STM32F4(CAN)-EEWORLD

Collect

1. Development Environment

1. Applicable chips: some STM32F4 chips

2. Firmware library: STM32F4xx_DSP_StdPeriph_Lib_V1.8.0

3，IDE：MDK517

2. Driver source code

CAN.h File

/****************************************************************

* File name: CAN.h

* Date: 2016.11.30

* Description: CAN Driver

*****************************************************************/

#ifndef __CAN_H

#define __CAN_H

/****************************************************************

* Header include

*****************************************************************/

#include "stm32f4xx.h"

/****************************************************************

* Macro definition

*****************************************************************/

#define CAN1_FILTER_FIFO CAN_Filter_FIFO0

#define CAN2_FILTER_FIFO CAN_Filter_FIFO0

#if defined(STM32F413_423xx)

#define CAN3_FILTER_FIFO CAN_Filter_FIFO1

#endif /* STM32F413_423xx */

#define CAN1_FIFO CAN_FIFO0

#define CAN2_FIFO CAN_FIFO0

#if defined(STM32F413_423xx)

#define CAN3_FIFO CAN_FIFO1

#endif /* STM32F413_423xx */

/********************** CAN1 Configuration **********************/

#define RCC_AHB1Periph_CAN1_Tx RCC_AHB1Periph_GPIOA

#define RCC_AHB1Periph_CAN1_Rx RCC_AHB1Periph_GPIOA

#define GPIO_CAN1_Tx GPIOA

#define GPIO_CAN1_Rx GPIOA

#define GPIO_Pin_CAN1_Tx GPIO_Pin_12

#define GPIO_Pin_CAN1_Rx GPIO_Pin_11

#define GPIO_PinSource_CAN1_Tx GPIO_PinSource12

#define GPIO_PinSource_CAN1_Rx GPIO_PinSource11

/****************************************************************/

/********************** CAN2 Configuration **********************/

#define RCC_AHB1Periph_CAN2_Tx RCC_AHB1Periph_GPIOB

#define RCC_AHB1Periph_CAN2_Rx RCC_AHB1Periph_GPIOB

#define GPIO_CAN2_Tx GPIOB

#define GPIO_CAN2_Rx GPIOB

#define GPIO_Pin_CAN2_Tx GPIO_Pin_13

#define GPIO_Pin_CAN2_Rx GPIO_Pin_12

#define GPIO_PinSource_CAN2_Tx GPIO_PinSource13

#define GPIO_PinSource_CAN2_Rx GPIO_PinSource12

/****************************************************************/

/********************** CAN3 Configuration **********************/

#if defined(STM32F413_423xx)

#define RCC_AHB1Periph_CAN3_Tx RCC_AHB1Periph_GPIOB

#define RCC_AHB1Periph_CAN3_Rx RCC_AHB1Periph_GPIOB

#define GPIO_CAN3_Tx GPIOB

#define GPIO_CAN3_Rx GPIOB

#define GPIO_Pin_CAN3_Tx GPIO_Pin_4

#define GPIO_Pin_CAN3_Rx GPIO_Pin_3

#define GPIO_PinSource_CAN3_Tx GPIO_PinSource4

#define GPIO_PinSource_CAN3_Rx GPIO_PinSource3

#endif /* STM32F413_423xx */

/****************************************************************/

#if defined(STM32F40_41xxx)

#define BAUD_RATE_1000K ((uint16_t)2)

#define BAUD_RATE_500K ((uint16_t)4)

#define BAUD_RATE_250K ((uint16_t)8)

#define BAUD_RATE_125K ((uint16_t)16)

#define BAUD_RATE_100K ((uint16_t)20)

#define BAUD_RATE_50K ((uint16_t)40)

#define BAUD_RATE_20K ((uint16_t)100)

#define BAUD_RATE_10K ((uint16_t)200)

#endif /* STM32F40_41xxx */

#if defined(STM32F427_437xx) || defined(STM32F429_439xx) || defined(STM32F446xx) || defined(STM32F469_479xx)

#define BAUD_RATE_1000K ((uint16_t)3)

