基于STM32的CAN的收发程序怎么写？

[就是干吧]

谁知道CAN的收发程序怎么写？拜托啦

[一对二加王炸]

这个很简单啊，就配置好参数，写个收和发的函数进行了，函数里配置好RTR IDE STDID EXTDID等等

[small_clown]

#include "can.h" #include "led.h" #include "delay.h" #include "usart.h" ////////////////////////////////////////////////////////////////////////////////// //±¾³ÌÐòÖ»¹©Ñ§Ï°Ê¹Óã¬Î´¾­×÷ÕßÐí¿É£¬²»µÃÓÃÓÚÆäËüÈκÎÓÃ; //ALIENTEKÕ½½¢STM32¿ª·¢°å //CANÇý¶¯ ´úÂë //ÕýµãÔ­×Ó@ALIENTEK //¼¼ÊõÂÛ̳:www.openedv.com //ÐÞ¸ÄÈÕÆÚ:2012/9/11 //°æ±¾£ºV1.0 //°æȨËùÓУ¬µÁ°æ±Ø¾¿¡£ //Copyright(C) ¹ãÖÝÊÐÐÇÒíµç×ӿƼ¼ÓÐÏÞ¹«Ë¾ 2009-2019 //All rights reserved ////////////////////////////////////////////////////////////////////////////////// //CAN³õʼ»¯ //tsjw:ÖØÐÂͬ²½ÌøԾʱ¼äµ¥Ôª.·¶Î§:1~3; CAN_SJW_1tq CAN_SJW_2tq CAN_SJW_3tq CAN_SJW_4tq //tbs2:ʱ¼ä¶Î2µÄʱ¼äµ¥Ôª.·¶Î§:1~8; //tbs1:ʱ¼ä¶Î1µÄʱ¼äµ¥Ôª.·¶Î§:1~16; CAN_BS1_1tq ~CAN_BS1_16tq //brp :²¨ÌØÂÊ·ÖƵÆ÷.·¶Î§:1~1024;(ʵ¼ÊÒª¼Ó1,Ò²¾ÍÊÇ1~1024) tq=(brp)*tpclk1 //×¢ÒâÒÔÉϲÎÊýÈκÎÒ»¸ö¶¼²»ÄÜÉèΪ0,·ñÔò»áÂÒ. //²¨ÌØÂÊ=Fpclk1/((tsjw+tbs1+tbs2)*brp); //mode:0,ÆÕͨģʽ;1,»Ø»·Ä£Ê½; //Fpclk1µÄʱÖÓÔÚ³õʼ»¯µÄʱºòÉèÖÃΪ36M,Èç¹ûÉèÖÃCAN_Normal_Init(1,8,7,5,1); //Ôò²¨ÌØÂÊΪ:36M/((1+8+7)*5)=450Kbps //·µ»ØÖµ:0,³õʼ»¯OK; // ÆäËû,³õʼ»¯Ê§°Ü; u8 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_APB2PeriphClockCmd(RCC_APB2Periph_GPIOA, ENABLE);//ʹÄÜPORTAʱÖÓ RCC_APB1PeriphClockCmd(RCC_APB1Periph_CAN1, ENABLE);//ʹÄÜCAN1ʱÖÓ GPIO_InitStructure.GPIO_Pin = GPIO_Pin_12; GPIO_InitStructure.GPIO_Speed = GPIO_Speed_50MHz; GPIO_InitStructure.GPIO_Mode = GPIO_Mode_AF_PP; //¸´ÓÃÍÆÍì GPIO_Init(GPIOA, &GPIO_InitStructure); //³õʼ»¯IO GPIO_InitStructure.GPIO_Pin = GPIO_Pin_11; GPIO_InitStructure.GPIO_Mode = GPIO_Mode_IPU;//ÉÏÀ­ÊäÈë GPIO_Init(GPIOA, &GPIO_InitStructure);//³õʼ»¯IO //CANµ¥ÔªÉèÖà CAN_InitStructure.CAN_TTCM=DISABLE; //·Çʱ¼ä´¥·¢Í¨ÐÅģʽ // CAN_InitStructure.CAN_ABOM=DISABLE; //Èí¼þ×Ô¶¯ÀëÏß¹ÜÀí // CAN_InitStructure.CAN_AWUM=DISABLE; //˯Ãßģʽͨ¹ýÈí¼þ»½ÐÑ(Çå³ýCAN->MCRµÄSLEEPλ)// CAN_InitStructure.CAN_NART=ENABLE; //½ûÖ¹±¨ÎÄ×Ô¶¯´«ËÍ // CAN_InitStructure.CAN_RFLM=DISABLE; //±¨ÎIJ»Ëø¶¨,еĸ²¸Ç¾ÉµÄ // CAN_InitStructure.CAN_TXFP=DISABLE; //ÓÅÏȼ¶Óɱ¨Îıêʶ·û¾ö¶¨ // CAN_InitStructure.CAN_Mode= mode; //ģʽÉèÖ㺠mode:0,ÆÕͨģʽ;1,»Ø»·Ä£Ê½; // //ÉèÖò¨ÌØÂÊ CAN_InitStructure.CAN_SJW=tsjw; //ÖØÐÂͬ²½ÌøÔ¾¿í¶È(Tsjw)Ϊtsjw+1¸öʱ¼äµ¥Î» CAN_SJW_1tq CAN_SJW_2tq CAN_SJW_3tq CAN_SJW_4tq