stm32 can通信
时间: 2023-08-18 11:05:49 浏览: 74
对于STM32微控制器,CAN(Controller Area Network)通信是一种常见的通信协议。CAN总线是一种高度可靠的通信协议,广泛用于汽车、工业控制和其他领域。
STM32微控制器通常具有内置的CAN控制器,可以通过配置寄存器和使用相应的库函数来实现CAN通信。以下是实现STM32 CAN通信的基本步骤:
1. 配置GPIO引脚:首先,需要将CAN引脚配置为CAN模式,以使其能够与外部CAN总线相连。
2. 初始化CAN控制器:使用库函数初始化CAN控制器,设置波特率、模式(例如,循环发送或接收)以及过滤器等。
3. 配置发送和接收:配置发送和接收缓冲区,并设置相应的ID和数据长度等。
4. 发送数据:使用库函数将数据发送到CAN总线上。
5. 接收数据:使用库函数接收来自CAN总线的数据,并进行相应的处理。
需要注意的是,具体的实现细节可能会因不同的STM32微控制器型号而有所差异。因此,在使用CAN通信之前,请参考相关的STM32芯片手册和官方文档,以了解特定型号的具体实现方法和库函数。
希望这能对你有所帮助!如果有任何进一步的问题,请随时提问。
相关问题
stm32can通信
STM32是一款常用的微控制器,它支持CAN总线通信。在使用CAN通信时,需要配置CAN控制器和CAN过滤器,然后才能进行数据的发送和接收。以下是一个简单的CAN通信示例代码:
```c
#include "stm32f4xx.h"
void CAN_Config(void)
{
GPIO_InitTypeDef GPIO_InitStructure;
CAN_InitTypeDef CAN_InitStructure;
CAN_FilterInitTypeDef CAN_FilterInitStructure;
// 使能CAN1和GPIOB时钟
RCC_APB1PeriphClockCmd(RCC_APB1Periph_CAN1, ENABLE);
RCC_AHB1PeriphClockCmd(RCC_AHB1Periph_GPIOB, ENABLE);
// 配置PB8和PB9为复用功能
GPIO_InitStructure.GPIO_Pin = GPIO_Pin_8 | GPIO_Pin_9;
GPIO_InitStructure.GPIO_Mode = GPIO_Mode_AF;
GPIO_InitStructure.GPIO_Speed = GPIO_Speed_50MHz;
GPIO_InitStructure.GPIO_OType = GPIO_OType_PP;
GPIO_InitStructure.GPIO_PuPd = GPIO_PuPd_UP;
GPIO_Init(GPIOB, &GPIO_InitStructure);
// 将PB8和PB9连接到CAN1的RX和TX引脚
GPIO_PinAFConfig(GPIOB, GPIO_PinSource8, GPIO_AF_CAN1);
GPIO_PinAFConfig(GPIOB, GPIO_PinSource9, GPIO_AF_CAN1);
// 配置CAN1
CAN_InitStructure.CAN_TTCM = DISABLE; CAN_InitStructure.CAN_ABOM = DISABLE;
CAN_InitStructure.CAN_AWUM = DISABLE;
CAN_InitStructure.CAN_NART = DISABLE;
CAN_InitStructure.CAN_RFLM = DISABLE;
CAN_InitStructure.CAN_TXFP = DISABLE;
CAN_InitStructure.CAN_Mode = CAN_Mode_Normal;
CAN_InitStructure.CAN_SJW = CAN_SJW_1tq;
CAN_InitStructure.CAN_BS1 = CAN_BS1_6tq;
CAN_InitStructure.CAN_BS2 = CAN_BS2_8tq;
CAN_InitStructure.CAN_Prescaler = 4;
CAN_Init(CAN1, &CAN_InitStructure);
// 配置CAN过滤器
CAN_FilterInitStructure.CAN_FilterNumber = 0;
CAN_FilterInitStructure.CAN_FilterMode = CAN_FilterMode_IdMask; CAN_FilterInitStructure.CAN_FilterScale = CAN_FilterScale_32bit;
CAN_FilterInitStructure.CAN_FilterIdHigh = 0x0000;
CAN_FilterInitStructure.CAN_FilterIdLow = 0x0000;
CAN_FilterInitStructure.CAN_FilterMaskIdHigh = 0x0000;
CAN_FilterInitStructure.CAN_FilterMaskIdLow = 0x0000;
