一、注意点
两个CAN接口同时工作主要是初始化的时候必须一起使能时钟
二、代码分享
u8 can_init(u8 tsjw,u8 tbs2,u8 tbs1,u16 brp,u8 mode)
{
u16 std_id_1 =0x123;
u16 std_id_2 =0x123;
GPIO_InitTypeDef GPIO_InitStructure;
CAN_InitTypeDef CAN_InitStructure;
CAN_FilterInitTypeDef CAN_FilterInitStructure;
#if CAN1_RX0_INT_ENABLE
NVIC_InitTypeDef NVIC_InitStructure;
#endif
//使能相关时钟
RCC_AHB1PeriphClockCmd(RCC_AHB1Periph_GPIOA, ENABLE);//使能PORTA时钟
RCC_AHB1PeriphClockCmd(RCC_AHB1Periph_GPIOB, ENABLE);//使能PORTA时钟
RCC_APB1PeriphClockCmd(RCC_APB1Periph_CAN1, ENABLE);//使能CAN1时钟
RCC_APB1PeriphClockCmd(RCC_APB1Periph_CAN2, ENABLE);//使能CAN1时钟
//初始化GPIO
GPIO_InitStructure.GPIO_Pin = GPIO_Pin_11| GPIO_Pin_12;
GPIO_InitStructure.GPIO_Mode = GPIO_Mode_AF;//复用功能
GPIO_InitStructure.GPIO_OType = GPIO_OType_PP;//推挽输出
GPIO_InitStructure.GPIO_Speed = GPIO_Speed_100MHz;//100MHz
GPIO_InitStructure.GPIO_PuPd = GPIO_PuPd_UP;//上拉
GPIO_Init(GPIOA, &GPIO_InitStructure);//初始化PA11,PA12
GPIO_InitStructure.GPIO_Pin = GPIO_Pin_5| GPIO_Pin_6;
GPIO_InitStructure.GPIO_Mode = GPIO_Mode_AF;//复用功能
GPIO_InitStructure.GPIO_OType = GPIO_OType_PP;//推挽输出
GPIO_InitStructure.GPIO_Speed = GPIO_Speed_100MHz;//100MHz
GPIO_InitStructure.GPIO_PuPd = GPIO_PuPd_UP;//上拉
GPIO_Init(GPIOB, &GPIO_InitStructure);//初始化PA12,PA13
//引脚复用映射配置
GPIO_PinAFConfig(GPIOA,GPIO_PinSource11,GPIO_AF_CAN1); //GPIOA11复用为CAN1
GPIO_PinAFConfig(GPIOA,GPIO_PinSource12,GPIO_AF_CAN1); //GPIOA12复用为CAN1
GPIO_PinAFConfig(GPIOB,GPIO_PinSource5,GPIO_AF_CAN2); //GPIOA11复用为CAN2
GPIO_PinAFConfig(GPIOB,GPIO_PinSource6,GPIO_AF_CAN2); //GPIOA12复用为CAN2
//CAN单元设置
CAN_InitStructure.CAN_TTCM=DISABLE; //非时间触发通信模式
CAN_InitStructure.CAN_ABOM=DISABLE; //软件自动离线管理
CAN_InitStructure.CAN_AWUM=DISABLE;//睡眠模式通过软件唤醒(清除CAN->MCR的SLEEP位)
CAN_InitStructure.CAN_NART=ENABLE; //禁止报文自动传送
CAN_InitStructure.CAN_RFLM=DISABLE; //报文不锁定,新的覆盖旧的
CAN_InitStructure.CAN_TXFP=DISABLE; //优先级由报文标识符决定
CAN_InitStructure.CAN_Mode= mode; //模式设置
CAN_InitStructure.CAN_SJW=tsjw; //重新同步跳跃宽度(Tsjw)为tsjw+1个时间单位 CAN_SJW_1tq~CAN_SJW_4tq
CAN_InitStructure.CAN_BS1=tbs1; //Tbs1范围CAN_BS1_1tq ~CAN_BS1_16tq
CAN_InitStructure.CAN_BS2=tbs2;//Tbs2范围CAN_BS2_1tq ~ CAN_BS2_8tq
CAN_InitStructure.CAN_Prescaler=brp; //分频系数(Fdiv)为brp+1