#define BAUD_RATE_500K ((uint16_t)6)

#define BAUD_RATE_250K ((uint16_t)12)

#define BAUD_RATE_125K ((uint16_t)24)

#define BAUD_RATE_100K ((uint16_t)30)

#define BAUD_RATE_50K ((uint16_t)60)

#define BAUD_RATE_20K ((uint16_t)150)

#define BAUD_RATE_10K ((uint16_t)300)

#endif /* STM32F427_437x || STM32F429_439xx || STM32F446xx || STM32F469_479xx */

#if defined(STM32F413_423xx)

#define BAUD_RATE_1000K ((uint16_t)10)

#define BAUD_RATE_500K ((uint16_t)20)

#define BAUD_RATE_250K ((uint16_t)40)

#define BAUD_RATE_125K ((uint16_t)80)

#define BAUD_RATE_100K ((uint16_t)100)

#define BAUD_RATE_50K ((uint16_t)200)

#define BAUD_RATE_20K ((uint16_t)500)

#define BAUD_RATE_10K ((uint16_t)1000)

#endif /* STM32F413_423xx */

#if defined(STM32F412xG)

#define BAUD_RATE_1000K ((uint16_t)5)

#define BAUD_RATE_500K ((uint16_t)10)

#define BAUD_RATE_250K ((uint16_t)20)

#define BAUD_RATE_125K ((uint16_t)40)

#define BAUD_RATE_100K ((uint16_t)50)

#define BAUD_RATE_50K ((uint16_t)100)

#define BAUD_RATE_20K ((uint16_t)250)

#define BAUD_RATE_10K ((uint16_t)500)

#endif /* STM32F412xG */

/****************************************************************

* Type definition

*****************************************************************/

/****************************************************************

* Structure definition

*****************************************************************/

#ifdef __cplusplus

extern "C" {

#endif /* __cplusplus */

/****************************************************************

* Variable declaration

*****************************************************************/

/****************************************************************

* Function declaration

*****************************************************************/

void CAN_Configuration(CAN_TypeDef* CANx, uint16_t BaudRate, uint32_t StdId, uint32_t ExtId, uint8_t CAN_Mode, uint32_t CAN_IT);

void CAN_Unconfigure(CAN_TypeDef* CANx);

uint8_t CAN_TxMsg(CAN_TypeDef* CANx, CanTxMsg* TxMessage);

uint8_t CAN_RxMsg(CAN_TypeDef* CANx, CanRxMsg* RxMessage);

#ifdef __cplusplus

}

#endif /* __cplusplus */

#endif /* __CAN_H */

CAN.c file

/****************************************************************

* File name: CAN.c

* Date: 2016.11.30

* Description: CAN Driver

*****************************************************************/

/****************************************************************

* Header include

*****************************************************************/

#include "CAN.h"

/****************************************************************

* Global variables

*****************************************************************/

static uint8_t gpioFlag = 0x00; /* Used to record the GPIO initialization flag. */

static uint8_t canFlag = 0x00; /* Used to record the CAN initialization flag. */

/****************************************************************

* Function declaration

*****************************************************************/

/****************************************************************

* Function definition

*****************************************************************/

/****************************************************************

* Function: CAN_Configuration

* Description: CAN Configuration.

* Input: CANx

* BaudRate

* StdId

* ExtId

* CAN_Mode

* CAN_IT

* Output:

* Return:

*****************************************************************/

void CAN_Configuration(CAN_TypeDef* CANx, uint16_t BaudRate, uint32_t StdId, uint32_t ExtId, uint8_t CAN_Mode, uint32_t CAN_IT)

{

GPIO_InitTypeDef GPIO_InitStructure;

CAN_InitTypeDef CAN_InitStructure;

CAN_FilterInitTypeDef CAN_FilterInitStructure;

if(CANx == CAN1)

{

if((canFlag & 0x01) != 0x01)

{

canFlag |= 0x01;

RCC_APB1PeriphClockCmd(RCC_APB1Periph_CAN1, ENABLE); /* Enable CAN1 clock */

}

if((gpioFlag & 0x01) != 0x01)

{

gpioFlag |= 0x01;