CAN_FilterInitStructure.CAN_FilterFIFOAssignment = 0;
CAN_FilterInitStructure.CAN_FilterActivation = ENABLE;
CAN_FilterInit(&CAN_FilterInitStructure);
}
void CAN_SendData(uint8_t* data, uint8_t len)
{
CanTxMsg TxMessage;
// 填充CAN消息结构体
TxMessage.StdId = 0x123;
TxMessage.ExtId = 0x00;
TxMessage.RTR = CAN_RTR_DATA;
TxMessage.IDE = CAN_ID_STD;
TxMessage.DLC = len;
for (int i = 0; i < len; i++) {
TxMessage.Data[i] = data[i];
}
// 发送CAN消息
while (CAN_Transmit(CAN1, &TxMessage) == CAN_TxStatus_NoMailBox);
}
void CAN_ReceiveData(uint8_t* data, uint8_t* len)
{
CanRxMsg RxMessage;
// 接收CAN消息
if (CAN_MessagePending(CAN1, CAN_FIFO0) > 0) {
CAN_Receive(CAN1, CAN_FIFO0, &RxMessage);
// 将数据拷贝到缓冲区
*len = RxMessage.DLC;
for (int i = 0; i < *len; i++) {
data[i] = RxMessage.Data[i];
}
}
}
int main(void)
{
uint8_t tx_data[] = {0x01, 0x02, 0x03};
uint8_t rx_data[8];
uint8_t rx_len;
CAN_Config();
while (1) {
CAN_SendData(tx_data, sizeof(tx_data));
CAN_ReceiveData(rx_data, &rx_len);
}
}
```
在上述代码中,CAN_Config函数用于配置CAN控制器和CAN过滤器,CAN_SendData函数用于发送CAN数据帧,CAN_ReceiveData函数用于接收CAN数据帧。
stm32can通信收发
STM32的CAN控制器支持CAN通信的收发功能。下面是一个简单的示例代码,演示了如何在STM32上进行CAN通信的收发操作:
```c
#include "stm32f4xx.h"
// 定义CAN消息结构体
typedef struct {
uint32_t id; // 消息ID
uint8_t data[8]; // 数据
uint8_t len; // 数据长度
} CAN_Message;
// 初始化CAN控制器
void CAN_Init(void) {
// 使能CAN时钟
RCC_APB1PeriphClockCmd(RCC_APB1Periph_CAN1, ENABLE);
// 初始化CAN GPIO引脚
GPIO_InitTypeDef GPIO_InitStruct;
GPIO_InitStruct.GPIO_Pin = GPIO_Pin_9 | GPIO_Pin_8;
GPIO_InitStruct.GPIO_Mode = GPIO_Mode_AF;
GPIO_InitStruct.GPIO_OType = GPIO_OType_PP;
GPIO_InitStruct.GPIO_PuPd = GPIO_PuPd_UP;
GPIO_InitStruct.GPIO_Speed = GPIO_Speed_50MHz;
GPIO_Init(GPIOB, &GPIO_InitStruct);
// 配置CAN引脚复用功能
GPIO_PinAFConfig(GPIOB, GPIO_PinSource8, GPIO_AF_CAN1);
GPIO_PinAFConfig(GPIOB, GPIO_PinSource9, GPIO_AF_CAN1);
// CAN初始化结构体
CAN_InitTypeDef CAN_InitStruct;
CAN_InitStruct.CAN_TTCM = DISABLE;
CAN_InitStruct.CAN_ABOM = DISABLE;
CAN_InitStruct.CAN_AWUM = DISABLE;
CAN_InitStruct.CAN_NART = DISABLE;
CAN_InitStruct.CAN_RFLM = DISABLE;
CAN_InitStruct.CAN_TXFP = DISABLE;
CAN_InitStruct.CAN_Mode = CAN_Mode_Normal;
CAN_InitStruct.CAN_SJW = CAN_SJW_1tq;
CAN_InitStruct.CAN_BS1 = CAN_BS1_9tq;
CAN_InitStruct.CAN_BS2 = CAN_BS2_8tq;
CAN_InitStruct.CAN_Prescaler = 3; // 波特率预分频器
