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下面的CAN初始化函数感觉应该是覆盖了所有CAN功能设置(若有遗漏提醒我，我加进去)，无死角！ 参数一定让你有些难受，但我觉得总比实现不了什么，过不去坎要好点: A% Y* ?( z3 K/ b" K0 Q6 A" @, ? 9 x5 z3 T {1 j5 F0 r% T ~+ ?& y //---------------------------- AHR_CAN.C -------------------------------------------------------------- #include "AHR_CAN.H"2 f9 r$ J- i: X! b+ U int CANx_BASE = (unsigned int)0x40006400; //CAN1_BASE:0x40006400;CAN2_BASE:0x40006800; 2019-0208 //----------------------------------------------------------------------------------------------------- //CAN初始化全功能函数: unsigned int regCAN_MCR=0x00010002,regCAN_MSR=0x00000C02,regCAN_BTR=0x01230000;/ ?$ q6 x* a ]; }* _9 r6 [" h9 P //参数cfgCAN位图: 31 30 29 28, 27 26 25 24 ,23 22 21 20,19 18 17 16,F~C,B A 9 8,7~4,3~0& {8 m: }2 Y! l" f+ w3 ~2 X //*-过滤器的 BTR_SILM&LBKM 激活*关联,模式*位宽 SJW[1:0],-- TS2[2:0]时间段TS1[3:0],Number* ◆_BRP[9:0]8 \" v& H# O h/ W. a% ~& P7 i2 _8 W$ O [/ N // 0x200: FMR (过滤器主控寄存器) 0x240: 过滤器组寄存器的起始地址7 ]5 f; t. y/ M8 v& g2 z // 0x204: FM1R(过滤器模式寄存器) 0x214:FFA1R(过滤器FIFO关联寄存器)! R# g6 y3 n4 L' I8 f+ \" ~4 ? // 0x20C: FS1R(过滤器位宽寄存器) 0x21C: FA1R(过滤器激活寄存器)( i" C& u. H7 ]' _! _ // 31: SILM 静默模式(调试)(SilentMode) 0-正常状态；1-静默模式。 // 0-CAN_Mode_Normal // 30: LBKM 环回模式(调试)(LoopBackMode(debug)) 0-禁止；1-允许环回模式。// 1-CAN_Mode_LoopBack) L0 J( w5 G" M0 S+ n. E4 } // 29: FACTi 软置1-激活相应过滤器。仅当该位=0或CAN_FMR_FINIT=1后才能修改相应过滤器组i(CAN_FiR[0:1])- L! w Q7 R: q- _" k // 28: 关联：报文在通过了某过滤器的过滤后，将被存放到其关联的FIFO中。0-过滤器被关联到FIFO0；1-FIFO1; // 27: 0-过滤器组i的2个32位寄存器工作在标识符屏蔽位模式；1-过滤器组i的2个32位REG工作在标识符列表模式" H2 {6 a/ B( W) L // 26: 位宽：0-过滤器位宽为2个16位；1-过滤器位宽为单个32位 v--(reSynchronizationJumpWidth)( {- n; H5 i6 \0 q+ K // 25~24: SJW[1:0] 重新同步跳跃宽度:为了重新同步，CAN硬件在每位中可延缩n个时间单元的上限0 Q- R7 R7 M# X2 E/ e. a w // 22~20: TS2[2:0] 时间段2(TimeSegment2) 定义时间段2占用多少时间单元 tBS2 = tCAN x (TS2[2:0] + 1) // 19~16: TS1[3:0] 时间段1(TimeSegment1) 定义时间段1占用多少时间单元 tBS1 = tCAN x (TS1[3:0] + 1) // 15~10: 过滤器寄存器组x的组号(下面用变量i表示);1 q8 o _6 G, l3 B- @3 | // 09~00: BRP[9:0] (Baud Rate Prescaler) 该位域定义了时间单元(tq)的时间长度tq = ( BRP[9:0] + 1) x tPCLK7 c1 g: Y1 X5 A- i# W5 C' v //参数idCANcfg位图： 23 22 21 20 , 19 18 17 16 //该参数若未设置则缺省:0xFFFFFF13 // TTCM ABOM AWUM NART , RFLM TXFP 保留高电位3 Y2 e0 s7 j; q% f) P! v( ] // 07_.CAN_TTCM=0;非时间触发通信模式//06_.CAN_ABOM=0;软件自动离线管理 // 05_.CAN_AWUM=0; 睡眠由软件唤醒;1-测报文硬件唤醒//04_.CAN_NART=1-允许重传直到成功; 0-只传一次!