RCC_AHB1PeriphClockCmd(RCC_AHB1Periph_CAN1_Tx, ENABLE); /* Enable CAN1_Tx GPIO clock */

RCC_AHB1PeriphClockCmd(RCC_AHB1Periph_CAN1_Rx, ENABLE); /* Enable CAN1_Rx GPIO clock */

GPIO_PinAFConfig(GPIO_CAN1_Tx, GPIO_PinSource_CAN1_Tx, GPIO_AF_CAN1); /* Connect GPIOxn to CAN1_Tx */

GPIO_PinAFConfig(GPIO_CAN1_Rx, GPIO_PinSource_CAN1_Rx, GPIO_AF_CAN1); /* Connect GPIOxn to CAN1_Rx */

GPIO_InitStructure.GPIO_Pin = GPIO_Pin_CAN1_Tx; /* Specifies the GPIO pins to be configured. */

GPIO_InitStructure.GPIO_Mode = GPIO_Mode_AF; /* Specifies the operating mode for the selected pins. */

GPIO_InitStructure.GPIO_Speed = GPIO_Speed_100MHz; /* Specifies the speed for the selected pins. */

GPIO_InitStructure.GPIO_OType = GPIO_OType_PP; /* Specifies the operating output type for the selected pins. */

GPIO_InitStructure.GPIO_PuPd = GPIO_PuPd_UP; /* Specifies the operating Pull-up/Pull down for the selected pins. */

GPIO_Init(GPIO_CAN1_Tx, &GPIO_InitStructure); /* Initializes the GPIOx peripheral according to the specified parameters in the GPIO_InitStruct. */

GPIO_InitStructure.GPIO_Pin = GPIO_Pin_CAN1_Rx; /* Specifies the GPIO pins to be configured. */

GPIO_Init(GPIO_CAN1_Rx, &GPIO_InitStructure); /* Initializes the GPIOx peripheral according to the specified parameters in the GPIO_InitStruct. */

}

else if(CANx == CAN2)

{

if((canFlag & 0x02) != 0x02)

{

canFlag |= 0x02;

RCC_APB1PeriphClockCmd(RCC_APB1Periph_CAN1, ENABLE); /* Enable CAN1 clock */

RCC_APB1PeriphClockCmd(RCC_APB1Periph_CAN2, ENABLE); /* Enable CAN2 clock */

}

if((gpioFlag & 0x02) != 0x02)

{

gpioFlag |= 0x02;

RCC_AHB1PeriphClockCmd(RCC_AHB1Periph_CAN2_Tx, ENABLE); /* Enable CAN2_Tx GPIO clock */

RCC_AHB1PeriphClockCmd(RCC_AHB1Periph_CAN2_Rx, ENABLE); /* Enable CAN2_Rx GPIO clock */

GPIO_PinAFConfig(GPIO_CAN2_Tx, GPIO_PinSource_CAN2_Tx, GPIO_AF_CAN2); /* Connect GPIOxn to CAN2_Tx */

GPIO_PinAFConfig(GPIO_CAN2_Rx, GPIO_PinSource_CAN2_Rx, GPIO_AF_CAN2); /* Connect GPIOxn to CAN2_Rx */

GPIO_InitStructure.GPIO_Pin = GPIO_Pin_CAN2_Tx; /* Specifies the GPIO pins to be configured. */

GPIO_InitStructure.GPIO_Mode = GPIO_Mode_AF; /* Specifies the operating mode for the selected pins. */

GPIO_InitStructure.GPIO_Speed = GPIO_Speed_100MHz; /* Specifies the speed for the selected pins. */

GPIO_InitStructure.GPIO_OType = GPIO_OType_PP; /* Specifies the operating output type for the selected pins. */

GPIO_InitStructure.GPIO_PuPd = GPIO_PuPd_UP; /* Specifies the operating Pull-up/Pull down for the selected pins. */

GPIO_Init(GPIO_CAN2_Tx, &GPIO_InitStructure); /* Initializes the GPIOx peripheral according to the specified parameters in the GPIO_InitStruct. */

