2019年08月29日 | STM32F429 >> 20. CAN 通讯（Code）

本工程配置CAN 为回环模式。

编程指南

1. can 基本模式配置；

2. can 筛选器配置；

3. 发送数据结构体配置并发送；

4. 接收数据结构体配置并接收；

若采用中断进行数据读取，则加入中断配置，并在中断中进行数据接收即可。

bsp_can.h

/**

  ******************************************************************************

  * @file    bsp_can.h

  * @author  Waao

  * @version V1.0.0

  * @date    21-Feb-2019

  * @brief   This file contains some board support package's definition for the can.

  *            

  ******************************************************************************

  * @attention

  *

  * None

*

  ******************************************************************************

  */

#ifndef __BSP_CAN_H_

#define __BSP_CAN_H_

#include <stm32f4xx_can.h>

#include

extern u8 TransmitMailbox;

extern CanRxMsg CAN_ReceiveInitStructure;

#define USE_CAN1

/* If you want to use CAN2, just need to cancel the annotation of the CAN2 */

//#define USE_CAN2

#ifdef  USE_CAN1

//===========================

#define Specified_CAN             CAN1

#define CAN_CLK                   RCC_APB1Periph_CAN1

#define CAN_CLK_Open              RCC_APB1PeriphClockCmd(CAN_CLK, ENABLE)

//===========================

#else /* CAN2 */

//===========================

#define Specified_CAN             CAN2

#define CAN_CLK                   RCC_APB1Periph_CAN2

#define CAN_CLK_Open              RCC_APB1PeriphClockCmd(CAN_CLK | RCC_APB1Periph_CAN1, ENABLE)

//===========================

#endif

void CAN_Config(void);

#endif

bsp_can.c

/**

  ******************************************************************************

  * @file    bsp_can.c

  * @author  Waao

  * @version V1.0.0

  * @date    21-Feb-2019

  * @brief   This file contains some board support package's functions for the CAN.

  *            

  ******************************************************************************

  * @attention

  *

  * None

*

  ******************************************************************************

  */

#include

u8 TransmitMailbox = 0;

CanRxMsg CAN_ReceiveInitStructure;

/**

  * @brief  Initialize the can base configuring.

  * @param  None  

  * @retval None

  */

void CAN_BaseConfig(void)

{

CAN_InitTypeDef CAN_InitStructure;

CAN_CLK_Open;

CAN_DeInit(Specified_CAN);

CAN_InitStructure.CAN_Prescaler = 16;

CAN_InitStructure.CAN_Mode = CAN_Mode_LoopBack;

CAN_InitStructure.CAN_SJW = CAN_SJW_1tq;

CAN_InitStructure.CAN_BS1 = CAN_BS1_6tq;

CAN_InitStructure.CAN_BS2 = CAN_BS2_8tq;

CAN_InitStructure.CAN_TTCM = DISABLE;

CAN_InitStructure.CAN_ABOM = DISABLE;

CAN_InitStructure.CAN_AWUM = DISABLE;

CAN_InitStructure.CAN_NART = DISABLE;

CAN_InitStructure.CAN_RFLM = DISABLE;

CAN_InitStructure.CAN_TXFP = DISABLE;

CAN_Init(Specified_CAN, &CAN_InitStructure);

}

/**

  * @brief  Initialize the can filter.

  * @param  None  

  * @retval None

  */

void CAN_FilterConfig(void)

{

CAN_FilterInitTypeDef CAN_FilterInitStructure;

#ifdef USE_CAN1

CAN_FilterInitStructure.CAN_FilterNumber = 0;

#else

CAN_FilterInitStructure.CAN_FilterNumber = 14;

#endif

CAN_FilterInitStructure.CAN_FilterIdHigh = 0x0000;

CAN_FilterInitStructure.CAN_FilterIdLow = 0x0000;

CAN_FilterInitStructure.CAN_FilterMaskIdHigh = 0x0000;

CAN_FilterInitStructure.CAN_FilterMaskIdLow = 0x0000;

CAN_FilterInitStructure.CAN_FilterFIFOAssignment = 0;

CAN_FilterInitStructure.CAN_FilterMode = CAN_FilterMode_IdMask;

CAN_FilterInitStructure.CAN_FilterScale = CAN_FilterScale_32bit;

CAN_FilterInitStructure.CAN_FilterActivation = ENABLE;

CAN_FilterInit(&CAN_FilterInitStructure);

}

/**

  * @brief  Initialize the can Transmitter.

  * @param  None  

  * @retval None

  */

void CAN_TransmitConfig(void)

{

CanTxMsg CAN_TransmitInitStructure;

CAN_TransmitInitStructure.StdId = 0x11;

CAN_TransmitInitStructure.IDE = CAN_Id_Standard;

CAN_TransmitInitStructure.RTR = CAN_RTR_Data;

CAN_TransmitInitStructure.DLC = 2;

CAN_TransmitInitStructure.Data[0] = 0xCA;

CAN_TransmitInitStructure.Data[1] = 0xFE;

TransmitMailbox = CAN_Transmit(Specified_CAN, &CAN_TransmitInitStructure);

}

/**

  * @brief  Initialize the can Receiver.

  * @param  None  

  * @retval None

  */

void CAN_ReceiveConfig(void)

{

CAN_ReceiveInitStructure.StdId = 0x00;

CAN_ReceiveInitStructure.IDE = CAN_Id_Standard;

CAN_ReceiveInitStructure.DLC = 0;

CAN_ReceiveInitStructure.Data[0] = 0x00;

CAN_ReceiveInitStructure.Data[1] = 0x00;

CAN_Receive(Specified_CAN, CAN_FIFO0, &CAN_ReceiveInitStructure);

}

/**

  * @brief  Initialize the can.

  * @param  None  

  * @retval None

  */

void CAN_Config(void)

{

CAN_BaseConfig();

CAN_FilterConfig();

CAN_TransmitConfig();

CAN_ReceiveConfig();

}

main.c

/**

  ******************************************************************************

  * @file    main.c

  * @author  Waao

  * @version V1.0.0

  * @date    21-Feb-2019

  * @brief   MAIN.

  *            

  ******************************************************************************

  * @attention

  *

  * None

*

  ******************************************************************************

  */

#include

#include

typedef enum

{

  FAILED = 0,

  PASSED = !FAILED

}TestStatus;

int main(void)

{

u32 uwCounter = 0;

  Printf_Init();

CAN_Config();

  uwCounter = 0;

while((CAN_TransmitStatus(Specified_CAN, TransmitMailbox) != CAN_TxStatus_Ok) && (uwCounter != 0xFFFF))

  {

    uwCounter++;

  }

  uwCounter = 0;

  while((CAN_MessagePending(Specified_CAN, CAN_FIFO0) < 0) && (uwCounter != 0xFFFF))

  {

    uwCounter++;

  }

  if (CAN_ReceiveInitStructure.StdId != 0x11) 

  {

    printf("nERROR 1");

    return FAILED;

  }

  if (CAN_ReceiveInitStructure.IDE != CAN_Id_Standard) 

  {

    printf("nERROR 2");

    return FAILED;

  }

  if(CAN_ReceiveInitStructure.DLC != 2)

  {

    printf("nERROR 3");

    return FAILED;

  }

  if (((CAN_ReceiveInitStructure.Data[0] << 8) | CAN_ReceiveInitStructure.Data[1]) != 0xCAFE)

  {

    printf("nERROR 4");

    return FAILED;

  }

  printf("nSUCCESSFUL!");

  return PASSED;

}