stm32与stc89c52进行CAN通信程序

CAN通信是一种高速、可靠的通信协议，适用于在噪声干扰和恶劣环境下进行通信。下面是stm32和stc89c52进行CAN通信的程序示例。

stm32代码：

#include "stm32f10x.h"
#include "stm32f10x_can.h"

#define CAN1_RX_PIN     GPIO_Pin_8
#define CAN1_TX_PIN     GPIO_Pin_9

void CAN1_Configuration(void)
{
    CAN_InitTypeDef CAN_InitStructure;
    GPIO_InitTypeDef GPIO_InitStructure;

    // 使能CAN1和GPIO时钟
    RCC_APB1PeriphClockCmd(RCC_APB1Periph_CAN1, ENABLE);
    RCC_APB2PeriphClockCmd(RCC_APB2Periph_GPIOB, ENABLE);

    // 配置CAN1 RX引脚
    GPIO_InitStructure.GPIO_Pin = CAN1_RX_PIN;
    GPIO_InitStructure.GPIO_Mode = GPIO_Mode_IPU;
    GPIO_Init(GPIOB, &GPIO_InitStructure);

    // 配置CAN1 TX引脚
    GPIO_InitStructure.GPIO_Pin = CAN1_TX_PIN;
    GPIO_InitStructure.GPIO_Mode = GPIO_Mode_AF_PP;
    GPIO_InitStructure.GPIO_Speed = GPIO_Speed_50MHz;
    GPIO_Init(GPIOB, &GPIO_InitStructure);

    // CAN1初始化
    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_8tq;
    CAN_InitStructure.CAN_BS2 = CAN_BS2_7tq;
    CAN_InitStructure.CAN_Prescaler = 6;
    CAN_Init(CAN1, &CAN_InitStructure);

    // CAN1接收中断使能
    CAN_ITConfig(CAN1, CAN_IT_FMP0, ENABLE);
}

void CAN1_SendData(uint8_t data[], uint8_t len)
{
    CanTxMsg TxMessage;

    TxMessage.StdId = 0x123;
    TxMessage.ExtId = 0x00;
    TxMessage.IDE = CAN_ID_STD;
    TxMessage.RTR = CAN_RTR_DATA;
    TxMessage.DLC = len;
    memcpy(TxMessage.Data, data, len);

    CAN_Transmit(CAN1, &TxMessage);
}

void CAN1_RX0_IRQHandler(void)
{
    CanRxMsg RxMessage;

    CAN_Receive(CAN1, CAN_FIFO0, &RxMessage);

    // 处理接收到的数据
}

int main(void)
{
    uint8_t data[8] = {0x01, 0x02, 0x03, 0x04, 0x05, 0x06, 0x07, 0x08};

    CAN1_Configuration();

    while (1)
    {
        CAN1_SendData(data, 8);
        delay_ms(1000);
    }
}

stc89c52代码：

#include <reg52.h>

#define CAN_INT_PIN     P3_2
#define CAN_RX_PIN      P1_1
#define CAN_TX_PIN      P1_2

void CAN_Configuration(void)
{
    // 配置CAN RX引脚
    P1M1 &= ~(1 << 1);
    P1M0 |= (1 << 1);

    // 配置CAN TX引脚
    P1M1 &= ~(1 << 2);
    P1M0 |= (1 << 2);

    // 配置CAN中断引脚
    P3M1 &= ~(1 << 2);
    P3M0 |= (1 << 2);

    // 配置CAN控制寄存器
    ACC = 0xa0;
    PCON |= 0x00;
    TMOD &= ~0x51;
    TMOD |= 0x20;
    TH1 = 0xfb;
    TL1 = 0xfb;
    ET1 = 0;
    TR1 = 1;

    // 配置CAN工作模式
    CANMOD = 0x00;
    CANGIE = 0x00;
    CANGIT = 0xff;
    CANIER = 0x01;
    CANBT1 = 0x00;
    CANBT2 = 0x1c;
    CANBT3 = 0x37;
    CANCON = 0x00;
}

void CAN_SendData(uint8_t data[], uint8_t len)
{
    uint8_t i;

    // 等待发送缓冲器空闲
    while (!(CANCON & 0x04));

    // 设置发送数据长度
    CANTFI = len;

    // 设置发送数据
    for (i = 0; i < len; i++)
    {
        CANTFD = data[i];
    }

    // 发送数据
    CANCON |= 0x01;
}

void CAN_RXInterrupt(void) interrupt 0x1b
{
    uint8_t i, len;

    // 判断是否有新数据
    if (CANRXS & 0x01)
    {
        // 获取数据长度
        len = CANRML;

        // 获取数据
        for (i = 0; i < len; i++)
        {
            data[i] = CANRFD;
        }

        // 处理接收到的数据

        // 清除中断标志
        CANRXS &= ~0x01;
    }
}

int main(void)
{
    uint8_t data[8] = {0x01, 0x02, 0x03, 0x04, 0x05, 0x06, 0x07, 0x08};

    CAN_Configuration();

    while (1)
    {
        CAN_SendData(data, 8);
        delay_ms(1000);
    }
}