CAN 设备通讯实验代码+HAL 与原生库分别实现

实验准备：
两块带有CAN 收发器的STM32 MCU板子
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1.HAL 库实现部分

pin 设置，依据datasheet 和原理图
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时钟设置
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工程设置
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1） main.c

/* USER CODE BEGIN Header */
/********************************************************************************* @file    can.c* @brief   This file provides code for the configuration*          of the CAN instances.******************************************************************************* @attention** Copyright (c) 2022 STMicroelectronics.* All rights reserved.** This software is licensed under terms that can be found in the LICENSE file* in the root directory of this software component.* If no LICENSE file comes with this software, it is provided AS-IS.********************************************************************************/
/* USER CODE END Header */
/* Includes ------------------------------------------------------------------*/
#include "can.h"/* USER CODE BEGIN 0 *//* USER CODE END 0 */CAN_HandleTypeDef hcan;void ledOnGetSignal() {HAL_GPIO_TogglePin(GPIOC, LED_Pin);HAL_Delay(1000);
//	HAL_GPIO_TogglePin(GPIOC, LED_Pin);
//	//HAL_GPIO_WritePin(GPIOC, LED_Pin, GPIO_PIN_RESET);
//	HAL_Delay(1000);
}
void ledOnGetSignal2() {HAL_GPIO_WritePin(GPIOC, LED_Pin, GPIO_PIN_RESET);
//	HAL_GPIO_TogglePin(GPIOC, LED_Pin);
//	HAL_Delay(500);
//	HAL_GPIO_TogglePin(GPIOC, LED_Pin);
//	//HAL_GPIO_WritePin(GPIOC, LED_Pin, GPIO_PIN_RESET);
//	HAL_Delay(500);
}
/* USER CODE END Includes */
void HAL_CAN_RxFifo0MsgPendingCallback(CAN_HandleTypeDef *hcan)
{  extern int g;CAN_RxHeaderTypeDef  RxMessage;uint8_t Data[2];//  extern uint16_t feedback;RxMessage.DLC = 2;RxMessage.StdId = 0x00;RxMessage.ExtId = 0x0000;RxMessage.IDE=CAN_ID_EXT;RxMessage.RTR=CAN_RTR_DATA;if (HAL_CAN_GetState(hcan)!= RESET){HAL_CAN_GetRxMessage(hcan, CAN_RX_FIFO0, &RxMessage, Data);//	feedback=Data[2]<<8 |Data[3];    			if (Data[0] == 0x99) {ledOnGetSignal();}if (Data[0] == 0x99 ) {ledOnGetSignal2();}}
}/* CAN init function */
void MX_CAN_Init(void)
