stm32f105 CAN通讯.rar_CAN stm32f105_STM32F105 CAN_STM32F105 CAN T

/********************************************************************************* 功能说明：CAN1模式初始化配置 CAN1的过滤器为0~13，过滤器关联到FIFO 0 *********************************************************************************/ void CAN1_Mode_Init(void) { GPIO_InitTypeDef GPIO_InitStructure; CAN_InitTypeDef CAN_InitStructure; CAN_FilterInitTypeDef CAN_FilterInitStructure; NVIC_InitTypeDef NVIC_InitStructure; RCC_APB2PeriphClockCmd(RCC_APB2Periph_GPIOD | RCC_APB2Periph_AFIO, ENABLE);//使能PORTD时钟 RCC_APB1PeriphClockCmd(RCC_APB1Periph_CAN1, ENABLE);//使能CAN1时钟 GPIO_InitStructure.GPIO_Pin = GPIO_Pin_1; GPIO_InitStructure.GPIO_Speed = GPIO_Speed_50MHz; GPIO_InitStructure.GPIO_Mode = GPIO_Mode_AF_PP; //复用推挽 GPIO_Init(GPIOD, &GPIO_InitStructure); //初始化IO CAN1 TX GPIO_InitStructure.GPIO_Pin = GPIO_Pin_0; GPIO_InitStructure.GPIO_Mode = GPIO_Mode_IPU;//上拉输入 GPIO_Init(GPIOD, &GPIO_InitStructure);//初始化IO CAN1 RX GPIO_PinRemapConfig(GPIO_Remap2_CAN1 , ENABLE); //CAN1完全重映射到PD0,PD1 CAN_DeInit(CAN1); //复位CAN寄存器 CAN_StructInit(&CAN_InitStructure); //填充CAN参数结构体成员为缺省值 //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= CAN_Mode_Normal; //模式设置： mode:0,普通模式;1,回环模式; // //设置波特率 //CAN 波特率 = RCC_APB1Periph_CAN / Prescaler /(sjw + bs1 +bs2) //CAN 波特率 = 36000000/8/(1+4+4)=500kbps CAN_InitStructure.CAN_SJW = CAN_SJW_1tq; //重复同步跳跃宽度为个实际单位 CAN_InitStructure.CAN_BS1 = CAN_BS1_4tq; //时间段1占用4个时间单位 CAN_InitStructure.CAN_BS2 = CAN_BS2_4tq; //时间段2占用4个时间单位 CAN_InitStructure.CAN_Prescaler = 8; //分频系数为8 CAN_Init(CAN1, &CAN_InitStructure); // 初始化CAN1 CAN_FilterInitStructure.CAN_FilterNumber=0; //过滤器0 CAN_FilterInitStructure.CAN_FilterMode=CAN_FilterMode_IdMask; //标识符屏蔽位模式 CAN_FilterInitStructure.CAN_FilterScale=CAN_FilterScale_32bit; //过滤器位宽32位 CAN_FilterInitStructure.CAN_FilterIdHigh=0x0000;////32位滤波器ID CAN_FilterInitStructure.CAN_FilterIdLow=0x0000; CAN_FilterInitStructure.CAN_FilterMaskIdHigh=0x0000;//32位MASK ID 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 CAN1 NVIC_InitStructure.NVIC_IRQChannel = CAN1_RX0_IRQn ; NVIC_InitStructure.NVIC_IRQChannelPreemptionPriority = 0; // 主优先级为0 NVIC_InitStructure.NVIC_IRQChannelSubPriority = 2; // 次优先级为0 NVIC_InitStructure.NVIC_IRQChannelCmd = ENABLE; NVIC_Init(&NVIC_InitStructure); CAN_ITConfig(CAN1,CAN_IT_FMP0,ENABLE);//FIFO0消息挂号中断允许. } /********************************************************************************** 功能说明：CAN2模式初始化配置 CAN2的过滤器配置为14~28，过滤器关联到FIFO 1 **********************************************************************************/ void CAN2_Mode_Init(void) { GPIO_InitTypeDef GPIO_InitStructure; CAN_InitTypeDef CAN_InitStructure; CAN_FilterInitTypeDef CAN_FilterInitStructure; NVIC_InitTypeDef NVIC_InitStructure; RCC_APB2PeriphClockCmd(RCC_APB2Periph_GPIOB | RCC_APB2Periph_AFIO, ENABLE);//使能PORTB时钟 RCC_APB1PeriphClockCmd(RCC_APB1Periph_CAN2, ENABLE);//使能CAN2时 GPIO_InitStructure.GPIO_Pin = GPIO_Pin_6; GPIO_InitStructure.GPIO_Speed = GPIO_Speed_50MHz; GPIO_InitStructure.GPIO_Mode = GPIO_Mode_AF_PP; //复用推挽 GPIO_Init(GPIOB, &GPIO_InitStructure); //初始化IO CAN2 TX GPIO_InitStructure.GPIO_Pin = GPIO_Pin_5; GPIO_InitStructure.GPIO_Mode = GPIO_Mode_IPU;//上拉输入 GPIO_Init(GPIOB, &GPIO_InitStructure);//初始化IO CAN2 RX GPIO_PinRemapConfig(GPIO_Remap_CAN2 , ENABLE); CAN_DeInit(CAN2); //复位CAN寄存器 CAN_StructInit(&CAN_InitStructure); //填充CAN参数结构体成员为缺省值 //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= CAN_Mode_Normal; //模式设置： mode:0,普通模式;1,回环模式; // //设置波特率 //CAN 波特率 = RCC_APB1Periph_CAN / Prescaler /(sjw + bs1 +bs2) //CAN 波特率 = 36000000/8/(1+4+4)=500kbps CAN_InitStructure.CAN_SJW = CAN_SJW_1tq; CAN_InitStructure.CAN_BS1 = CAN_BS1_4tq; CAN_InitStructure.CAN_BS2 = CAN_BS2_4tq; CAN_InitStructure.CAN_Prescaler = 8; CAN_Init(CAN2, &CAN_InitStructure); // 初始化CAN2 CAN_FilterInitStructure.CAN_FilterNumber=14; //过滤器0 CAN_FilterInitStructure.CAN_FilterMode=CAN_FilterMode_IdMask; 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_FIFO1;//过滤器0关联到FIFO1 CAN_FilterInitStructure.CAN_FilterActivation=ENABLE; //激活过滤器0 CAN_FilterInit(&CAN_FilterInitStructure);//滤波器初始化 CAN2