CANopen 函数移植说明

只看该作者 · 2018-8-28 12:26

其中 CAN_Transmit 为 stm32 提供的库函数，在 stm32f10x_can.c 中定义。
在使用 stm32 之前需要初始化一下 CAN
void CAN_Config(void)
{
/* CAN register init */
CAN_DeInit(CAN1);
CAN_DeInit(CAN2);
CAN_StructInit(&CAN_InitStructure);
/* CAN1 cell init */
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;
//Fpclk=72M/2/CAN_Prescaler
//BitRate=Fpclk/((CAN_SJW+1)*((CAN_BS1+1)+(CAN_BS2+1)+1));
//1M
/*CAN_InitStructure.CAN_SJW = CAN_SJW_1tq;
CAN_InitStructure.CAN_BS1 = CAN_BS1_3tq;
CAN_InitStructure.CAN_BS2 = CAN_BS2_5tq;
CAN_InitStructure.CAN_Prescaler = 4;*/
//125K
CAN_InitStructure.CAN_SJW = CAN_SJW_1tq;
CAN_InitStructure.CAN_BS1 = CAN_BS1_8tq;
CAN_InitStructure.CAN_BS2 = CAN_BS2_7tq;
CAN_InitStructure.CAN_Prescaler = 18;
CAN_Init(CAN1, &CAN_InitStructure);
CAN_Init(CAN2, &CAN_InitStructure);
/* CAN1 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);
/* CAN2 filter init */
CAN_FilterInitStructure.CAN_FilterNumber = 14;
CAN_FilterInit(&CAN_FilterInitStructure);
}

只看该作者 · 2018-8-28 12:26

Can 接收中断实现：
void CAN1_RX0_IRQHandler(void)
{
CAN_Receive(CAN1, CAN_FIFO0, &RxMessage);
//接收处理
m.cob_id=RxMessage.StdId;
if(RxMessage.RTR == CAN_RTR_REMOTE)
m.rtr=1;
else if(RxMessage.RTR == CAN_RTR_DATA)
m.rtr=0;
m.len=RxMessage.DLC;
for(i = 0; i < RxMessage.DLC; i++)
m.data=RxMessage.Data;
canDispatch(&TestSlave_Data, &m);
}