{/* USER CODE BEGIN CAN_Init 0 *//* USER CODE END CAN_Init 0 *//* USER CODE BEGIN CAN_Init 1 *//* USER CODE END CAN_Init 1 */hcan.Instance = CAN1;hcan.Init.Prescaler = 60;hcan.Init.Mode = CAN_MODE_NORMAL;hcan.Init.SyncJumpWidth = CAN_SJW_1TQ;hcan.Init.TimeSeg1 = CAN_BS1_3TQ;hcan.Init.TimeSeg2 = CAN_BS2_2TQ;hcan.Init.TimeTriggeredMode = ENABLE;hcan.Init.AutoBusOff = DISABLE;hcan.Init.AutoWakeUp = DISABLE;hcan.Init.AutoRetransmission = DISABLE;hcan.Init.ReceiveFifoLocked = DISABLE;hcan.Init.TransmitFifoPriority = ENABLE;if (HAL_CAN_Init(&hcan) != HAL_OK){Error_Handler();}/* USER CODE BEGIN CAN_Init 2 */CAN_FilterTypeDef sFilterConfig;sFilterConfig.FilterBank = 0;   //chenal 0sFilterConfig.FilterMode = CAN_FILTERMODE_IDMASK;   //????????sFilterConfig.FilterScale = CAN_FILTERSCALE_32BIT;  //????????32?sFilterConfig.FilterIdHigh = 0x0000;  //??????   sFilterConfig.FilterIdLow = 0x0000;   //??????   //MASK bit 0 means don't care,bit 0 means match sFilterConfig.FilterMaskIdHigh = 0x0000;   //?????  //?????????????,???????????????? sFilterConfig.FilterMaskIdLow = 0x0000;    //?????                                 sFilterConfig.FilterFIFOAssignment = CAN_FILTER_FIFO0; //FIFO0????FIFO1????????,?????????????FIFO0?sFilterConfig.FilterActivation = CAN_FILTER_ENABLE;   //enable filtersFilterConfig.SlaveStartFilterBank = 0;    //???can????????,????CAN??,????????HAL_CAN_ConfigFilter(&hcan, &sFilterConfig);HAL_CAN_ActivateNotification(&hcan, CAN_IT_RX_FIFO0_MSG_PENDING);/* USER CODE END CAN_Init 2 */}void HAL_CAN_MspInit(CAN_HandleTypeDef* canHandle)
{GPIO_InitTypeDef GPIO_InitStruct = {0};if(canHandle->Instance==CAN1){/* USER CODE BEGIN CAN1_MspInit 0 *//* USER CODE END CAN1_MspInit 0 *//* CAN1 clock enable */__HAL_RCC_CAN1_CLK_ENABLE();__HAL_RCC_GPIOA_CLK_ENABLE();/**CAN GPIO ConfigurationPA11     ------> CAN_RXPA12     ------> CAN_TX*/GPIO_InitStruct.Pin = GPIO_PIN_11;GPIO_InitStruct.Mode = GPIO_MODE_INPUT;GPIO_InitStruct.Pull = GPIO_NOPULL;HAL_GPIO_Init(GPIOA, &GPIO_InitStruct);GPIO_InitStruct.Pin = GPIO_PIN_12;GPIO_InitStruct.Mode = GPIO_MODE_AF_PP;GPIO_InitStruct.Speed = GPIO_SPEED_FREQ_HIGH;HAL_GPIO_Init(GPIOA, &GPIO_InitStruct);/* CAN1 interrupt Init */HAL_NVIC_SetPriority(USB_LP_CAN1_RX0_IRQn, 0, 0);HAL_NVIC_EnableIRQ(USB_LP_CAN1_RX0_IRQn);/* USER CODE BEGIN CAN1_MspInit 1 *//* USER CODE END CAN1_MspInit 1 */}
}void HAL_CAN_MspDeInit(CAN_HandleTypeDef* canHandle)
{if(canHandle->Instance==CAN1){/* USER CODE BEGIN CAN1_MspDeInit 0 *//* USER CODE END CAN1_MspDeInit 0 *//* Peripheral clock disable */__HAL_RCC_CAN1_CLK_DISABLE();/**CAN GPIO ConfigurationPA11     ------> CAN_RXPA12     ------> CAN_TX*/HAL_GPIO_DeInit(GPIOA, GPIO_PIN_11|GPIO_PIN_12);/* CAN1 interrupt Deinit */HAL_NVIC_DisableIRQ(USB_LP_CAN1_RX0_IRQn);/* USER CODE BEGIN CAN1_MspDeInit 1 *//* USER CODE END CAN1_MspDeInit 1 */}
}/* USER CODE BEGIN 1 *//* USER CODE END 1 */

gpio.c

