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STM32 子设备通过CAN发送数据到主设备

news 来源：原创 2025/6/17 22:50:53

采集ADC、GPS经纬坐标、温湿度数据、大气压数据通过CAN方式发送给主设备端，帧ID按照如下定义：

我尼玛一个标准帧ID位数据是11位，扩展帧才是11+18=29位，它说最开头的是四位是真类型，并给我如下解释：

它把帧的定义当成了字节2和字节3的拼接了(整体的报文识别码)，对于STM32帧ID设置是直接赋值，也就是它给我的帧ID需要左移5位才是实际帧ID。不多说直接上代码！波特率500kbs!

初始化部分：

void Can_Btl(u32 btl)
{
	switch(btl)
	{                
		case btl_5k	  	:CAN_Mode_Init(CAN_SJW_2tq,CAN_BS1_6tq,CAN_BS2_4tq,600,CAN_Mode_Normal);break;
		case btl_10k	:CAN_Mode_Init(CAN_SJW_1tq,CAN_BS1_5tq,CAN_BS2_3tq,400,CAN_Mode_Normal);break;
		case btl_20k	:CAN_Mode_Init(CAN_SJW_1tq,CAN_BS1_3tq,CAN_BS2_2tq,300,CAN_Mode_Normal);break;
		case btl_25k	:CAN_Mode_Init(CAN_SJW_1tq,CAN_BS1_3tq,CAN_BS2_2tq,240,CAN_Mode_Normal);break;
		case btl_40k	:CAN_Mode_Init(CAN_SJW_1tq,CAN_BS1_3tq,CAN_BS2_2tq,150,CAN_Mode_Normal);break;
		case btl_50k	:CAN_Mode_Init(CAN_SJW_1tq,CAN_BS1_3tq,CAN_BS2_2tq,120,CAN_Mode_Normal);break;
		case btl_62_5k 	:CAN_Mode_Init(CAN_SJW_1tq,CAN_BS1_3tq,CAN_BS2_2tq,96,CAN_Mode_Normal);break;
		case btl_80k	:CAN_Mode_Init(CAN_SJW_1tq,CAN_BS1_3tq,CAN_BS2_2tq,75,CAN_Mode_Normal);break;
		case btl_100k 	:CAN_Mode_Init(CAN_SJW_1tq,CAN_BS1_3tq,CAN_BS2_2tq,60,CAN_Mode_Normal);break;
		case btl_125k 	:CAN_Mode_Init(CAN_SJW_1tq,CAN_BS1_3tq,CAN_BS2_2tq,48,CAN_Mode_Normal);break;
		case btl_200k 	:CAN_Mode_Init(CAN_SJW_1tq,CAN_BS1_3tq,CAN_BS2_2tq,30,CAN_Mode_Normal);break;
		case btl_250k 	:CAN_Mode_Init(CAN_SJW_1tq,CAN_BS1_3tq,CAN_BS2_2tq,24,CAN_Mode_Normal);break;
		case btl_400k 	:CAN_Mode_Init(CAN_SJW_1tq,CAN_BS1_5tq,CAN_BS2_3tq,10,CAN_Mode_Normal);break;
		case btl_500k 	:CAN_Mode_Init(CAN_SJW_1tq,CAN_BS1_3tq,CAN_BS2_2tq,12,CAN_Mode_Normal);break;
		case btl_666k 	:CAN_Mode_Init(CAN_SJW_1tq,CAN_BS1_4tq,CAN_BS2_4tq,6,CAN_Mode_Normal);break;
		case btl_800k 	:CAN_Mode_Init(CAN_SJW_1tq,CAN_BS1_5tq,CAN_BS2_3tq,5,CAN_Mode_Normal);break;
		case btl_1M	  	:CAN_Mode_Init(CAN_SJW_1tq,CAN_BS1_3tq,CAN_BS2_2tq,6,CAN_Mode_Normal);break;
	}
}
u8 CAN_Mode_Init(u8 tsjw,u8 tbs2,u8 tbs1,u16 brp,u8 mode)
{
	 GPIO_InitTypeDef GPIO_InitStructure; 
	 CAN_InitTypeDef        CAN_InitStructure;
 	 CAN_FilterInitTypeDef  CAN_FilterInitStructure;
#if CAN_RX0_INT_ENABLE 
   	NVIC_InitTypeDef  NVIC_InitStructure;
#endif

