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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, v1 ^( G! i9 o( U! O' d9 t: M , b; z9 G% X5 p4 l2 ^9 B8 E //---------------------------- AHR_CAN.C -------------------------------------------------------------- #include "AHR_CAN.H" int CANx_BASE = (unsigned int)0x40006400; //CAN1_BASE:0x40006400;CAN2_BASE:0x40006800; 2019-0208 / s9 o" s1 p5 i+ j- `: E //----------------------------------------------------------------------------------------------------- //CAN初始化全功能函数: unsigned int regCAN_MCR=0x00010002,regCAN_MSR=0x00000C02,regCAN_BTR=0x01230000; //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; C. J5 c( }6 a# _" N9 h( T //*-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] // 0x200: FMR (过滤器主控寄存器) 0x240: 过滤器组寄存器的起始地址7 { Z% W2 P! A6 e0 {) z- ] // 0x204: FM1R(过滤器模式寄存器) 0x214:FFA1R(过滤器FIFO关联寄存器) // 0x20C: FS1R(过滤器位宽寄存器) 0x21C: FA1R(过滤器激活寄存器)2 s$ b2 Z. E6 x$ P5 t) K, l // 31: SILM 静默模式(调试)(SilentMode) 0-正常状态；1-静默模式。 // 0-CAN_Mode_Normal4 E8 ^4 e8 `( `5 Q" P+ j- `$ U // 30: LBKM 环回模式(调试)(LoopBackMode(debug)) 0-禁止；1-允许环回模式。// 1-CAN_Mode_LoopBack3 N3 j) k p; R5 V // 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])) F# c1 M4 ~4 P; h7 T // 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" h* C0 j! X3 U/ B // 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) // 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7 z i+ y) x9 K* W7 n // 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);) [- c* o4 P- `7 I // 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 tPCLK/ F+ ]; X4 [8 d //参数idCANcfg位图： 23 22 21 20 , 19 18 17 16 //该参数若未设置则缺省:0xFFFFFF13; @6 D5 a% }7 j- ~, f+ b: R // TTCM ABOM AWUM NART , RFLM TXFP 保留高电位) l& O+ I) U; @5 _1 F // 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' S6 y. m; D" z) a // 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!! b. A! C+ |# ? // 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)0 Y* i) ]7 c, L9 c: Y$ n: ~ // 例如：initCANx_Mode(1,二进制[0010,0100,0111,1000,nnnn,nn00,0000,0100]=0x24780004,0,0); M# c L4 \3 o8 S5 A J! R) L //if(initCANx_Mode(1,0x24780004,0,0)==0xABCFACE) LCD_ShowString(10,99,99,30,16,"InitCAN OK!");//500Kbps //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)=500Kbps. v( `1 b6 s3 ^3 d //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 // "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" H# q0 j% Z( d8 ?