GPIO_InitStructure.GPIO_Pin = GPIO_Pin_CAN2_Rx; /* Specifies the GPIO pins to be configured. */

GPIO_Init(GPIO_CAN2_Rx, &GPIO_InitStructure); /* Initializes the GPIOx peripheral according to the specified parameters in the GPIO_InitStruct. */

}

#if defined(STM32F413_423xx)

else if(CANx == CAN3)

{

if((canFlag & 0x04) != 0x04)

{

canFlag |= 0x04;

RCC_APB1PeriphClockCmd(RCC_APB1Periph_CAN3, ENABLE); /* Enable CAN3 clock */

}

if((gpioFlag & 0x04) != 0x04)

{

gpioFlag |= 0x04;

RCC_AHB1PeriphClockCmd(RCC_AHB1Periph_CAN3_Tx, ENABLE); /* Enable CAN3_Tx GPIO clock */

RCC_AHB1PeriphClockCmd(RCC_AHB1Periph_CAN3_Rx, ENABLE); /* Enable CAN3_Rx GPIO clock */

GPIO_PinAFConfig(GPIO_CAN3_Tx, GPIO_PinSource_CAN3_Tx, GPIO_AF11_CAN3); /* Connect GPIOxn to CAN3_Tx */

GPIO_PinAFConfig(GPIO_CAN3_Rx, GPIO_PinSource_CAN3_Rx, GPIO_AF11_CAN3); /* Connect GPIOxn to CAN3_Rx */

GPIO_InitStructure.GPIO_Pin = GPIO_Pin_CAN3_Tx; /* Specifies the GPIO pins to be configured. */

GPIO_InitStructure.GPIO_Mode = GPIO_Mode_AF; /* Specifies the operating mode for the selected pins. */

GPIO_InitStructure.GPIO_Speed = GPIO_Speed_100MHz; /* Specifies the speed for the selected pins. */

GPIO_InitStructure.GPIO_OType = GPIO_OType_PP; /* Specifies the operating output type for the selected pins. */

GPIO_InitStructure.GPIO_PuPd = GPIO_PuPd_UP; /* Specifies the operating Pull-up/Pull down for the selected pins. */

GPIO_Init(GPIO_CAN3_Tx, &GPIO_InitStructure); /* Initializes the GPIOx peripheral according to the specified parameters in the GPIO_InitStruct. */

GPIO_InitStructure.GPIO_Pin = GPIO_Pin_CAN3_Rx; /* Specifies the GPIO pins to be configured. */

GPIO_Init(GPIO_CAN3_Rx, &GPIO_InitStructure); /* Initializes the GPIOx peripheral according to the specified parameters in the GPIO_InitStruct. */

}

#endif /* STM32F413_423xx */

CAN_InitStructure.CAN_Prescaler = BaudRate; /* Specifies the length of a time quantum. It ranges from 1 to 1024. */

CAN_InitStructure.CAN_Mode = CAN_Mode; /* Specifies the CAN operating mode. */

CAN_InitStructure.CAN_SJW = CAN_SJW_1tq; /* Specifies the maximum number of time quanta the CAN hardware is allowed to lengthen or shorten a bit to perform resynchronization. */

#if defined(STM32F40_41xxx)

CAN_InitStructure.CAN_BS1 = CAN_BS1_16tq; /* Specifies the number of time quanta in Bit Segment 1. */

CAN_InitStructure.CAN_BS2 = CAN_BS2_4tq; /* Specifies the number of time quanta in Bit Segment 2. */

#endif /* STM32F40_41xxx */

#if defined(STM32F427_437xx) || defined(STM32F429_439xx) || defined(STM32F446xx) || defined(STM32F469_479xx)

CAN_InitStructure.CAN_BS1 = CAN_BS1_11tq; /* Specifies the number of time quanta in Bit Segment 1. */

CAN_InitStructure.CAN_BS2 = CAN_BS2_3tq; /* Specifies the number of time quanta in Bit Segment 2. */

#endif /* STM32F427_437x || STM32F429_439xx || STM32F446xx || STM32F469_479xx */

#if defined(STM32F413_423xx)

