STM32F407VET6两个CAN同时工作

一、注意点
两个CAN接口同时工作主要是初始化的时候必须一起使能时钟

二、代码分享

u8 can_init(u8 tsjw,u8 tbs2,u8 tbs1,u16 brp,u8 mode)
{
	u16 std_id_1 =0x123;  

	u16 std_id_2 =0x123;  

	GPIO_InitTypeDef GPIO_InitStructure; 
	CAN_InitTypeDef        CAN_InitStructure;
	CAN_FilterInitTypeDef  CAN_FilterInitStructure;
	#if CAN1_RX0_INT_ENABLE 
	NVIC_InitTypeDef  NVIC_InitStructure;
	#endif
	//使能相关时钟
	RCC_AHB1PeriphClockCmd(RCC_AHB1Periph_GPIOA, ENABLE);//使能PORTA时钟	                   											 
	RCC_AHB1PeriphClockCmd(RCC_AHB1Periph_GPIOB, ENABLE);//使能PORTA时钟	   

	RCC_APB1PeriphClockCmd(RCC_APB1Periph_CAN1, ENABLE);//使能CAN1时钟	
	RCC_APB1PeriphClockCmd(RCC_APB1Periph_CAN2, ENABLE);//使能CAN1时钟	

	//初始化GPIO
	GPIO_InitStructure.GPIO_Pin = GPIO_Pin_11| GPIO_Pin_12;
	GPIO_InitStructure.GPIO_Mode = GPIO_Mode_AF;//复用功能
	GPIO_InitStructure.GPIO_OType = GPIO_OType_PP;//推挽输出
	GPIO_InitStructure.GPIO_Speed = GPIO_Speed_100MHz;//100MHz
	GPIO_InitStructure.GPIO_PuPd = GPIO_PuPd_UP;//上拉
	GPIO_Init(GPIOA, &GPIO_InitStructure);//初始化PA11,PA12

	GPIO_InitStructure.GPIO_Pin = GPIO_Pin_5| GPIO_Pin_6;
	GPIO_InitStructure.GPIO_Mode = GPIO_Mode_AF;//复用功能
	GPIO_InitStructure.GPIO_OType = GPIO_OType_PP;//推挽输出
	GPIO_InitStructure.GPIO_Speed = GPIO_Speed_100MHz;//100MHz
	GPIO_InitStructure.GPIO_PuPd = GPIO_PuPd_UP;//上拉
	GPIO_Init(GPIOB, &GPIO_InitStructure);//初始化PA12,PA13

	//引脚复用映射配置
	GPIO_PinAFConfig(GPIOA,GPIO_PinSource11,GPIO_AF_CAN1); //GPIOA11复用为CAN1
	GPIO_PinAFConfig(GPIOA,GPIO_PinSource12,GPIO_AF_CAN1); //GPIOA12复用为CAN1

	GPIO_PinAFConfig(GPIOB,GPIO_PinSource5,GPIO_AF_CAN2); //GPIOA11复用为CAN2
	GPIO_PinAFConfig(GPIOB,GPIO_PinSource6,GPIO_AF_CAN2); //GPIOA12复用为CAN2
	//CAN单元设置
	CAN_InitStructure.CAN_TTCM=DISABLE;	//非时间触发通信模式   
	CAN_InitStructure.CAN_ABOM=DISABLE;	//软件自动离线管理	  
	CAN_InitStructure.CAN_AWUM=DISABLE;//睡眠模式通过软件唤醒(清除CAN->MCR的SLEEP位)
	CAN_InitStructure.CAN_NART=ENABLE;	//禁止报文自动传送 
	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 
	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; //Tbs1范围CAN_BS1_1tq ~CAN_BS1_16tq
	CAN_InitStructure.CAN_BS2=tbs2;//Tbs2范围CAN_BS2_1tq ~	CAN_BS2_8tq
	CAN_InitStructure.CAN_Prescaler=brp;  //分频系数(Fdiv)为brp+1	
	CAN_Init(CAN1, &CAN_InitStructure);   // 初始化CAN1 	
	CAN_Init(CAN2, &CAN_InitStructure);   // 初始化CAN2
	//配置过滤器
	CAN_FilterInitStructure.CAN_FilterNumber=0;	  //过滤器0
	CAN_FilterInitStructure.CAN_FilterMode=CAN_FilterMode_IdMask; //屏蔽模式
	CAN_FilterInitStructure.CAN_FilterScale=CAN_FilterScale_32bit; //32位 
	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
	/*---------------------------------------------------------------------------------------------------------------------------------*/		

	CAN_FilterInitStructure.CAN_FilterNumber=14; //过滤器14
	CAN_FilterInitStructure.CAN_FilterMode=CAN_FilterMode_IdMask; //屏蔽模式
	CAN_FilterInitStructure.CAN_FilterScale=CAN_FilterScale_32bit; //32位 
	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);  //CAN2

	#if CAN1_RX0_INT_ENABLE

	CAN_ITConfig(CAN1,CAN_IT_FMP0,ENABLE);//FIFO0消息挂号中断允许.		    

	NVIC_InitStructure.NVIC_IRQChannel = CAN1_RX0_IRQn;
	NVIC_InitStructure.NVIC_IRQChannelPreemptionPriority = 1;     // 主优先级为1
	NVIC_InitStructure.NVIC_IRQChannelSubPriority = 0;            // 次优先级为0
	NVIC_InitStructure.NVIC_IRQChannelCmd = ENABLE;
	NVIC_Init(&NVIC_InitStructure);
	#endif

	#if CAN2_RX0_INT_ENABLE

	CAN_ITConfig(CAN2,CAN_IT_FMP0,ENABLE);//FIFO0消息挂号中断允许.		    

	NVIC_InitStructure.NVIC_IRQChannel = CAN2_RX0_IRQn;
	NVIC_InitStructure.NVIC_IRQChannelPreemptionPriority = 1;     // 主优先级为1
	NVIC_InitStructure.NVIC_IRQChannelSubPriority = 1;            // 次优先级为0
	NVIC_InitStructure.NVIC_IRQChannelCmd = ENABLE;
	NVIC_Init(&NVIC_InitStructure);
	#endif
	return 0;
}