void CAN1_Config(uint8_t sjw,uint8_t bs1,uint8_t bs2,uint16_t pres)
{
GPIO_InitTypeDef GPIO_InitStructure;
CAN_InitTypeDef CAN_InitStructure;
CAN_FilterInitTypeDef CAN_FilterInitStructure;
NVIC_InitTypeDef NVIC_InitStructure;
/* 打开GPIO时钟、AFIO时钟,CAN时钟 */
RCC_APB2PeriphClockCmd(RCC_APB2Periph_GPIOA | RCC_APB2Periph_AFIO, ENABLE);
RCC_APB1PeriphClockCmd(RCC_APB1Periph_CAN1, ENABLE);
/* CAN1 RX PB8 */
GPIO_InitStructure.GPIO_Pin = GPIO_Pin_11;
GPIO_InitStructure.GPIO_Mode = GPIO_Mode_IPU;
GPIO_InitStructure.GPIO_Speed = GPIO_Speed_50MHz;
GPIO_Init(GPIOA, &GPIO_InitStructure);
/* CAN1 TX PB9 */
GPIO_InitStructure.GPIO_Pin = GPIO_Pin_12;
GPIO_InitStructure.GPIO_Mode = GPIO_Mode_AF_PP;
GPIO_InitStructure.GPIO_Speed = GPIO_Speed_50MHz;
GPIO_Init(GPIOA, &GPIO_InitStructure);
/* CAN1 Enabling interrupt */
NVIC_InitStructure.NVIC_IRQChannel=CAN1_RX0_IRQn;
NVIC_InitStructure.NVIC_IRQChannelPreemptionPriority = 0;
NVIC_InitStructure.NVIC_IRQChannelSubPriority = 0;
NVIC_InitStructure.NVIC_IRQChannelCmd = ENABLE;
NVIC_Init(&NVIC_InitStructure);
/* CAN BaudRate = RCC_APB1PeriphClock/(CAN_SJW+CAN_BS1+CAN_BS2)/CAN_Prescaler */
CAN_DeInit(CAN1);
CAN_StructInit(&CAN_InitStructure);
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;
CAN_InitStructure.CAN_SJW=sjw;
CAN_InitStructure.CAN_BS1=bs1;
CAN_InitStructure.CAN_BS2=bs2;
CAN_InitStructure.CAN_Prescaler=pres;
CAN_Init(CAN1,&CAN_InitStructure); // CAN1
CAN_FilterInitStructure.CAN_FilterNumber=0;
CAN_FilterInitStructure.CAN_FilterMode=CAN_FilterMode_IdMask; // 标识符屏蔽位模式
CAN_FilterInitStructure.CAN_FilterScale=CAN_FilterScale_32bit; // 32位过滤器
CAN_FilterInitStructure.CAN_FilterIdHigh=0x0000; // 过滤器标识符
CAN_FilterInitStructure.CAN_FilterIdLow=0x0000;
CAN_FilterInitStructure.CAN_FilterMaskIdHigh=0x0000; // 过滤器屏蔽标识符
CAN_FilterInitStructure.CAN_FilterMaskIdLow=0x0000;
CAN_FilterInitStructure.CAN_FilterFIFOAssignment=CAN_FIFO0; // FIFO0指向过滤器
CAN_FilterInitStructure.CAN_FilterActivation=ENABLE;
CAN_FilterInit(&CAN_FilterInitStructure);
CAN_ITConfig(CAN1,CAN_IT_FMP0,ENABLE); // CAN1
}
/*****************************************
CAN2 Config
FIFO_1
返回:
*****************************************/
void CAN2_Config(uint8_t sjw,uint8_t bs1,uint8_t bs2,uint16_t pres)
{
GPIO_InitTypeDef GPIO_InitStructure;
CAN_InitTypeDef CAN_InitStructure;
CAN_FilterInitTypeDef CAN_FilterInitStructure;
NVIC_InitTypeDef NVIC_InitStructure;
/* 打开GPIO时钟、AFIO时钟,CAN时钟 */
RCC_APB2PeriphClockCmd(RCC_APB2Periph_GPIOB | RCC_APB2Periph_AFIO, ENABLE);
RCC_APB1PeriphClockCmd(RCC_APB1Periph_CAN2, ENABLE);
/* CAN2 RX PB5 */
GPIO_InitStructure.GPIO_Pin = GPIO_Pin_5;
GPIO_InitStructure.GPIO_Mode = GPIO_Mode_IPU;
GPIO_InitStructure.GPIO_Speed = GPIO_Speed_50MHz;
GPIO_Init(GPIOB, &GPIO_InitStructure);
/* CAN2 TX PB6 */
GPIO_InitStructure.GPIO_Pin = GPIO_Pin_6;
GPIO_InitStructure.GPIO_Mode = GPIO_Mode_AF_PP;
GPIO_InitStructure.GPIO_Speed = GPIO_Speed_50MHz;
GPIO_Init(GPIOB, &GPIO_InitStructure);
GPIO_PinRemapConfig(GPIO_Remap_CAN2,ENABLE);
/* CAN2 Enabling interrupt */
NVIC_InitStructure.NVIC_IRQChannel=CAN2_RX1_IRQn; // FIFO_1
NVIC_InitStructure.NVIC_IRQChannelPreemptionPriority = 0;
NVIC_InitStructure.NVIC_IRQChannelSubPriority = 1;
NVIC_InitStructure.NVIC_IRQChannelCmd = ENABLE;
NVIC_Init(&NVIC_InitStructure);
/* CAN BaudRate = RCC_APB1PeriphClock/(CAN_SJW+CAN_BS1+CAN_BS2)/CAN_Prescaler */
CAN_DeInit(CAN2);
CAN_StructInit(&CAN_InitStructure);
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;
CAN_InitStructure.CAN_SJW=sjw;
CAN_InitStructure.CAN_BS1=bs1;
CAN_InitStructure.CAN_BS2=bs2;
CAN_InitStructure.CAN_Prescaler=pres;
CAN_Init(CAN2,&CAN_InitStructure); // CAN2
CAN_FilterInitStructure.CAN_FilterNumber=14; //
CAN_FilterInitStructure.CAN_FilterMode=CAN_FilterMode_IdMask; // 标识符屏蔽位模式
CAN_FilterInitStructure.CAN_FilterScale=CAN_FilterScale_32bit; // 32位过滤器
CAN_FilterInitStructure.CAN_FilterIdHigh=0x0000; // 过滤器标识符
CAN_FilterInitStructure.CAN_FilterIdLow=0x0000;
CAN_FilterInitStructure.CAN_FilterMaskIdHigh=0x0000; // 过滤器屏蔽标识符
CAN_FilterInitStructure.CAN_FilterMaskIdLow=0x0000;
CAN_FilterInitStructure.CAN_FilterFIFOAssignment=CAN_FIFO1; // FIFO1指向过滤器
CAN_FilterInitStructure.CAN_FilterActivation=ENABLE;
CAN_FilterInit(&CAN_FilterInitStructure);
CAN_ITConfig(CAN2,CAN_IT_FMP1,ENABLE); // CAN2
}
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