+ H w // v-- 分频系数 Fdiv = brp + 1 //"tBS1<<16":时间段1占用多少时间单元5 T. W0 J) z, j7 l3 V# g // "brp-1"(Baud Rate Prescaler)定义: 时间单元tq = ( BRP[9:0] + 1) * tPCLK //Fpclk1初始化为42M 波特率 = Fpclk1/( ( tbs1 + 1 + tbs2 + 1 + 1 ) * brp );! G# x4 y2 e4 Q //-----------------------------------------------------------------------------------------------------9 s- a! |8 E- R) P" c R int initCANx_Mode(int idCANcfg,int cfgCAN,int CFid,int CFidMsk){ //艾和荣 定稿: 2019-0208, l$ \; z; m+ h' B int waitAck=0x00,retStat=0xBADFACE; //tsjw:重新同步跳跃时间单元.范围: CAN_SJW_1tq~4tq uint32_t fltNumBitPos=0, i; //brp :波特率分频器. 范围: 1~1024; tq = (brp) * tpclk1: Y( X8 R- d8 S1 W( } switch(0xffff&idCANcfg){ case 1: CANx_BASE = (unsigned int)0x40006400; // GPIOA12 <=GPIO_Mode_AF_PP B-50MHz复用推挽输出 b7 Y" _9 L) ]) ?9 s: a, J *(unsigned int*)0x4002101C|=0x02000000; //2-CAN1;RCC_APB1PeriphClockCmd(RCC...ph_CAN1,1);0 v& @7 b5 c" M! M0 F7 J$ ^ *(unsigned int*)0x40021018|=0x00000004; //4-A口;1-AFIO;//RCC_APB2PClkCmd(RCC.ph_GPIOA,1); *(unsigned int*)0x40010804&=0xFFFF8FFF; //位带何异?? GPIOA11<=GPIO_Mode_IPU *(unsigned int*)0x40010804|=0x000B8000; break;// GPIOA11<=GPIO_Mode_IPU 8-上拉输入+ \5 Q5 g1 @, N5 H6 V case 2: CANx_BASE = (unsigned int)0x40006800; // GPIOB13 <=GPIO_Mode_AF_PP B-50MHz复用推挽输出- P. p# T9 G! t& N: R" ~% i5 I *(unsigned int*)0x4002101C|=0x04000000; //4-CAN2; ** 只有互联型才有CAN2 **8 `! e5 q; E& \- |' t3 C, q( N *(unsigned int*)0x40021018|=0x00000008; //8-GPIOB;1-AFIO; *(unsigned int*)0x40010C04&=0xFFF8FFFF; //GPIOB12 <= GPIO_Mode_IPU3 C$ l+ ] @; i *(unsigned int*)0x40010C04|=0x00B80000; break;// GPIOB12 <= GPIO_Mode_IPU default: break; //保留: 为了更多的CAN" E! N l7 X$ ]: W* X0 ~4 k7 e8 k- _ } //v--while:等<INAK==1且waitAck==0xFFFF>胜出■CANx_4:MSR_0:INAK=1-正初;0-初完 *(unsigned int*)(CANx_BASE+0x00)&=~0x02;//■CANx->MCR &=(~(uint32_t)CAN_MCR_SLEEP); <0-唤醒>;1-睡眠 *(unsigned int*)(CANx_BASE+0x00)|= 0x01;//■CANx->MCR |= CAN_MCR_INRQ ;<申请初始化> <1-初始>;0-工作) P6 q* I6 U0 @$ ?# ~5 z6 k- G/ W while((((*(unsigned int*)(CANx_BASE+0x04))&1)!=1)&&(waitAck!=0xffff)) waitAck++;) y% R- A# {* Y3 d if (((*(unsigned int*)(CANx_BASE+0x04))&0x01)==0) retStat=0xBADFACE; //0xBADFACE-错误；0xACCFACE-OK 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) X& I; K* n$ V, u& g' w *(unsigned int*)(CANx_BASE+0x00) &= i; //■功能扩展设置 初稿：2019-0202 10:48& e, ]: x3 o. y4 O& Z- N: G *(unsigned int*)(CANx_BASE+0x1C) =(cfgCAN&0xC37F03FF)-1;//■MSK:0xC37F03FF 由cfgCAN个性次序决定" t8 x( S1 ~% f" l6 D *(unsigned int*)(CANx_BASE+0x00) &= 0xFFFFFFFE; //■清CAN_0:MCR_0:INRQ=0以退出初始化1 \6 d, W, o) J 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. L; a0 c0 i; ^, I* o else retStat = 0xABCFACE; // 0xABCFACE：约定成功!