帮我写一段stm32F072的 can收发代码
时间: 2023-03-14 08:22:38 浏览: 93
根据您的要求,下面是 STM32F072 CAN 收发代码的示例: // 定义CAN消息结构体
typedef struct {
uint32_t StdId;
uint32_t ExtId;
uint8_t IDE;
uint8_t RTR;
uint8_t DLC;
uint8_t Data[8];
} CanTxMsg;// CAN 初始化
void CAN_Init(void) {
CAN_InitTypeDef CAN_InitStruct;
CAN_FilterInitTypeDef CAN_FilterInitStruct;
GPIO_InitTypeDef GPIO_InitStruct;
// 初始化 CAN 接口的 GPIO
RCC_AHBPeriphClockCmd(RCC_AHBPeriph_GPIOA, ENABLE);
GPIO_InitStruct.GPIO_Pin = GPIO_Pin_11 | GPIO_Pin_12;
GPIO_InitStruct.GPIO_Mode = GPIO_Mode_AF;
GPIO_InitStruct.GPIO_Speed = GPIO_Speed_50MHz;
GPIO_InitStruct.GPIO_OType = GPIO_OType_PP;
GPIO_InitStruct.GPIO_PuPd = GPIO_PuPd_UP;
GPIO_Init(GPIOA, &GPIO_InitStruct);
GPIO_PinAFConfig(GPIOA, GPIO_PinSource11, GPIO_AF_4);
GPIO_PinAFConfig(GPIOA, GPIO_PinSource12, GPIO_AF_4);
// 初始化 CAN 接口
RCC_APB1PeriphClockCmd(RCC_APB1Periph_CAN1, ENABLE);
CAN_DeInit(CAN1);
CAN_StructInit(&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_3tq;
CAN_InitStruct.CAN_BS2 = CAN_BS2_5tq;
CAN_InitStruct.CAN_Prescaler = 4;
CAN_Init(CAN1, &CAN_InitStruct);
// 初始化 CAN 滤波器
CAN_FilterInitStruct.CAN_FilterNumber = 0;
CAN_FilterInitStruct.CAN_FilterMode = CAN_FilterMode_IdMask;
CAN_FilterInitStruct.CAN_FilterScale = CAN_FilterScale_32bit;
CAN_FilterInitStruct.CAN_FilterIdHigh = 0x0000;
CAN_FilterInitStruct.CAN_FilterIdLow = 0x0000;
CAN_FilterInitStruct.CAN_FilterMaskIdHigh = 0x0000;
CAN_FilterInitStruct.CAN_FilterMaskIdLow = 0x0000;
CAN_FilterInitStruct.CAN_FilterFIFOAssignment = 0;
CAN_FilterInitStruct.CAN_FilterActivation = ENABLE;
CAN_FilterInit(&CAN_FilterInitStruct);
}// 向 CAN 发送数据
void CAN_SendData(CanTxMsg *TxMessage) {
CanTxMsg TxMsg;
uint8_t TransmitMailbox = 0;
TxMsg.StdId = TxMessage->StdId;
TxMsg.ExtId = TxMessage->ExtId;
TxMsg.IDE = TxMessage->IDE;
TxMsg.RTR = TxMessage->RTR;
TxMsg.DLC = TxMessage->DLC;
for (uint8_t i=0;i<8;i++) {
TxMsg.Data[i] = TxMessage->Data[i];
}
TransmitMailbox = CAN_Transmit(CAN1, &TxMsg);
while ((CAN_TransmitStatus(CAN1, TransmitMailbox) != CANTXOK) && (CAN_TransmitStatus(CAN1, TransmitMailbox) != CAN_TxStatus_NoMailBox));
} // 接收 CAN 数据
uint8_t CAN_ReceiveData(CanRxMsg *RxMessage) {
CanRxMsg RxMsg;
uint8_t ReceiveMailbox = 0;
ReceiveMailbox = CAN_MessagePending(CAN1);
if (ReceiveMailbox != 0) {
CAN_Receive(CAN1, ReceiveMailbox, &RxMsg);
RxMessage->StdId = RxMsg.StdId;
RxMessage->ExtId = RxMsg.ExtId;
RxMessage->IDE = RxMsg.IDE;
RxMessage->DLC = RxMsg.DLC;
RxMessage->FMI = RxMsg.FMI;
for (uint8_t i=0;i<8;i++) {
RxMessage->Data[i] = RxMsg.Data[i];
}
CAN_FIFORelease(CAN1, ReceiveMailbox);
return 1;
}
else {
return 0;
}
}