CAN通讯实现1ms发送3帧+gd32f470

只看该作者 · 2025-5-7 22:57

本例子是在GD32f470芯片上实现的，通过配置CAN1初始化和发送函数，500k最大限度实现1ms发送3帧报文。

一、CAN1初始化

void Can1_Init(uint32_t baud,uint8_t MasterSlave)
{
can_parameter_struct can_parameter;
can_filter_parameter_struct can_filter;
/* initialize CAN register */
rcu_periph_clock_enable(RCU_CAN1);

can_struct_para_init(CAN_INIT_STRUCT, &can_parameter);
can_struct_para_init(CAN_FILTER_STRUCT, &can_filter);//Initialization parameters

can_deinit(CAN1);

can_parameter.time_triggered       = DISABLE;
can_parameter.auto_bus_off_recovery = ENABLE;
can_parameter.auto_wake_up       = DISABLE;
can_parameter.auto_retrans       = ENABLE;
can_parameter.rec_fifo_overwrite = DISABLE;
can_parameter.trans_fifo_order    = ENABLE;
can_parameter.working_mode       = CAN_NORMAL_MODE;

if(baud == 125)
{
//CAN baud AP1_60MHz/(20*(4+16+4))=125kHz
can_parameter.resync_jump_width = CAN_BT_SJW_4TQ;
can_parameter.time_segment_1 = CAN_BT_BS1_16TQ;
can_parameter.time_segment_2 = CAN_BT_BS2_4TQ;
can_parameter.prescaler = 20;
}
else if(baud == 250)
{
//CAN Baud AP1_60MHz/(15*(1+14+1))=250kHz
can_parameter.resync_jump_width = CAN_BT_SJW_1TQ;
can_parameter.time_segment_1 = CAN_BT_BS1_14TQ;
can_parameter.time_segment_2 = CAN_BT_BS2_1TQ;
can_parameter.prescaler = 15;
}
else if(baud == 500)
{
//CAN baud AP1_60MHz/(15*(1+6+1))=250kHz
can_parameter.resync_jump_width = CAN_BT_SJW_1TQ;
can_parameter.time_segment_1 = CAN_BT_BS1_6TQ;
can_parameter.time_segment_2 = CAN_BT_BS2_1TQ;
can_parameter.prescaler = 15;
}
else if(baud == 1000)
{
//CAN baud AP1_60MHz/(15*(1+2+1))=1000kHz
can_parameter.resync_jump_width = CAN_BT_SJW_1TQ;
can_parameter.time_segment_1 = CAN_BT_BS1_2TQ;
can_parameter.time_segment_2 = CAN_BT_BS2_1TQ;
can_parameter.prescaler = 15;
}

/* initialize CAN */
can_init(CAN1, &can_parameter);

/* initialize filter */
/* CAN0 filter number */
can_filter.filter_number = 15;

/* initialize filter */
can_filter.filter_mode = CAN_FILTERMODE_MASK;
can_filter.filter_bits = CAN_FILTERBITS_32BIT;
if(MasterSlave == 0) //Master
{
can_filter.filter_list_high = 0x0000;
can_filter.filter_list_low = 0x0000;
can_filter.filter_mask_high = 0x0000;
can_filter.filter_mask_low = 0x0000;
}
else if(MasterSlave == 1) //Slave
{
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_FIFO1;
can_filter.filter_enable = ENABLE;
can_filter_init(&can_filter);

can_interrupt_enable(CAN1, CAN_INTEN_RFNEIE1);

   /* configure CAN1 NVIC */
nvic_irq_enable(CAN1_RX1_IRQn, 6, 0);
}

二、CAN1发送函数

//CAN1修改
int SendByCan1(unsigned int std,void* data,const int len)
{
can_trasnmit_message_struct TxMessage = {0};//Define Send Message Structure

volatile uint32_t i = 0;
uint8_t TransmitMailbox = 0;

TxMessage.tx_sfid = std;
TxMessage.tx_efid = std;
TxMessage.tx_ft =CAN_FT_DATA;         //Set the frame type of the message to be transmitted: data frame
TxMessage.tx_ff =CAN_FF_EXTENDED;    //Extended identifier
TxMessage.tx_dlen = (len> 8)?8:len;

volatile uint8_t *psrc = (uint8_t*)data;
for(i=0; i<len; i++)
{
      TxMessage.tx_data[i] = psrc[i];
}

TransmitMailbox = can_message_transmit(CAN1,&TxMessage);//Start the transmission of a message

i = 0;
while((i<0XFFF))
{
      if(can_transmit_states(CAN1,TransmitMailbox) == 1)break;
      i++;
}
if(i < 0XFFF)
{
return 0;
}
else
{
return -1;
}
}

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原文链接：https://blog.csdn.net/m0_37822396/article/details/147744684