void CAN_GPIO_Config(void)
{
GPIO_InitTypeDef GPIO_InitStructure;
RCC_APB1PeriphClockCmd(RCC_APB1Periph_CAN1, ENABLE);
RCC_APB2PeriphClockCmd(RCC_APB2Periph_GPIOA , ENABLE);
/* Configure CAN pin: RX */
GPIO_InitStructure.GPIO_Pin = GPIO_Pin_11;
GPIO_InitStructure.GPIO_Speed = GPIO_Speed_50MHz;
GPIO_InitStructure.GPIO_Mode = GPIO_Mode_IPU;
GPIO_Init(GPIOA, &GPIO_InitStructure);
/* Configure CAN pin: TX */
GPIO_InitStructure.GPIO_Pin = GPIO_Pin_12;
GPIO_InitStructure.GPIO_Speed = GPIO_Speed_50MHz;
GPIO_InitStructure.GPIO_Mode = GPIO_Mode_AF_PP;
GPIO_Init(GPIOA, &GPIO_InitStructure);
}
void RCC_Configuration(void)
{
ErrorStatus HSEStartUpStatus; //定义外部高速晶体启动状态枚举变量
/* RCC system reset(for debug purpose) */
RCC_DeInit();
/* Enable HSE */
RCC_HSEConfig(RCC_HSE_ON);
/* Wait till HSE is ready */
HSEStartUpStatus = RCC_WaitForHSEStartUp();
if(HSEStartUpStatus == SUCCESS)
{
/* HCLK = SYSCLK */
RCC_HCLKConfig(RCC_SYSCLK_Div1);
/* PCLK2 = HCLK */
RCC_PCLK2Config(RCC_HCLK_Div1);
/* PCLK1 = HCLK/2 */
RCC_PCLK1Config(RCC_HCLK_Div2);
/* ADCCLK = PCLK2/4=18MHZ */
RCC_ADCCLKConfig(RCC_PCLK2_Div4);
/* Flash 2 wait state */
FLASH_SetLatency(FLASH_Latency_2);
/* Enable Prefetch Buffer */
FLASH_PrefetchBufferCmd(FLASH_PrefetchBuffer_Enable);
/* PLLCLK = 8MHz * 9 = 72 MHz */
RCC_PLLConfig(RCC_PLLSource_HSE_Div1 , RCC_PLLMul_9);
/* Enable PLL */
RCC_PLLCmd(ENABLE);
/* Wait till PLL is ready */
while(RCC_GetFlagStatus(RCC_FLAG_PLLRDY) == RESET)
{
}
/* Select PLL as system clock source */
RCC_SYSCLKConfig(RCC_SYSCLKSource_PLLCLK);
/* Wait till PLL is used as system clock source */
while(RCC_GetSYSCLKSource() != 0x08)
{
}
}
}
void NVIC_Configuration(void)
{
NVIC_InitTypeDef NVIC_InitStructure;
/* Configure the NVIC Preemption Priority Bits */
NVIC_PriorityGroupConfig(NVIC_PriorityGroup_0);
#ifdef VECT_TAB_RAM
NVIC_SetVectorTable(NVIC_VectTab_RAM, 0x0);
#else
NVIC_SetVectorTable(NVIC_VectTab_FLASH, 0x0);
#endif
/* Enable the USART2 Interrupt */
NVIC_InitStructure.NVIC_IRQChannel = USART2_IRQn;
NVIC_InitStructure.NVIC_IRQChannelPreemptionPriority = 0;
NVIC_InitStructure.NVIC_IRQChannelSubPriority = 1;
NVIC_InitStructure.NVIC_IRQChannelCmd = ENABLE;
NVIC_Init(&NVIC_InitStructure);
/* Enable the CAN Interrupt */
NVIC_InitStructure.NVIC_IRQChannel = USB_LP_CAN1_RX0_IRQn;
NVIC_InitStructure.NVIC_IRQChannelPreemptionPriority = 0;
NVIC_InitStructure.NVIC_IRQChannelSubPriority = 0;