// 初始化CAN
CAN_Init(CAN1, &CAN_InitStruct);
// 启动CAN
CAN_Cmd(CAN1, ENABLE);
}
// 发送CAN消息
void CAN_SendMessage(uint32_t id, uint8_t* data, uint8_t len) {
CAN_Message message;
message.id = id;
message.len = len;
memcpy(message.data, data, len);
// 准备CAN消息
CAN_TxMailBox_TypeDef* mailbox = CAN1->sTxMailBox;
mailbox->TIR = (id << 21) | CAN_ID_STD | CAN_RTR_DATA;
mailbox->TDTR = len;
mailbox->TDLR = *((uint32_t*)data);
mailbox->TDHR = *((uint32_t*)(data + 4));
// 发送CAN消息
mailbox->TIR |= CAN_TI0R_TXRQ;
}
// 接收CAN消息
void CAN_ReceiveMessage(CAN_Message* message) {
// 检查是否有接收到的消息
if (CAN_MessagePending(CAN1, CAN_FIFO0) > 0) {
CAN_Receive(CAN1, CAN_FIFO0, &(message->id), message->data, &(message->len), CAN_Id_Standard);
}
}
int main(void) {
// 初始化CAN控制器
CAN_Init();
// 待发送的数据
uint8_t sendData[] = {0x01, 0x02, 0x03, 0x04, 0x05, 0x06, 0x07, 0x08};
// 发送CAN消息
CAN_SendMessage(0x123, sendData, sizeof(sendData));
// 接收CAN消息
CAN_Message receivedMessage;
CAN_ReceiveMessage(&receivedMessage);
// 打印接收到的消息
printf("Received message ID: %x\n", receivedMessage.id);
printf("Received message data: ");
for (int i = 0; i < receivedMessage.len; i++) {
printf("%02x ", receivedMessage.data[i]);
}
printf("\n");
while (1) {
// 主循环
}
}
```
这段代码演示了如何在STM32上进行CAN通信的收发操作。首先,需要初始化CAN控制器,并配置相关的GPIO引脚。然后,可以使用`CAN_SendMessage`函数发送CAN消息,该函数接受消息ID、数据和数据长度作为参数。接收CAN消息可以使用`CAN_ReceiveMessage`函数,该函数将接收到的消息存储在`CAN_Message`结构体中。
相关推荐
![pdf](https://img-home.csdnimg.cn/images/20210720083512.png)
![-](https://csdnimg.cn/download_wenku/file_type_column_c1.png)
![-](https://csdnimg.cn/download_wenku/file_type_column_c1.png)
![-](https://csdnimg.cn/download_wenku/file_type_column_c1.png)
![-](https://csdnimg.cn/download_wenku/file_type_column_c1.png)
![-](https://csdnimg.cn/download_wenku/file_type_column_c1.png)
![](https://csdnimg.cn/download_wenku/file_type_ask_c1.png)
![](https://csdnimg.cn/download_wenku/file_type_ask_c1.png)
![](https://csdnimg.cn/download_wenku/file_type_ask_c1.png)
![](https://csdnimg.cn/download_wenku/file_type_ask_c1.png)
![](https://csdnimg.cn/download_wenku/file_type_ask_c1.png)
![](https://csdnimg.cn/download_wenku/file_type_ask_c1.png)
![](https://csdnimg.cn/download_wenku/file_type_ask_c1.png)
![](https://csdnimg.cn/download_wenku/file_type_ask_c1.png)