CAN_InitStructure.CAN_BS1 = CAN_BS1_3tq; /* Specifies the number of time quanta in Bit Segment 1. */

CAN_InitStructure.CAN_BS2 = CAN_BS2_1tq; /* Specifies the number of time quanta in Bit Segment 2. */

#endif /* STM32F413_423xx */

#if defined(STM32F412xG)

CAN_InitStructure.CAN_BS1 = CAN_BS1_3tq; /* Specifies the number of time quanta in Bit Segment 1. */

CAN_InitStructure.CAN_BS2 = CAN_BS2_1tq; /* Specifies the number of time quanta in Bit Segment 2. */

#endif /* STM32F412xG */

CAN_InitStructure.CAN_TTCM = DISABLE; /* Enable or disable the time triggered communication mode. */

CAN_InitStructure.CAN_ABOM = DISABLE; /* Enable or disable the automatic bus-off management. */

CAN_InitStructure.CAN_AWUM = DISABLE; /* Enable or disable the automatic wake-up mode. */

CAN_InitStructure.CAN_NART = DISABLE; /* Enable or disable the non-automatic retransmission mode. */

CAN_InitStructure.CAN_RFLM = DISABLE; /* Enable or disable the Receive FIFO Locked mode. */

CAN_InitStructure.CAN_TXFP = DISABLE; /* Enable or disable the transmit FIFO priority. */

CAN_DeInit(CANx); /* Deinitializes the CAN peripheral registers to their default reset values. */

CAN_Init(CANx, &CAN_InitStructure); /* Initializes the CAN peripheral according to the specified parameters in the CAN_InitStruct. */

CAN_FilterInitStructure.CAN_FilterIdHigh = (uint16_t)((((StdId<<18)|ExtId)<<3)>>16); /* Specifies the filter identification number. */

CAN_FilterInitStructure.CAN_FilterIdLow = (uint16_t)(((StdId<<18)|ExtId)<<3); /* Specifies the filter identification number. */

CAN_FilterInitStructure.CAN_FilterMaskIdHigh = (~((uint16_t)((((StdId<<18)|ExtId)<<3)>>16)))&0xFFFF; /* Specifies the filter mask number or identification number,according to the mode. */

CAN_FilterInitStructure.CAN_FilterMaskIdLow = (~((uint16_t)(((StdId<<18)|ExtId)<<3)))&0xFFF8; /* Specifies the filter mask number or identification number,according to the mode. */

if(CANx == CAN1)

{

CAN_FilterInitStructure.CAN_FilterFIFOAssignment = CAN1_FILTER_FIFO; /* Specifies the FIFO (0 or 1) which will be assigned to the filter. */

CAN_FilterInitStructure.CAN_FilterNumber = 0; /* Specifies the filter which will be initialized. */

}

else if(CANx == CAN2)

{

CAN_FilterInitStructure.CAN_FilterFIFOAssignment = CAN2_FILTER_FIFO; /* Specifies the FIFO (0 or 1) which will be assigned to the filter. */

CAN_FilterInitStructure.CAN_FilterNumber = 14; /* Specifies the filter which will be initialized. */

}

#if defined(STM32F413_423xx)

else if(CANx == CAN3)

{

CAN_FilterInitStructure.CAN_FilterFIFOAssignment = CAN3_FILTER_FIFO; /* Specifies the FIFO (0 or 1) which will be assigned to the filter. */

CAN_FilterInitStructure.CAN_FilterNumber = 0; /* Specifies the filter which will be initialized. */

}

#endif /* STM32F413_423xx */

CAN_FilterInitStructure.CAN_FilterMode = CAN_FilterMode_IdMask; /* Specifies the filter mode to be initialized. */

CAN_FilterInitStructure.CAN_FilterScale = CAN_FilterScale_32bit; /* Specifies the filter scale. */

CAN_FilterInitStructure.CAN_FilterActivation = ENABLE; /* Enable or disable the filter. */

#if defined(STM32F413_423xx)

CAN_FilterInit(CANx, &CAN_FilterInitStructure); /* Configures the CAN reception filter according to the specified parameters in the CAN_FilterInitStruct. */