/* USER CODE BEGIN Header */
/********************************************************************************* @file    gpio.c* @brief   This file provides code for the configuration*          of all used GPIO pins.******************************************************************************* @attention*     * Copyright (c) 2022 STMicroelectronics.* All rights reserved.** This software is licensed under terms that can be found in the LICENSE file* in the root directory of this software component.* If no LICENSE file comes with this software, it is provided AS-IS.********************************************************************************/
/* USER CODE END Header *//* Includes ------------------------------------------------------------------*/
#include "gpio.h"/* USER CODE BEGIN 0 *//* USER CODE END 0 *//*----------------------------------------------------------------------------*/
/* Configure GPIO                                                             */
/*----------------------------------------------------------------------------*/
/* USER CODE BEGIN 1 *//* USER CODE END 1 *//** Configure pins as* Analog* Input* Output* EVENT_OUT* EXTI
*/
void MX_GPIO_Init(void)
{GPIO_InitTypeDef GPIO_InitStruct = {0};/* GPIO Ports Clock Enable */__HAL_RCC_GPIOC_CLK_ENABLE();__HAL_RCC_GPIOD_CLK_ENABLE();__HAL_RCC_GPIOA_CLK_ENABLE();/*Configure GPIO pin Output Level */HAL_GPIO_WritePin(LED_GPIO_Port, LED_Pin, GPIO_PIN_SET);/*Configure GPIO pin : PtPin */GPIO_InitStruct.Pin = LED_Pin;GPIO_InitStruct.Mode = GPIO_MODE_OUTPUT_PP;GPIO_InitStruct.Pull = GPIO_PULLUP;GPIO_InitStruct.Speed = GPIO_SPEED_FREQ_LOW;HAL_GPIO_Init(LED_GPIO_Port, &GPIO_InitStruct);
}/* USER CODE BEGIN 2 *//* USER CODE END 2 */

can.c

/* USER CODE BEGIN Header */
/********************************************************************************* @file    can.c* @brief   This file provides code for the configuration*          of the CAN instances.******************************************************************************* @attention** Copyright (c) 2022 STMicroelectronics.* All rights reserved.** This software is licensed under terms that can be found in the LICENSE file* in the root directory of this software component.* If no LICENSE file comes with this software, it is provided AS-IS.********************************************************************************/
/* USER CODE END Header */
/* Includes ------------------------------------------------------------------*/