& v) ?& C% k5 n9 C: \3 U/ j2 V // 03_.CAN_RFLM=0; 报文新覆盖旧的;1-锁一后文全丢;// 02_.CAN_TXFP=0;发送次序按(0-标识符;1-请求号)$ L, G% e/ X- P8 { // 例如：initCANx_Mode(1,二进制[0010,0100,0111,1000,nnnn,nn00,0000,0100]=0x24780004,0,0); //if(initCANx_Mode(1,0x24780004,0,0)==0xABCFACE) LCD_ShowString(10,99,99,30,16,"InitCAN OK!");//500Kbps; m3 u9 Q$ A( Y6 Q1 G( b2 Z //原函数配置:CAN_Mode_Init(CAN_SJW_1tq,CAN_BS2_6tq,CAN_BS1_7tq,6,1);so波特率为: 42M/((6+7+1)*6)=500Kbps9 i* x+ k6 `) W- z( ^ //CANx->BTR:"modeCAN<<30": 模式由SILM和LBKM两位决定: 0-正常；1-正常+环回；2-静默；3-静默+环回2 V' E4 w) m% p! Q3 Z // "tsjw<<24":重新同步跳跃宽度(2位)Tsjw =tsjw+1个时间单位 //"tBS2<<20":时间段2占用多少时间单元 // v-- 分频系数 Fdiv = brp + 1 //"tBS1<<16":时间段1占用多少时间单元) ~$ c$ f! M8 J8 m // "brp-1"(Baud Rate Prescaler)定义: 时间单元tq = ( BRP[9:0] + 1) * tPCLK8 S) m9 j% a) w) A% m //Fpclk1初始化为42M 波特率 = Fpclk1/( ( tbs1 + 1 + tbs2 + 1 + 1 ) * brp ); //-----------------------------------------------------------------------------------------------------: Y; O' }4 k5 X7 D0 ^ int initCANx_Mode(int idCANcfg,int cfgCAN,int CFid,int CFidMsk){ //艾和荣 定稿: 2019-02084 X( D4 i8 W2 Q8 D2 z( U int waitAck=0x00,retStat=0xBADFACE; //tsjw:重新同步跳跃时间单元.范围: CAN_SJW_1tq~4tq& k% @; l7 F0 ^ uint32_t fltNumBitPos=0, i; //brp :波特率分频器. 范围: 1~1024; tq = (brp) * tpclk1 switch(0xffff&idCANcfg){# Y" K& P: k* q4 H5 N case 1: CANx_BASE = (unsigned int)0x40006400; // GPIOA12 <=GPIO_Mode_AF_PP B-50MHz复用推挽输出& W) A+ S9 |5 V4 T$ y; j* t% r; x+ l *(unsigned int*)0x4002101C|=0x02000000; //2-CAN1;RCC_APB1PeriphClockCmd(RCC...ph_CAN1,1);$ h3 o* n& l/ s( A *(unsigned int*)0x40021018|=0x00000004; //4-A口;1-AFIO;//RCC_APB2PClkCmd(RCC.ph_GPIOA,1);4 W {( A$ G' G9 @ *(unsigned int*)0x40010804&=0xFFFF8FFF; //位带何异?? GPIOA11<=GPIO_Mode_IPU) J+ J7 J* x. O. W6 H* e2 q/ X *(unsigned int*)0x40010804|=0x000B8000; break;// GPIOA11<=GPIO_Mode_IPU 8-上拉输入, t2 N |1 J( m }4 R# H case 2: CANx_BASE = (unsigned int)0x40006800; // GPIOB13 <=GPIO_Mode_AF_PP