#include"led.h"
#include"delay.h"
#include"usart.h"
//////////////////////////////////////////////////////////////////////////////////
//本程序只供学习使用，未经作者许可，不得用于其它任何用途
//ALIENTEK战舰STM32开发板
//CAN驱动代码
//正点原子@ALIENTEK
//技术论坛:
//修改日期:2012/9/11
//版本：V1.0
//版权所有，盗版必究。
//Copyright(C)广州市星翼电子科技有限公司2009-2019
//Allrightsreserved
//////////////////////////////////////////////////////////////////////////////////
//CAN初始化
//tsjw:重新同步跳跃时间单元.范围:1~3;CAN_SJW_1tqCAN_SJW_2tqCAN_SJW_3tqCAN_SJW_4tq
//tbs2:时间段2的时间单元.范围:1~8;
//tbs1:时间段1的时间单元.范围:1~16;CAN_BS1_1tq~CAN_BS1_16tq
//brp:波特率分频器.范围:1~1024;(实际要加1,也就是1~1024)tq=(brp)*tpclk1
//注意以上参数任何一个都不能设为0,否则会乱.
//波特率=Fpclk1/((tsjw+tbs1+tbs2)*brp);
//mode:0,普通模式;1,回环模式;
//Fpclk1的时钟在初始化的时候设置为36M,如果设置CAN_Normal_Init(1,8,7,5,1);
//则波特率为:36M/((1+8+7)*5)=450Kbps
//返回值:0,初始化OK;
//其他,初始化失败;
///////////////////////////////////////////////////CAN1////////////////////////////////////////////////////
u8CAN_Mode_Init(u8tsjw,u8tbs2,u8tbs1,u16brp,u8mode)
{
GPIO_InitTypeDefGPIO_InitStructure;
CAN_InitTypeDefCAN_InitStructure;
CAN_FilterInitTypeDefCAN_FilterInitStructure;
#ifCAN_RX0_INT_ENABLE
NVIC_InitTypeDefNVIC_InitStructure;
#endif
RCC_APB2PeriphClockCmd(RCC_APB2Periph_GPIOA|RCC_APB2Periph_AFIO,ENABLE);//使能PORTD时钟,使能功能复用时钟
RCC_APB1PeriphClockCmd(RCC_APB1Periph_CAN1,ENABLE);//使能CAN1时钟
GPIO_InitStructure.GPIO_Pin=GPIO_Pin_12;
GPIO_InitStructure.GPIO_Speed=GPIO_Speed_50MHz;
GPIO_InitStructure.GPIO_Mode=GPIO_Mode_AF_PP;//复用推挽
GPIO_Init(GPIOA,&GPIO_InitStructure);//初始化IO
GPIO_InitStructure.GPIO_Pin=GPIO_Pin_11;
GPIO_InitStructure.GPIO_Mode=GPIO_Mode_IPU;//上拉输入
GPIO_Init(GPIOA,&GPIO_InitStructure);//初始化IO
//GPIO_PinRemapConfig(GPIO_Remap2_CAN1,ENABLE);
//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：mode:0,普通模式;1,回环模式;//
//设置波特率
CAN_InitStructure.CAN_SJW=tsjw;//重新同步跳跃宽度(Tsjw)为tsjw+1个时间单位CAN_SJW_1tqCAN_SJW_2tqCAN_SJW_3tqCAN_SJW_4tq
CAN_InitStructure.CAN_BS1=tbs1;//Tbs1=tbs1+1个时间单位CAN_BS1_1tq~CAN_BS1_16tq
CAN_InitStructure.CAN_BS2=tbs2;//Tbs2=tbs2+1个时间单位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_FilterInitStructure.CAN_FilterNumber=0;//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_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
#ifCAN_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
return0;
}
#ifCAN_RX0_INT_ENABLE//使能RX0中断
//中断服务函数
voidCAN1_RX0_IRQHandler(void)
{
CanRxMsgRxMessage;
inti=0;
CAN_Receive(CAN1,0,&RxMessage);
Can_Send_Msg(RxMessage.Data,8);
}
#endif
//can发送一组数据(固定格式:ID为0X12,标准帧,数据帧)
//len:数据长度(最大为8)
//msg:数据指针,最大为8个字节.