# M& q, y, Q! j0 D0 x } //以下CAN_FilterInit(&sCF); 等<INAK==0并waitAck==0xFFFF>胜出■CANx_4:MSR_0:INAK=0-初完;1-正初3 X: N8 T! i( }- b2 _ i = (cfgCAN >> 10)&0x3F; fltNumBitPos = ((uint32_t)1) << i; *(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 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 *(unsigned int*)(CANx_BASE+0x20C)&= ~(uint32_t)fltNumBitPos; //位宽 CAN1->FS1R&=~fltNumBitPos; *(unsigned int*)(CANx_BASE+0x240+(i*0x08)+0x00)=(0xFFFF&CFidMsk)<<16|(0xFFFF&CFid);//# j" H* U: t2 T3 D6 B *(unsigned int*)(CANx_BASE+0x240+(i*0x08)+0x04)=(0xFFFF0000&CFidMsk)|(0xFFFF&(CFid>>16));9 g* V0 v. {, [6 C( ^1 G } //位宽=32在下；16在上3行：FR0:MaskIdLow|IdLow；FR1偏移4:MaskIdHigh|IdHigh# Y. F% g5 H) ?5 o8 C# T if (((cfgCAN >> 26)&0x01)==1){& I2 B# P* ]- {- ^ *(unsigned int*)(CANx_BASE+0x20C)|= fltNumBitPos; //CAN1->FS1R &= ~(uint32_t)fltNumBitPos; *(unsigned int*)(CANx_BASE+0x240+(i*0x08)+0x00)=CFid; //每组FR0+FR1各32位故*8,FR0与FR1偏移0x4 *(unsigned int*)(CANx_BASE+0x240+(i*0x08)+0x04)=CFidMsk;//每组FR1再加偏移故+4 } //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。5 Y% J. x; H% ^0 m# l1 K/ ~1 y if (((cfgCAN >> 27)&0x01)==0) *(unsigned int*)(CANx_BASE+0x204)&=~(uint32_t)fltNumBitPos; else *(unsigned int*)(CANx_BASE+0x204)|= (uint32_t)fltNumBitPos;4 {+ @4 K6 d' s- r //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) d3 K4 Y& z8 V3 D1 S *(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 return retStat;, _ }* O' ?+ { } // <over 2019-0208 aiherong suncun> 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.9 m- w; F' J- T u8 mailBOX = 0; u16 i = 0; uint32_t sendST = 0; // send state TxMsg.StdId=0x12; // 标准标识符为0 TxMsg.ExtId=0x12; // 设置扩展标示符（29位）- R; v6 H: c( p0 D0 A TxMsg.IDE=0; // 使用扩展标识符- r. h* Y6 Z( Z TxMsg.RTR=0; // 消息类型为数据帧，一帧8位4 H: v$ I! u9 r, p3 `8 C 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 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;: \' T( @( ~0 O* a3 A" h' C' R% Y 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 (*(unsigned int*)(CANx_BASE+0x180))&=0x01;//sTxMailBox[mailBOX].TIR&=(~)TMIDxR_TXRQ;发完硬清?( ~4 [; x F* N1 i# h* E if(TxMsg.IDE==CANid_Std)(*(unsigned int*)(CANx_BASE+0x180))|=((TxMsg.StdId)<<21)|(TxMsg.RTR);; a" Y3 \4 W) J* M7 |. R else (*(unsigned int*)(CANx_BASE+0x180))|=(TxMsg.IDE)|((TxMsg.ExtId)<< 3)|(TxMsg.RTR);+ E( `# j- F8 X+ ^ TxMsg.DLC &= (uint8_t)0x0000000F; (*(unsigned int*)(CANx_BASE+0x184))&= (uint32_t)0xFFFFFFF0; (*(unsigned int*)(CANx_BASE+0x184))|= TxMsg.DLC;" H# _0 K* p- I3 F