【ST学习小组】STM32F103的CAN 通信之主控器

fxw451 提问时间：2012-6-26 11:07 /

本CAN主要实现两个芯片的通讯，主控器通过CAN将获得的从控制发来的数据，通过串口显示在上位机上，在上位机上实时得到一个数据曲线。从控制器通过AD获得数据。

以下是主控制器的代码程序：
本主程序主要分为三个，main.c led.c usart.c can.c

main.c

#include "stm32f10x.h"
#include "misc.h"
#include "led.h"
#include "key.h"
#include "usart.h"
//#include "exti.h"
#include "can.h"

void RCC_Configuration(void);
void Delay(__IO uint32_t nCount);

//___________________Global Variable declare________
u8 CAN_TransmitDataBuf[8];
u8 ADC_num=0;
u16 ADC_Data0[10];
u16 ADC_Data1[10];
u16 ADC_Data2[10];
u16 ADC_Data3[10];

//______________________________________________

//___________________________ADC modue__________

void Adc_Init(void)
{
//先初始化IO口

RCC->APB2ENR|=1APB2ENR|=1

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fxw451 回答时间：2012-6-26 11:10:26

回复:【ST学习小组】STM32F103的CAN 通信之主控器

usart.c

#include "usart.h"

USART_InitTypeDef USART_InitStruct;
USART_ClockInitTypeDef USART_ClockInitStruct;

void USART1_GPIO_Config(void)
{
GPIO_InitTypeDef GPIO_InitStructure;

RCC_APB2PeriphClockCmd(RCC_APB2Periph_USART1|RCC_APB2Periph_GPIOA , ENABLE);
//USART1 TX
GPIO_InitStructure.GPIO_Pin = GPIO_Pin_9;
GPIO_InitStructure.GPIO_Mode = GPIO_Mode_AF_PP; //复用推挽输出
GPIO_Init(GPIOA, &GPIO_InitStructure);      //A端口
     //USART1 RX
GPIO_InitStructure.GPIO_Pin = GPIO_Pin_10;
GPIO_InitStructure.GPIO_Mode = GPIO_Mode_IN_FLOATING; //复用开漏输入
GPIO_Init(GPIOA, &GPIO_InitStructure);

}

void USART1_NVIC_Configuration(void)
{
NVIC_InitTypeDef NVIC_InitStructure;

/* Configure the NVIC Preemption Priority Bits */
NVIC_PriorityGroupConfig(NVIC_PriorityGroup_0);

/* Enable the USART1 Interrupt */
NVIC_InitStructure.NVIC_IRQChannel = USART1_IRQn;      //设置串口中断
NVIC_InitStructure.NVIC_IRQChannelSubPriority = 0;
NVIC_InitStructure.NVIC_IRQChannelCmd = ENABLE;
NVIC_Init(&NVIC_InitStructure);
}
void USART_Config(USART_TypeDef* USARTx)
{
USART_InitTypeDef USART_InitStructure;
USART_InitStructure.USART_BaudRate = 115200; //速率115200bps
USART_InitStructure.USART_WordLength = USART_WordLength_8b; //数据位8位
USART_InitStructure.USART_StopBits = USART_StopBits_1; //停止位1位
USART_InitStructure.USART_Parity = USART_Parity_No; //无校验位
USART_InitStructure.USART_HardwareFlowControl = USART_HardwareFlowControl_None; //无硬件流控
USART_InitStructure.USART_Mode = USART_Mode_Rx | USART_Mode_Tx; //收发模式

