STM32F107 CAN调试笔记 标准库

参考网站：https://www.cnblogs.com/craigtao/p/3645148.html
https://blog.csdn.net/qq_29413829/article/details/53230716
https://blog.csdn.net/qq_36355662/article/details/80607453

void CAN1_Init(void)
{
GPIO_InitTypeDef GPIO_InitStructure;
NVIC_InitTypeDef NVIC_InitStructure;
CAN_InitTypeDef CAN_InitStructure;
CAN_FilterInitTypeDef CAN_FilterInitStructure;
/* 复用功能和GPIOD端口时钟使能*/
RCC_APB2PeriphClockCmd(RCC_APB2Periph_AFIO | RCC_APB2Periph_GPIOD, ENABLE);
/* CAN1 模块时钟使能*/
RCC_APB1PeriphClockCmd(RCC_APB1Periph_CAN1, ENABLE);
/CAN 重映射–/
GPIO_PinRemapConfig(GPIO_Remap2_CAN1, ENABLE);
/**************************************************************************************************
CAN 重映射根据需要修改
CASE 1: CAN_RX mapped to PB8, CAN_TX mapped to PB9 (not available on 36-pin package)
#define GPIO_Remap1_CAN1 ((uint32_t)0x001D4000) /*!< CAN1 Alternate Function mapping /
CASE 2: CAN_RX mapped to PD0, CAN_TX mapped to PD1
#define GPIO_Remap2_CAN1 ((uint32_t)0x001D6000) /!< CAN1 Alternate Function mapping */
***********************************************************************************************************/
/ Configure CAN pin: RX / // PD0
GPIO_InitStructure.GPIO_Pin = GPIO_Pin_0;
GPIO_InitStructure.GPIO_Mode = GPIO_Mode_IPU;
GPIO_Init(GPIOD, &GPIO_InitStructure);
/ Configure CAN pin: TX */ // PD1
GPIO_InitStructure.GPIO_Pin = GPIO_Pin_1;
GPIO_InitStructure.GPIO_Mode = GPIO_Mode_AF_PP;
GPIO_InitStructure.GPIO_Speed=GPIO_Speed_50MHz;
GPIO_Init(GPIOD, &GPIO_InitStructure);

/* enabling interrupt */
NVIC_InitStructure.NVIC_IRQChannel = CAN1_RX0_IRQn;;
NVIC_InitStructure.NVIC_IRQChannelPreemptionPriority = 3;
NVIC_InitStructure.NVIC_IRQChannelSubPriority = 2;
NVIC_InitStructure.NVIC_IRQChannelCmd = ENABLE;
NVIC_Init(&NVIC_InitStructure);

CAN_DeInit(CAN1);//can 反初始化                       
CAN_StructInit(&CAN_InitStructure);     
/* CAN cell init */
CAN_InitStructure.CAN_TTCM=DISABLE;         //时间触发模式
CAN_InitStructure.CAN_ABOM=DISABLE;         //自动离线管理
CAN_InitStructure.CAN_AWUM=DISABLE;         //自动唤醒模式
CAN_InitStructure.CAN_NART=DISABLE;         //非自动重传模式
CAN_InitStructure.CAN_RFLM=DISABLE;         //接收FIFO锁定模式
CAN_InitStructure.CAN_TXFP=DISABLE;         //发送FIFO优先级
CAN_InitStructure.CAN_Mode=CAN_Mode_Normal; //CAN设置为正常模式
CAN_InitStructure.CAN_SJW=CAN_SJW_1tq;      //重新同步跳跃宽度1个时间单位
CAN_InitStructure.CAN_BS1=CAN_BS1_3tq;      //时间段1为3个时间单位
CAN_InitStructure.CAN_BS2=CAN_BS2_2tq;      //时间段2为2个时间单位
CAN_InitStructure.CAN_Prescaler=60;               //时间长度为60
CAN_Init(CAN1,&CAN_InitStructure);          //波特率72/2/(60(1+3+2))=0.1 即波特率为100kbps
//APB1操作速度限于36MHz， APB2操作于全速(最高72MHz)



//过滤器不过滤任何邮箱ID
CAN_FilterInitStructure.CAN_FilterNumber=0;                     
CAN_FilterInitStructure.CAN_FilterMode=CAN_FilterMode_IdMask;   //掩码模式
CAN_FilterInitStructure.CAN_FilterScale=CAN_FilterScale_32bit;  
CAN_FilterInitStructure.CAN_FilterIdHigh=0X0000;                  //要过滤的ID高位
CAN_FilterInitStructure.CAN_FilterIdLow= CAN_ID_EXT|CAN_RTR_DATA; //要过滤的ID低位
CAN_FilterInitStructure.CAN_FilterMaskIdHigh=0x0000;            //过滤器屏蔽标识符高16位值
CAN_FilterInitStructure.CAN_FilterMaskIdLow=0x0000;             //过滤器屏蔽标识符低16位值
CAN_FilterInitStructure.CAN_FilterFIFOAssignment=CAN_FIFO0;     //设定指向过滤器的FIFO为0
CAN_FilterInitStructure.CAN_FilterActivation=ENABLE;            //使能过滤器
CAN_FilterInit(&CAN_FilterInitStructure);                                 //初始化过滤器



/* CAN FIFO0 message pending interrupt enable */ 
CAN_ITConfig(CAN1,CAN_IT_FMP0, ENABLE);                         //使能FIFO消息挂号中断
CAN_ITConfig(CAN1,CAN_IT_TME,ENABLE);                      //发送中断使能

}

uint8_t CAN_SendMsg(CAN_TypeDef* CANx, uint8_t IDdata ,uint8_t* data,uint8_t size)
{ 
    u8 mbox; u16 i=0; 
    CanTxMsg TxMessage;  
	  
	TxMessage.StdId= IDdata;
	TxMessage.ExtId=0x00;  
    TxMessage.IDE =CAN_ID_STD;		
    TxMessage.RTR=CAN_RTR_DATA; 
    TxMessage.DLC=size;
    memcpy(TxMessage.Data,data,size);	
    mbox= CAN_Transmit(CANx, &TxMessage);  
    while((CAN_TransmitStatus(CAN1, mbox)==CAN_TxStatus_Failed)&&(i<0XFFF))  i++;    
    if(i>=0XFFF)return 1; 
    return 0;
}

//CAN1中断
void CAN1_RX0_IRQHandler(void)
{
    CanRxMsg RxMessage; 
	CAN_Receive(CAN1,CAN_FIFO0, &RxMessage);
	CAN_ClearITPendingBit(CAN1,CAN_IT_FMP0);
}