CAN通讯模板

#define MyCAN_SJW CAN_SJW_3tq
#define MyCAN_BS1 CAN_BS1_5tq
#define MyCAN_BS2 CAN_BS2_3tq
#define MyCAN_PRE 0x08 //1MHz

#define MyCAN_DebugMode 0x01
#define MyCAN_NormalMode 0x00

#define ID_MASK CAN_ID << 5

#define ID_FlashAddress 0x0801FBFF

CanRxMsg CAN_RecData;
CanTxMsg CAN_Message;

uchar CAN_RecFlag;
uchar CAN_ID;
uchar MailBox;

void MyCAN_Init(void)
{
GPIO_InitTypeDef GPIO_InitStructure;
CAN_InitTypeDef CAN_InitStructure;
CAN_FilterInitTypeDef CAN_FilterInitStructure;
NVIC_InitTypeDef NVIC_InitStructure;

//----------DATA Init----------
CAN_ID = (uchar)(FLASH_Read(ID_FlashAddress)&0x00FF);
MailBox = 0x00;

CAN_Message.StdId = CAN_ID;
CAN_Message.IDE = 0x00;
CAN_Message.RTR = 0x00;

//----------GPIO Init----------
RCC_APB2PeriphClockCmd(RCC_APB2Periph_GPIOA, ENABLE);
GPIO_InitStructure.GPIO_Speed = GPIO_Speed_50MHz;

GPIO_InitStructure.GPIO_Pin = GPIO_Pin_12;
GPIO_InitStructure.GPIO_Mode = GPIO_Mode_AF_PP;
GPIO_Init(GPIOA, &GPIO_InitStructure);

GPIO_InitStructure.GPIO_Pin = GPIO_Pin_11;
GPIO_InitStructure.GPIO_Mode = GPIO_Mode_IPU;
GPIO_Init(GPIOA, &GPIO_InitStructure);

//----------CAN Init----------
RCC_APB1PeriphClockCmd(RCC_APB1Periph_CAN1, ENABLE);

CAN_InitStructure.CAN_TTCM = DISABLE;
CAN_InitStructure.CAN_ABOM = ENABLE;
CAN_InitStructure.CAN_AWUM = DISABLE;
CAN_InitStructure.CAN_NART = DISABLE;
CAN_InitStructure.CAN_RFLM = DISABLE;
CAN_InitStructure.CAN_TXFP = DISABLE;
CAN_InitStructure.CAN_Mode = MyCAN_NormalMode;
CAN_InitStructure.CAN_SJW = MyCAN_SJW;
CAN_InitStructure.CAN_BS1 = MyCAN_BS1;
CAN_InitStructure.CAN_BS2 = MyCAN_BS2;
CAN_InitStructure.CAN_Prescaler = MyCAN_PRE;

CAN_Init(CAN1, &CAN_InitStructure);

//----------FILTER Init----------
CAN_FilterInitStructure.CAN_FilterNumber = 6;
CAN_FilterInitStructure.CAN_FilterMode = CAN_FilterMode_IdMask;
CAN_FilterInitStructure.CAN_FilterScale = CAN_FilterScale_16bit;
CAN_FilterInitStructure.CAN_FilterIdHigh = ID_MASK;
CAN_FilterInitStructure.CAN_FilterIdLow = ID_MASK;
CAN_FilterInitStructure.CAN_FilterMaskIdHigh = 0xFFF8;
CAN_FilterInitStructure.CAN_FilterMaskIdLow = 0xFFF8;
CAN_FilterInitStructure.CAN_FilterFIFOAssignment = CAN_Filter_FIFO0;
CAN_FilterInitStructure.CAN_FilterActivation = ENABLE;

CAN_FilterInit(&CAN_FilterInitStructure);

//----------NVIC Init----------
NVIC_InitStructure.NVIC_IRQChannel = USB_LP_CAN1_RX0_IRQn;
NVIC_InitStructure.NVIC_IRQChannelPreemptionPriority = 0x02;
NVIC_InitStructure.NVIC_IRQChannelSubPriority = 0x02;
NVIC_InitStructure.NVIC_IRQChannelCmd = ENABLE;

NVIC_Init(&NVIC_InitStructure);

//----------ENABLE----------
CAN_ITConfig(CAN1, CAN_IT_FMP0, ENABLE);
}

void CAN_SendData(uchar* Str, uchar Len)
{
CAN_Message.DLC = Len;
for(char i = 0; i < Len; i ++)
{
CAN_Message.Data[i] = Str[i];
}
MailBox = CAN_Transmit(CAN1, &CAN_Message);
while(CAN_TransmitStatus(CAN1, MailBox) == CAN_TxStatus_Failed);
}

void CAN_ChangeID(uchar ID)
{
ushort Temp[1] = {ID};
CAN_FilterInitTypeDef CAN_FilterInitStructure;

FLASH_WriteCheck(ID_FlashAddress, Temp, 1);
CAN_Message.StdId = CAN_ID = ID;

CAN_FilterInitStructure.CAN_FilterNumber = 6;
CAN_FilterInitStructure.CAN_FilterMode = CAN_FilterMode_IdMask;
CAN_FilterInitStructure.CAN_FilterScale = CAN_FilterScale_16bit;
CAN_FilterInitStructure.CAN_FilterIdHigh = ID_MASK;
CAN_FilterInitStructure.CAN_FilterIdLow = ID_MASK;
CAN_FilterInitStructure.CAN_FilterMaskIdHigh = 0xFFF8;
CAN_FilterInitStructure.CAN_FilterMaskIdLow = 0xFFF8;
CAN_FilterInitStructure.CAN_FilterFIFOAssignment = CAN_Filter_FIFO0;
CAN_FilterInitStructure.CAN_FilterActivation = ENABLE;

CAN_FilterInit(&CAN_FilterInitStructure);
}

void USB_LP_CAN1_RX0_IRQHandler(void)
{
if(CAN_RecFlag) return;
CAN_Receive(CAN1, 0, &CAN_RecData);
CAN_RecFlag = 1;
}