STM32F4 CAN1 CAN2中断接收数据
CAN1总线发送，中断接收。
平台：STM32F405RGT6、标准库。
CAN1配置
void CAN1_Mode_Init(u8 mode)
{
GPIO_InitTypeDef GPIO_InitStructure;
CAN_InitTypeDef CAN_InitStructure;
CAN_FilterInitTypeDef CAN_FilterInitStructure;
NVIC_InitTypeDef NVIC_InitStructure;
//使能相关时钟
RCC_AHB1PeriphClockCmd(RCC_AHB1Periph_GPIOA, ENABLE);//使能PORTA时钟
RCC_APB1PeriphClockCmd(RCC_APB1Periph_CAN1, 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
//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
//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?
/***************************************************************************************/
//配置can工作模式
CAN_InitStructure.CAN_Mode= mode; //模式设置
//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42M,如果设置CAN1_Mode_Init(CAN_SJW_1tq,CAN_BS2_6tq,CAN_BS1_7tq,6,CAN_Mode_LoopBack);
//则波特率为:42M/((6+7+1)*6)=500Kbps
//返回值:0,初始化OK;
// 其他,初始化失败;
/* // 100K
CAN_InitStructure.CAN_SJW=CAN_SJW_1tq; //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=CAN_BS1_7tq; //时间段1的时间单元. Tbs1范围CAN_BS1_1tq ~CAN_BS1_16tq
CAN_InitStructure.CAN_BS2=CAN_BS2_6tq; //时间段2的时间单元. Tbs2范围CAN_BS2_1tq ~ CAN_BS2_8tq
CAN_InitStructure.CAN_Prescaler=6; //分频系数(Fdiv)为brp+1
*/
/* // 50K
CAN_InitStructure.CAN_SJW=CAN_SJW_3tq; //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=CAN_BS1_6tq; //时间段1的时间单元. Tbs1范围CAN_BS1_1tq ~CAN_BS1_16tq
CAN_InitStructure.CAN_BS2=CAN_BS2_1tq; //时间段2的时间单元. Tbs2范围CAN_BS2_1tq ~ CAN_BS2_8tq
CAN_InitStructure.CAN_Prescaler=84; //分频系数(Fdiv)为brp+1
*/
// 25K
CAN_InitStructure.CAN_SJW=CAN_SJW_1tq; //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=CAN_BS1_6tq; //时间段1的时间单元. Tbs1范围CAN_BS1_1tq ~CAN_BS1_16tq
CAN_InitStructure.CAN_BS2=CAN_BS2_1tq; //时间段2的时间单元. Tbs2范围CAN_BS2_1tq ~ CAN_BS2_8tq
CAN_InitStructure.CAN_Prescaler=210; //分频系数(Fdiv)为brp+1
/*// 20K
CAN_InitStructure.CAN_SJW=CAN_SJW_3tq; //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=CAN_BS1_6tq; //时间段1的时间单元. Tbs1范围CAN_BS1_1tq ~CAN_BS1_16tq
CAN_InitStructure.CAN_BS2=CAN_BS2_1tq; //时间段2的时间单元. Tbs2范围CAN_BS2_1tq ~ CAN_BS2_8tq
CAN_InitStructure.CAN_Prescaler=210; //分频系数(Fdiv)为brp+1
*/
/* // 10K
CAN_InitStructure.CAN_SJW=CAN_SJW_3tq; //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=CAN_BS1_6tq; //时间段1的时间单元. Tbs1范围CAN_BS1_1tq ~CAN_BS1_16tq
CAN_InitStructure.CAN_BS2=CAN_BS2_2tq; //时间段2的时间单元. Tbs2范围CAN_BS2_1tq ~ CAN_BS2_8tq
CAN_InitStructure.CAN_Prescaler=420; //分频系数(Fdiv)为brp+1
*/
/***************************************************************************************/
CAN_Init(CAN1, &CAN_InitStructure); // 初始化CAN1
//配置过滤器
CAN_FilterInitStructure.CAN_FilterNumber=0; //过滤器0
CAN_FilterInitStructure.CAN_FilterMode=CAN_FilterMode_IdMask;
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_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);
}
CAN1发送函数
u8 CAN1_Send_Msg(u8* msg,u8 len)
{
u8 mbox;
u16 i=0;
CanTxMsg TxMessage;
TxMessage.StdId=0x12; // 标准标识符为0
TxMessage.ExtId=0x12; // 设置扩展标示符（29位）
TxMessage.IDE=0; // 使用扩展标识符
TxMessage.RTR=0; // 消息类型为数据帧，一帧8位
TxMessage.DLC=len; // 发送两帧信息
for(i=0;i<len;i++)
TxMessage.Data[i]=msg[i]; // 第一帧信息
mbox= CAN_Transmit(CAN1, &TxMessage);
i=0;
while((CAN_TransmitStatus(CAN1, mbox)==CAN_TxStatus_Failed)&&(i<0XFFF))i++; //等待发送结束
if(i>=0XFFF)return 1;
return 0;
}
CAN1中断服务函数
void CAN1_RX0_IRQHandler(void)
{
CanRxMsg RxMessage;
//CAN_Receive(CAN1, 0, &RxMessage);
CAN_Receive(CAN1, CAN_FIFO0, &RxMessage);//读取数据
led_cnt=0;
falshCnt=0;
ledSpeed=FLASH_FAST;
}
代码运行现象：数据3秒发一次，CAN1中断函数收到数据之后LED快闪3次，然后又恢复到1秒1闪。
下面是工程文件，里面还包括CAN2的中断接收函数。
STM32F4 CAN1 CAN2数据收发 中断接收