r (*(unsigned int*)(CANx_BASE+0x18C))= ((uint32_t)TxMsg.Data[7]<<24| //sTxMailBox[mailBOX].TDHR (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 (uint32_t)TxMsg.Data[2]<<16|(uint32_t)TxMsg.Data[1]<< 8|(uint32_t)TxMsg.Data[0]); (*(unsigned int*)(CANx_BASE+0x180))|=0x01;//sTxMailBox[mailBOX].TIR|=TMIDxR_TXRQ;发送数据请求2 p+ h. F- ~' f3 D1 e. W" C; | } G9 y4 U! K% n6 n! z for (i=0;i<0xffff;i++){ //等待发送结束 switch (mailBOX){ case 0:sendST=(*(unsigned int*)(CANx_BASE+0x08))&0x04000003;break;//&(TSR_RQCP0|_TXOK0|_TME0) case 1:sendST=(*(unsigned int*)(CANx_BASE+0x08))&0x08000300;break;//&(TSR_RQCP1|_TXOK1|_TME1)1 a4 R3 s3 U8 _ case 2:sendST=(*(unsigned int*)(CANx_BASE+0x08))&0x10030000;break;//&(TSR_RQCP2|_TXOK2|_TME2)1 V: A' B- u) h. B default:sendST = 0x00; break; //#define CAN_TxStatus_Failed 0x00 }: G3 O5 Y" p/ @' B switch (sendST) {/ |$ X1 @" t) y( p# W case 0x00000000:sendST = 2; break; //#define CAN_TxStatus_Pending 0x02 case 0x04000001: //case (CAN_TSR_RQCP0|CAN_TSR_TME0):" L# j7 x" f3 Z- T( m case 0x08000100: //case (CAN_TSR_RQCP1|CAN_TSR_TME1): case 0x10010000:sendST = 0; break; //case (CAN_TSR_RQCP2|CAN_TSR_TME2): CAN_TxStatus_Failed' y+ @' X+ ]- w T case 0x04000003: //case (CAN_TSR_RQCP0|CAN_TSR_TXOK0|CAN_TSR_TME0) 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)# b1 K3 l4 E: E4 n- i F, a; A default: sendST = 0; break; } if ((sendST==0x01)&&(i<0xffff)) return 0xAbcFace;//#define CAN_TxStatus_Ok 0x01 返回成功 } if(i>=0xffff) return 0xBadFace; // 返回 0xBadFace - 失败3 L- \3 {1 D) o6 g+ P- U4 M+ h& J return 0xABCFACE; // 返回 0xAbcFace - 成功+ s K# o$ ~% w# G, e2 w } 9 C0 K8 ]5 B5 o& b3 Y. @( ?0 u$ r# X 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;, K, O, g, |& K1 w, l' T CAN_RxMsg RxMsg; u32 i; // 20190202 0点 //返回值:0-没收到数; x-接收的数据长度; C" x6 j, S8 X2 |3 R5 ^& ? 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 I4 I1 s# P* t, x RxMsg.IDE=0x04&(*(unsigned int*)(CANx_BASE+0x1B0));//->sFIFOMailBox[fifoNO].RIR;即:FIFO0_RI0R% S$ Q# J% K6 w- B; J4 t' ] if(RxMsg.IDE==CANid_Std) RxMsg.StdId=0x000007FF & ((*(unsigned int*)(CANx_BASE+0x1B0)) >> 21); else RxMsg.ExtId=0x1FFFFFFF & ((*(unsigned int*)(CANx_BASE+0x1B0)) >> 3);- y" I& ^) n! o' ^/ C RxMsg.RTR = 0x02& (*(unsigned int*)(CANx_BASE+0x1B0)); //CANx->sFIFOMailBox[fifoNO].RIR; RxMsg.DLC = 0x0F& (*(unsigned int*)(CANx_BASE+0x1B4)); //CANx->sFIFOMailBox[fifoNO].RDTR;( Y2 K1 W$ }; r f RxMsg.FMI = 0xFF&((*(unsigned int*)(CANx_BASE+0x1B4))>> 8); //即:FIFO0_RDT0R >> 8 RxMsg.Data[0]= 0xFF& (*(unsigned