CAN4stm32f105.zip_STM32F105_STM32F105 CAN_canbus_stm32 f105 CAN

#include "can.h" //eg_t55 #include "stdio.h" #include "stm32f10x_gpio.h" #include "stm32f10x_can.h" volatile u8 can_tx_success_flag = 0; void can1_init(void) { u8 ret; GPIO_InitTypeDef GPIO_InitStruct; CAN_InitTypeDef CAN_InitStruct; CAN_FilterInitTypeDef CAN_FilterInitStruct; NVIC_InitTypeDef NVIC_InitStructure; //APB1 36MHz RCC_APB1PeriphClockCmd(RCC_APB1Periph_CAN1, ENABLE); RCC_APB2PeriphClockCmd(RCC_APB2Periph_GPIOA, ENABLE); RCC_APB2PeriphClockCmd(RCC_APB2Periph_AFIO, ENABLE); GPIO_InitStruct.GPIO_Pin = GPIO_Pin_CAN_Rx; GPIO_InitStruct.GPIO_Mode = GPIO_Mode_IPU; //GPIO_InitStruct.GPIO_Speed = GPIO_Speed_50MHz; GPIO_Init(GPIO_TYPE_CAN_Rx, &GPIO_InitStruct); GPIO_InitStruct.GPIO_Pin = GPIO_Pin_CAN_Tx; GPIO_InitStruct.GPIO_Mode = GPIO_Mode_AF_PP; GPIO_InitStruct.GPIO_Speed = GPIO_Speed_10MHz; GPIO_Init(GPIO_TYPE_CAN_Tx, &GPIO_InitStruct); //GPIO_PinRemapConfig(GPIO_Remap1_CAN1 , ENABLE); //can mode related CAN_DeInit(CAN1); CAN_StructInit(&CAN_InitStruct); CAN_InitStruct.CAN_TTCM = DISABLE; CAN_InitStruct.CAN_ABOM = DISABLE; CAN_InitStruct.CAN_AWUM = ENABLE; CAN_InitStruct.CAN_NART = DISABLE; CAN_InitStruct.CAN_RFLM = DISABLE; CAN_InitStruct.CAN_TXFP = DISABLE; CAN_InitStruct.CAN_Mode = CAN_Mode_Normal; //bound = 36M/(1+6+1)/9 = 500kbps CAN_InitStruct.CAN_SJW = CAN_SJW_1tq; CAN_InitStruct.CAN_BS1 = CAN_BS1_9tq; CAN_InitStruct.CAN_BS2 = CAN_BS2_2tq; CAN_InitStruct.CAN_Prescaler = 6; ret = CAN_Init(CAN1, &CAN_InitStruct); if(ret != CAN_InitStatus_Success) printf("Failed to initiate CAN1.\n"); //CAN_ITConfig(CAN1, CAN_IT_TME, ENABLE); /* CAN_FilterInitStruct.CAN_FilterMode = CAN_FilterMode_IdMask; CAN_FilterInitStruct.CAN_FilterScale = CAN_FilterScale_32bit; CAN_FilterInitStruct.CAN_FilterIdHigh = 0x0000; CAN_FilterInitStruct.CAN_FilterIdLow = 0x0000; CAN_FilterInitStruct.CAN_FilterMaskIdHigh= 0x0000; CAN_FilterInitStruct.CAN_FilterMaskIdLow= 0x0000; CAN_FilterInitStruct.CAN_FilterFIFOAssignment = CAN_Filter_FIFO0; CAN_FilterInitStruct.CAN_FilterNumber = 1; CAN_FilterInitStruct.CAN_FilterActivation = ENABLE; CAN_FilterInit(&CAN_FilterInitStruct); CAN_ITConfig(CAN1, CAN_IT_FMP0, ENABLE); NVIC_InitStruct.NVIC_IRQChannelSubPriority = 0; NVIC_InitStruct.NVIC_IRQChannelPreemptionPriority = 1; NVIC_InitStruct.NVIC_IRQChannelCmd = ENABLE; NVIC_InitStruct.NVIC_IRQChannel = CAN1_RX0_IRQn; NVIC_Init(&NVIC_InitStruct); */ } u8 can_sent_msg(u32 id, u8* data) { u8 ret = CAN_TxStatus_NoMailBox; CanTxMsg msg; msg.StdId = id, msg.ExtId = 0, msg.IDE = CAN_Id_Standard, msg.RTR = CAN_RTR_DATA; msg.DLC = 8; msg.Data[0] = data[0]; msg.Data[1] = data[1]; msg.Data[2] = data[2]; msg.Data[3] = data[3]; msg.Data[4] = data[4]; msg.Data[5] = data[5]; msg.Data[6] = data[6]; msg.Data[7] = data[7]; ret = CAN_Transmit(CAN1, &msg); if(ret == CAN_TxStatus_NoMailBox) printf("No mailbox.\n"); return ret; } void CAN1_RX0_IRQHandler(void) { int i; ITStatus Status; CanRxMsg msg; Status = CAN_GetITStatus(CAN1, CAN_IT_FMP0); if(Status == SET) { CAN_Receive(CAN1, CAN_FIFO0, &msg); printf("id: %d, data:", msg.StdId); for(i=0; i<8; i++) printf("%d ", msg.Data[i]); } CAN_ClearITPendingBit(CAN1, CAN_IT_FMP0); }