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extern CanTxMsg TxMessage;
extern CanRxMsg RxMessage;
void GPIO_CAN_Configuration(void)
{
GPIO_InitTypeDef GPIO_InitStructure;
/* Configure CAN pin: RX */
GPIO_InitStructure.GPIO_Pin = GPIO_Pin_11;
GPIO_InitStructure.GPIO_Mode = GPIO_Mode_AIN;
GPIO_Init(GPIOA, &GPIO_InitStructure);
/* Configure CAN pin: TX */
GPIO_InitStructure.GPIO_Pin = GPIO_Pin_12;
GPIO_InitStructure.GPIO_Mode = GPIO_Mode_AF_PP;
GPIO_Init(GPIOA, &GPIO_InitStructure);
GPIO_ResetBits(GPIOA,GPIO_Pin_12);
}
void CAN_Interrupt(void)
{
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; // 时间触发通信禁止
CAN_InitStructure.CAN_ABOM=DISABLE; // 离线退出是在中断置位清0后退出
CAN_InitStructure.CAN_AWUM=DISABLE; // 自动唤醒模式:清零sleep
CAN_InitStructure.CAN_NART=DISABLE; // 自动重新传送豹纹,知道发送成功
CAN_InitStructure.CAN_RFLM=DISABLE; // FIFO没有锁定,新报文覆盖旧报文
CAN_InitStructure.CAN_TXFP=DISABLE; // 发送报文优先级确定:标志符
CAN_InitStructure.CAN_Mode=CAN_Mode_Normal;
CAN_InitStructure.CAN_SJW=CAN_SJW_1tq; // 1tq、BS1、BS2的值跟波特率有关
CAN_InitStructure.CAN_BS1=CAN_BS1_9tq;
CAN_InitStructure.CAN_BS2=CAN_BS2_8tq;
CAN_InitStructure.CAN_Prescaler=4; // 分频系数为4 500Kpbs
CAN_Init(CAN1, &CAN_InitStructure); // 初始化CAN1
/* 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=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);
/* CAN FIFO0 message pending interrupt enable */
CAN_ITConfig(CAN1, CAN_IT_FMP0, ENABLE); //中断使能
}
static void CAN_NVIC_Configuration(void)
{
NVIC_InitTypeDef NVIC_InitStructure;
/* Enable CAN1 RX0 interrupt IRQ channel */
NVIC_InitStructure.NVIC_IRQChannel = USB_LP_CAN1_RX0_IRQn;
NVIC_InitStructure.NVIC_IRQChannelPreemptionPriority = 1; // 主优先级为0
NVIC_InitStructure.NVIC_IRQChannelSubPriority = 0; // 次优先级为0
NVIC_InitStructure.NVIC_IRQChannelCmd = ENABLE;
NVIC_Init(&NVIC_InitStructure);
}
void CAN_Config(void)
{
GPIO_CAN_Configuration();
CAN_NVIC_Configuration();
CAN_Interrupt();
}
void CAN_SetMsg(void)
{
TxMessage.StdId=0x00; //ID标识符
TxMessage.RTR=CAN_RTR_DATA; //数据帧
TxMessage.IDE=CAN_ID_STD; //标准帧格式
TxMessage.DLC=8; //帧长度,单位:字节
TxMessage.Data[0]=0xF1; //待传数据
TxMessage.Data[1]=0xF2;
TxMessage.Data[2]=0xF3;
TxMessage.Data[3]=0xF4;
TxMessage.Data[4]=0xF5;
TxMessage.Data[5]=0xF6;
TxMessage.Data[6]=0xF7;
TxMessage.Data[7]=0xF8;
CAN_Transmit(CAN1, &TxMessage);
}
void USB_LP_CAN1_RX0_IRQHandler(void)
{
//CanRxMsg RxMessage;
RxMessage.StdId=0x00;
RxMessage.IDE=CAN_ID_EXT;
RxMessage.DLC=0;
RxMessage.FMI=0;
RxMessage.Data[0]=0x00;
RxMessage.Data[1]=0x00;
RxMessage.Data[2]=0x00;
RxMessage.Data[3]=0x00;
RxMessage.Data[4]=0x00;
RxMessage.Data[5]=0x00;
RxMessage.Data[6]=0x00;
RxMessage.Data[7]=0x00;
CAN_Receive(CAN1, CAN_FIFO0, &RxMessage);
//LED灯闪烁
if(GPIO_ReadOutputDataBit(GPIOA,GPIO_Pin_1))
{
GPIO_ResetBits(GPIOA,GPIO_Pin_1);
}else
{
GPIO_SetBits(GPIOA,GPIO_Pin_1);
}
}