STM32CAN通信不能正常通信求解�。▋�(nèi)附代碼）

ID:714887 · 發(fā)表于 2020-5-11 10:28

//S選擇模式高速接地靜默模式接高電 PA15
//PA11 CANRX PA12 CANTX
//can總線io口配置初始化
void can_io_init(void)
{
GPIO_InitTypeDef GPIO_Structure;
RCC_APB2PeriphClockCmd(RCC_APB2Periph_GPIOA,ENABLE);
// RCC_APB2PeriphClockCmd(RCC_APB2Periph_AFIO, ENABLE);
GPIO_Structure.GPIO_Pin=GPIO_Pin_12; //管腳
GPIO_Structure.GPIO_Speed=GPIO_Speed_50MHz; //輸出速度
GPIO_Structure.GPIO_Mode=GPIO_Mode_AF_PP; //復(fù)用推挽輸出
GPIO_Init(GPIOA,&GPIO_Structure); //初始化PA12
GPIO_Structure.GPIO_Pin=GPIO_Pin_11; //管腳
GPIO_Structure.GPIO_Speed=GPIO_Speed_50MHz;
GPIO_Structure.GPIO_Mode=GPIO_Mode_IPU; //上拉輸入
GPIO_Init(GPIOA,&GPIO_Structure); //初始化PA11
GPIO_Structure.GPIO_Pin=GPIO_Pin_15; //管腳
GPIO_Structure.GPIO_Speed=GPIO_Speed_50MHz;
GPIO_Structure.GPIO_Mode=GPIO_Mode_Out_PP; //推挽輸出
GPIO_Init(GPIOA,&GPIO_Structure); //初始化PA15
GPIO_ResetBits(GPIOA,GPIO_Pin_15); //寫(xiě)低電平
}
//can總線工作模式設(shè)置
void can_structure(void)
{
//主控MCR寄存器設(shè)置 can工作模式
CAN_InitTypeDef CAN_InitStructure;
RCC_APB1PeriphClockCmd(RCC_APB1Periph_CAN1,ENABLE); //打開(kāi)can1時(shí)鐘總線
CAN_DeInit(CAN1); //清除can通訊寄存器
CAN_StructInit(&CAN_InitStructure);
CAN_InitStructure.CAN_TXFP=DISABLE; //優(yōu)先級(jí)由報(bào)文標(biāo)識(shí)符決定
CAN_InitStructure.CAN_RFLM=DISABLE; //三個(gè)郵箱收滿時(shí) 溢出時(shí)覆蓋原有的報(bào)文
CAN_InitStructure.CAN_NART=ENABLE; //報(bào)文發(fā)送失敗時(shí)會(huì)不斷的繼續(xù)發(fā)送
CAN_InitStructure.CAN_AWUM=DISABLE; //檢測(cè)到報(bào)文，自動(dòng)喚醒can
CAN_InitStructure.CAN_ABOM=DISABLE;// 離線過(guò)程對(duì)INRQ置1 在清0初始化can寄存器如果還是檢測(cè)到隱性就自動(dòng)退出
CAN_InitStructure.CAN_TTCM=DISABLE;//禁止時(shí)間觸發(fā)通訊模式
CAN_InitStructure.CAN_Mode=CAN_Mode_Normal;//正常模式
//can 波特率設(shè)置位時(shí)序 baud=1/正常位時(shí)間 baud=1mbps
CAN_InitStructure.CAN_SJW=CAN_SJW_1tq;//重新同步跳躍寬度為1個(gè)時(shí)間單位
CAN_InitStructure.CAN_BS1=CAN_BS1_7tq;//時(shí)間段1占用8個(gè)時(shí)間單位
CAN_InitStructure.CAN_BS2=CAN_BS2_4tq; //時(shí)間段2占用7個(gè)時(shí)間單位
CAN_InitStructure.CAN_Prescaler=6; //分頻系數(shù)5
CAN_Init(CAN1,&CAN_InitStructure); //初始化can1
}
//can濾波器設(shè)置函數(shù) 接收
void Filter_Sturcture(void)
{
CAN_FilterInitTypeDef CAN_FilterStructure;
CAN_FilterStructure.CAN_FilterNumber=0; //過(guò)濾器0
CAN_FilterStructure.CAN_FilterMode=CAN_FilterMode_IdMask;//標(biāo)識(shí)符屏蔽位
CAN_FilterStructure.CAN_FilterScale=CAN_FilterScale_32bit; //32 位寬
CAN_FilterStructure.CAN_FilterIdHigh=0x0000;////32 位標(biāo)識(shí)符
CAN_FilterStructure.CAN_FilterIdLow=0x0000;
CAN_FilterStructure.CAN_FilterMaskIdHigh=0x0000;//32 位 MASK屏蔽寄存器
CAN_FilterStructure.CAN_FilterMaskIdLow=0x0000;
CAN_FilterStructure.CAN_FilterFIFOAssignment=CAN_Filter_FIFO0;// FIFO0
CAN_FilterStructure.CAN_FilterActivation=ENABLE; //激活過(guò)濾器 0
CAN_FilterInit(&CAN_FilterStructure); //初始化過(guò)濾器0
CAN_ITConfig(CAN1,CAN_IT_FMP0,ENABLE); //FIFO0使能can通訊中斷接收 //發(fā)送CAN_IT_TME
//發(fā)送中斷
CAN_ITConfig(CAN1,CAN_IT_TME,ENABLE); //發(fā)送郵箱空中斷
// CAN_ITConfig(CAN1,CAN_IT_FF0,ENABLE);
}
void can_nvic_structure(void)
{
// CAN1_RX1_IRQn處理FIFO1中斷