B-50MHz复用推挽输出 *(unsigned int*)0x4002101C|=0x04000000; //4-CAN2; ** 只有互联型才有CAN2 **( e, q8 M$ I5 c# W *(unsigned int*)0x40021018|=0x00000008; //8-GPIOB;1-AFIO; *(unsigned int*)0x40010C04&=0xFFF8FFFF; //GPIOB12 <= GPIO_Mode_IPU" P, S4 r+ o% C2 v3 u% T: b% N8 g1 E Q) c *(unsigned int*)0x40010C04|=0x00B80000; break;// GPIOB12 <= GPIO_Mode_IPU" w9 K8 J* u! L' k default: break; //保留: 为了更多的CAN2 u, o- u* O' C; }$ j } //v--while:等<INAK==1且waitAck==0xFFFF>胜出■CANx_4:MSR_0:INAK=1-正初;0-初完9 @- a7 F C$ F* O, n *(unsigned int*)(CANx_BASE+0x00)&=~0x02;//■CANx->MCR &=(~(uint32_t)CAN_MCR_SLEEP); <0-唤醒>;1-睡眠! b- ^+ q9 ?! i) W& e \ *(unsigned int*)(CANx_BASE+0x00)|= 0x01;//■CANx->MCR |= CAN_MCR_INRQ ;<申请初始化> <1-初始>;0-工作 while((((*(unsigned int*)(CANx_BASE+0x04))&1)!=1)&&(waitAck!=0xffff)) waitAck++; if (((*(unsigned int*)(CANx_BASE+0x04))&0x01)==0) retStat=0xBADFACE; //0xBADFACE-错误；0xACCFACE-OK, e6 A3 S8 g' j" y5 m L else{ //当 CAN_4:MSR_0:INAK=1说明正在初始化，则： if((0xffff0000&idCANcfg)==0) i= 0xFFFFFF13; else i = 0xFFFFFF00|(idCANcfg>>16); //MCR设置值; \" d1 e& j% D$ G8 S) K& z1 u' t *(unsigned int*)(CANx_BASE+0x00) &= i; //■功能扩展设置 初稿：2019-0202 10:48- F; Z# [5 B& O3 l+ p& [ *(unsigned int*)(CANx_BASE+0x1C) =(cfgCAN&0xC37F03FF)-1;//■MSK:0xC37F03FF 由cfgCAN个性次序决定 *(unsigned int*)(CANx_BASE+0x00) &= 0xFFFFFFFE; //■清CAN_0:MCR_0:INRQ=0以退出初始化$ |7 J$ n2 U5 k ] for(waitAck = 0;(((*(unsigned int*)(CANx_BASE+0x04))&1)==1)&&(waitAck!=0xffff);waitAck++){;} if (((*(unsigned int*)(CANx_BASE+0x04))&0x01)==1) retStat = 0xBADFACE; // 0xBADFACE：约定失败.8 D: }$ q$ ? N4 C else retStat = 0xABCFACE; // 0xABCFACE：约定成功! } //以下CAN_FilterInit(&sCF); 等<INAK==0并waitAck==0xFFFF>胜出■CANx_4:MSR_0:INAK=0-初完;1-正初 i = (cfgCAN >> 10)&0x3F; fltNumBitPos = ((uint32_t)1) << i;+ Z, Q( c9 _/ W: A- {! r& A *(unsigned int*)(CANx_BASE+0x200) |= 0x01;//过滤器正在初始化 CAN1->FMR|=FMR_FINIT;(FMR_FINIT=0x01) *(unsigned int*)(CANx_BASE+0x21C) &=~(uint32_t)fltNumBitPos;//FA1R:只有0-禁用(1-激活)fltNumBitPos对0 G$ a0 V/ z& q! | if (((cfgCAN >> 26)&0x01)==0){ // 0-Scale=16位; ^-应的过滤组才能对该组初始化!