//返回值:0,成功;
//其他,失败;
u8Can_Send_Msg(u8*msg,u8len)
{
u8mbox;
u16i=0;
CanTxMsgTxMessage;
TxMessage.StdId=0x12;//标准标识符为0
TxMessage.ExtId=0x12;//设置扩展标示符（29位）
TxMessage.IDE=0;//使用扩展标识符
TxMessage.RTR=0;//消息类型为数据帧，一帧8位
TxMessage.DLC=len;//发送两帧信息
for(i=0;i<8;i++)
TxMessage.Data[i]=msg[i];//第一帧信息
mbox=CAN_Transmit(CAN1,&TxMessage);
i=0;
while((CAN_TransmitStatus(CAN1,mbox)==CAN_TxStatus_Failed)&&(i<0XFFF))i++;//等待发送结束
if(i>=0XFFF)return1;
return0;
}
//can口接收数据查询
//buf:数据缓存区;
//返回值:0,无数据被收到;
//其他,接收的数据长度;
u8Can_Receive_Msg(u8*buf)
{
u32i;
CanRxMsgRxMessage;
if(CAN_MessagePending(CAN1,CAN_FIFO0)==0)return0;//没有接收到数据,直接退出
CAN_Receive(CAN1,CAN_FIFO0,&RxMessage);//读取数据
for(i=0;i<8;i++)
buf[i]=RxMessage.Data[i];
returnRxMessage.DLC;
}
///////////////////////////////////////////////////CAN2////////////////////////////////////////////////////
u8CAN2_Mode_Init(u8tsjw,u8tbs2,u8tbs1,u16brp,u8mode)
{
GPIO_InitTypeDefGPIO_InitStructure;
CAN_InitTypeDefCAN_InitStructure;
CAN_FilterInitTypeDefCAN_FilterInitStructure;
#ifCAN_RX2_INT_ENABLE
NVIC_InitTypeDefNVIC_InitStructure;
#endif
RCC_APB2PeriphClockCmd(RCC_APB2Periph_GPIOB|RCC_APB2Periph_AFIO,ENABLE);//使能PORTB时钟
RCC_APB1PeriphClockCmd(RCC_APB1Periph_CAN2,ENABLE);//使能CAN2时钟
GPIO_InitStructure.GPIO_Pin=GPIO_Pin_13;
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
GPIO_InitStructure.GPIO_Pin=GPIO_Pin_12;
GPIO_InitStructure.GPIO_Mode=GPIO_Mode_IPU;//上拉输入
GPIO_Init(GPIOB,&GPIO_InitStructure);//初始化IO
//GPIO_PinRemapConfig(GPIO_Remap_CAN2,ENABLE);
//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_InitStructure.CAN_SJW=CAN_SJW_1tq;//重新同步跳跃宽度(Tsjw)为tsjw+1个时间单位CAN_SJW_1tqCAN_SJW_2tqCAN_SJW_3tqCAN_SJW_4tq
CAN_InitStructure.CAN_BS1=CAN_BS1_8tq;//Tbs1=tbs1+1个时间单位CAN_BS1_1tq~CAN_BS1_16tq
CAN_InitStructure.CAN_BS2=CAN_BS2_7tq;//Tbs2=tbs2+1个时间单位CAN_BS2_1tq~CAN_BS2_8tq
CAN_InitStructure.CAN_Prescaler=9;//分频系数(Fdiv)为brp+1//
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_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
#ifCAN_RX2_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=0;//次优先级为0
NVIC_InitStructure.NVIC_IRQChannelCmd=ENABLE;
NVIC_Init(&NVIC_InitStructure);
#endif
return0;
}
#ifCAN_RX2_INT_ENABLE//使能RX2中断
//中断服务函数
voidCAN2_RX0_IRQHandler(void)
{
CanRxMsgRxMessage;
inti=0;
CAN_Receive(CAN2,0,&RxMessage);
Can2_Send_Msg(RxMessage.Data,8);
}
#endif
//can发送一组数据(固定格式:ID为0X12,标准帧,数据帧)
//len:数据长度(最大为8)
//msg:数据指针,最大为8个字节.
//返回值:0,成功;
//其他,失败;
u8Can2_Send_Msg(u8*msg,u8len)
{
u8mbox;
u16i=0;
CanTxMsgTxMessage;
TxMessage.StdId=0x12;//标准标识符为0
TxMessage.ExtId=0x12;//设置扩展标示符（29位）
TxMessage.IDE=0;//使用扩展标识符
TxMessage.RTR=0;//消息类型为数据帧，一帧8位
TxMessage.DLC=len;//发送两帧信息
for(i=0;i<8;i++)
TxMessage.Data[i]=msg[i];//第一帧信息
mbox=CAN_Transmit(CAN2,&TxMessage);
i=0;
while((CAN_TransmitStatus(CAN2,mbox)==CAN_TxStatus_Failed)&&(i<0XFFF))i++;//等待发送结束
if(i>=0XFFF)return1;
return0;
}
//can口接收数据查询
//buf:数据缓存区;
//返回值:0,无数据被收到;
//其他,接收的数据长度;
u8Can2_Receive_Msg(u8*buf)
{
u32i;
CanRxMsgRxMessage;
if(CAN_MessagePending(CAN2,CAN_FIFO0)==0)return0;//没有接收到数据,直接退出
CAN_Receive(CAN2,CAN_FIFO0,&RxMessage);//读取数据
for(i=0;i<8;i++)
buf[i]=RxMessage.Data[i];
returnRxMessage.DLC;
}