#include "can.h"/* USER CODE BEGIN 0 *//* USER CODE END 0 */CAN_HandleTypeDef hcan;void ledOnGetSignal() {HAL_GPIO_TogglePin(GPIOC, LED_Pin);HAL_Delay(1000);
//	HAL_GPIO_TogglePin(GPIOC, LED_Pin);
//	//HAL_GPIO_WritePin(GPIOC, LED_Pin, GPIO_PIN_RESET);
//	HAL_Delay(1000);
}
void ledOnGetSignal2() {HAL_GPIO_WritePin(GPIOC, LED_Pin, GPIO_PIN_RESET);
//	HAL_GPIO_TogglePin(GPIOC, LED_Pin);
//	HAL_Delay(500);
//	HAL_GPIO_TogglePin(GPIOC, LED_Pin);
//	//HAL_GPIO_WritePin(GPIOC, LED_Pin, GPIO_PIN_RESET);
//	HAL_Delay(500);
}
/* USER CODE END Includes */
void HAL_CAN_RxFifo0MsgPendingCallback(CAN_HandleTypeDef *hcan)
{  extern int g;CAN_RxHeaderTypeDef  RxMessage;uint8_t Data[2];//  extern uint16_t feedback;RxMessage.DLC = 2;RxMessage.StdId = 0x00;RxMessage.ExtId = 0x0000;RxMessage.IDE=CAN_ID_EXT;RxMessage.RTR=CAN_RTR_DATA;if (HAL_CAN_GetState(hcan)!= RESET){HAL_CAN_GetRxMessage(hcan, CAN_RX_FIFO0, &RxMessage, Data);//	feedback=Data[2]<<8 |Data[3];    			if (Data[0] == 0x99) {ledOnGetSignal();}if (Data[0] == 0x99 ) {ledOnGetSignal2();}}
}/* CAN init function */
void MX_CAN_Init(void)
{/* USER CODE BEGIN CAN_Init 0 *//* USER CODE END CAN_Init 0 *//* USER CODE BEGIN CAN_Init 1 *//* USER CODE END CAN_Init 1 */hcan.Instance = CAN1;hcan.Init.Prescaler = 60;hcan.Init.Mode = CAN_MODE_NORMAL;hcan.Init.SyncJumpWidth = CAN_SJW_1TQ;hcan.Init.TimeSeg1 = CAN_BS1_3TQ;hcan.Init.TimeSeg2 = CAN_BS2_2TQ;hcan.Init.TimeTriggeredMode = ENABLE;hcan.Init.AutoBusOff = DISABLE;hcan.Init.AutoWakeUp = DISABLE;hcan.Init.AutoRetransmission = DISABLE;hcan.Init.ReceiveFifoLocked = DISABLE;hcan.Init.TransmitFifoPriority = ENABLE;if (HAL_CAN_Init(&hcan) != HAL_OK){Error_Handler();}/* USER CODE BEGIN CAN_Init 2 */CAN_FilterTypeDef sFilterConfig;sFilterConfig.FilterBank = 0;   //chenal 0sFilterConfig.FilterMode = CAN_FILTERMODE_IDMASK;   //????????sFilterConfig.FilterScale = CAN_FILTERSCALE_32BIT;  //????????32?sFilterConfig.FilterIdHigh = 0x0000;  //??????   sFilterConfig.FilterIdLow = 0x0000;   //??????   //MASK bit 0 means don't care,bit 0 means match sFilterConfig.FilterMaskIdHigh = 0x0000;   //?????  //?????????????,???????????????? sFilterConfig.FilterMaskIdLow = 0x0000;    //?????                                 sFilterConfig.FilterFIFOAssignment = CAN_FILTER_FIFO0; //FIFO0????FIFO1????????,?????????????FIFO0?sFilterConfig.FilterActivation = CAN_FILTER_ENABLE;   //enable filtersFilterConfig.SlaveStartFilterBank = 0;    //???can????????,????CAN??,????????HAL_CAN_ConfigFilter(&hcan, &sFilterConfig);HAL_CAN_ActivateNotification(&hcan, CAN_IT_RX_FIFO0_MSG_PENDING);/* USER CODE END CAN_Init 2 */}void HAL_CAN_MspInit(CAN_HandleTypeDef* canHandle)