NVIC_InitStructure.NVIC_IRQChannelCmd = ENABLE;
NVIC_Init(&NVIC_InitStructure);
}
void CAN_Configuration(void)
{
CAN_InitTypeDef CAN_InitStructure;
CAN_FilterInitTypeDef CAN_FilterInitStructure;
/* CAN Periph clock enable */
RCC_APB1PeriphClockCmd(RCC_APB1Periph_CAN1, ENABLE);
CAN_DeInit(CAN1);
CAN_StructInit(&CAN_InitStructure);
CAN_InitStructure.CAN_TTCM = DISABLE; //失能时间触发通信模式
CAN_InitStructure.CAN_ABOM = DISABLE; //失能自动离线管理
CAN_InitStructure.CAN_AWUM = DISABLE; //失能自动唤醒模式
CAN_InitStructure.CAN_NART = DISABLE; //失能非自动重传输模式
CAN_InitStructure.CAN_RFLM = DISABLE; //失能接收FIFO锁定模式
CAN_InitStructure.CAN_TXFP = DISABLE; //失能发送FIFO优先级
CAN_InitStructure.CAN_Mode = CAN_Mode_Normal; //CAN硬件工作在普通模式
/* 200K的波特率 */
CAN_InitStructure.CAN_SJW = CAN_SJW_1tq; //重新同步跳跃宽度1个时间单位
CAN_InitStructure.CAN_BS1 = CAN_BS1_9tq; //时间段1为9个时间单位
CAN_InitStructure.CAN_BS2 = CAN_BS2_8tq; //时间段2为8个时间单位
CAN_InitStructure.CAN_Prescaler = 10; //时间单位的长度
CAN_Init(CAN1, &CAN_InitStructure); //200K=36M/(1+9+8)*10
CAN_FilterInitStructure.CAN_FilterNumber = 0; //待初始化的过滤器0
CAN_FilterInitStructure.CAN_FilterMode = CAN_FilterMode_IdMask; //标识符屏蔽位模式
CAN_FilterInitStructure.CAN_FilterScale = CAN_FilterScale_32bit; //1个32位过滤器
CAN_FilterInitStructure.CAN_FilterIdHigh = 0x0000; //用来设定过滤器标识符高段位
CAN_FilterInitStructure.CAN_FilterIdLow = 0x0000; //用来设定过滤器标识符低段位
CAN_FilterInitStructure.CAN_FilterMaskIdHigh = 0x0000; //设定过滤器屏蔽标识符高段位
CAN_FilterInitStructure.CAN_FilterMaskIdLow = 0x0000; //设定过滤器屏蔽标识符低段位
CAN_FilterInitStructure.CAN_FilterFIFOAssignment = CAN_FIFO0;
CAN_FilterInitStructure.CAN_FilterActivation = ENABLE; //使能过滤器
CAN_FilterInit(&CAN_FilterInitStructure);
}
下面是中断服务函数
void USB_LP_CAN1_RX0_IRQHandler(void)
{
u8 i ;
CanRxMsg RxMessage;
RxMessage.StdId=0x00;
RxMessage.ExtId=0x00;
RxMessage.IDE=0;
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);
for(i=0; i<8; i++) //通过串口将CAN收到的数据发出来到串口助手上
{
USART_ClearFlag(USART2, USART_FLAG_TC);
USART_SendData(USART2,RxMessage.Data);
while(USART_GetFlagStatus(USART2, USART_FLAG_TC)==RESET);
}
CAN_FIFORelease(CAN1,CAN_FIFO0);//释放邮箱
}
最后是主函数
int main(void)
{
RCC_Configuration();
RCC_APB2PeriphClockCmd( RCC_APB2Periph_TIM1 , ENABLE);
NVIC_Configuration();
TIM_Configuration();
CAN_GPIO_Config();
CAN_Configuration();
CAN_ITConfig(CAN1, CAN_IT_FMP0, ENABLE); //CAN中断
USART_GPIO_Config();
USART2_Config();
while(1) {
}
}
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楼主
