1、打开STM32 CAN系统工作时钟

RCC_APB2PeriphClockCmd(RCC_APB2Periph_GPIOA | RCC_APB2Periph_AFIO, ENABLE);
RCC_APB1PeriphClockCmd(RCC_APB1Periph_CAN1, ENABLE);
2、开放系统中断，根据实际情况选择

NVIC_InitStructure.NVIC_IRQChannel = USB_LP_CAN1_RX0_IRQn;
NVIC_InitStructure.NVIC_IRQChannelPreemptionPriority = 0;
NVIC_InitStructure.NVIC_IRQChannelSubPriority = 0;
NVIC_InitStructure.NVIC_IRQChannelCmd = ENABLE;
NVIC_Init(&NVIC_InitStructure);

//NVIC_InitStructure.NVIC_IRQChannel = CAN1_RX1_IRQn;
//NVIC_InitStructure.NVIC_IRQChannelPreemptionPriority = 5;
//NVIC_InitStructure.NVIC_IRQChannelSubPriority = 0;
//NVIC_InitStructure.NVIC_IRQChannelCmd = ENABLE;
//NVIC_Init(&NVIC_InitStructure);
//NVIC_InitStructure.NVIC_IRQChannel = CAN1_SCE_IRQn;
//NVIC_InitStructure.NVIC_IRQChannelPreemptionPriority = 3;
//NVIC_InitStructure.NVIC_IRQChannelSubPriority = 0;
//NVIC_InitStructure.NVIC_IRQChannelCmd = ENABLE;
//NVIC_Init(&NVIC_InitStructure);

//NVIC_InitStructure.NVIC_IRQChannel = USB_HP_CAN1_TX_IRQn;
//NVIC_InitStructure.NVIC_IRQChannelPreemptionPriority = 4;
//NVIC_InitStructure.NVIC_IRQChannelSubPriority = 0;
//NVIC_InitStructure.NVIC_IRQChannelCmd = ENABLE;
//NVIC_Init(&NVIC_InitStructure);
3、端口配置
//初始化MCU_CAN_RXD---PA11
GPIO_InitStructure.GPIO_Pin = GPIO_Pin_11;
GPIO_InitStructure.GPIO_Mode = GPIO_Mode_IPU;
GPIO_Init(GPIOA, &GPIO_InitStructure);
【STM32 CAN总线应用程序，调试通过仅供参考】//初始化MCU_CAN_TXD---PA12
GPIO_InitStructure.GPIO_Pin = GPIO_Pin_12;
GPIO_InitStructure.GPIO_Mode = GPIO_Mode_AF_PP;
GPIO_InitStructure.GPIO_Speed = GPIO_Speed_50MHz;
GPIO_Init(GPIOA, &GPIO_InitStructure);
4、CAN初始化

void CAN_Configuration(void)
{
CAN_InitTypeDefCAN_InitStructure;
CAN_FilterInitTypeDefCAN_FilterInitStructure;

CAN_DeInit(CAN1);
CAN_StructInit(&CAN_InitStructure);

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 = ENABLE;
//CAN_InitStructure.CAN_Mode = CAN_Mode_LoopBack;
CAN_InitStructure.CAN_Mode = CAN_Mode_Normal;
CAN_InitStructure.CAN_SJW = CAN_SJW_1tq;
CAN_InitStructure.CAN_BS1 = CAN_BS1_9tq;
CAN_InitStructure.CAN_BS2 = CAN_BS2_8tq;
CAN_InitStructure.CAN_Prescaler = 200;

//此处Tseg1+1 = CAN_BS1_8tp

if (CAN_Init(CAN1,&CAN_InitStructure) == CANINITFAILED)
{


}











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);


CAN_FilterInitStructure.CAN_FilterNumber=1;
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=1;
//CAN_FilterInitStructure.CAN_FilterActivation=ENABLE;
CAN_FilterInit(&CAN_FilterInitStructure);

CAN_ITConfig(CAN1,CAN_IT_FMP0, ENABLE);
CAN_ITConfig(CAN2, CAN_IT_TME, ENABLE);//打开发送中断
CAN_ITConfig(CAN2, CAN_IT_FMP1, ENABLE);//打开接收中断
CAN_ITConfig(CAN2, CAN_IT_EWG|CAN_IT_EPV|CAN_IT_BOF|CAN_IT_LEC|CAN_IT_ERR, ENABLE);//打开错误中断

//CAN_ITConfig(CAN1,CAN_IT_FMP0, ENABLE);//FIFO0 消息挂号中断屏蔽
//CAN_ITConfig(CAN1,CAN_IT_TME, ENABLE);//发送邮箱空中断屏蔽
//CAN_ITConfig(CAN1,CAN_IT_BOF, ENABLE);//离线中断允许
}
5、发送数据函数

