[N32G430] 国民技术N32G430 有关CAN外设的使用方法

CAN_Reset(CAN);

    CAN_Structure_Initializes(&CAN_InitStructure);

    /* CAN cell init */

    CAN_InitStructure.TTCM          = DISABLE;   //禁用时间触发通信模式

    CAN_InitStructure.ABOM          = DISABLE;   //自动离线模式选择软件确定

    CAN_InitStructure.AWKUM         = DISABLE;   //自动唤醒模式选择软件确定

    CAN_InitStructure.NART          = DISABLE;   //禁止报文自动重传

    CAN_InitStructure.RFLM          = DISABLE;   //接收FIFO锁定，当前接收报文未读出时，下一个接收到报文将被丢弃

    CAN_InitStructure.TXFP          = ENABLE;    //发送优先级由发送请求的顺序决定

    CAN_InitStructure.OperatingMode = CAN_NORMAL_MODE;

    /* Baud rate calculation = CAN clock/(BaudRatePrescaler*(TBS1+TBS2+1)) */

    CAN_InitStructure.RSJW          = CAN_RSJW_1TQ;

    CAN_InitStructure.TBS1          = CAN_TBS1_8TQ;

    CAN_InitStructure.TBS2          = CAN_TBS2_7TQ;   

    CAN_InitStructure.BaudRatePrescaler = 2; 

    /*Initializes the CAN */

    CAN_Initializes(CAN, &CAN_InitStructure);

/* CAN filter init */

    can_rx.filter.Filter_Num            = 0;                             //过滤器组0

    can_rx.filter.Filter_Mode           = CAN_FILTER_IDMASKMODE;         //标识符屏蔽位模式

    can_rx.filter.Filter_Scale          = /*  */CAN_FILTER_32BITSCALE;   //过滤器位宽为单个32位

    can_rx.filter.Filter_HighId         = CAN_STD_ID_LIST_32BIT_H(0x00000001);

    can_rx.filter.Filter_LowId          = CAN_STD_ID_LIST_32BIT_L(0x00000001);

    can_rx.filter.FilterMask_HighId     = CAN_STD_ID_H_MASK_DONT_CARE;

    can_rx.filter.FilterMask_LowId      = CAN_STD_ID_L_MASK_DONT_CARE;

    can_rx.filter.Filter_FIFOAssignment = CAN_FIFO0;  //FIFO0 用于CAN接收

    can_rx.filter.Filter_Act            = ENABLE;     //使能CAN滤波器

    CAN_Filter_Initializes(&can_rx.filter);

    /* IT Configuration for CAN */  

    CAN_Config_Interrupt_Enable(CAN, CAN_INT_FMP0);

void CAN_RX0_IRQHandler(void)

{

    CAN_Message_Receive(CAN,CAN_FIFO0, &can_rx.rx_header);  

    lum_cmd_callback(can_rx);

}



// CAN中断回调处理函数

void lum_cmd_callback(CANRxMessage msg)

{

           tCANID        temp_id;

               temp_id.data.id = msg.rx_header.StdId;



        // //lum add ...

        … 

        can_unpack_reply(temp_id.data.cmd_id);

}



//最后发送函数的调用

can_tx.tx_header.StdId = temp_id.data.id;

CAN_Transmit_Message_initializes(CAN,&can_tx.tx_header);