/* Configure USART1 */
USART_Init(USARTx, &USART_InitStructure); //配置串口参数函数


/* Enable USART1 Receive and Transmit interrupts */
USART_ITConfig(USART1, USART_IT_RXNE, ENABLE); //使能接收中断
//USART_ITConfig(USART1, USART_IT_TXE, ENABLE); //使能发送缓冲空中断
//USART_ITConfig(USART1, USART_IT_TC, ENABLE); //使能发送完成中断
/* Enable the USART1 */
USART_Cmd(USART1, ENABLE);
}

void USART_Init_Config(void)
{
    USART1_GPIO_Config();       //端口配置
    USART_Config(USART1);       //数据格式配置
    USART1_NVIC_Configuration(); //中断配置
}
void Usart_transmitByte(uint8_t Usart_TransmitDatebuf)
{
USART1->DR=Usart_TransmitDatebuf;
while((USART1->SR&0X40)==0);//wait
}

void Usart_TransmitData(u16 Usart_TransmitDataLength,uint8_t * Usart_TransmitDatebuf)
{
u16 Usart_Transmitindex;
   //_____________________send the start byte_______________________
     Usart_transmitByte(0xFF);
     Usart_transmitByte(0x00);
// _____________________send the end byte________________________

for(Usart_Transmitindex=0;Usart_Transmitindex

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fxw451 回答时间：2012-6-26 11:11:08

回复:【ST学习小组】STM32F103的CAN 通信之主控器

led.c

#include "led.h"

void LED_GPIO_Config(void)
{
GPIO_InitTypeDef GPIO_InitStructure;

RCC_APB2PeriphClockCmd(RCC_APB2Periph_GPIOA|RCC_APB2Periph_GPIOD , ENABLE);

GPIO_InitStructure.GPIO_Pin = GPIO_Pin_2;      //LED1 V6      //将V6,V7,V8 配置为通用推挽输出
GPIO_InitStructure.GPIO_Mode = GPIO_Mode_Out_PP;
GPIO_InitStructure.GPIO_Speed = GPIO_Speed_50MHz;    //口线翻转速度为50MHz
GPIO_Init(GPIOA, &GPIO_InitStructure);

GPIO_InitStructure.GPIO_Pin = GPIO_Pin_1;      //LED1 V6      //将V6,V7,V8 配置为通用推挽输出
GPIO_InitStructure.GPIO_Mode = GPIO_Mode_Out_PP;
GPIO_InitStructure.GPIO_Speed = GPIO_Speed_50MHz;    //口线翻转速度为50MHz
GPIO_Init(GPIOA, &GPIO_InitStructure);
}

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fxw451 回答时间：2012-6-26 11:11:48

回复:【ST学习小组】STM32F103的CAN 通信之主控器

can.c

#include "can.h"

u16 ret;
/******************CAN1中断配置函数*********************************************/
//优先级：0
//中断服务程序：USB_LP_CAN1_RX0_IRQn------stm32f10x_it.
void CAN_NVIC_Configuration(void)
{
NVIC_InitTypeDef NVIC_InitStructure;

/* Enable CAN1 RX0 interrupt IRQ channel */
NVIC_InitStructure.NVIC_IRQChannel = USB_LP_CAN1_RX0_IRQn;
NVIC_InitStructure.NVIC_IRQChannelPreemptionPriority = 0;
NVIC_InitStructure.NVIC_IRQChannelSubPriority = 0;
NVIC_InitStructure.NVIC_IRQChannelCmd = ENABLE;
NVIC_Init(&NVIC_InitStructure);
}
/******************CAN1端口配置函数*********************************************/
//引脚：CAN1RX-PA8、CAN1Tx-PB8
//说明：开启端口B的时钟、CAN1的时钟
void CAN_GPIO_Configuration(void)
{
GPIO_InitTypeDef GPIO_InitStructure;

/* Configure CAN pin: RX */
GPIO_InitStructure.GPIO_Pin = GPIO_Pin_11;
GPIO_InitStructure.GPIO_Speed=GPIO_Speed_50MHz;
GPIO_InitStructure.GPIO_Mode = GPIO_Mode_IPU;
GPIO_Init(GPIOA, &GPIO_InitStructure);

