STM32零基础入门学习（第二阶段）CAN通信实验代码

　　//can1.c文件 /**   * @file    can1.c(can回环实验)   * @author  逗比小憨憨   * @version V1.0   * @date    xxxx-xx-xx   * @brief   CAN驱动   ******************************************************************************   * @attention   *   * 实验平台:STM32F103C8T6   * 编程步骤: 		1.初始化CAN外设、波特率，位的组成 		2.配置筛选器，方便接收数据 		3.发送数据，并接收，使用回环模式测试   * 链接：https://www.ixigua.com/7066265725916152334  */  #include ＂can1.h＂ #include ＂usart.h＂   /********************************全局变量定义区 ******************************/ struct CAN_STRUCT my_can_struct; /****************************************************************************/  /********************************静态函数定义区 ******************************/ #if CAN_MODE_CAN_LOOPBACK static void can_gpio_config(void) { 	GPIO_InitTypeDef GPIO_InitStruct;  	RCC_APB2PeriphClockCmd (RCC_APB2Periph_AFIO|RCC_APB2Periph_GPIOB, ENABLE);  	 	GPIO_PinRemapConfig (GPIO_Remap1_CAN1 ,ENABLE); 	 	GPIO_InitStruct.GPIO_Pin = CAN_PIN_TX; 	GPIO_InitStruct.GPIO_Speed = GPIO_Speed_50MHz; 	GPIO_InitStruct.GPIO_Mode = GPIO_Mode_AF_PP; 	GPIO_Init(CAN_PORT, &GPIO_InitStruct); 	 	GPIO_InitStruct.GPIO_Pin = CAN_PIN_RX; 	GPIO_InitStruct.GPIO_Speed = GPIO_Speed_50MHz; 	GPIO_InitStruct.GPIO_Mode = GPIO_Mode_IPU; 	GPIO_Init(CAN_PORT, &GPIO_InitStruct); } #endif  static void can_mode_config(uint8_t bs1,uint8_t bs2,uint8_t sjw,uint16_t pre)	 { 	CAN_InitTypeDef CAN_InitTypeStruct; 	 	RCC_APB1PeriphClockCmd (RCC_APB1Periph_CAN1, ENABLE); 	CAN_InitTypeStruct.CAN_ABOM = ENABLE; 	CAN_InitTypeStruct.CAN_AWUM = ENABLE; 	CAN_InitTypeStruct.CAN_Mode = CAN_Mode_LoopBack; 	CAN_InitTypeStruct.CAN_NART = ENABLE;  	CAN_InitTypeStruct.CAN_RFLM = DISABLE; 	CAN_InitTypeStruct.CAN_TTCM = DISABLE; 	CAN_InitTypeStruct.CAN_TXFP = DISABLE;  	 	CAN_InitTypeStruct.CAN_BS1 = bs1; 	CAN_InitTypeStruct.CAN_BS2 = bs2; 	CAN_InitTypeStruct.CAN_SJW = sjw; 	CAN_InitTypeStruct.CAN_Prescaler = pre; 	 	CAN_Init(CAN1,&CAN_InitTypeStruct); }  static void can_filter_config(void) { 	CAN_FilterInitTypeDef CAN_FilterInitStruct; 	 	CAN_FilterInitStruct.CAN_FilterActivation = ENABLE; 	#if CAN_SELECTION_FIFO_0 	CAN_FilterInitStruct.CAN_FilterFIFOAssignment = CAN_Filter_FIFO0; 	#else 	CAN_FilterInitStruct.CAN_FilterFIFOAssignment = CAN_Filter_FIFO1; 	#endif 	CAN_FilterInitStruct.CAN_FilterNumber = 6; 	CAN_FilterInitStruct.CAN_FilterScale = CAN_FilterScale_32bit; 	CAN_FilterInitStruct.CAN_FilterMode  = CAN_FilterMode_IdMask; 	 	CAN_FilterInitStruct.CAN_FilterIdHigh = ((0x1234<<3 |CAN_Id_Extended |CAN_RTR_Data)&0xFFFF0000)>>16; 	CAN_FilterInitStruct.CAN_FilterIdLow  = ((0x1234<<3 |CAN_Id_Extended |CAN_RTR_Data)&0xFFFF); 	 	CAN_FilterInitStruct.CAN_FilterMaskIdHigh = 0xFFFF; 	CAN_FilterInitStruct.CAN_FilterMaskIdLow  = 0xFFFF;	  	CAN_FilterInit(&CAN_FilterInitStruct); 	#if CAN_SELECTION_FIFO_0 	CAN_ITConfig (CAN1,CAN_IT_FMP0,ENABLE);	 	#else 	CAN_ITConfig (CAN1,CAN_IT_FMP1,ENABLE);	 	#endif }	  static void can_nvic_config(void) { 	NVIC_InitTypeDef NVIC_InitStructure; 	