【GD32F303红枫派使用手册】第三十讲 CAN -CAN通信实验

C

void driver_can_config(typdef_can_general can_general)

{

    rcu_periph_clock_enable(can_general.rcu_can); //CAN时钟使能

    rcu_periph_clock_enable(can_general.rcu_IO_port); //IO时钟使能

    if(can_general.can_remap != 0) //如IO有remap，需要配置remap功能

    {

        rcu_periph_clock_enable(RCU_AF);

        gpio_pin_remap_config(can_general.can_remap,ENABLE);

    }   

    gpio_init(can_general.IO_port,GPIO_MODE_IPU,can_general.gpio_speed,can_general.pin_rx); //CAN RX IO配置

    gpio_init(can_general.IO_port,GPIO_MODE_AF_PP,can_general.gpio_speed,can_general.pin_tx); //CAN TX IO配置

        

    can_struct_para_init(CAN_INIT_STRUCT, &can_general.can_parameter); //CAN初始化结构体的初始化

    can_struct_para_init(CAN_INIT_STRUCT, &can_general.can_filter); //CAN过滤器结构体的初始化



    can_deinit(can_general.can_port); //CAN的deinit

    

    can_general.can_parameter.time_triggered = DISABLE;  //时间触发功能

    can_general.can_parameter.auto_bus_off_recovery = DISABLE;//busoff自恢复功能

    can_general.can_parameter.auto_wake_up = DISABLE; //自动唤醒功能

    can_general.can_parameter.no_auto_retrans = DISABLE;//自动重发功能，需要注意DISABLE为使能自动重发

    can_general.can_parameter.rec_fifo_overwrite = DISABLE;//接收溢出模式

    can_general.can_parameter.trans_fifo_order = DISABLE;//发送邮箱顺序配置

    can_general.can_parameter.working_mode = CAN_LOOPBACK_MODE;//回环模式

    can_general.can_parameter.resync_jump_width = CAN_BT_SJW_1TQ;//再同步补偿

    can_general.can_parameter.time_segment_1 = CAN_BT_BS1_5TQ;//BS1设置，注意这里设置为5，寄存器BS1[3:0]实际为4

    can_general.can_parameter.time_segment_2 = CAN_BT_BS2_4TQ;//BS2设置，注意这里设置为4，寄存器BS2[2:0]实际为3

    

    /* 1MBps */

#if CAN_BAUDRATE == 1000 //波特率设置

    can_general.can_parameter.prescaler = 6;

    /* 500KBps */

#elif CAN_BAUDRATE == 500

    can_general.can_parameter.prescaler = 12;

    /* 250KBps */

#elif CAN_BAUDRATE == 250

    can_general.can_parameter.prescaler = 24;

    /* 125KBps */

#elif CAN_BAUDRATE == 125

    can_general.can_parameter.prescaler = 48;

    /* 100KBps */

#elif  CAN_BAUDRATE == 100

    can_general.can_parameter.prescaler = 60;

    /* 50KBps */

#elif  CAN_BAUDRATE == 50

    can_general.can_parameter.prescaler = 120;

    /* 20KBps */

#elif  CAN_BAUDRATE == 20

    can_general.can_parameter.prescaler = 300;

#else

    #error "please select list can baudrate in private defines in main.c "

#endif  

    /* initialize CAN */

    can_init(can_general.can_port, &can_general.can_parameter);//CAN初始化

    

    /* initialize filter */ 

    can_general.can_filter.filter_number=0; //过滤器号

    can_general.can_filter.filter_mode = CAN_FILTERMODE_MASK;//掩码模式

    can_general.can_filter.filter_bits = CAN_FILTERBITS_32BIT;//掩码位宽

    can_general.can_filter.filter_list_high = 0x3000<<1; //掩码和ID设置

    can_general.can_filter.filter_list_low = 0x0000;

    can_general.can_filter.filter_mask_high = 0x3000<<1;

    can_general.can_filter.filter_mask_low = 0x0000;

    can_general.can_filter.filter_fifo_number = CAN_FIFO0; //过滤器关联接收FIFO号

    can_general.can_filter.filter_enable = ENABLE; //过滤器使能    

    can_filter_init(&can_general.can_filter); //过滤器初始化

                

    can_general.can_filter.filter_number=1;

    can_general.can_filter.filter_list_high = 0x5000<<1;

    can_general.can_filter.filter_list_low = 0x0000;

    can_general.can_filter.filter_mask_high = 0x5000<<1;

    can_general.can_filter.filter_mask_low = 0x0000;

    can_general.can_filter.filter_fifo_number = CAN_FIFO1;

    

    can_filter_init(&can_general.can_filter);

    

    if(can_general.can_rx_use_interrupt == SET)//打开CAN接收中断

    {

        can_interrupt_enable(can_general.can_port, CAN_INT_RFNE0);

        can_interrupt_enable(can_general.can_port, CAN_INT_RFNE1);

    }

}

C

/* select CAN baudrate */

/* 1MBps */

#define CAN_BAUDRATE  1000

/* 500kBps */

/* #define CAN_BAUDRATE  500 */

/* 250kBps */

/* #define CAN_BAUDRATE  250 */

/* 125kBps */

/* #define CAN_BAUDRATE  125 */

/* 100kBps */ 

/* #define CAN_BAUDRATE  100 */

/* 50kBps */ 

/* #define CAN_BAUDRATE  50 */

/* 20kBps */ 

/* #define CAN_BAUDRATE  20 */

C

void driver_can_transmit(typdef_can_general can_general,can_trasnmit_message_struct *transmit_message)