{GPIO_InitTypeDef GPIO_InitStruct = {0};if(canHandle->Instance==CAN1){/* USER CODE BEGIN CAN1_MspInit 0 *//* USER CODE END CAN1_MspInit 0 *//* CAN1 clock enable */__HAL_RCC_CAN1_CLK_ENABLE();__HAL_RCC_GPIOA_CLK_ENABLE();/**CAN GPIO ConfigurationPA11     ------> CAN_RXPA12     ------> CAN_TX*/GPIO_InitStruct.Pin = GPIO_PIN_11;GPIO_InitStruct.Mode = GPIO_MODE_INPUT;GPIO_InitStruct.Pull = GPIO_NOPULL;HAL_GPIO_Init(GPIOA, &GPIO_InitStruct);GPIO_InitStruct.Pin = GPIO_PIN_12;GPIO_InitStruct.Mode = GPIO_MODE_AF_PP;GPIO_InitStruct.Speed = GPIO_SPEED_FREQ_HIGH;HAL_GPIO_Init(GPIOA, &GPIO_InitStruct);/* CAN1 interrupt Init */HAL_NVIC_SetPriority(USB_LP_CAN1_RX0_IRQn, 0, 0);HAL_NVIC_EnableIRQ(USB_LP_CAN1_RX0_IRQn);/* USER CODE BEGIN CAN1_MspInit 1 *//* USER CODE END CAN1_MspInit 1 */}
}void HAL_CAN_MspDeInit(CAN_HandleTypeDef* canHandle)
{if(canHandle->Instance==CAN1){/* USER CODE BEGIN CAN1_MspDeInit 0 *//* USER CODE END CAN1_MspDeInit 0 *//* Peripheral clock disable */__HAL_RCC_CAN1_CLK_DISABLE();/**CAN GPIO ConfigurationPA11     ------> CAN_RXPA12     ------> CAN_TX*/HAL_GPIO_DeInit(GPIOA, GPIO_PIN_11|GPIO_PIN_12);/* CAN1 interrupt Deinit */HAL_NVIC_DisableIRQ(USB_LP_CAN1_RX0_IRQn);/* USER CODE BEGIN CAN1_MspDeInit 1 *//* USER CODE END CAN1_MspDeInit 1 */}
}/* USER CODE BEGIN 1 *//* USER CODE END 1 */

ST 老版本库

main.c

/******************** ********************* ÎÄ¼þÃû  £ºmain.c* ÃèÊö    £º¸øÏàÍ¬Á½¸öMINI°åÏÂÔØ´Ë³ÌÐòºó£¬°´ÏÂÒ»¸ö°å×ÓÉÏµÄ°´¼ü£¬¿ÉÒÔµãÁÁÁíÒ»¸ö°å×Ó*           ÉÏ¶ÔÓ¦µÄLED¡£Á½¸ö°å×Ó²»·ÖÖ÷´Ó¡£     receiv site       * ÊµÑéÆ½Ì¨£ºMINI STM32¿ª·¢°å »ùÓÚSTM32F103VET6* ¿â°æ±¾  £ºST3.0.0   																										  
*********************************************************/
#include "stm32f10x.h"
#include "can.h"
#include "led.h"void Delay(vu32 nCount);/*°´¼ü¹Ü½Å³õÊ¼»¯*/
void KeyInit(void)
{GPIO_InitTypeDef GPIO_InitStructure;RCC_APB2PeriphClockCmd(RCC_APB2Periph_GPIOA, ENABLE);//Ê¹ÄÜÍâÉèÊ±ÖÓRCC_APB2PeriphClockCmd(RCC_APB2Periph_GPIOB, ENABLE);//Ê¹ÄÜÍâÉèÊ±ÖÓGPIO_InitStructure.GPIO_Pin = GPIO_Pin_1 | GPIO_Pin_15 ;GPIO_InitStructure.GPIO_Speed = GPIO_Speed_10MHz; //×î¸ßÊä³öËÙÂÊ10MHzGPIO_InitStructure.GPIO_Mode = GPIO_Mode_IPU;//ÉÏÀÊäÈëGPIO_Init(GPIOB, &GPIO_InitStructure);GPIO_InitStructure.GPIO_Pin = GPIO_Pin_8;GPIO_InitStructure.GPIO_Speed = GPIO_Speed_10MHz; //×î¸ßÊä³öËÙÂÊ10MHzGPIO_InitStructure.GPIO_Mode = GPIO_Mode_IPU; //ÉÏÀÊäÈëGPIO_Init(GPIOA, &GPIO_InitStructure);
}void lightOn(void)
