写一个STM32上实现CAN通信的代码
时间: 2023-04-04 22:03:43 浏览: 66
可以回答这个问题。以下是一个简单的STM32上实现CAN通信的代码示例:
#include "stm32f4xx.h"
#include "stm32f4xx_can.h"
void CAN_Configuration(void)
{
GPIO_InitTypeDef GPIO_InitStructure;
CAN_InitTypeDef CAN_InitStructure;
CAN_FilterInitTypeDef CAN_FilterInitStructure;
/* Enable GPIO clock */
RCC_AHB1PeriphClockCmd(RCC_AHB1Periph_GPIOB, ENABLE);
/* Enable CAN clock */
RCC_APB1PeriphClockCmd(RCC_APB1Periph_CAN1, ENABLE);
/* Configure CAN RX and TX pins */
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);
/* Connect CAN RX and TX pins to AF9 */
GPIO_PinAFConfig(GPIOB, GPIO_PinSource8, GPIO_AF_CAN1);
GPIO_PinAFConfig(GPIOB, GPIO_PinSource9, GPIO_AF_CAN1);
/* CAN configuration */
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);
/* CAN filter configuration */
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_SendMessage(uint32_t id, uint8_t* data, uint8_t len)
{
CanTxMsg TxMessage;
/* Fill in the message data */
TxMessage.StdId = id;
TxMessage.ExtId = 0x00;
TxMessage.RTR = CAN_RTR_DATA;
TxMessage.IDE = CAN_ID_STD;
TxMessage.DLC = len;
memcpy(TxMessage.Data, data, len);
/* Send the message */
CAN_Transmit(CAN1, &TxMessage);
}
void CAN_ReceiveMessage(CanRxMsg* RxMessage)
{
/* Wait for a message to be received */
while (CAN_MessagePending(CAN1, CAN_FIFO0) == 0);
/* Receive the message */
CAN_Receive(CAN1, CAN_FIFO0, RxMessage);
}
int main(void)
{
CanRxMsg RxMessage;
/* Configure CAN */
CAN_Configuration();
/* Send a message */
uint8_t data[] = {0x01, 0x02, 0x03};
CAN_SendMessage(0x123, data, sizeof(data));
/* Receive a message */
CAN_ReceiveMessage(&RxMessage);
/* Process the received message */
if (RxMessage.StdId == 0x123 && RxMessage.DLC == sizeof(data))
{
// Do something with the received data
}
while (1)
{
// Main loop
}
}
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