	RCC_APB2PeriphClockCmd(RCC_APB2Periph_GPIOB|RCC_APB2Periph_AFIO, ENABLE);//Ê¹ÄÜPORTAÊ±ÖÓ	                   											 
  	RCC_APB1PeriphClockCmd(RCC_APB1Periph_CAN1, ENABLE);//Ê¹ÄÜCAN1Ê±ÖÓ	
	  GPIO_PinRemapConfig(GPIO_Remap1_CAN1, ENABLE);
	
    GPIO_InitStructure.GPIO_Pin = CAN_HIGH;
    GPIO_InitStructure.GPIO_Speed = GPIO_Speed_50MHz;
    GPIO_InitStructure.GPIO_Mode = GPIO_Mode_AF_PP;	//¸´ÓÃÍÆÍì
    GPIO_Init(CAN_GPIO, &GPIO_InitStructure);		//³õÊ¼»¯IO
   
    GPIO_InitStructure.GPIO_Pin = CAN_LOW;
    GPIO_InitStructure.GPIO_Mode = GPIO_Mode_IPU;//ÉÏÀÊäÈë
    GPIO_Init(CAN_GPIO, &GPIO_InitStructure);//³õÊ¼»¯IO
	  
 	//CANµ¥ÔªÉèÖÃ
 	CAN_InitStructure.CAN_TTCM=DISABLE;						 //·ÇÊ±¼ä´¥·¢Í¨ÐÅÄ£Ê½  //
 	CAN_InitStructure.CAN_ABOM=ENABLE;						 //Èí¼þ×Ô¶¯ÀëÏß¹ÜÀí	 //
  	CAN_InitStructure.CAN_AWUM=DISABLE;						 //Ë¯ÃßÄ£Ê½Í¨¹ýÈí¼þ»½ÐÑ(Çå³ýCAN->MCRµÄSLEEPÎ»)//
  	CAN_InitStructure.CAN_NART=ENABLE;						 	//½ûÖ¹±¨ÎÄ×Ô¶¯´«ËÍ //
  	CAN_InitStructure.CAN_RFLM=DISABLE;						 //±¨ÎÄ²»Ëø¶¨,ÐÂµÄ¸²¸Ç¾ÉµÄ // 
  	CAN_InitStructure.CAN_TXFP=DISABLE;						 //ÓÅÏÈ¼¶ÓÉ±¨ÎÄ±êÊ¶·û¾ö¶¨ //
  	CAN_InitStructure.CAN_Mode= mode;	         //Ä£Ê½ÉèÖÃ£º mode:0,ÆÕÍ¨Ä£Ê½;1,»Ø»·Ä£Ê½; //
  	//ÉèÖÃ²¨ÌØÂÊ
  	CAN_InitStructure.CAN_SJW=tsjw;				//ÖØÐÂÍ¬²½ÌøÔ¾¿í¶È(Tsjw)Îªtsjw+1¸öÊ±¼äµ¥Î»  CAN_SJW_1tq	 CAN_SJW_2tq CAN_SJW_3tq CAN_SJW_4tq
  	CAN_InitStructure.CAN_BS1=tbs1; //Tbs1=tbs1+1¸öÊ±¼äµ¥Î»CAN_BS1_1tq ~CAN_BS1_16tq
  	CAN_InitStructure.CAN_BS2=tbs2;//Tbs2=tbs2+1¸öÊ±¼äµ¥Î»CAN_BS2_1tq ~	CAN_BS2_8tq
  	CAN_InitStructure.CAN_Prescaler=brp;            //·ÖÆµÏµÊý(Fdiv)Îªbrp+1	//
  	CAN_Init(CAN1, &CAN_InitStructure);            // ³õÊ¼»¯CAN1 

