编写代码,利用CAN总线实现两块STM32F103C8T6之间的通讯,并发送123作为测试,并解释代码
时间: 2023-07-10 13:11:51 浏览: 42
这里提供一个基础的CAN通讯代码,可以实现两个STM32F103C8T6之间的通讯,并发送123作为测试。
```c
#include "stm32f10x.h"
#include "stm32f10x_can.h"
#include "stm32f10x_rcc.h"
#include "misc.h"
CanTxMsg TxMessage;
CanRxMsg RxMessage;
void GPIO_Configuration(void)
{
GPIO_InitTypeDef GPIO_InitStructure;
RCC_APB2PeriphClockCmd(RCC_APB2Periph_AFIO | RCC_APB2Periph_GPIOB, ENABLE);
/* Configure CAN pin: RX */
GPIO_InitStructure.GPIO_Pin = GPIO_Pin_8;
GPIO_InitStructure.GPIO_Mode = GPIO_Mode_IPU;
GPIO_Init(GPIOB, &GPIO_InitStructure);
/* Configure CAN pin: TX */
GPIO_InitStructure.GPIO_Pin = GPIO_Pin_9;
GPIO_InitStructure.GPIO_Mode = GPIO_Mode_AF_PP;
GPIO_InitStructure.GPIO_Speed = GPIO_Speed_50MHz;
GPIO_Init(GPIOB, &GPIO_InitStructure);
}
void CAN_Configuration(void)
{
CAN_InitTypeDef CAN_InitStructure;
CAN_FilterInitTypeDef CAN_FilterInitStructure;
RCC_APB1PeriphClockCmd(RCC_APB1Periph_CAN1, ENABLE);
/* CAN register init */
CAN_DeInit(CAN1);
/* CAN cell init */
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 = 5;
CAN_Init(CAN1, &CAN_InitStructure);
/* CAN filter init */
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);
}
int main(void)
{
GPIO_Configuration();
CAN_Configuration();
/* Transmit */
TxMessage.StdId = 0x321;
TxMessage.ExtId = 0x01;
TxMessage.RTR = CAN_RTR_DATA;
TxMessage.IDE = CAN_ID_STD;
TxMessage.DLC = 3;
TxMessage.Data[0] = '1';
TxMessage.Data[1] = '2';
TxMessage.Data[2] = '3';
CAN_Transmit(CAN1, &TxMessage);
/* Receive */
while (CAN_MessagePending(CAN1, CAN_FIFO0) == 0)
;
CAN_Receive(CAN1, CAN_FIFO0, &RxMessage);
/* Check received message */
if ((RxMessage.StdId == 0x321) &&
(RxMessage.IDE == CAN_ID_STD) &&
(RxMessage.DLC == 3) &&
(RxMessage.Data[0] == '1') &&
(RxMessage.Data[1] == '2') &&
(RxMessage.Data[2] == '3'))
{
/* Received message is correct */
}
while (1)
{
}
}
```
该代码主要包含两个函数:
1. GPIO_Configuration():配置CAN的GPIO引脚,使其能够进行CAN通讯。
2. CAN_Configuration():配置CAN的工作模式、定时器、过滤器等参数。
在main()函数中,首先调用GPIO_Configuration()和CAN_Configuration()函数进行CAN相关的初始化。然后发送一个标准CAN帧,帧ID为0x321,数据为"123"。接着使用CAN_Receive()函数等待接收到CAN帧,并判断是否接收到正确的帧。最后进入死循环。