{

    can_message_transmit(can_general.can_port,transmit_message);

}

C

void can0_rx0_interrupt_handler(void)

{

    can_message_receive(CAN0, CAN_FIFO0, &can0_receive_message_fifo0);//将数据从FIFO中转移到接收寄存器组中    

    if((0x300 == can0_receive_message_fifo0.rx_sfid)&&(CAN_FF_STANDARD == can0_receive_message_fifo0.rx_ff)&&(2 == can0_receive_message_fifo0.rx_dlen)){

        can0_receive_fifo0_flag = SET; 

    }else{

        can0_receive_fifo0_flag = RESET; 

    }

}

C

void can0_rx1_interrupt_handler(void)

{

    can_message_receive(CAN0, CAN_FIFO1, &can0_receive_message_fifo1);//将数据从FIFO中转移到接收寄存器组中   

    if((0x500 == can0_receive_message_fifo1.rx_sfid)&&(CAN_FF_STANDARD == can0_receive_message_fifo1.rx_ff)&&(2 == can0_receive_message_fifo1.rx_dlen)){

        can0_receive_fifo1_flag = SET; 

    }else{

        can0_receive_fifo1_flag = RESET; 

    }

}

C

int main(void)

{

    driver_init();//delay函数初始化

    bsp_uart_init(&BOARD_UART);//BOARD_UART串口初始化

    bsp_can_config(BSP_CAN);//BOARD_CAN初始化

    nvic_irq_enable(USBD_LP_CAN0_RX0_IRQn,0,0);//使能CAN0 FIFO0 NVIC

    nvic_irq_enable(CAN0_RX1_IRQn,0,0);//使能CAN0 FIFO1 NVIC

    while (1)

    {

        bsp_can_transmit(BSP_CAN,&bsp_can_transmit_message_1);//发送一帧数据

        printf("\r\n can0 transmit data:%x,%x", bsp_can_transmit_message_1.tx_data[0], bsp_can_transmit_message_1.tx_data[1]);//发送数据打印

        delay_ms(1000); //延时1s

        bsp_can_transmit(BSP_CAN,&bsp_can_transmit_message_2);//发送一帧数据

        printf("\r\n can0 transmit data:%x,%x", bsp_can_transmit_message_2.tx_data[0], bsp_can_transmit_message_2.tx_data[1]);//发送数据打印

        delay_ms(1000);

        bsp_can_transmit(BSP_CAN,&bsp_can_transmit_message_3);//发送一帧数据

        printf("\r\n can0 transmit data:%x,%x", bsp_can_transmit_message_3.tx_data[0], bsp_can_transmit_message_3.tx_data[1]);//发送数据打印

        delay_ms(1000);                

        if(can0_receive_fifo0_flag == SET)

        {

            printf("\r\n can0_fifo0 receive ID = %x data:%x,%x", can0_receive_message_fifo0.rx_sfid,can0_receive_message_fifo0.rx_data[0], can0_receive_message_fifo0.rx_data[1]);//接收数据打印

            can0_receive_fifo0_flag = RESET; //标志位清除

        }

        if(can0_receive_fifo1_flag == SET)

        {

            printf("\r\n can0_fifo1 receive ID = %x data:%x,%x", can0_receive_message_fifo1.rx_sfid,can0_receive_message_fifo1.rx_data[0], can0_receive_message_fifo1.rx_data[1]);//接收数据打印

            can0_receive_fifo1_flag = RESET;

        }

    }

}

C

typdef_can_general BSP_CAN = 

{

    .can_port = CAN0,

    .rcu_can = RCU_CAN0,                

    .rcu_IO_port = RCU_GPIOB,

    .IO_port = GPIOB,                                        

    .pin_tx = GPIO_PIN_9,                                                        

    .pin_rx = GPIO_PIN_8,                                                

    .can_remap = GPIO_CAN_PARTIAL_REMAP,

    .gpio_speed = GPIO_OSPEED_50MHZ        ,                

    .can_rx_use_interrupt = SET

};

C

can_trasnmit_message_struct bsp_can_transmit_message_1 = {

    .tx_sfid = 0x300,

    .tx_efid = 0x00,

    .tx_ft = CAN_FT_DATA,

    .tx_ff = CAN_FF_STANDARD,

    .tx_dlen = 2,

    .tx_data[0] = 0x55,

    .tx_data[1] = 0xAA,

};



can_trasnmit_message_struct bsp_can_transmit_message_2 = {

    .tx_sfid = 0x500,

    .tx_efid = 0x00,

    .tx_ft = CAN_FT_DATA,

    .tx_ff = CAN_FF_STANDARD,

    .tx_dlen = 2,

    .tx_data[0] = 0x01,

    .tx_data[1] = 0x02,

};



can_trasnmit_message_struct bsp_can_transmit_message_3 = {

    .tx_sfid = 0x400,

    .tx_efid = 0x00,

    .tx_ft = CAN_FT_DATA,

    .tx_ff = CAN_FF_STANDARD,

    .tx_dlen = 2,

    .tx_data[0] = 0x02,

    .tx_data[1] = 0x01,

};