GD32F450,CAN1收发数据总结

注：1.波特率计算：band = APB1(50MHz)/(1TQ 5TQ 4TQ)/prescaler=50MHz/(1 5 4)/5=1MHz

2.用CAN1必须初始化CAN0的时钟不然CAN1不能进入接收中断。

CAN1_F450.cpp

#include "CAN1_F450.hpp" #include "main.h"  can_receive_message_struct receive_message; FlagStatus can1_receive_flag;  CAN1_F450::CAN1_F450() {  } void CAN1_F450::Init(const uint16_t baud) {   can1_receive_flag = RESET;  /* enable CAN clock */   rcu_periph_clock_enable(RCU_CAN0);     rcu_periph_clock_enable(RCU_CAN1);     rcu_periph_clock_enable(RCU_GPIOB);          /* configure CAN1 GPIO */     gpio_output_options_set(GPIOB, GPIO_OTYPE_PP, GPIO_OSPEED_50MHZ, GPIO_PIN_12|GPIO_PIN_13);     gpio_mode_set(GPIOB, GPIO_MODE_AF, GPIO_PUPD_NONE, GPIO_PIN_12|GPIO_PIN_13);     gpio_af_set(GPIOB, GPIO_AF_9, GPIO_PIN_12|GPIO_PIN_13);     can_parameter_struct can_parameter;      can_struct_para_init(CAN_INIT_STRUCT, &can_parameter);     can_deinit(CAN1);     can_parameter.time_triggered = DISABLE;     can_parameter.auto_bus_off_recovery = DISABLE;     can_parameter.auto_wake_up = DISABLE;     can_parameter.no_auto_retrans = DISABLE;     can_parameter.rec_fifo_overwrite = DISABLE;     can_parameter.trans_fifo_order = DISABLE;     can_parameter.working_mode = CAN_NORMAL_MODE;     can_parameter.resync_jump_width = CAN_BT_SJW_1TQ;     can_parameter.time_segment_1 = CAN_BT_BS1_5TQ;     can_parameter.time_segment_2 = CAN_BT_BS2_4TQ;        switch(baud)   {    case 1000:/* 1MBps */     can_parameter.prescaler = 5;break;    case 500:/* 500KBps */     can_parameter.prescaler = 10;break;    case 250:/* 250KBps */     can_parameter.prescaler = 20;break;    case 125:/* 125KBps */     can_parameter.prescaler = 40;break;    case 100:/* 100KBps */     can_parameter.prescaler = 50;break;    case 50: /* 50KBps */     can_parameter.prescaler = 100;break;    case 20: /* 20KBps */     can_parameter.prescaler = 250;break;    defualt: /* 1MBps */     can_parameter.prescaler = 5;break;   }     /* initialize CAN */     can_init(CAN1, &can_parameter);          /* initialize filter */    can_filter_parameter_struct can_filter;      can_struct_para_init(CAN_INIT_STRUCT, &can_filter);     can_filter.filter_number=15;     can_filter.filter_mode = CAN_FILTERMODE_MASK;     can_filter.filter_bits = CAN_FILTERBITS_32BIT;     can_filter.filter_list_high = 0x0000;     can_filter.filter_list_low = 0x0000;     can_filter.filter_mask_high = 0x0000;     can_filter.filter_mask_low = 0x0000;     can_filter.filter_fifo_number = CAN_FIFO0;     can_filter.filter_enable = ENABLE;     can_filter_init(&can_filter);      /* enable can receive FIFO0 not empty interrupt */     can_interrupt_enable(CAN1, CAN_INT_RFNE0);      /* configure CAN1 NVIC */     nvic_irq_enable(CAN1_RX0_IRQn,0,0);    } void CAN1_F450::CAN_Fiter_Init() {   } void CAN1_F450::SetBaud(uint16_t baud) {  can_parameter_struct can_parameter;    switch(baud)   {    case 1000:/* 1MBps */     can_parameter.prescaler = 5;break;    case 500:/* 500KBps */     can_parameter.prescaler = 10;break;    case 250:/* 250KBps */     can_parameter.prescaler = 20;break;    case 125:/* 125KBps */     can_parameter.prescaler = 40;break;    case 100:/* 100KBps */     can_parameter.prescaler = 50;break;    case 50: /* 50KBps */     can_parameter.prescaler = 100;break;    case 20: /* 20KBps */     can_parameter.prescaler = 250;break;    defualt: /* 1MBps */     can_parameter.prescaler = 5;break;   }     /* initialize CAN */     can_init(CAN1, &can_parameter); } uint16_t CAN1_F450::Read(uint16_t *ID, uint8_t *buf) {  /* CAN1 receive data correctly, the received data is printed */   if(SET == can1_receive_flag)   {    can1_receive_flag = RESET;    *ID = receive_message.rx_sfid;    for(uint8_t i=0;i<receive_message.rx_dlen;i  )    {     buf[i] = receive_message.rx_data[i];    }    return receive_message.rx_dlen;   }   return 0; }  void CAN1_F450::Write(uint16_t ID, uint8_t *buf, uint16_t len) {   can_trasnmit_message_struct transmit_message;    transmit_message.tx_sfid = ID;  transmit_message.tx_efid = 0x00;  transmit_message.tx_ft = CAN_FT_DATA;  transmit_message.tx_ff = CAN_FF_STANDARD;  transmit_message.tx_dlen = len;  for(uint8_t i=0;i<len; i  )  {   transmit_message.tx_data[i] = buf[i];  }  can_message_transmit(CAN1, &transmit_message); }  void CAN1_F450::Write(uint16_t ID, uint16_t len) {  } 

CAN1_F450.hpp

#pragma once   #include "Bsp/CAN.hpp"  class CAN1_F450 : public CAN { private:      public:     CAN1_F450();     void Init(const uint16_t baud);   void CAN_Fiter_Init();   void SetBaud(uint16_t baud);     uint16_t Read(uint16_t *ID, uint8_t *buf);     void Write(uint16_t ID, uint8_t *buf, uint16_t len);     void Write(uint16_t ID, uint16_t len);     uint8_t rxbuf[8];     uint8_t txbuf[8];     uint8_t rxDataLen; };

CAN.hpp

#pragma once  #nclude <stdint.h>

class CAN
{
    public:
    CAN(){}
    virtual void Init(const uint16_t baud = 1000){}
		virtual void CAN_Fiter_Init(){}
		virtual void SetBaud(uint16_t baud){}
    virtual uint16_t Read(uint16_t *ID, uint8_t *buf){}
    virtual void Write(uint16_t ID, uint8_t *buf, uint16_t len){}
    virtual void Write(uint16_t ID, uint16_t len){}
    uint8_t rxbuf[8];
    uint8_t txbuf[8];
    uint8_t rxDataLen;
};