#else

CAN_FilterInit(&CAN_FilterInitStructure); /* Configures the CAN reception filter according to the specified parameters in the CAN_FilterInitStruct. */

#endif /* STM32F413_423xx */

CAN_IT_WKU|CAN_IT_SLK|CAN_IT_EWG|CAN_IT_EPV|CAN_IT_BOF|CAN_IT_LEC|CAN_IT_ERR, DISABLE); /* Disables the specified CAN interrupts. */

CAN_ITConfig(CANx, CAN_IT, ENABLE); /* Enables the specified CAN interrupts. */

}

/****************************************************************

* Function: CAN_Unconfigure

* Description: CAN Unconfigure.

* Input: CANx

* Output:

* Return:

*****************************************************************/

void CAN_Unconfigure(CAN_TypeDef* CANx)

{

if(CANx == CAN1)

{

if((canFlag & 0x01) == 0x01)

{

canFlag &= 0xFE;

RCC_APB1PeriphClockCmd(RCC_APB1Periph_CAN1, DISABLE); /* Disable CAN1 clock */

CAN_DeInit(CAN1); /* Deinitializes the CAN1 peripheral registers to their default reset values. */

}

else if(CANx == CAN2)

{

if((canFlag & 0x02) == 0x02)

{

canFlag &= 0xFD;

RCC_APB1PeriphClockCmd(RCC_APB1Periph_CAN2, DISABLE); /* Disable CAN2 clock */

if((canFlag & 0x01) != 0x01)

{

RCC_APB1PeriphClockCmd(RCC_APB1Periph_CAN1, DISABLE); /* Disable CAN1 clock */

}

CAN_DeInit(CAN2); /* Deinitializes the CAN2 peripheral registers to their default reset values. */

}

#if defined(STM32F413_423xx)

else if(CANx == CAN3)

{

if((canFlag & 0x04) == 0x04)

{

canFlag &= 0xFB;

RCC_APB1PeriphClockCmd(RCC_APB1Periph_CAN3, DISABLE); /* Disable CAN3 clock */

CAN_DeInit(CAN3); /* Deinitializes the CAN3 peripheral registers to their default reset values. */

}

#endif /* STM32F413_423xx */

}

/****************************************************************

* Function: CAN_TxMsg

* Description: CAN TxMsg.

* Input: CAN_x

* TxMessage

* Output:

* Return: 0:Failure

* 1:Success

*****************************************************************/

uint8_t CAN_TxMsg(CAN_TypeDef* CANx, CanTxMsg* TxMessage)

{

uint8_t status = 0;

if(CANx == CAN1)

{

if((canFlag & 0x01) == 0x01)

{

status = 1;

while(CAN_Transmit(CAN1, TxMessage) == CAN_TxStatus_NoMailBox);

}

else if(CANx == CAN2)

{

if((canFlag & 0x02) == 0x02)

{

status = 1;

while(CAN_Transmit(CAN2, TxMessage) == CAN_TxStatus_NoMailBox);

}

#if defined(STM32F413_423xx)

else if(CANx == CAN3)

{

if((canFlag & 0x04) == 0x04)

{

status = 1;

while(CAN_Transmit(CAN3, TxMessage) == CAN_TxStatus_NoMailBox);

}

#endif /* STM32F413_423xx */

return status;

}

/****************************************************************

* Function: CAN_RxMsg

* Description: CAN RxMsg.

* Input: CAN_x

* RxMessage

* Output:

* Return: 0:Failure

* 1:Success

*****************************************************************/

uint8_t CAN_RxMsg(CAN_TypeDef* CANx, CanRxMsg* RxMessage)

{

uint8_t status = 0;

if(CANx == CAN1)

{

if((canFlag & 0x01) == 0x01)

{

status = 1;

CAN_Receive(CAN1, CAN1_FIFO, RxMessage);

}

else if(CANx == CAN2)

{

if((canFlag & 0x02) == 0x02)

{

status = 1;

CAN_Receive(CAN2, CAN2_FIFO, RxMessage);

}

#if defined(STM32F413_423xx)

else if(CANx == CAN3)

{

if((canFlag & 0x04) == 0x04)

{

status = 1;

CAN_Receive(CAN3, CAN3_FIFO, RxMessage);

}

#endif /* STM32F413_423xx */

return status;

}

3. Routines

main.h file

/****************************************************************

* File name: main.h

* Date: 2016.11.30

* Description: CAN Example.