化后置1$ \: N) X5 r a5 } *(unsigned int*)(CANx_BASE+0x20C)&= ~(uint32_t)fltNumBitPos; //位宽 CAN1->FS1R&=~fltNumBitPos;; k& x4 V6 p) H: Z" W) q! h *(unsigned int*)(CANx_BASE+0x240+(i*0x08)+0x00)=(0xFFFF&CFidMsk)<<16|(0xFFFF&CFid);//! c5 c+ G+ C" K' A2 s *(unsigned int*)(CANx_BASE+0x240+(i*0x08)+0x04)=(0xFFFF0000&CFidMsk)|(0xFFFF&(CFid>>16)); } //位宽=32在下；16在上3行：FR0:MaskIdLow|IdLow；FR1偏移4:MaskIdHigh|IdHigh if (((cfgCAN >> 26)&0x01)==1){ *(unsigned int*)(CANx_BASE+0x20C)|= fltNumBitPos; //CAN1->FS1R &= ~(uint32_t)fltNumBitPos;' p% c0 r8 G, A% p+ e& d *(unsigned int*)(CANx_BASE+0x240+(i*0x08)+0x00)=CFid; //每组FR0+FR1各32位故*8,FR0与FR1偏移0x4& V- \8 A9 s$ u/ n, _! _ M *(unsigned int*)(CANx_BASE+0x240+(i*0x08)+0x04)=CFidMsk;//每组FR1再加偏移故+45 V' x, W' w3 o4 B } //0x204:FM1R=0表示过滤器组x(x=0~13|27)的2个32位寄存器工作在标识符屏蔽位模式；=1:列表模式。 if (((cfgCAN >> 27)&0x01)==0) *(unsigned int*)(CANx_BASE+0x204)&=~(uint32_t)fltNumBitPos;; B! n2 i& x( N% J1 P2 ^ else *(unsigned int*)(CANx_BASE+0x204)|= (uint32_t)fltNumBitPos; //下面的0和1表示：CAN_Filter_FIFO1=1;CAN_Filter_FIFO0=0; >>27:Mode >>28:CF_FIFOAssignment if (((cfgCAN >> 28)&0x01)==0) *(unsigned int*)(CANx_BASE+0x214)&=~(uint32_t)fltNumBitPos; else *(unsigned int*)(CANx_BASE+0x214)|= (uint32_t)fltNumBitPos; if (((cfgCAN >> 29)&0x01)==1) *(unsigned int*)(CANx_BASE+0x21C)|= fltNumBitPos; // 29:CF_Activation *(unsigned int*)(CANx_BASE+0x200) &=~0x01; //过滤器初始化完毕(CANx_200:FMR_0:FINIT=0)FMR:过滤器主控' e) @% _8 u' n" C return retStat;+ J# v. S- E; W5 N3 _/ ] } // <over 2019-0208 aiherong suncun> 2 B1 S3 u2 a7 f1 T5 O+ P int CAN_SendMessage(u8* msg,u8 len){ //can发送一组数据(固定格式:ID为0X12,标准帧,数据帧) CAN_TxMsg TxMsg; //参数：len - 数据长度(最大为8)；msg - 数据指针,最大为8个字节. u8 mailBOX = 0; u16 i = 0; uint32_t sendST = 0; // send state TxMsg.StdId=0x12; // 标准标识符为0) ?, W% z9 r/ h% S' n TxMsg.ExtId=0x12; // 设置扩展标示符（29位） TxMsg.IDE=0; // 使用扩展标识符- O; a2 F8 u( W5 T. V* { TxMsg.RTR=0; // 消息类型为数据帧，一帧8位 TxMsg.DLC=len; // 发送两帧信息 for(i=0;i<len;i++) TxMsg.Data[i]=msg[i]; // 第一帧信息% K% ]0 W; Z/ m if (((*(unsigned int*)(CANx_BASE+0x08))&CAN_TSR_TME0) == CAN_TSR_TME0) mailBOX = 0; else if (((*(unsigned int*)(CANx_BASE+0x08))&CAN_TSR_TME1) == CAN_TSR_TME1) mailBOX = 1;) ~* k) `- @ Z4 w else