{LED1( ON );			  // ÁÁ   D3Delay(0x200000);LED1( OFF );		  // ÃðLED2( ON );   //D2Delay(0x200000);LED2( OFF );LED3( ON );   //D2Delay(0x200000);LED3( OFF );      }/*¼ì²âÊÇ·ñÓÐ°´¼ü°´ÏÂ*/
void  GetKey(void)
{if(Bit_RESET == GPIO_ReadInputDataBit(GPIOA, GPIO_Pin_8)){Delay(1000000);//È¥¶¶¶¯if(Bit_RESET == GPIO_ReadInputDataBit(GPIOA, GPIO_Pin_8)){while(Bit_RESET == GPIO_ReadInputDataBit(GPIOA, GPIO_Pin_8)){ ; } //µÈ´ý°´¼üÊÍ·Åcan_tx(0X11,0X33); lightOn();}}if(Bit_RESET == GPIO_ReadInputDataBit(GPIOB, GPIO_Pin_15)){Delay(1000000);//È¥¶¶¶¯//È¥¶¶¶¯if(Bit_RESET == GPIO_ReadInputDataBit(GPIOB, GPIO_Pin_15)){while(Bit_RESET == GPIO_ReadInputDataBit(GPIOB, GPIO_Pin_15)){ ; }//µÈ´ý°´¼üÊÍ·Å                        can_tx(0X55,0X77); lightOn();}}if(Bit_RESET == GPIO_ReadInputDataBit(GPIOB, GPIO_Pin_1)){Delay(1000000);//È¥¶¶¶¯//È¥¶¶¶¯if(Bit_RESET == GPIO_ReadInputDataBit(GPIOB, GPIO_Pin_1)){while(Bit_RESET == GPIO_ReadInputDataBit(GPIOB, GPIO_Pin_1)){ ; }//µÈ´ý°´¼üÊÍ·Å                        can_tx(0X99,0Xbb); 	lightOn();}}       
}int main(void)
{   SystemInit(); //ÉèÖÃÏµÍ³Ê±ÖÓÎª72MKeyInit();	  //°´¼ü¹Ü½Å³õÊ¼»¯LED_GPIO_Config();//LED¹Ü½Å³õÊ¼»¯CAN_GPIO_Config();//CAN¹Ü½Å³õÊ¼» 1¯CAN_NVIC_Configuration(); //CANÖÐ¶Ï³õÊ¼»¯   CAN_INIT();//CA³õÊ¼»¯NÄ£¿é	while(1){GetKey();	//¼ì²âÊÇ·ñÓÐ°´¼ü°´ÏÂ}
}

led.c

/***************************************** ÎÄ¼þÃû  £ºled.c* ÃèÊö    £ºled Ó¦ÓÃº¯Êý¿â*          * ÊµÑéÆ½Ì¨£ºMINI STM32¿ª·¢°å »ùÓÚSTM32F103VET6* Ó²¼þÁ¬½Ó£º-----------------*          |   PB14 - LED1   |*          |   PB12 - LED2   |*          |   PB13 - LED3   |*           ----------------- * ¿â°æ±¾  £ºST3.0.0  																										  
*********************************************************/
#include "led.h"/***************  ÅäÖÃLEDÓÃµ½µÄI/O¿Ú *******************/
void LED_GPIO_Config(void)	
{GPIO_InitTypeDef GPIO_InitStructure;RCC_APB2PeriphClockCmd( RCC_APB2Periph_GPIOB, ENABLE); // Ê¹ÄÜPB¶Ë¿ÚÊ±ÖÓ  GPIO_InitStructure.GPIO_Pin = GPIO_Pin_12 | GPIO_Pin_13 | GPIO_Pin_14;	GPIO_InitStructure.GPIO_Mode = GPIO_Mode_Out_PP;       GPIO_InitStructure.GPIO_Speed = GPIO_Speed_50MHz;GPIO_Init(GPIOB, &GPIO_InitStructure);  //³õÊ¼»¯PB¶Ë¿ÚGPIO_SetBits(GPIOB, GPIO_Pin_12 | GPIO_Pin_13 | GPIO_Pin_14);	 // ¹Ø±ÕËùÓÐLED
}

can.c

/***************************************** ÎÄ¼þÃû  £ºcan.c* ÃèÊö    £ºCAN²âÊÔÓ¦ÓÃº¯Êý¿â¡£         * ÊµÑéÆ½Ì¨£ºMINI STM32¿ª·¢°å »ùÓÚSTM32F103VET6* Ó²¼þÁ¬½Ó£º-----------------*          | 				  ||  PB8-CAN-RX     |*          |  PB9-CAN-TX     |*          |                 |*           -----------------* ¿â°æ±¾  £ºST3.0.0  																										  