int*)(CANx_BASE+0x1B8)); //即:FIFO0_RDL0R9 |& m3 S! `7 F0 @ RxMsg.Data[1]= 0xFF&((*(unsigned int*)(CANx_BASE+0x1B8))>> 8); RxMsg.Data[2]= 0xFF&((*(unsigned int*)(CANx_BASE+0x1B8))>>16);' d0 d O" G; W RxMsg.Data[3]= 0xFF&((*(unsigned int*)(CANx_BASE+0x1B8))>>24); RxMsg.Data[4]= 0xFF& (*(unsigned int*)(CANx_BASE+0x1BC)); //即:FIFO0_RDH0R RxMsg.Data[5]= 0xFF&((*(unsigned int*)(CANx_BASE+0x1BC))>> 8);* \. H, F* B" o+ M- Q3 N RxMsg.Data[6]= 0xFF&((*(unsigned int*)(CANx_BASE+0x1BC))>>16);+ x1 w, ^8 N' n) C& I RxMsg.Data[7]= 0xFF&((*(unsigned int*)(CANx_BASE+0x1BC))>>24); if (fifoNO == CAN_FIFO0) *(unsigned int*)(CANx_BASE+0x0C)|=0x20;//CANx->RF0R |= CAN_RF0R_RFOM0;+ Q z1 c% L% e5 {. }2 C else *(unsigned int*)(CANx_BASE+0x10)|=0x20;//CANx->RF1R |= CAN_RF1R_RFOM1;4 d. t. Y" l7 Z* e' }/ y for(i=0;i<RxMsg.DLC;i++) buf[i]=RxMsg.Data[i]; return RxMsg.DLC; } else return 0; //无数可收故退出* ]! R6 I) L/ F$ d0 {9 ]. v) n } //-------------------------------------------------- End of AHR_CAN.C ---------------------------------5 G2 {* I+ a5 N3 a9 L4 ^5 j$ x& x //--------------------- AHR_CAN.H ---------------------------------------------------------------------$ s9 ~5 f% X9 m/ s# w$ D* e0 w #ifndef AHR_CANETHUSB_H #define AHR_CANETHUSB_H #include "aiherong.h"7 A' u! [2 J5 P( o0 b #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 uint32_t ExtId; //扩展ID9 \7 m+ f! q- ^4 w uint8_t IDE; // 标识符选择 (Identifier extension) 0-标准符；1-扩展符' \; r$ o4 C& X4 M uint8_t RTR; //远程发送请求 (Remote transmission request) 0-数据帧；1-远程帧, A# P! g: q/ A' Y 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; S- }: d+ Y6 o$ B& B# r+ F3 z: j uint8_t Data[8]; // 8 位数据 } CAN_TxMsg;* k* P$ A9 e& S) X; K typedef struct{ //接收邮箱有2个3 j/ g7 V" t) t; R/ o) U! U uint32_t StdId; //标准ID7 l, U/ Y9 w6 T$ O! U4 T uint32_t ExtId; //扩展ID 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2 `2 q4 J, a$ N3 T3 k8 ~ uint8_t Data[8]; // 8 位数据 uint8_t FMI; //过滤器匹配序号(Filter match index). r$ P9 D# y; k) \) W- m% Q } CAN_RxMsg; //CAN初始化 缺省映射F1：CAN1_RX  A11；CAN1_TXA12；F105&107&F2&F4：CAN2_RXB12；CAN2_TXB13/ u" z/ q) x8 R: V" Qint 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)1 Y4 `* U3 j& c; j) i: L int CAN_SendMessage(u8* msg, u8 len); //发送数据9 p4 z8 B& a: J3 |# V9 _& q int CAN_RecvMessage(u8 *buf,int fifoNO); //接收数据& }1 d& M. i* Y' v8 W9 e& k2 e/ t #endif* O' S7 N) y# C! m; E T //-------------------------------------------------- End of AHR_CAN.H --------------------------------- |
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