#if CAN_SELECTION_FIFO_0 	NVIC_InitStructure.NVIC_IRQChannel = USB_LP_CAN1_RX0_IRQn; 	#else 	NVIC_InitStructure.NVIC_IRQChannel = CAN1_RX1_IRQn; 	#endif 	NVIC_InitStructure.NVIC_IRQChannelPreemptionPriority = 1; 	NVIC_InitStructure.NVIC_IRQChannelSubPriority = 1; 	NVIC_InitStructure.NVIC_IRQChannelCmd = ENABLE; 	NVIC_Init(&NVIC_InitStructure); 	 } /****************************************************************************/  /********************************中断函数编写区 ******************************/ #if CAN_SELECTION_FIFO_0 void USB_LP_CAN1_RX0_IRQHandler(void) {     if(CAN_GetITStatus(CAN1, CAN_IT_FMP0)  ==  SET)     { 		CAN_Receive(CAN1, CAN_FIFO0, &my_can_struct.RxMessage);  		     }     CAN_ClearITPendingBit(CAN1, CAN_IT_FMP0); } #else void CAN1_RX1_IRQHandler(void) {     if(CAN_GetITStatus(CAN1, CAN_IT_FMP1)  ==  SET)     { 		CAN_Receive(CAN1, CAN_FIFO1, &my_can_struct.RxMessage);         }     CAN_ClearITPendingBit(CAN1, CAN_IT_FMP1);	 } #endif  /****************************************************************************/  /********************************外部函数编写区 ******************************/ void my_can_transmit_data(uint8_t *dat,uint8_t length) { 	uint8_t i = 0; 	CanTxMsg can_transmit_data; 	can_transmit_data.StdId = 0; 	can_transmit_data.ExtId = 0x1234; 	can_transmit_data.RTR = CAN_RTR_DATA; 	can_transmit_data.IDE = CAN_Id_Extended; 	 	can_transmit_data.DLC = length; 	for(i = 0; i < length; i++) 	{ 		can_transmit_data.Data[i] = dat[i]; 	} 	CAN_Transmit(CAN1,&can_transmit_data); }   void my_can_init(void) { 	#if CAN_MODE_CAN_LOOPBACK 	can_gpio_config(); 	#endif 	can_mode_config(CAN_BS1_5tq, CAN_BS2_3tq, CAN_SJW_2tq, 4);     can_nvic_config(); 	can_filter_config(); }  void my_can_receive_test(void) { 	uint8_t count = 0; 	uint8_t length = my_can_struct.RxMessage.DLC; 	printf(＂ receive data:%dbyte 	 ＂,length); 	for(count = 0; count < length; count++) 		printf(＂%d ＂,my_can_struct.RxMessage.Data[count]); 	printf(＂	 ＂); } /****************************************************************************/  //can1.h文件 /**   * @file    can1.h(can回环实验)   * @author  逗比小憨憨   * @version V1.0   * @date    xxxx-xx-xx   * @brief   STM32的CAN驱动程序（库函数版本）   ******************************************************************************   * @attention   *   * 实验平台:STM32F103C8T6   */  #ifndef __can1_H #define __can1_H #include ＂stm32f10x.h＂  #define CAN_SELECTION_FIFO_0  0  #define CAN_MODE_CAN_LOOPBACK 0  #define CAN_PIN_RX GPIO_Pin_8 #define CAN_PIN_TX GPIO_Pin_9 #define CAN_PORT   GPIOB  typedef struct CAN_STRUCT{ 	CanRxMsg RxMessage; 	CanTxMsg TxMessage; }CAN_STRUCT; extern struct CAN_STRUCT my_can_struct;  static void can_gpio_config(void); static void can_filter_config(void); static void can_nvic_config(void); static void can_mode_config(uint8_t bs1,uint8_t bs2,uint8_t sjw,uint16_t pre);  void my_can_init(void); void my_can_transmit_data(uint8_t *dat,uint8_t length); void my_can_receive_test(void);  #endif    欢迎关注逗比小憨憨