if (((*(unsigned int*)(CANx_BASE+0x08))&CAN_TSR_TME2) == CAN_TSR_TME2) mailBOX = 2; else mailBOX = 4; // #define CAN_TxStatus_NoMailBox 0x04 if (mailBOX != 4){ // #define CAN_TxStatus_NoMailBox 0x04! }( i* P; U6 O" H (*(unsigned int*)(CANx_BASE+0x180))&=0x01;//sTxMailBox[mailBOX].TIR&=(~)TMIDxR_TXRQ;发完硬清?6 p& _ j6 G9 V# ` ?' z if(TxMsg.IDE==CANid_Std)(*(unsigned int*)(CANx_BASE+0x180))|=((TxMsg.StdId)<<21)|(TxMsg.RTR); else (*(unsigned int*)(CANx_BASE+0x180))|=(TxMsg.IDE)|((TxMsg.ExtId)<< 3)|(TxMsg.RTR);4 D1 `! N0 o( c$ U+ x2 @ TxMsg.DLC &= (uint8_t)0x0000000F;7 ?- e* i" g2 |: X+ ^ (*(unsigned int*)(CANx_BASE+0x184))&= (uint32_t)0xFFFFFFF0;7 K! M. B7 o( L Z2 T5 w" W. m: D# m (*(unsigned int*)(CANx_BASE+0x184))|= TxMsg.DLC;2 l' P+ i7 S6 h6 J4 k6 z2 b (*(unsigned int*)(CANx_BASE+0x18C))= ((uint32_t)TxMsg.Data[7]<<24| //sTxMailBox[mailBOX].TDHR" v6 u0 k& w7 r1 d5 J (uint32_t)TxMsg.Data[6]<<16|(uint32_t)TxMsg.Data[5]<< 8|(uint32_t)TxMsg.Data[4]); (*(unsigned int*)(CANx_BASE+0x188))= ((uint32_t)TxMsg.Data[3]<<24| //sTxMailBox[mailBOX].TDLR' U) K5 u2 d0 o8 E: R$ V7 o5 j (uint32_t)TxMsg.Data[2]<<16|(uint32_t)TxMsg.Data[1]<< 8|(uint32_t)TxMsg.Data[0]);- \" w# ` C, H C; K (*(unsigned int*)(CANx_BASE+0x180))|=0x01;//sTxMailBox[mailBOX].TIR|=TMIDxR_TXRQ;发送数据请求 } for (i=0;i<0xffff;i++){ //等待发送结束 switch (mailBOX){. W) S' }; h* t8 A- i8 W case 0:sendST=(*(unsigned int*)(CANx_BASE+0x08))&0x04000003;break;//&(TSR_RQCP0|_TXOK0|_TME0)3 ] x2 \: x, k+ `, M case 1:sendST=(*(unsigned int*)(CANx_BASE+0x08))&0x08000300;break;//&(TSR_RQCP1|_TXOK1|_TME1) case 2:sendST=(*(unsigned int*)(CANx_BASE+0x08))&0x10030000;break;//&(TSR_RQCP2|_TXOK2|_TME2)# _ t: J, P( _$ r8 ?0 X! l* v default:sendST = 0x00; break; //#define CAN_TxStatus_Failed 0x00 } switch (sendST) {( U7 _" D* t, X) |* J' \ case 0x00000000:sendST = 2; break; //#define CAN_TxStatus_Pending 0x02 case 0x04000001: //case (CAN_TSR_RQCP0|CAN_TSR_TME0):0 _1 g$ A9 h* N case 0x08000100: //case (CAN_TSR_RQCP1|CAN_TSR_TME1): case 0x10010000:sendST = 0; break; //case (CAN_TSR_RQCP2|CAN_TSR_TME2): CAN_TxStatus_Failed case 0x04000003: //case (CAN_TSR_RQCP0|CAN_TSR_TXOK0|CAN_TSR_TME0), V# x6 o0 c) F- s8 W3 L case 0x08000300: //case (CAN_TSR_RQCP1|CAN_TSR_TXOK1|CAN_TSR_TME1) case 0x10030000:sendST = 1; break; //case 说明：仅当"位TSR_TXOKn=1"才算成功(CAN_TxStatus_Ok) default: sendST = 0; break; } if ((sendST==0x01)&&(i<0xffff)) return 0xAbcFace;//#define CAN_TxStatus_Ok 0x01 返回成功" {: x# o r9 ^9 c } if(i>=0xffff) return 0xBadFace; // 返回 0xBadFace - 失败 return 0xABCFACE; // 返回 0xAbcFace - 成功# I$ T. n5 e+ J1 N4 l; M } ' A2 Z& o1 I4 a7 G, |; p6 y6 W! n int CAN_RecvMessage(u8 *buf,int fifoNO){ //can口接收数据查询 参数：buf-数据缓存区;fifoNO-0或1;6 Z+ R( P8 ?9 ~% B3 B CAN_RxMsg RxMsg; u32 i; // 20190202 0点 //返回值:0-没收到数; x-接收的数据长度7 u e# ?! x! |3 U0 J if((fifoNO==0)&&((*(unsigned int*)(CANx_BASE+0x0C)&0x03)!=0)|| (fifoNO==1)&&((*(unsigned int*)(CANx_BASE+0x10)&0x03)!=0)){ // 以下仅FIFO0，未包含FIFO1:0 ~# w' o9 ?3 Q$ n( f! S" P: u6 v RxMsg.IDE=0x04&(*(unsigned int*)(CANx_BASE+0x1B0));//->sFIFOMailBox[fifoNO].RIR;即:FIFO0_RI0R; o! r/ P6 S. D9 \6 ] if(RxMsg.IDE==CANid_Std) RxMsg.StdId=0x000007FF & ((*(unsigned int*)(CANx_BASE+0x1B0)) >> 21);& k7 M* M8 J. \8 X8 n P$ E else RxMsg.ExtId=0x1FFFFFFF & ((*(unsigned int*)(CANx_BASE+0x1B0)) >> 3);9 P" k3 z8 b2 `7 b, s8 X RxMsg.RTR = 0x02& (*(unsigned int*)(CANx_BASE+0x1B0)); //CANx->sFIFOMailBox[fifoNO].RIR; RxMsg.DLC = 0x0F& (*(unsigned int*)(CANx_BASE+0x1B4)); //CANx->sFIFOMailBox[fifoNO].RDTR; RxMsg.FMI = 0xFF&((*(unsigned int*)(CANx_BASE+0x1B4))>> 8); //即:FIFO0_RDT0R >> 8 RxMsg.Data[0]= 0xFF& (*(unsigned int*)(CANx_BASE+0x1B8)); //即:FIFO0_RDL0R' {& }9 R& x5 l) ?9 O8 k RxMsg.Data[1]= 0xFF&((*(unsigned int*)(CANx_BASE+0x1B8))>> 8);0 }* z3 X. u$ H4 Y: D9 w( F4 q RxMsg.Data[2]= 0xFF&((*(unsigned int*)(CANx_BASE+0x1B8))>>16); RxMsg.Data[3]= 0xFF&((*(unsigned int*)(CANx_BASE+0x1B8))>>24); RxMsg.Data[4]= 0xFF& (*(unsigned int*)(CANx_BASE+0x1BC)); //即:FIFO0_RDH0R: J8 N) |2 Y4 v- C, F+ g; i RxMsg.Data[5]= 0xFF&((*(unsigned int*)(CANx_BASE+0x1BC))>> 8); U- f. R; l6 x' @2 s RxMsg.Data[6]= 0xFF&((*(unsigned int*)(CANx_BASE+0x1BC))>>16); RxMsg.Data[7]= 0xFF&((*(unsigned int*)(CANx_BASE+0x1BC))>>24);; {+ T; x% |3 P% V g( Q8 u