*********************************************************/
#include "can.h"
#include "led.h"
#include "stdio.h"typedef enum {FAILED = 0, PASSED = !FAILED} TestStatus;/* ÔÚÖÐ¶Ï´¦Àíº¯ÊýÖÐ·µ»Ø */
__IO uint32_t ret = 0;volatile TestStatus TestRx;	/*CAN RX0 ÖÐ¶ÏÓÅÏÈ¼¶ÅäÖÃ  */void CAN_NVIC_Configuration(void)
{NVIC_InitTypeDef NVIC_InitStructure;/* Configure the NVIC Preemption Priority Bits */  NVIC_PriorityGroupConfig(NVIC_PriorityGroup_0);#ifdef  VECT_TAB_RAM  /* Set the Vector Table base location at 0x20000000 */ NVIC_SetVectorTable(NVIC_VectTab_RAM, 0x0); #else  /* VECT_TAB_FLASH  *//* Set the Vector Table base location at 0x08000000 */ NVIC_SetVectorTable(NVIC_VectTab_FLASH, 0x0);   #endif/* enabling interrupt */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);
}/*CAN GPIO ºÍÊ±ÖÓÅäÖÃ */void CAN_GPIO_Config(void)
{GPIO_InitTypeDef GPIO_InitStructure; /* ¸´ÓÃ¹¦ÄÜºÍGPIOB¶Ë¿ÚÊ±ÖÓÊ¹ÄÜ*/	 RCC_APB2PeriphClockCmd(RCC_APB2Periph_AFIO | RCC_APB2Periph_GPIOB, ENABLE);	                        											 /* CAN1 Ä£¿éÊ±ÖÓÊ¹ÄÜ */RCC_APB1PeriphClockCmd(RCC_APB1Periph_CAN1, ENABLE); /* Configure CAN pin: RX */	 // PB8GPIO_InitStructure.GPIO_Pin = GPIO_Pin_8;GPIO_InitStructure.GPIO_Mode = GPIO_Mode_IPU;	 // ÉÏÀÊäÈëGPIO_Init(GPIOB, &GPIO_InitStructure);/* Configure CAN pin: TX */   // PB9GPIO_InitStructure.GPIO_Pin = GPIO_Pin_9;GPIO_InitStructure.GPIO_Mode = GPIO_Mode_AF_PP; // ¸´ÓÃÍÆÍìÊä³öGPIO_Init(GPIOB, &GPIO_InitStructure);//#define GPIO_Remap_CAN    GPIO_Remap1_CAN1 ±¾ÊµÑéÃ»ÓÐÓÃµ½ÖØÓ³ÉäI/OGPIO_PinRemapConfig(GPIO_Remap1_CAN1, ENABLE);}/*	CAN³õÊ¼»¯ */void CAN_INIT(void)
{CAN_InitTypeDef        CAN_InitStructure;CAN_FilterInitTypeDef  CAN_FilterInitStructure;
//  CanTxMsg TxMessage;  /* CAN register init */CAN_DeInit(CAN1);	//½«ÍâÉèCANµÄÈ«²¿¼Ä´æÆ÷ÖØÉèÎªÈ±Ê¡ÖµCAN_StructInit(&CAN_InitStructure);//°ÑCAN_InitStructÖÐµÄÃ¿Ò»¸ö²ÎÊý°´È±Ê¡ÖµÌîÈë/* CAN cell init */CAN_InitStructure.CAN_TTCM=DISABLE;//Ã»ÓÐÊ¹ÄÜÊ±¼ä´¥·¢Ä£Ê½CAN_InitStructure.CAN_ABOM=DISABLE;//Ã»ÓÐÊ¹ÄÜ×Ô¶¯ÀëÏß¹ÜÀíCAN_InitStructure.CAN_AWUM=DISABLE;//Ã»ÓÐÊ¹ÄÜ×Ô¶¯»½ÐÑÄ£Ê½CAN_InitStructure.CAN_NART=DISABLE;//Ã»ÓÐÊ¹ÄÜ·Ç×Ô¶¯ÖØ´«Ä£Ê½CAN_InitStructure.CAN_RFLM=DISABLE;//Ã»ÓÐÊ¹ÄÜ½ÓÊÕFIFOËø¶¨Ä£Ê½CAN_InitStructure.CAN_TXFP=DISABLE;//Ã»ÓÐÊ¹ÄÜ·¢ËÍFIFOÓÅÏÈ¼¶CAN_InitStructure.CAN_Mode=CAN_Mode_Normal;//CANÉèÖÃÎªÕý³£Ä£Ê½CAN_InitStructure.CAN_SJW=CAN_SJW_1tq; //ÖØÐÂÍ¬²½ÌøÔ¾¿í¶È1¸öÊ±¼äµ¥Î»CAN_InitStructure.CAN_BS1=CAN_BS1_3tq; //Ê±¼ä¶Î1Îª3¸öÊ±¼äµ¥Î»CAN_InitStructure.CAN_BS2=CAN_BS2_2tq; //Ê±¼ä¶Î2Îª2¸öÊ±¼äµ¥Î»CAN_InitStructure.CAN_Prescaler=60;  //Ê±¼äµ¥Î»³¤¶ÈÎª60	