stm32f103与stm32f407can通讯

//can.c

#include \#include \#include \#include \//CAN初始化

//tsjw:重新同步跳跃时间单元.范围:CAN_SJW_1tq~ CAN_SJW_4tq //tbs2:时间段2的时间单元. 范围:CAN_BS2_1tq~CAN_BS2_8tq; //tbs1:时间段1的时间单元. 范围:CAN_BS1_1tq ~CAN_BS1_16tq //brp :波特率分频器.范围:1~1024; tq=(brp)*tpclk1 //波特率=Fpclk1/((tbs1+1+tbs2+1+1)*brp);

//mode:CAN_Mode_Normal,普通模式;CAN_Mode_LoopBack,回环模式;

//Fpclk1的时钟在初始化的时候设置为36M,如果设置

CAN_Mode_Init(CAN_SJW_1tq,CAN_BS2_8tq,CAN_BS1_9tq,4,CAN_Mode_LoopBack); //则波特率为:36M/((8+9+1)*4)=500Kbps //返回值:0,初始化OK; // 其他,初始化失败;

u8 CAN_Mode_Init(u8 tsjw,u8 tbs2,u8 tbs1,u16 brp,u8 mode) {

GPIO_InitTypeDef

GPIO_InitStructure; CAN_InitStructure; CAN_FilterInitStructure;

CAN_InitTypeDef CAN_FilterInitTypeDef

#if CAN_RX0_INT_ENABLE #endif

RCC_APB2PeriphClockCmd(RCC_APB2Periph_GPIOA, ENABLE);//使能PORTA

NVIC_InitTypeDef

NVIC_InitStructure;

时钟 钟 模式 理

//CAN单元设置

RCC_APB1PeriphClockCmd(RCC_APB1Periph_CAN1, ENABLE);//使能CAN1时

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);

//复用推挽 //初始化IO

GPIO_InitStructure.GPIO_Pin = GPIO_Pin_11; GPIO_InitStructure.GPIO_Mode = GPIO_Mode_IPU; GPIO_Init(GPIOA, &GPIO_InitStructure);

//上拉输入 //初始化IO

CAN_InitStructure.CAN_TTCM=DISABLE; //非时间触发通信

CAN_InitStructure.CAN_ABOM=DISABLE;

//软件自动离线管

CAN_InitStructure.CAN_AWUM=DISABLE; //睡眠模式通过软

件唤醒(清除CAN->MCR的SLEEP位) 送

CAN_InitStructure.CAN_NART=ENABLE;

//禁止报文自动传

CAN_InitStructure.CAN_RFLM=DISABLE; //报文不锁定,新的

覆盖旧的

CAN_InitStructure.CAN_TXFP=DISABLE;

//优先级由报文标

识符决定

CAN_InitStructure.CAN_Mode= mode;

//模式设置： mode:0,普通

模式;1,回环模式;

//设置波特率

CAN_InitStructure.CAN_SJW=tsjw;

//重新同步跳跃宽

度(Tsjw)为tsjw+1个时间单位 CAN_SJW_1tq CAN_SJW_4tq

CAN_InitStructure.CAN_BS1=tbs1;

CAN_SJW_2tq CAN_SJW_3tq

//Tbs1=tbs1+1个时间单

位CAN_BS1_1tq ~CAN_BS1_16tq

CAN_InitStructure.CAN_BS2=tbs2;

CAN_BS2_8tq

//Tbs2=tbs2+1个

时间单位CAN_BS2_1tq ~

CAN_InitStructure.CAN_Prescaler=brp; //分频系数(Fdiv)为brp+1 CAN_Init(CAN1, &CAN_InitStructure); //初始化CAN1

CAN_FilterInitStructure.CAN_FilterNumber=0; //过滤器0

//

CAN_FilterInitStructure.CAN_FilterMode=CAN_FilterMode_IdMask; 屏蔽位模式

CAN_FilterInitStructure.CAN_FilterScale=CAN_FilterScale_32bit; //32位宽 CAN_FilterInitStructure.CAN_FilterIdHigh=0x0000; //32位ID CAN_FilterInitStructure.CAN_FilterIdLow=0x0000;

CAN_FilterInitStructure.CAN_FilterMaskIdHigh=0x0000;//32位MASK CAN_FilterInitStructure.CAN_FilterMaskIdLow=0x0000;

CAN_FilterInitStructure.CAN_FilterFIFOAssignment=CAN_Filter_FIFO0;//过滤

器0关联到FIFO0

CAN_FilterInitStructure.CAN_FilterActivation=ENABLE;//激活过滤器0

CAN_FilterInit(&CAN_FilterInitStructure);

//滤波器初始化

#if CAN_RX0_INT_ENABLE 为1 #endif }

#if CAN_RX0_INT_ENABLE //使能RX0中断 //中断服务函数

return 0;

NVIC_InitStructure.NVIC_IRQChannelSubPriority = 0; // 次优先级为0 NVIC_InitStructure.NVIC_IRQChannelCmd = ENABLE; NVIC_Init(&NVIC_InitStructure);

NVIC_InitStructure.NVIC_IRQChannel = USB_LP_CAN1_RX0_IRQn; NVIC_InitStructure.NVIC_IRQChannelPreemptionPriority = 1; // 主优先级CAN_ITConfig(CAN1,CAN_IT_FMP0,ENABLE); //FIFO0消息挂号中断允许.

void USB_LP_CAN1_RX0_IRQHandler(void) {

CanRxMsg RxMessage; int i=0;

CAN_Receive(CAN1, 0, &RxMessage); }

for(i=0;i<8;i++)

printf(\printf(\