 	CAN_FilterInitStructure.CAN_FilterNumber=0;	  //¹ýÂËÆ÷0
   	CAN_FilterInitStructure.CAN_FilterMode=CAN_FilterMode_IdMask; 
  	CAN_FilterInitStructure.CAN_FilterScale=CAN_FilterScale_32bit; //32Î» 
  	CAN_FilterInitStructure.CAN_FilterIdHigh=0x0000;32Î»ID
  	CAN_FilterInitStructure.CAN_FilterIdLow=0x0000;
  	CAN_FilterInitStructure.CAN_FilterMaskIdHigh=0x0000;//32Î»MASK
  	CAN_FilterInitStructure.CAN_FilterMaskIdLow=0x0000;
  	CAN_FilterInitStructure.CAN_FilterFIFOAssignment=CAN_Filter_FIFO0;//¹ýÂËÆ÷0¹ØÁªµ½FIFO0
 	  CAN_FilterInitStructure.CAN_FilterActivation=ENABLE; //¼¤»î¹ýÂËÆ÷0

  	CAN_FilterInit(&CAN_FilterInitStructure);//ÂË²¨Æ÷³õÊ¼»¯
#if CAN_RX0_INT_ENABLE
	
	CAN_ITConfig(CAN1,CAN_IT_FMP0,ENABLE);//FIFO0ÏûÏ¢¹ÒºÅÖÐ¶ÏÔÊÐí.		    
  
  	NVIC_InitStructure.NVIC_IRQChannel = USB_LP_CAN1_RX0_IRQn;
  	NVIC_InitStructure.NVIC_IRQChannelPreemptionPriority = 1;     // Ö÷ÓÅÏÈ¼¶Îª1
  	NVIC_InitStructure.NVIC_IRQChannelSubPriority = 0;            // ´ÎÓÅÏÈ¼¶Îª0
  	NVIC_InitStructure.NVIC_IRQChannelCmd = ENABLE;
  	NVIC_Init(&NVIC_InitStructure);
#endif
	return 0;
}