CAN_Init(CAN1, &CAN_InitStructure); // 初始化CAN1
CAN_Init(CAN2, &CAN_InitStructure); // 初始化CAN2
//配置过滤器
CAN_FilterInitStructure.CAN_FilterNumber=0; //过滤器0
CAN_FilterInitStructure.CAN_FilterMode=CAN_FilterMode_IdMask; //屏蔽模式
CAN_FilterInitStructure.CAN_FilterScale=CAN_FilterScale_32bit; //32位
CAN_FilterInitStructure.CAN_FilterIdHigh=0x0000;32位ID
CAN_FilterInitStructure.CAN_FilterIdLow=0x0000;
CAN_FilterInitStructure.CAN_FilterMaskIdHigh=0x0000;//32位MASK
CAN_FilterInitStructure.CAN_FilterMaskIdLow=0x0000;
CAN_FilterInitStructure.CAN_FilterFIFOAssignment=CAN_Filter_FIFO0;//过滤器0关联到FIFO0
CAN_FilterInitStructure.CAN_FilterActivation=ENABLE; //激活过滤器0
CAN_FilterInit(&CAN_FilterInitStructure);//滤波器初始化
/*---------------------------------------------------------------------------------------------------------------------------------*/
CAN_FilterInitStructure.CAN_FilterNumber=14; //过滤器14
CAN_FilterInitStructure.CAN_FilterMode=CAN_FilterMode_IdMask; //屏蔽模式
CAN_FilterInitStructure.CAN_FilterScale=CAN_FilterScale_32bit; //32位
CAN_FilterInitStructure.CAN_FilterIdHigh=0x0000;32位ID
CAN_FilterInitStructure.CAN_FilterIdLow=0x0000;
CAN_FilterInitStructure.CAN_FilterMaskIdHigh=0x0000;//32位MASK
CAN_FilterInitStructure.CAN_FilterMaskIdLow=0x0000;
CAN_FilterInitStructure.CAN_FilterFIFOAssignment=CAN_Filter_FIFO0;//过滤器0关联到FIFO0
CAN_FilterInitStructure.CAN_FilterActivation=ENABLE; //激活过滤器0
CAN_FilterInit(&CAN_FilterInitStructure); //CAN2
#if CAN1_RX0_INT_ENABLE
CAN_ITConfig(CAN1,CAN_IT_FMP0,ENABLE);//FIFO0消息挂号中断允许.
NVIC_InitStructure.NVIC_IRQChannel = CAN1_RX0_IRQn;
NVIC_InitStructure.NVIC_IRQChannelPreemptionPriority = 1; // 主优先级为1
NVIC_InitStructure.NVIC_IRQChannelSubPriority = 0; // 次优先级为0
NVIC_InitStructure.NVIC_IRQChannelCmd = ENABLE;
NVIC_Init(&NVIC_InitStructure);
#endif
#if CAN2_RX0_INT_ENABLE
CAN_ITConfig(CAN2,CAN_IT_FMP0,ENABLE);//FIFO0消息挂号中断允许.
NVIC_InitStructure.NVIC_IRQChannel = CAN2_RX0_IRQn;
NVIC_InitStructure.NVIC_IRQChannelPreemptionPriority = 1; // 主优先级为1
NVIC_InitStructure.NVIC_IRQChannelSubPriority = 1; // 次优先级为0
NVIC_InitStructure.NVIC_IRQChannelCmd = ENABLE;
NVIC_Init(&NVIC_InitStructure);
#endif
return 0;
}
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