CAN模块配置

最新推荐文章于 2025-10-12 20:03:47 发布

原创最新推荐文章于 2025-10-12 20:03:47 发布 · 604 阅读

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这篇博客介绍了如何使用C语言进行CAN模块的配置，包括CAN引脚的配置、CAN单元和过滤器的初始化，以及发送和接收消息的函数实现。通过对GPIO、CAN_InitStructure和CAN_FilterInitStructure结构体的设置，实现了CAN接口的硬件连接和通信功能。

#ifndef __CAN_H_
#define __CAN_H_

#ifdef _BSP_CAN_
#define CAN_EXT
#else
#define CAN_EXT extern
#endif

/****************************** CAN 引脚配置参数定义***************************************/
#define macCAN1_TX_GPIO_CLK     RCC_APB2Periph_GPIOA
#define macCAN1_TX_GPIO_PORT    GPIOA
#define macCAN1_TX_GPIO_PIN     GPIO_Pin_12

#define macCAN1_RX_GPIO_CLK     RCC_APB2Periph_GPIOA
#define macCAN1_RX_GPIO_PORT    GPIOA
#define macCAN1_RX_GPIO_PIN     GPIO_Pin_11

#define macCAN1_Rcc_Clock RCC_APB1Periph_CAN1

#define STANDARD_FRAME_TYPE 1
#define EXTENDED_FRAME_TYPE 2

CAN_EXT u8 Can1_Rx_Buf[8];

void Bsp_Can_Config(void);
u8 Can_Send_Msg(u32 Id,u8 Data_type,u8* msg,u8 len);
u8 Can_Receive_Msg(u8 *buf);

#endif

#define _BSP_CAN_

#include "head_all.h"

void Bsp_Can_Config(void)
{
   GPIO_InitTypeDef GPIO_InitStructure;
   CAN_InitTypeDef CAN_InitStructure;
   CAN_FilterInitTypeDef     CAN_FilterInitStructure;
   NVIC_InitTypeDef         NVIC_InitStructure;

/* 配置 CANTX 引脚 */
   RCC_APB2PeriphClockCmd ( macCAN1_TX_GPIO_CLK, ENABLE );
   GPIO_InitStructure.GPIO_Pin = macCAN1_TX_GPIO_PIN;
   GPIO_InitStructure.GPIO_Speed = GPIO_Speed_50MHz;
   GPIO_InitStructure.GPIO_Mode = GPIO_Mode_AF_PP;
   GPIO_Init ( macCAN1_TX_GPIO_PORT, & GPIO_InitStructure );

/* 配置 CANRX 引脚 */
   RCC_APB2PeriphClockCmd ( macCAN1_RX_GPIO_CLK, ENABLE );
   GPIO_InitStructure.GPIO_Pin = macCAN1_RX_GPIO_PORT;
   GPIO_InitStructure.GPIO_Mode = GPIO_Mode_IPU;
   GPIO_Init (macCAN1_TX_GPIO_PORT, & GPIO_InitStructure );

   RCC_APB1PeriphClockCmd(macCAN1_Rcc_Clock, ENABLE);
//CAN单元配置
   CAN_InitStructure.CAN_TTCM=DISABLE;                       //非时间触发通讯模式
   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
   CAN_InitStructure.CAN_NART=ENABLE;                       //禁止报文自动传输
   CAN_InitStructure.CAN_RFLM=DISABLE;                      //报文不锁定
   CAN_InitStructure.CAN_TXFP=DISABLE;                       //优先级由报文标识符决定
   CAN_InitStructure.CAN_Mode= 0;                      //模式设置：0正常模式，1回环模式

//波特率设置
   CAN_InitStructure.CAN_SJW=CAN_SJW_1tq;                    //重新同步跳跃宽度多少个时间单位
   CAN_InitStructure.CAN_BS1=CAN_BS2_8tq;                    //Tbs1=tbs1+1个时间单位CAN_BS1_1tp~CAN_BS1_16tp
   CAN_InitStructure.CAN_BS2=CAN_BS1_9tq;                    //Tbs1=tbs2+1个时间单位CAN_BS1_1tp~CAN_BS1_8tp
   CAN_InitStructure.CAN_Prescaler=4;                       //分频系数
   CAN_Init(CAN1, &CAN_InitStructure);                    //初始化CAN1

//过滤器配置
   CAN_FilterInitStructure.CAN_FilterNumber=0;                        //过滤器0
   CAN_FilterInitStructure.CAN_FilterMode=CAN_FilterMode_IdMask;       //屏蔽位模式
   CAN_FilterInitStructure.CAN_FilterScale=CAN_FilterScale_32bit;       //32位宽度
   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;   //过滤器关联到FIFO0
   CAN_FilterInitStructure.CAN_FilterActivation=ENABLE;               //激活过滤器0
   CAN_FilterInit(&CAN_FilterInitStructure);                           //初始化滤波器

   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 1
   NVIC_InitStructure.NVIC_IRQChannelSubPriority = 0;                   // 此优先级 0
   NVIC_InitStructure.NVIC_IRQChannelCmd = ENABLE;
   NVIC_Init(&NVIC_InitStructure);

}

u8 Can_Send_Msg(u32 Id,u8 Data_type,u8* msg,u8 len)
{
   u8 mbox;
   u16 i=0;
   CanTxMsg TxMessage;
   if(Data_type == STANDARD_FRAME_TYPE)
   {
       TxMessage.StdId=Id;           // 标准帧标识符
       TxMessage.IDE=CAN_Id_Standard;   // 标准帧

   }
   else if(Data_type == EXTENDED_FRAME_TYPE)
   {
       TxMessage.ExtId=Id;           // 扩展帧标识符
       TxMessage.IDE=CAN_Id_Extended;   // 扩展帧

   }
   TxMessage.RTR=CAN_RTR_Data;       // 数据帧
   TxMessage.DLC=len;               // 发送长度
   for(i=0;i<len;i++)
       TxMessage.Data[i]=msg[i];

   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;
}

u8 Can_Receive_Msg(u8 *buf)
{
    u32 i;
   CanRxMsg RxMessage;
if( CAN_MessagePending(CAN1,CAN_FIFO0)==0)return 0;       //没有收到数据直接跳出

CAN_Receive(CAN1, CAN_FIFO0, &RxMessage);//读取数据
for(i=0;i<8;i++)
   buf[i]=RxMessage.Data[i];
   return RxMessage.DLC;
}