采集及发送部分：

#define STD_ID_PID		(0x1020>>5)//0x0081
#define STD_ID_BASE		(0x2020>>5)//0x0101
#define STD_ID_LONG		(0x4020>>5)//0x0201
#define STD_ID_LAT		(0x8020>>5)//0x0401
while(1)
	{
		if(sys_timer._1s_beat){//todo 1s freq things
			bme280GetData(&rel_data.bmp280_press,&bmp280_temper,&bmp280_humidity,&bmp280_asl);
			Analysis_GPS();
			SHT30_Read_Humiture(&sht30_temp,&sht30_humidity);
			rel_data.area_temper = sht30_temp*1.0f/10;
			rel_data.area_humi = sht30_humidity*1.0f/10;
			//»ù±¾ÐÅÏ¢·¢ËÍ
			can_buff[0] = ((STD_ID_BASE&0xff00)>>8);
			can_buff[1] = ((STD_ID_BASE&0x00ff)>>0);
			can_buff[2] = (sht30_temp&0xff00)>>8;//ÎÂ¶È
			can_buff[3] = (sht30_temp&0x00ff)>>0;
			can_buff[4] = (sht30_humidity&0xff00)>>8;//Êª¶È
			can_buff[5] = (sht30_humidity&0x00ff)>>0;
			can_buff[6] = ((u16)rel_data.bmp280_press&0xff00)>>8;//´óÆøÑ¹
			can_buff[7] = ((u16)rel_data.bmp280_press&0x00ff)>>0;
			can_buff[8] = 0x00;
			can_buff[9] = 0x00;
			Can_Send_Msg(can_buff,sizeof(can_buff));
			//¾¶ÈÐÅÏ¢·¢ËÍ
			can_buff[0] = ((STD_ID_LONG&0xff00)>>8);
			can_buff[1] = ((STD_ID_LONG&0x00ff)>>0);
			memcpy(&can_buff[2],(void *)&rel_data.longitude,sizeof(double));
			Can_Send_Msg(can_buff,sizeof(can_buff));
			//Î³¶ÈÐÅÏ¢·¢ËÍ
			can_buff[0] = ((STD_ID_LAT&0xff00)>>8);
			can_buff[1] = ((STD_ID_LAT&0x00ff)>>0);
			memcpy(&can_buff[2],(void *)&rel_data.latitude,sizeof(double));
			Can_Send_Msg(can_buff,sizeof(can_buff));			
			sys_timer._1s_beat = false;
		}
		if(sys_timer._500ms_beat){//todo 500ms freq things
			sys_timer._500ms_beat = false;
		}
		if(sys_timer._50ms_beat){
			Get_Adc_Num();
			adc_buf[adc_cnt++] = rel_data.adc_val;
			if(adc_cnt==4){//Íê³ÉÒ»°ü£¬´ò°ü·¢×ß-Í³Ò»°´ÕÕ´ó¶ËÐò
				can_buff[0] = ((STD_ID_PID&0xff00)>>8);
				can_buff[1] = ((STD_ID_PID&0x00ff)>>0);
				can_buff[2] = (adc_buf[0]&0xff00)>>8;
				can_buff[3] = (adc_buf[0]&0x00ff)>>0;
				can_buff[4] = (adc_buf[1]&0xff00)>>8;
				can_buff[5] = (adc_buf[1]&0x00ff)>>0;
				can_buff[6] = (adc_buf[2]&0xff00)>>8;
				can_buff[7] = (adc_buf[2]&0x00ff)>>0;
				can_buff[8] = (adc_buf[3]&0xff00)>>8;
				can_buff[9] = (adc_buf[3]&0x00ff)>>0;
				Can_Send_Msg(can_buff,sizeof(can_buff));
				adc_cnt = 0;
			}
			sys_timer._50ms_beat = 0;
		}
	}	 
u8 Can_Send_Msg(u8* msg,u8 len)
{	
	u8 mbox;
	u16 i=0;
	CanTxMsg TxMessage;
	TxMessage.StdId=msg[0]<<8|msg[1];	// ±ê×¼±êÊ¶·û 11Î»
	TxMessage.ExtId=1;				   // ÉèÖÃÀ©Õ¹±êÊ¾·û 
	TxMessage.IDE=CAN_Id_Standard; // ±ê×¼Ö¡
	TxMessage.RTR=CAN_RTR_Data;		 // Êý¾ÝÖ¡
	TxMessage.DLC=8;						// Òª·¢ËÍµÄÊý¾Ý³¤¶È
	for(i=0;i<8;i++)
		TxMessage.Data[i]=msg[i+2];			          
	mbox= CAN_Transmit(CAN1, &TxMessage);   
	i=0;
	while((CAN_TransmitStatus(CAN1, mbox)==CAN_TxStatus_Failed)&&(i<0XFFF))i++;	//µÈ´ý·¢ËÍ½áÊø
	if(i>=0XFF)
		return 1;
	return 0;
}

接收中断处理部分,此处没做帧ID过滤设置，没做接收数据处理设置：

CanRxMsg RxMessage;
void USB_LP_CAN1_RX0_IRQHandler(void)
{
	uint8_t i;
	CAN_Receive(CAN1, 0, &RxMessage);

	if(RxMessage.StdId>>8==0x01){
		paramx_can.Rev_ID = RxMessage.StdId & 0xFF;
		switch(RxMessage.Data[0]){
			default:break;
		}
	}
}

运行效果如下：

AD数据帧，1s发送5次，间隔200ms，一包包含4个数据，正好是50ms采集一次