0x001;
TxMessage.RTR=CAN_RTR_DATA;
TxMessage.IDE=CAN_ID_STD;
TxMessage.DLC=4;
TxMessage.Data[0]=0x04;
TxMessage.Data[1]=0x08;
TxMessage.Data[2]=0x0c;
TxMessage.Data[3]=0x10;
TransmitMailbox = CAN_Transmit(CAN1, &TxMessage);
i = 0;
// 用于检查消息传输是否正常
while((CAN_TransmitStatus(CAN1, TransmitMailbox) != CANTXOK) && (i != 0xFF))
{
i++;
}
i = 0;
// 检查返回的挂号的信息数目
while((CAN_MessagePending(CAN1, CAN_FIFO0) < 1) && (i != 0xFF))
{
i++;
}
}
void USB_LP_CAN1_RX0_IRQHandler(void)
{
// u32 i;
CanRxMsg RxMessage;
if(SET == CAN_GetITStatus(CAN1,CAN_IT_FF0))
{
CAN_ClearITPendingBit(CAN1,CAN_IT_FF0);
}
else if(SET == CAN_GetITStatus(CAN1,CAN_IT_FOV0))
{
CAN_ClearITPendingBit(CAN1,CAN_IT_FOV0);
}
else
{
CAN_Receive(CAN1, CAN_FIFO0, &RxMessage);
if(RxMessage.StdId==0x001&&RxMessage.DLC==4)
LED_SET();
// printf("CAN_FIFO0 RxMessage.StdId is 0x%x\r\n",RxMessage.StdId);
// printf("RxMessage.DLC is 0x%x\r\n",RxMessage.DLC);
// for(i = 0; i < RxMessage.DLC; i++)
// {
// printf("data[%d] is 0x%x\r\n",i,RxMessage.Data[i]);
// }
// printf("\r\n");
}
}
void LED_init(void)
{
GPIO_InitTypeDef GPIO_InitStruct;
RCC_APB2PeriphClockCmd(RCC_APB2Periph_GPIOB,ENABLE);
GPIO_InitStruct.GPIO_Mode = GPIO_Mode_Out_PP;
GPIO_InitStruct.GPIO_Pin = GPIO_Pin_15;
GPIO_InitStruct.GPIO_Speed = GPIO_Speed_2MHz;
GPIO_Init(GPIOB, &GPIO_InitStruct);
}
void soft_delayms(u16 t)
{
u16 tt;
while(t--)
{
tt = 10000;
while(tt--);
}
}
文件：can.h
#ifndef __CAN_H
#define __CAN_H
#include "stm32f10x.h"
void CAN_config_init(void);
void CAN_init(void);
int CAN_tx_data(void);
void LED_init(void);
void soft_delayms(u16 t);
#endif
文件：main.c
#include "stm32f10x.h"
#include "can.h"
int main(void)
{
SystemInit();
LED_init();
CAN_config_init();
CAN_init();
CAN_tx_data();
while(1)
{
}
}
有问题的可以直接提问，大家互相讨论着进步