CAN_InitStructure.CAN_BS1=tbs1; //Tbs1=tbs1+1¸öʱ¼äµ¥Î»CAN_BS1_1tq ~CAN_BS1_16tq CAN_InitStructure.CAN_BS2=tbs2;//Tbs2=tbs2+1¸öʱ¼äµ¥Î»CAN_BS2_1tq ~ CAN_BS2_8tq CAN_InitStructure.CAN_Prescaler=brp; //·ÖƵϵÊý(Fdiv)Ϊbrp+1 // CAN_Init(CAN1, &CAN_InitStructure); // ³õʼ»¯CAN1 CAN_FilterInitStructure.CAN_FilterNumber=0; //¹ýÂËÆ÷0 CAN_FilterInitStructure.CAN_FilterMode=CAN_FilterMode_IdMask; CAN_FilterInitStructure.CAN_FilterScale=CAN_FilterScale_32bit; //32λ CAN_FilterInitStructure.CAN_FilterIdHigh=0x0000;////32λID CAN_FilterInitStructure.CAN_FilterIdLow=0x0000; CAN_FilterInitStructure.CAN_FilterMaskIdHigh=0x0000;//32λMASK CAN_FilterInitStructure.CAN_FilterMaskIdLow=0x0000; CAN_FilterInitStructure.CAN_FilterFIFOAssignment=CAN_Filter_FIFO0;//¹ýÂËÆ÷0¹ØÁªµ½FIFO0 CAN_FilterInitStructure.CAN_FilterActivation=ENABLE; //¼¤»î¹ýÂËÆ÷0 CAN_FilterInit(&CAN_FilterInitStructure);//Â˲¨Æ÷³õʼ»¯ #if CAN_RX0_INT_ENABLE CAN_ITConfig(CAN1,CAN_IT_FMP0,ENABLE);//FIFO0ÏûÏ¢¹ÒºÅÖжÏÔÊÐí. NVIC_InitStructure.NVIC_IRQChannel = USB_LP_CAN1_RX0_IRQn; NVIC_InitStructure.NVIC_IRQChannelPreemptionPriority = 1; // Ö÷ÓÅÏȼ¶Îª1 NVIC_InitStructure.NVIC_IRQChannelSubPriority = 0; // ´ÎÓÅÏȼ¶Îª0 NVIC_InitStructure.NVIC_IRQChannelCmd = ENABLE; NVIC_Init(&NVIC_InitStructure); #endif return 0; } #if CAN_RX0_INT_ENABLE //ʹÄÜRX0ÖÐ¶Ï //ÖжϷþÎñº¯Êý 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·¢ËÍÒ»×éÊý¾Ý(¹Ì¶¨¸ñʽ:IDΪ0X12,±ê×¼Ö¡,Êý¾ÝÖ¡) //len:Êý¾Ý³¤¶È(×î´óΪ8) //msg:Êý¾ÝÖ¸Õë,×î´óΪ8¸ö×Ö½Ú. //·µ»ØÖµ:0,³É¹¦; // ÆäËû,ʧ°Ü; u8 Can_Send_Msg(u8* msg,u8 len) { u8 mbox; u16 i=0; CanTxMsg TxMessage; TxMessage.StdId=0x12; // ±ê×¼±êʶ·ûΪ0 TxMessage.ExtId=0x12; // ÉèÖÃÀ©Õ¹±êʾ·û£¨29룩 TxMessage.IDE=0; // ʹÓÃÀ©Õ¹±êʶ·û TxMessage.RTR=0; // ÏûÏ¢ÀàÐÍΪÊý¾ÝÖ¡£¬Ò»Ö¡8λ TxMessage.DLC=len; // ·¢ËÍÁ½Ö¡ÐÅÏ¢ for(i=0;i<len;i++) TxMessage.Data[i]=msg[i]; // µÚÒ»Ö¡ÐÅÏ¢ mbox= CAN_Transmit(CAN1, &TxMessage); i=0; while((CAN_TransmitStatus(CAN1, mbox)==CAN_TxStatus_Failed)&&(i<0XFFF))i++; //µÈ´ý·¢ËͽáÊø if(i>=0XFFF)return 1; return 0; } //can¿Ú½ÓÊÕÊý¾Ý²éѯ //buf:Êý¾Ý»º´æÇø; //·µ»ØÖµ:0,ÎÞÊý¾Ý±»ÊÕµ½; // ÆäËû,½ÓÊÕµÄÊý¾Ý³¤¶È; u8 Can_Receive_Msg(u8 *buf) { u32 i; CanRxMsg RxMessage; if( CAN_MessagePending(CAN1,CAN_FIFO0)==0)return 0; //ûÓнÓÊÕµ½Êý¾Ý,Ö±½ÓÍ˳ö CAN_Receive(CAN1, CAN_FIFO0, &RxMessage);//¶ÁÈ¡Êý¾Ý for(i=0;i<8;i++) buf[i]=RxMessage.Data[i]; return RxMessage.DLC; }