/* Configure CAN pin: TX */
GPIO_InitStructure.GPIO_Pin = GPIO_Pin_12;
GPIO_InitStructure.GPIO_Speed=GPIO_Speed_50MHz;
GPIO_InitStructure.GPIO_Mode = GPIO_Mode_AF_PP;
GPIO_Init(GPIOA, &GPIO_InitStructure);
/*端口重映射到PB8、PB9上*/

// GPIO_PinRemapConfig(GPIO_Remap2_CAN1, ENABLE); //配置CAN总线为从映射

RCC_APB1PeriphClockCmd(RCC_APB1Periph_CAN1, ENABLE); /* CAN Periph clock enable */

}

/******************CAN1查询接受配置函数*****************************************/
//波特率：SJW-1tq、BS1-8tq、BS2-7tq、Prescaler-5;
//
u8 CAN_Polling(void)
{
CAN_InitTypeDef CAN_InitStructure;
CAN_FilterInitTypeDef CAN_FilterInitStructure;
CanTxMsg TxMessage;
CanRxMsg RxMessage;
uint32_t i = 0;
uint8_t TransmitMailbox = 0;

/* CAN register init */
CAN_DeInit(CAN1);
CAN_StructInit(&CAN_InitStructure);

/* CAN cell init */
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_InitStructure.CAN_Mode=CAN_Mode_LoopBack;
CAN_InitStructure.CAN_SJW=CAN_SJW_1tq;
CAN_InitStructure.CAN_BS1=CAN_BS1_8tq;
CAN_InitStructure.CAN_BS2=CAN_BS2_7tq;
CAN_InitStructure.CAN_Prescaler=5;
CAN_Init(CAN1, &CAN_InitStructure);

/* CAN filter init */
CAN_FilterInitStructure.CAN_FilterNumber=0;
CAN_FilterInitStructure.CAN_FilterMode=CAN_FilterMode_IdMask;
CAN_FilterInitStructure.CAN_FilterScale=CAN_FilterScale_32bit;
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_FilterActivation=ENABLE;
CAN_FilterInit(&CAN_FilterInitStructure);

/* transmit */
TxMessage.StdId=0x11;
TxMessage.RTR=CAN_RTR_DATA;
TxMessage.IDE=CAN_ID_STD;
TxMessage.DLC=2;
TxMessage.Data[0]=0xAA;
TxMessage.Data[1]=0xAA;

TransmitMailbox=CAN_Transmit(CAN1, &TxMessage);
i = 0;
while((CAN_TransmitStatus(CAN1, TransmitMailbox) != CANTXOK) && (i != 0xFF))
{
i++;
}

i = 0;
while((CAN_MessagePending(CAN1, CAN_FIFO0) < 1) && (i != 0xFF))
{
i++;
}

/* receive */
RxMessage.StdId=0x00;
RxMessage.IDE=CAN_ID_STD;
RxMessage.DLC=0;
RxMessage.Data[0]=0x00;
RxMessage.Data[1]=0x00;
CAN_Receive(CAN1, CAN_FIFO0, &RxMessage);

if( (RxMessage.StdId!=0x11)|(RxMessage.StdId!=0x12) )
{
return 1;
}

if (RxMessage.IDE!=CAN_ID_STD)
{
return 1;
}

if (RxMessage.DLC!=2)
{
return 1;
}

if ((RxMessage.Data[0]

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四叶未明回答时间：2012-10-17 00:35:33

回复:【ST学习小组】STM32F103的CAN 通信之主控器

谢谢楼主，辛苦了！

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落月枫情回答时间：2014-3-3 10:21:04

回复:【ST学习小组】STM32F103的CAN 通信之主控器

学习了，多谢楼主分享

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落月枫情回答时间：2014-3-3 16:33:19

回复:【ST学习小组】STM32F103的CAN 通信之主控器

Can_Interrupt函数需要在从新配置一遍吗？
感觉没什么作用呢

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STM32F1