if (fifoNO == CAN_FIFO0) *(unsigned int*)(CANx_BASE+0x0C)|=0x20;//CANx->RF0R |= CAN_RF0R_RFOM0; else *(unsigned int*)(CANx_BASE+0x10)|=0x20;//CANx->RF1R |= CAN_RF1R_RFOM1; for(i=0;i<RxMsg.DLC;i++)* q, S- E' Y: a4 B buf[i]=RxMsg.Data[i]; return RxMsg.DLC;; O1 x7 H( G5 ]2 X } else return 0; //无数可收故退出/ q. L# u6 }4 `! k0 j, ]. \( v }0 e% K w# M; F7 ~5 B3 W4 ]3 F //-------------------------------------------------- End of AHR_CAN.C ---------------------------------' B8 K7 h* O) ?) u' J* w$ i //--------------------- AHR_CAN.H --------------------------------------------------------------------- #ifndef AHR_CANETHUSB_H #define AHR_CANETHUSB_H# F8 h4 g( \; w$ @- {6 a/ Y #include "aiherong.h" #define CAN_FIFO0 ((uint8_t)0x00) #define CAN_FIFO1 ((uint8_t)0x01) #define CANid_Std ((uint32_t)0x00000000) #define CANid_Ext ((uint32_t)0x00000004) typedef struct{ //发送邮箱有3个 uint32_t StdId; //标准ID# [3 l- D3 ?! Z( X% ?9 g/ _ uint32_t ExtId; //扩展ID3 m( R6 V; T6 `0 Z) q uint8_t IDE; // 标识符选择 (Identifier extension) 0-标准符；1-扩展符 uint8_t RTR; //远程发送请求 (Remote transmission request) 0-数据帧；1-远程帧 uint8_t DLC; //发送数据长度 (Data length code)决定1个报文包含0~8几个字节数据 uint8_t Data[8]; // 8 位数据 } CAN_TxMsg;' H& |$ i \3 g8 h, y0 Y typedef struct{ //接收邮箱有2个6 @% z3 a% W1 t2 B+ B+ s1 ? uint32_t StdId; //标准ID uint32_t ExtId; //扩展ID/ a; _, n u) U4 @. \& k uint8_t IDE; // 标识符选择 (Identifier extension) 0-标准符；1-扩展符( v4 K* n1 I' W( a: C uint8_t RTR; //远程发送请求 (Remote transmission request) 0-数据帧；1-远程帧, k# `* R+ W' l5 J9 S uint8_t DLC; //发送数据长度 (Data length code)决定1个报文包含0~8几个字节数据 uint8_t Data[8]; // 8 位数据 uint8_t FMI; //过滤器匹配序号(Filter match index)+ S0 |/ Y* M. V$ `& M, u3 q* n } CAN_RxMsg;! n* l9 H! j9 {8 ` //CAN初始化 缺省映射F1：CAN1_RX  A11；CAN1_TXA12；F105&107&F2&F4：CAN2_RXB12；CAN2_TXB13int initCANx_Mode(int idCANcfg,int cfgCAN,int CFid,int CFidMsk);//(参数1高16位可设置且仅F103后才有CAN2) int CAN_SendMessage(u8* msg, u8 len); //发送数据 int CAN_RecvMessage(u8 *buf,int fifoNO); //接收数据 #endif //-------------------------------------------------- End of AHR_CAN.H --------------------------------- |
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