CAN_Init(CAN1,&CAN_InitStructure);//²¨ÌØÂÊÎª£º72M/2/60(1+3+2)=0.1 ¼´100K/* CAN filter init */CAN_FilterInitStructure.CAN_FilterNumber=1;//Ö¸¶¨¹ýÂËÆ÷Îª1CAN_FilterInitStructure.CAN_FilterMode=CAN_FilterMode_IdMask;//Ö¸¶¨¹ýÂËÆ÷Îª±êÊ¶·ûÆÁ±ÎÎ»Ä£Ê½CAN_FilterInitStructure.CAN_FilterScale=CAN_FilterScale_32bit;//¹ýÂËÆ÷Î»¿íÎª32Î»CAN_FilterInitStructure.CAN_FilterIdHigh=0x0000;// ¹ýÂËÆ÷±êÊ¶·ûµÄ¸ß16Î»ÖµCAN_FilterInitStructure.CAN_FilterIdLow=0x0000;//	 ¹ýÂËÆ÷±êÊ¶·ûµÄµÍ16Î»ÖµCAN_FilterInitStructure.CAN_FilterMaskIdHigh=0x0000;//¹ýÂËÆ÷ÆÁ±Î±êÊ¶·ûµÄ¸ß16Î»ÖµCAN_FilterInitStructure.CAN_FilterMaskIdLow=0x0000;//	¹ýÂËÆ÷ÆÁ±Î±êÊ¶·ûµÄµÍ16Î»ÖµCAN_FilterInitStructure.CAN_FilterFIFOAssignment=CAN_FIFO0;// Éè¶¨ÁËÖ¸Ïò¹ýÂËÆ÷µÄFIFOÎª0CAN_FilterInitStructure.CAN_FilterActivation=ENABLE;// Ê¹ÄÜ¹ýÂËÆ÷CAN_FilterInit(&CAN_FilterInitStructure);//	°´ÉÏÃæµÄ²ÎÊý³õÊ¼»¯¹ýÂËÆ÷/* CAN FIFO0 message pending interrupt enable */ CAN_ITConfig(CAN1,CAN_IT_FMP0, ENABLE); //Ê¹ÄÜFIFO0ÏûÏ¢¹ÒºÅÖÐ¶Ï}  
/* ·¢ËÍÁ½¸ö×Ö½ÚµÄÊý¾Ý*/
void can_tx(u8 Data1,u8 Data2)
{ CanTxMsg TxMessage;  TxMessage.StdId=0x00;	//±ê×¼±êÊ¶·ûÎª0x00TxMessage.ExtId=0x0000; //À©Õ¹±êÊ¶·û0x0000TxMessage.IDE=CAN_ID_EXT;//Ê¹ÓÃ±ê×¼±êÊ¶·ûTxMessage.RTR=CAN_RTR_DATA;//ÎªÊý¾ÝÖ¡TxMessage.DLC=2;	//	ÏûÏ¢µÄÊý¾Ý³¤¶ÈÎª2¸ö×Ö½ÚTxMessage.Data[0]=Data1; //µÚÒ»¸ö×Ö½ÚÊý¾ÝTxMessage.Data[1]=Data2; //µÚ¶þ¸ö×Ö½ÚÊý¾Ý CAN_Transmit(CAN1,&TxMessage); //·¢ËÍÊý¾Ý}void Delay(vu32 nCount)
{for(; nCount != 0; nCount--);
}/* USBÖÐ¶ÏºÍCAN½ÓÊÕÖÐ¶Ï·þÎñ³ÌÐò£¬USB¸úCAN¹«ÓÃI/O£¬ÕâÀïÖ»ÓÃµ½CANµÄÖÐ¶Ï¡£ */
void USB_LP_CAN1_RX0_IRQHandler(void)
{CanRxMsg RxMessage;RxMessage.StdId=0x00;RxMessage.ExtId=0x00;RxMessage.IDE=0;RxMessage.DLC=0;RxMessage.FMI=0;RxMessage.Data[0]=0x00;RxMessage.Data[1]=0x00;    CAN_Receive(CAN1,CAN_FIFO0, &RxMessage); //½ÓÊÕFIFO0ÖÐµÄÊý¾Ý  if((RxMessage.Data[0]==0x99)&&(RxMessage.Data[1]==0xbb))   // { LED1(0);LED2(1);LED3(1);}if((RxMessage.Data[0]==0x55)&&(RxMessage.Data[1]==0x77))   { 			LED1( ON );			  // ÁÁ   D3Delay(0x200000);LED1( OFF );		  // ÃðLED2( ON );   //D2Delay(0x200000);LED2( OFF );LED3( ON );   //D2Delay(0x200000);LED3( OFF );  }if((RxMessage.Data[0]==0x11)&&(RxMessage.Data[1]==0x33))   //{ LED1(1);LED2(1);LED3(0);}if((RxMessage.Data[0]==0x66)&&(RxMessage.Data[1]==0x77))   { 	LED1( ON );			  // ÁÁ   D3Delay(0x1000);LED1( OFF );		  // ÃðLED2( ON );   //D2Delay(0x1000);LED2( OFF );LED3( ON );   //D2Delay(0x1000);LED3( OFF );  }LED1( ON );			  // ÁÁ   D3Delay(0x50000);LED1( OFF );		  // ÃðLED2( ON );   //D2Delay(0x100000);LED2( OFF );LED3( ON );   //D2Delay(0x100000);LED3( OFF );  }