stm32f中can通信
时间: 2023-09-08 19:14:12 浏览: 37
STM32F系列微控制器内置了CAN控制器,可以用来实现CAN通信。下面是基本的CAN通信步骤:
1. 初始化CAN控制器:设置波特率、工作模式、过滤器等参数。
2. 配置CAN控制器的发送邮箱和接收邮箱:设置邮箱ID、数据长度等参数。
3. 编写发送数据的函数:将数据写入发送邮箱并启动发送。
4. 编写接收数据的函数:从接收邮箱中读取数据。
下面是一个简单的CAN通信代码示例,包括初始化CAN控制器、配置发送邮箱和接收邮箱、发送数据和接收数据的函数:
```c
#include "stm32f10x.h"
void CAN1_Init(void)
{
CAN_InitTypeDef CAN_InitStructure;
CAN_FilterInitTypeDef CAN_FilterInitStructure;
/* CAN1 Periph clock enable */
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 = ENABLE;
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_4tq;
CAN_InitStructure.CAN_BS2 = CAN_BS2_3tq;
CAN_InitStructure.CAN_Prescaler = 3;
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);
}
void CAN1_SendData(void)
{
CanTxMsg TxMessage;
TxMessage.StdId = 0x321;
TxMessage.ExtId = 0x01;
TxMessage.RTR = CAN_RTR_DATA;
TxMessage.IDE = CAN_ID_STD;
TxMessage.DLC = 8;
TxMessage.Data[0] = 0x11;
TxMessage.Data[1] = 0x22;
TxMessage.Data[2] = 0x33;
TxMessage.Data[3] = 0x44;
TxMessage.Data[4] = 0x55;
TxMessage.Data[5] = 0x66;
TxMessage.Data[6] = 0x77;
TxMessage.Data[7] = 0x88;
CAN_Transmit(CAN1, &TxMessage);
}
void CAN1_ReceiveData(void)
{
CanRxMsg RxMessage;
if (CAN_MessagePending(CAN1, CAN_FIFO0) != 0)
{
CAN_Receive(CAN1, CAN_FIFO0, &RxMessage);
// 处理接收到的数据
}
}
int main(void)
{
CAN1_Init();
while (1)
{
CAN1_SendData();
CAN1_ReceiveData();
}
}
```
在上面的代码中,CAN1_Init()函数用于初始化CAN控制器,CAN1_SendData()函数用于发送数据,CAN1_ReceiveData()函数用于接收数据。在主函数中,不断地发送数据和接收数据。
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