*****************************************************************/

#ifndef __MAIN_H

#define __MAIN_H

/****************************************************************

* Header include

*****************************************************************/

#include "stm32f4xx.h"

/****************************************************************

* Macro definition

*****************************************************************/

/****************************************************************

* Type definition

*****************************************************************/

/****************************************************************

* Structure definition

*****************************************************************/

#ifdef __cplusplus

extern "C" {

#endif /* __cplusplus */

/****************************************************************

* Variable declaration

*****************************************************************/

extern CanRxMsg RxMessage;

/****************************************************************

* Function declaration

*****************************************************************/

#ifdef __cplusplus

}

#endif /* __cplusplus */

#endif /* __MAIN_H */

main.c file

/****************************************************************

* File name: main.c

* Date: 2016.11.30

* Description: CAN Example.

*****************************************************************/

/****************************************************************

* Header include

*****************************************************************/

#include "main.h"

#include "CAN.h"

/****************************************************************

* Global variables

*****************************************************************/

CanTxMsg TxMessage;

CanRxMsg RxMessage;

/****************************************************************

* Function declaration

*****************************************************************/

static void System_Init(void);

static void NVIC_Configuration(void);

/****************************************************************

* Function definition

*****************************************************************/

/****************************************************************

* Function: main

* Description: Program entry.

* Input:

* Output:

* Return:

*****************************************************************/

int main(void)

{

System_Init();

for(;;)

{

TxMessage.StdId = 0x02;

TxMessage.ExtId = 0x03;

TxMessage.IDE = CAN_ID_EXT;

TxMessage.RTR = CAN_RTR_DATA;

TxMessage.DLC = 8;

TxMessage.Data[0] += 1;

TxMessage.Data[1] = 1;

TxMessage.Data[2] = 2;

TxMessage.Data[3] = 3;

TxMessage.Data[4] = 4;

TxMessage.Data[5] = 5;

TxMessage.Data[6] = 8;

TxMessage.Data[7] = 9;

CAN_TxMsg(CAN1, &TxMessage);

}

/****************************************************************

* Function: System_Init

* Description: Initialization System.

* Input:

* Output:

* Return:

*****************************************************************/

static void System_Init(void)

{

CAN_Configuration(CAN1, BAUD_RATE_1000K, 0x01|0x02, 0x02|0x03, CAN_Mode_LoopBack, CAN_IT_FMP0);

NVIC_Configuration();

}

/****************************************************************

* Function: NVIC_Configuration

* Description: Interrupt Vector Table Configuration.

* Input:

* Output:

* Return:

*****************************************************************/

static void NVIC_Configuration(void)

{

NVIC_InitTypeDef NVIC_InitStructure;

NVIC_PriorityGroupConfig(NVIC_PriorityGroup_0);

NVIC_InitStructure.NVIC_IRQChannel = CAN1_RX0_IRQn;

NVIC_InitStructure.NVIC_IRQChannelPreemptionPriority = 0x00;

NVIC_InitStructure.NVIC_IRQChannelSubPriority = 0x00;

NVIC_InitStructure.NVIC_IRQChannelCmd = ENABLE;

NVIC_Init(&NVIC_InitStructure);

}

Interrupt Service Routine

/**

* @brief This function handles CAN1 RX0 Handler.

* @param None

* @retval None

void CAN1_RX0_IRQHandler(void)

{

if(CAN_GetITStatus(CAN1, CAN_IT_FMP0) != RESET)

{

CAN_RxMsg(CAN1, &RxMessage);

CAN_ClearITPendingBit(CAN1, CAN_IT_FMP0);

}

Modify the hardware interface (modify according to your own board)

Keywords：STM32F4 CAN Reference address：STM32F4(CAN)

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