NVIC_InitTypeDef NVIC_InitStructure;
NVIC_PriorityGroupConfig(NVIC_PriorityGroup_1); //中斷組別1
NVIC_InitStructure.NVIC_IRQChannel=USB_LP_CAN1_RX0_IRQn;//設(shè)置can總線中斷線FIF0
NVIC_InitStructure.NVIC_IRQChannelSubPriority=0;//搶占優(yōu)先級(jí)0
NVIC_InitStructure.NVIC_IRQChannelSubPriority=0;//響應(yīng)優(yōu)先級(jí)
NVIC_InitStructure.NVIC_IRQChannelCmd=ENABLE; //使能中斷
NVIC_Init(&NVIC_InitStructure);
NVIC_InitStructure.NVIC_IRQChannel=USB_HP_CAN1_TX_IRQn;//設(shè)置can總線中斷線
NVIC_InitStructure.NVIC_IRQChannelSubPriority=0;//搶占優(yōu)先級(jí)0
NVIC_InitStructure.NVIC_IRQChannelSubPriority=1;//響應(yīng)優(yōu)先級(jí)
NVIC_InitStructure.NVIC_IRQChannelCmd=ENABLE; //使能中斷
NVIC_Init(&NVIC_InitStructure);
//USB_LP_CAN1_RX0_IRQn互聯(lián)型如上
}
//can初始化函數(shù)
void can_Init(void)
{
can_io_init();
can_structure();
Filter_Sturcture();
can_nvic_structure();
}
//發(fā)送數(shù)據(jù)函數(shù)
//return 0;發(fā)送成功
// 其他；失敗
u8 can_senddate(u8 *date,u8 len)
{
u8 i=0,j=0,mbox=0;
//設(shè)定標(biāo)識(shí)符共11位取值范圍 0~0x7FF
//決定該幀優(yōu)先級(jí) 數(shù)值越小優(yōu)先級(jí)越高
CanTxMsg CanTxMsgStructure;
CanTxMsgStructure.StdId=0x314; //標(biāo)準(zhǔn)標(biāo)識(shí)符
CanTxMsgStructure.ExtId=0;//設(shè)定擴(kuò)展標(biāo)識(shí)符共18bit 取值范圍 0~0x3FFFF
CanTxMsgStructure.IDE=CAN_ID_STD; //標(biāo)準(zhǔn)格式
CanTxMsgStructure.RTR=CAN_RTR_Data; //數(shù)據(jù)幀
CanTxMsgStructure.DLC=len; //數(shù)據(jù)長(zhǎng)度
for(i=0;i<len;i++)
{
CanTxMsgStructure.Data[i]=date[i];//can總線上裝載數(shù)據(jù)
}
mbox=CAN_Transmit(CAN1,&CanTxMsgStructure); //發(fā)送數(shù)據(jù)
while((CAN_TransmitStatus(CAN1, mbox)==CAN_TxStatus_Failed)&&(j<0XFFF)) j++;
if(j>0xFFF) return 1;
return 0;
}
//接收中斷函數(shù)
void USB_LP_CAN1_RX0_IRQHandler(void) //PA11 PA12
{
CanRxMsg RxMessage;
int i=0;
RxMessage.StdId=0x00;
RxMessage.ExtId=0x00;
RxMessage.IDE=0;
RxMessage.DLC=0;
RxMessage.FMI=0;
RxMessage.Data[0]=0x00;
RxMessage.Data[1]=0x00;
RxMessage.Data[2]=0x00;
RxMessage.Data[3]=0x00;
RxMessage.Data[4]=0x00;
RxMessage.Data[5]=0x00;
RxMessage.Data[6]=0x00;
RxMessage.Data[7]=0x00;
CAN_Receive(CAN1,CAN_Filter_FIFO0,&RxMessage); //接受數(shù)據(jù)
for(i=0;i<8;i++)
{
recive_buf[i]=RxMessage.Data[i];
}
Rx_finish_Flag=1;
}
//發(fā)送中斷函數(shù)
void USB_HP_CAN1_TX_IRQHandler(void) //CAN TX
{
if (CAN_GetITStatus(CAN1,CAN_IT_TME)!= RESET)
{
// LED4=!LED4;
CAN_ClearITPendingBit(CAN1,CAN_IT_TME);
}
}
//can數(shù)據(jù)查詢收到
u8 can_recive_check(void)
{
u32 i=0;
CanRxMsg CanRxMsgStructure;
//檢測(cè)有無(wú)數(shù)據(jù)收到
CanRxMsgStructure.StdId=0x00;
CanRxMsgStructure.ExtId=0x00;
CanRxMsgStructure.IDE=0;
CanRxMsgStructure.DLC=0;
CanRxMsgStructure.FMI=0;
CanRxMsgStructure.Data[0]=0x00;
CanRxMsgStructure.Data[1]=0x00;
CanRxMsgStructure.Data[2]=0x00;
CanRxMsgStructure.Data[3]=0x00;
CanRxMsgStructure.Data[4]=0x00;
CanRxMsgStructure.Data[5]=0x00;
CanRxMsgStructure.Data[6]=0x00;
CanRxMsgStructure.Data[7]=0x00;
CAN_Receive(CAN1, CAN_Filter_FIFO0, &CanRxMsgStructure);//讀取數(shù)據(jù)
for(i=0;i<8;i++)
{
recive_buf[i]=CanRxMsgStructure.Data[i];
}
return CanRxMsgStructure.DLC;
}