#include "can.h" #include "global.h" #include #define MASK_ID 0x18CE00EF CanRxMsg RxMessageImportant; CanRxMsg RxMessageNormal; CanData_TypeDef CanDataImportant; // 重要数据 extern SqQueue CanQueueImportant; // extern _declare_box8(can1_mpool, BlockSizeCan1, BlockCountCan1); // extern os_mbx_declare (can1_mailbox, sizeof(can1_mpool)/sizeof(CanRxMsg));//声明消息邮箱 读取can1数据 // 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 u32 result; u8 CAN1_Mode_Init(u8 tsjw, u8 tbs2, u8 tbs1, u16 brp, u8 mode) { GPIO_InitTypeDef GPIO_InitStructure; CAN_InitTypeDef CAN_InitStructure; CAN_FilterInitTypeDef CAN_FilterInitStructure; NVIC_InitTypeDef NVIC_InitStructure; u32 mask_id = MASK_ID; // 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); // GPIOB11复用为CAN1 GPIO_PinAFConfig(GPIOA, GPIO_PinSource12, GPIO_AF_CAN1); // GPIOB12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 = DISABLE; // 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 // 配置过滤器0 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 = (u16)((mask_id << 3) >> 16); // 0xFFFF; CAN_FilterInitStructure.CAN_FilterIdLow = (u16)((mask_id << 3) | (1 << 2)); // 0xFFFF; CAN_FilterInitStructure.CAN_FilterMaskIdHigh = 0xFFF0; // 0x0000;//32位MASK // CAN_FilterInitStructure.CAN_FilterMaskIdLow=0xfff8; // 最后3位不管 CAN_FilterInitStructure.CAN_FilterMaskIdLow = 0x07FF; // 0; // 最后3位不管 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 = 5; // 主优先级为 // NVIC_InitStructure.NVIC_IRQChannelSubPriority = 0; // 次优先级为0 NVIC_InitStructure.NVIC_IRQChannelCmd = ENABLE; NVIC_Init(&NVIC_InitStructure); //////////////////////////////////////////////// return 0; } /********************************************************************************************************** * 函 数 名: CAN1_Init * 功能说明: CAN1初始化 * 形 参: 无 * 返 回 值: 无 **********************************************************************************************************/ void CAN2_Init(void) { #if defined(__CAN_BAUD_500K) CAN1_Mode_Init(CAN_SJW_1tq, CAN_BS2_6tq, CAN_BS1_7tq, 6, CAN_Mode_Normal); // CAN1初始化环回模式,波特率500Kbps #elif defined(__CAN_BAUD_250K) CAN1_Mode_Init(CAN_SJW_1tq, CAN_BS2_6tq, CAN_BS1_7tq, 12, CAN_Mode_Normal); // CAN1初始化环回模式,波特率250Kbps #else // #error no can baud macro!; #endif } //(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; /**************************************************** * 函数功能：can1发送一组数据 * 入口参数：msg 数据 len 数据长度 can_id CAN id * 说 明：group_id 从1开始 *****************************************************/ u8 CAN2_Send_Msg(u8 *msg, u8 len, u32 can_id) { u16 mbox, i; CanTxMsg TxMessage; TxMessage.StdId = 0x00; // 标准标识符为0 TxMessage.ExtId = can_id; // 设置扩展标示符（29位） TxMessage.IDE = CAN_Id_Extended; // 使用扩展标识符 TxMessage.RTR = CAN_RTR_Data; // 消息类型为数据帧 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) { CAN_Receive(CAN1, CAN_FIFO0, &RxMessageImportant); // 1.6us ucos时间戳、示波器测量都是1.6us memcpy(CanDataImportant.buf, RxMessageImportant.Data, RxMessageImportant.DLC); CanDataImportant.can_id = RxMessageImportant.ExtId; if (InsertQueue(&CanQueueImportant, CanDataImportant) == ERROR) // 队列插入数据 { } }