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- #include "can.h"
-
- //////////////// //////////////////
- CAN_HandleTypeDef CAN1_Handler; //CAN1句柄
- CAN_TxHeaderTypeDef TxHeader; //发送
- CAN_RxHeaderTypeDef RxHeader; //接收
- ////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+tbs2+1)*brp); 其中tbs1和tbs2我们只用关注标识符上标志的序号，例如CAN_BS2_1TQ，我们就认为tbs2=1来计算即可。
- //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CAN1_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 CAN1_Mode_Init(u32 tsjw,u32 tbs2,u32 tbs1,u16 brp,u32 mode)
- {
- CAN_InitTypeDef CAN1_InitConf;
-
- CAN1_Handler.Instance=CAN1;
-
- CAN1_Handler.Init = CAN1_InitConf;
-
- CAN1_Handler.Init.Prescaler=brp; //分频系数(Fdiv)为brp+1
- CAN1_Handler.Init.Mode=mode; //模式设置
- CAN1_Handler.Init.SyncJumpWidth=tsjw; //重新同步跳跃宽度(Tsjw)为tsjw+1个时间单位 CAN_SJW_1TQ~CAN_SJW_4TQ
- CAN1_Handler.Init.TimeSeg1=tbs1; //tbs1范围CAN_BS1_1TQ~CAN_BS1_16TQ
- CAN1_Handler.Init.TimeSeg2=tbs2; //tbs2范围CAN_BS2_1TQ~CAN_BS2_8TQ
- CAN1_Handler.Init.TimeTriggeredMode=DISABLE; //非时间触发通信模式
- CAN1_Handler.Init.AutoBusOff=DISABLE; //软件自动离线管理
- CAN1_Handler.Init.AutoWakeUp=DISABLE; //睡眠模式通过软件唤醒(清除CAN->MCR的SLEEP位)
- CAN1_Handler.Init.AutoRetransmission=ENABLE; //禁止报文自动传送
- CAN1_Handler.Init.ReceiveFifoLocked=DISABLE; //报文不锁定,新的覆盖旧的
- CAN1_Handler.Init.TransmitFifoPriority=DISABLE; //优先级由报文标识符决定
-
- if(HAL_CAN_Init(&CAN1_Handler)!=HAL_OK) //初始化
- return 1;
- return 0;
- }
- //CAN底层驱动，引脚配置，时钟配置，中断配置
- //此函数会被HAL_CAN_Init()调用
- //hcan:CAN句柄
- void HAL_CAN_MspInit(CAN_HandleTypeDef* hcan)
- {
- GPIO_InitTypeDef GPIO_Initure;
-
- __HAL_RCC_CAN1_CLK_ENABLE(); //使能CAN1时钟
- __HAL_RCC_GPIOA_CLK_ENABLE(); //开启GPIOA时钟
-
- GPIO_Initure.Pin=GPIO_PIN_12; //PA12
- GPIO_Initure.Mode=GPIO_MODE_AF_PP; //推挽复用
- GPIO_Initure.Pull=GPIO_PULLUP; //上拉
- GPIO_Initure.Speed=GPIO_SPEED_FREQ_HIGH; //高速
- HAL_GPIO_Init(GPIOA,&GPIO_Initure); //初始化
-
- GPIO_Initure.Pin=GPIO_PIN_11; //PA11
- GPIO_Initure.Mode=GPIO_MODE_AF_INPUT; //推挽复用
- HAL_GPIO_Init(GPIOA,&GPIO_Initure); //初始化
- }
- void CAN_Config(void)
- {
- CAN_FilterTypeDef sFilterConfig;
- /*配置CAN过滤器*/
- sFilterConfig.FilterBank = 0; //过滤器0
- sFilterConfig.FilterMode = CAN_FILTERMODE_IDMASK;
- sFilterConfig.FilterScale = CAN_FILTERSCALE_32BIT;
- sFilterConfig.FilterIdHigh = 0x0000; //32位ID
- sFilterConfig.FilterIdLow = 0x0000;
- sFilterConfig.FilterMaskIdHigh = 0x0000; //32位MASK
- sFilterConfig.FilterMaskIdLow = 0x0000;
- sFilterConfig.FilterFIFOAssignment = CAN_RX_FIFO0;//过滤器0关联到FIFO0
- sFilterConfig.FilterActivation = ENABLE; //激活滤波器0
- sFilterConfig.SlaveStartFilterBank = 14;
-
- //过滤器配置
- if (HAL_CAN_ConfigFilter(&CAN1_Handler, &sFilterConfig) != HAL_OK)
- {
- while(1){}
- }
- //启动CAN外围设备
- if (HAL_CAN_Start(&CAN1_Handler) != HAL_OK)
- {
- while(1){}
- }
- //激活可以RX通知
- if (HAL_CAN_ActivateNotification(&CAN1_Handler, CAN_IT_RX_FIFO0_MSG_PENDING) != HAL_OK)
- {
- while(1){}
- }
-
- /*配置传输过程*/
- TxHeader.StdId = 0x321;
- TxHeader.ExtId = 0x01;
- TxHeader.RTR = CAN_RTR_DATA;
- TxHeader.IDE = CAN_ID_STD;
- TxHeader.DLC = 2;
- TxHeader.TransmitGlobalTime = DISABLE;
- }
- //can发送一组数据(固定格式:ID为0X12,标准帧,数据帧)
- //len:数据长度(最大为8)
- //msg:数据指针,最大为8个字节.
- //返回值:0,成功;
- // 其他,失败;
- u8 CAN1_Send_Msg(u8* msg,u8 len)
- {
- u8 i=0;
- u32 TxMailbox;
- u8 message[8];
- TxHeader.StdId=0X12; //标准标识符
- TxHeader.ExtId=0x12; //扩展标识符(29位)
- TxHeader.IDE=CAN_ID_STD; //使用标准帧
- TxHeader.RTR=CAN_RTR_DATA; //数据帧
- TxHeader.DLC=len;
- for(i=0;i<len;i++)
- {
- message[i]=msg[i];
- }
- if(HAL_CAN_AddTxMessage(&CAN1_Handler, &TxHeader, message, &TxMailbox) != HAL_OK)//发送
- {
- return 1;
- }
- while(HAL_CAN_GetTxMailboxesFreeLevel(&CAN1_Handler) != 3) {}
- return 0;
- }
- //can口接收数据查询
- //buf:数据缓存区;
- //返回值:0,无数据被收到;
- // 其他,接收的数据长度;
- u8 CAN1_Receive_Msg(u8 *buf)
- {
- u32 i;
- u8 RxData[8];
- if(HAL_CAN_GetRxFifoFillLevel(&CAN1_Handler, CAN_RX_FIFO0) != 1)
- {
- return 0xF1;
- }
- if(HAL_CAN_GetRxMessage(&CAN1_Handler, CAN_RX_FIFO0, &RxHeader, RxData) != HAL_OK)
- {
- return 0xF2;
- }
- for(i=0;i<RxHeader.DLC;i++)
- buf[i]=RxData[i];
- return RxHeader.DLC;
- }
while(HAL_CAN_GetTxMailboxesFreeLevel(&CAN1_Handler) != 3)
请问下大佬们这个是什么原因呢？
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发表于 2021-12-29 11:19:14
发表于 2021-12-29 11:24:09
楼主
