STM32 can配置PA11 PA12

/* Private variables ---------------------------------------------------------*/ uint16_t CAN_ID; uint8_t CAN_DATA0,CAN_DATA1,CAN_DATA2,CAN_DATA3,CAN_DATA4,CAN_DATA5,CAN_DATA6,CAN_DATA7; uint8_t CanFlag,Display; void CAN_GPIO_Config(void) { GPIO_InitTypeDef GPIO_InitStructure; /* CAN Periph clock enable */ RCC_APB2PeriphClockCmd(RCC_APB2Periph_GPIOA ,ENABLE); // RCC_APB2PeriphClockCmd(RCC_APB2Periph_GPIOA | RCC_APB2Periph_AFIO,ENABLE); RCC_APB1PeriphClockCmd(RCC_APB1Periph_CAN1, ENABLE); /* Configure CAN pin: TX */ GPIO_InitStructure.GPIO_Pin = GPIO_Pin_12; GPIO_InitStructure.GPIO_Speed = GPIO_Speed_50MHz; GPIO_InitStructure.GPIO_Mode = GPIO_Mode_AF_PP; GPIO_Init(GPIOA, &GPIO_InitStructure); /* Configure CAN pin: RX */ GPIO_InitStructure.GPIO_Pin = GPIO_Pin_11; GPIO_InitStructure.GPIO_Mode = GPIO_Mode_IPU; GPIO_Init(GPIOA, &GPIO_InitStructure); // GPIO_PinRemapConfig(GPIO_Remap1_CAN1 , ENABLE); } void CAN_NVIC_Configuration(void) { NVIC_InitTypeDef NVIC_InitStructure; #ifdef VECT_TAB_RAM /* Set the Vector Table base location at 0x20000000 */ NVIC_SetVectorTable(NVIC_VectTab_RAM, 0x0); #else /* VECT_TAB_FLASH */ /* Set the Vector Table base location at 0x08000000 */ NVIC_SetVectorTable(NVIC_VectTab_FLASH, 0x0); #endif /* enabling interrupt */ NVIC_InitStructure.NVIC_IRQChannel=USB_LP_CAN1_RX0_IRQn; NVIC_InitStructure.NVIC_IRQChannelPreemptionPriority = 0; NVIC_InitStructure.NVIC_IRQChannelSubPriority = 0; NVIC_InitStructure.NVIC_IRQChannelCmd = ENABLE; NVIC_Init(&NVIC_InitStructure); } void can_init(void) { CAN_InitTypeDef CAN_InitStructure; CAN_FilterInitTypeDef CAN_FilterInitStructure; CAN_GPIO_Config(); CAN_NVIC_Configuration(); /* CAN register init */ CAN_DeInit(CAN1); CAN_StructInit(&CAN_InitStructure); /* CAN cell init */ CAN_InitStructure.CAN_TTCM = DISABLE; /* 时间触发禁止, 时间触发：CAN硬件的内部定时器被激活，并且被用于产生时间戳 */ CAN_InitStructure.CAN_ABOM = DISABLE; /* 自动离线禁止，自动离线：一旦硬件监控到128次11个隐性位，就自动退出离线状态。在这里要软件设定后才能退出 */ CAN_InitStructure.CAN_AWUM = DISABLE; /* 自动唤醒禁止，有报文来的时候自动退出休眠*/ CAN_InitStructure.CAN_NART = DISABLE; /* 报文重传, 如果错误一直传到成功止，否则只传一次 */ CAN_InitStructure.CAN_RFLM = DISABLE; /* 接收FIFO锁定, 1--锁定后接收到新的报文摘不要，0--接收到新的报文则覆盖前一报文*/ CAN_InitStructure.CAN_TXFP = DISABLE; /* 发送优先级 0---由标识符决定 1---由发送请求顺序决定*/ CAN_InitStructure.CAN_Mode = CAN_Mode_Normal; /* 模式*/ CAN_InitStructure.CAN_SJW = CAN_SJW_1tq; /* 重新同步跳宽，只有can硬件处于初始化模式时才能访问这个寄存器 */ CAN_InitStructure.CAN_BS1 = CAN_BS1_9tq; /* 时间段1 */ CAN_InitStructure.CAN_BS2 = CAN_BS2_6tq; /* 时间段2 */ CAN_InitStructure.CAN_Prescaler = 8; /* 波特率预分频数 */ CAN_Init(CAN1, &CAN_InitStructure); // 初始化CAN1 /* 波特率计算方法 */ /* CANbps= Fpclk/((BRP+1)*((Tseg1+1)+(Tseg2+1)+1) 此处计算为 CANbps=64000000/(16*(13+2+1))=250kHz */ /* 配置大方向: Tseg1>=Tseg2 Tseg2>=tq; Tseg2>=2TSJW */ /* 使用CAN波特率计算器得到CANBTR = 0x001C000F 具体某些位对应SJW BS1 BS2 介绍网址http://blog.csdn.net/flydream0/article/details/8170185 */ if (CAN_Init(CAN1,&CAN_InitStructure) == CANINITFAILED) //F { rt_kprintf("CAN error \r\n"); /* 初始化时先设置CAN_MCR的初始化位 */ /* 然后查看硬件是否真的设置了CAN_MSR的初始化位来确认是否进入了初始化模式 */ } /* 配置CAN过滤器 */ /* 32位对应的id */ /* stdid[10:0]，extid[17:0],ide,rtr */ /* 16位对应的id */ /* stdid[10:0],ide,rtr,extid[17:15] */ /* 一般使用屏蔽模式 */ /* 要注意的是fifo接收存满了中断，还有就是fifo的概念，即取的一直是最早那一个数据， 要释放才能取下一个数据 */ /* 常使用的中断有 */ /* 1,有信息中断，即fifo挂号中断 */ /* 2,fifo满中断 */ /* 3,fifo满之后又有信息来则中断，即fifo溢出中断 */ CAN_FilterInitStructure.CAN_FilterNumber=0; /* 过滤器0 */ CAN_FilterInitStructure.CAN_FilterMode=CAN_FilterMode_IdMask; /* 屏敝模式 */ CAN_FilterInitStructure.CAN_FilterScale=CAN_FilterScale_32bit; /* 32位 */ CAN_FilterInitStructure.CAN_FilterIdHigh=0x0000; /* 以下四个都为0, 表明不过滤任何id */ CAN_FilterInitStructure.CAN_FilterIdLow=0x0000; CAN_FilterInitStructure.CAN_FilterMaskIdHigh=0x0000; CAN_FilterInitStructure.CAN_FilterMaskIdLow=0x0000; CAN_FilterInitStructure.CAN_FilterFIFOAssignment=CAN_FIFO0; /* 能够通过该过滤器的报文存到fifo0中 */ CAN_FilterInitStructure.CAN_FilterActivation=ENABLE; CAN_ITConfig(CAN1, CAN_IT_FMP0, ENABLE); /* 挂号中断, 进入中断后读fifo的报文函数释放报文清中断标志 */ CAN_FilterInit(&CAN_FilterInitStructure); } void CanWData(void) { CanTxMsg TxMessage; #if 0 /* transmit 1 message */ // TxMessage.StdId=0x12; // TxMessage.ExtId=0x34; TxMessage.StdId=0x00; //???00 TxMessage.ExtId=0x00; //???00 TxMessage.IDE=CAN_ID_EXT; TxMessage.RTR=CAN_RTR_DATA; TxMessage.DLC=2; // TxMessage.Data[0]=0xDE; // TxMessage.Data[1]=0xCA; TxMessage.Data[0]=0xBB; //???BB TxMessage.Data[1]=0xBB; //???BB CAN_Transmit(CAN1,&TxMessage); #else uint32_t ID = 0x5a5; CAN_DATA0=rand()%0xff; CAN_DATA1=rand()%0xff; CAN_DATA2=rand()%0xff; CAN_DATA3=rand()%0xff; CAN_DATA4=rand()%0xff; CAN_DATA5=rand()%0xff; CAN_DATA6=rand()%0xff; CAN_DATA7=rand()%0xff; /* transmit */ TxMessage.StdId = ID; /* 设置标准id 注意标准id的最高7位不能全是隐性(1)。共11位 */ //TxMessage.ExtId = 0x00; //设置扩展id 扩展id共18位 TxMessage.RTR = CAN_RTR_DATA; /* 设置为数据帧 */ TxMessage.IDE = CAN_ID_STD; /* 使用标准id */ TxMessage.DLC = 8; /* 数据长度, can报文规定最大的数据长度为8字节 */ TxMessage.Data[0] = CAN_DATA0; TxMessage.Data[1] = CAN_DATA1; TxMessage.Data[2] = CAN_DATA2; TxMessage.Data[3] = CAN_DATA3; TxMessage.Data[4] = CAN_DATA4; TxMessage.Data[5] = CAN_DATA5; TxMessage.Data[6] = CAN_DATA6; TxMessage.Data[7] = CAN_DATA7; CAN_Transmit(CAN1,&TxMessage); /* 返回这个信息请求发送的邮箱号0,1,2或没有邮箱申请发送no_box */ #endif } void USB_LP_CAN1_RX0_IRQHandler(void) { CanRxMsg RxMessage; int i=0; CAN_Receive(CAN1, 0, &RxMessage); for(i=0;i<8;i++) printf("rxbuf[%d]:%d\r\n",i,RxMessage.Data[i]); }