void CanWriteData(uint16_t CanAddress,uint8_t SendData[8])
{

CanTxMsg TxMessage; //定义数据结构类型变量
u8 TransmitMailbox = 0;
u16 i = 0;
TxMessage.StdId = CanAddress;
TxMessage.ExtId=0x00;//tempId 为接受板地址，应用过程中要左移13位
TxMessage.IDE=CAN_ID_STD;//使用标准id
TxMessage.RTR=CAN_RTR_DATA;//发送数据帧
TxMessage.DLC= 8; //设置发送数据的长度
TxMessage.Data[0] = SendData[0];//赋值待发送
TxMessage.Data[1] = SendData[1];//赋值待发送
TxMessage.Data[2] = SendData[2];//赋值待发送
TxMessage.Data[3] = SendData[3];//赋值待发送
TxMessage.Data[4] = SendData[4];//赋值待发送
TxMessage.Data[5] = SendData[5];//赋值待发送
TxMessage.Data[6] = SendData[6];//赋值待发送
TxMessage.Data[7] = SendData[7];//赋值待发送
TransmitMailbox = CAN_Transmit(CAN1,&TxMessage);//开始发送数据
i = 0;
//通过检查CANTXOK位来确认发送是否成功
while((CAN_TransmitStatus(CAN1,TransmitMailbox) != CANTXOK) && (i != 0xFF))
{
i++;
}
i = 0;
while((CAN_MessagePending(CAN1,CAN_FIFO0) < 1) && (i != 0xFF))//返回被挂起的报文量是否为0
{
i++;
}
}
void SEND_CAN_TQ_COMMAND(u8 device_add,u8 GFB_flag,u8 TQ_A_flag,u8 TQ_B_flag)
{
u16 Send_add,num;
u8Send_Data[8];
if(device_add == 0)
{
switch(GFB_flag)
{
case 90:
if(TQ_A_flag == 0x22)
{
TQ_CON_A = 1;
TQ_CON_B = 1;
TQ_CON_C = 1;
JDQ_A_Flag = 0x07;
Net_Node_CapA[0] = Net_Node_CapA[0]|0x07;
}
else if(TQ_A_flag == 0x11)
{
TQ_CON_A = 0;
TQ_CON_B = 0;
TQ_CON_C = 0;
JDQ_A_Flag = 0x00;
Net_Node_CapA[0] = Net_Node_CapA[0]&0x00;
}
if(TQ_B_flag == 0x22)
{
TQ_CON_2A = 1;
TQ_CON_2B = 1;
TQ_CON_2C = 1;
JDQ_B_Flag = 0x07;
Net_Node_CapB[0] = Net_Node_CapB[0]|0x07;
}
else if(TQ_B_flag == 0x11)
{
TQ_CON_2A = 0;
TQ_CON_2B = 0;
TQ_CON_2C = 0;
JDQ_B_Flag = 0x00;
Net_Node_CapB[0] = Net_Node_CapB[0]&0x00;
}
break;
case 91:
if(TQ_A_flag == 0x22)
{
TQ_CON_A = 1;
JDQ_A_Flag |= 0x04;
Net_Node_CapA[0] = Net_Node_CapA[0]|0x04;
}
else if(TQ_A_flag == 0x11)
{
TQ_CON_A = 0;
JDQ_A_Flag &= 0xFB;
Net_Node_CapA[0] = Net_Node_CapA[0]&0xFB;
}
break;
case 92:
if(TQ_A_flag == 0x22)
{
TQ_CON_A = 1;
JDQ_A_Flag |= 0x02;
Net_Node_CapA[0] = Net_Node_CapA[0]|0x02;
}
else if(TQ_A_flag == 0x11)
{
TQ_CON_A = 0;
JDQ_A_Flag &= 0xFD;
Net_Node_CapA[0] = Net_Node_CapA[0]&0xFD;
}
break;
case 93:
if(TQ_A_flag == 0x22)
{
TQ_CON_A = 1;
JDQ_A_Flag |= 0x01;
Net_Node_CapA[0] = Net_Node_CapA[0]|0x01;
}
else if(TQ_A_flag == 0x11)
{
TQ_CON_A = 0;
JDQ_A_Flag &= 0xFE;
Net_Node_CapA[0] = Net_Node_CapA[0]&0xFE;
}
break;
}
}
else
{
Send_add = 0x100 + device_add;
Send_Data[0] = 0x55;
Send_Data[1] = 0x01;
Send_Data[2] = device_add;//从机地址
Send_Data[3] = GFB_flag;//共补投入控制指令
Send_Data[4] = TQ_A_flag;
Send_Data[5] = TQ_B_flag;
num = Send_Data[1] + Send_Data[2] + Send_Data[3] + Send_Data[4] + Send_Data[5];
Send_Data[6] = num&0xFF;
Send_Data[7] = 0xAA;
CanWriteData(Send_add,Send_Data);
switch(GFB_flag)
{
case 90:
if(TQ_A_flag == 0x22)
{
Net_Node_CapA[device_add] = Net_Node_CapA[device_add]|0x07;
}
else if(TQ_A_flag == 0x11)
{
Net_Node_CapA[device_add] = Net_Node_CapA[device_add]&0x00;
}
if(TQ_B_flag == 0x22)
{
Net_Node_CapB[device_add] = Net_Node_CapB[device_add]|0x07;
}
else if(TQ_B_flag == 0x11)
{
Net_Node_CapB[device_add] = Net_Node_CapB[device_add]&0x00;
}
break;
case 91:
if(TQ_A_flag == 0x22)
{
Net_Node_CapA[device_add] = Net_Node_CapA[device_add]|0x04;
}
else if(TQ_A_flag == 0x11)
{
Net_Node_CapA[device_add] = Net_Node_CapA[device_add]&0xFB;
}
break;
case 92:
if(TQ_A_flag == 0x22)
{
Net_Node_CapA[device_add] = Net_Node_CapA[device_add]|0x02;
}
else if(TQ_A_flag == 0x11)
{
Net_Node_CapA[device_add] = Net_Node_CapA[device_add]&0xFD;
}
break;
case 93:
if(TQ_A_flag == 0x22)
{
Net_Node_CapA[device_add] = Net_Node_CapA[device_add]|0x01;
}
else if(TQ_A_flag == 0x11)
{
Net_Node_CapA[device_add] = Net_Node_CapA[device_add]&0xFE;
}
break;
}
}
}

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