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Код: Выделить всё

 
#include "stm32f2xx.h"

int main(){       
    GPIO_InitTypeDef  GPIO_InitStructure;    
     
    //Enable CAN clock 
    RCC_APB1PeriphClockCmd(RCC_APB1Periph_CAN1 | RCC_APB1Periph_CAN2 , ENABLE);    
    
    // Àêòèâàöèÿ ïîðòà PB è PE
    RCC_AHB1PeriphClockCmd(RCC_AHB1Periph_GPIOB|RCC_AHB1Periph_GPIOE, ENABLE);
     
    // êîíôèãóðàöèÿ îòëàäî÷íîãî ïèíà 
    GPIO_InitStructure.GPIO_Mode = GPIO_Mode_OUT;
    GPIO_InitStructure.GPIO_OType = GPIO_OType_PP;   
    GPIO_InitStructure.GPIO_Speed = GPIO_Speed_50MHz;
    GPIO_InitStructure.GPIO_Pin = GPIO_Pin_10;
    GPIO_Init(GPIOE, &GPIO_InitStructure);
      
    /* Configure CAN RX and TX pins */
    GPIO_InitStructure.GPIO_Pin = GPIO_PinSource12 | GPIO_PinSource13;
    GPIO_InitStructure.GPIO_Mode = GPIO_Mode_AF;
    GPIO_InitStructure.GPIO_Speed = GPIO_Speed_50MHz;
    GPIO_InitStructure.GPIO_OType = GPIO_OType_PP;
    GPIO_InitStructure.GPIO_PuPd  = GPIO_PuPd_UP;
    GPIO_Init(GPIOB, &GPIO_InitStructure);


  // CAN configuration ********************************************************/

 

    //Connect CAN pins to AF9 
    GPIO_PinAFConfig(GPIOB, GPIO_PinSource12, GPIO_AF_CAN2);
    GPIO_PinAFConfig(GPIOB, GPIO_PinSource13, GPIO_AF_CAN2);
  
  
    /* CAN register init */
    CAN_DeInit(CAN2);
    CAN_InitTypeDef        CAN_InitStructure;
    CAN_Init(CAN2, &CAN_InitStructure);
    /* CAN cell init */
    CAN_InitStructure.CAN_TTCM = DISABLE;
    CAN_InitStructure.CAN_ABOM = DISABLE;
    CAN_InitStructure.CAN_AWUM = DISABLE;
    CAN_InitStructure.CAN_NART = DISABLE;
    CAN_InitStructure.CAN_RFLM = DISABLE;
    CAN_InitStructure.CAN_TXFP = DISABLE;
    CAN_InitStructure.CAN_Mode = CAN_Mode_Normal;
    CAN_InitStructure.CAN_SJW = CAN_SJW_1tq;

    // CAN Baudrate 
    CAN_InitStructure.CAN_BS1 = CAN_BS1_16tq;
    CAN_InitStructure.CAN_BS2 = CAN_BS2_8tq;
    CAN_InitStructure.CAN_Prescaler = 10;
   
     
    
    
    CAN_FilterInitTypeDef  CAN_FilterInitStructure;
        
    CAN_FilterInitStructure.CAN_FilterNumber = 14;
    CAN_FilterInitStructure.CAN_FilterMode = CAN_FilterMode_IdMask;
    CAN_FilterInitStructure.CAN_FilterScale = CAN_FilterScale_32bit;
    CAN_FilterInitStructure.CAN_FilterIdHigh = 0x0000;
    CAN_FilterInitStructure.CAN_FilterIdLow = 0x0000;
    CAN_FilterInitStructure.CAN_FilterMaskIdHigh = 0x0000;
    CAN_FilterInitStructure.CAN_FilterMaskIdLow = 0x0000;  
    CAN_FilterInitStructure.CAN_FilterFIFOAssignment = 0;
    CAN_FilterInitStructure.CAN_FilterActivation = ENABLE;
    CAN_FilterInit(&CAN_FilterInitStructure);

    CAN_ITConfig(CAN2, CAN_IT_FMP0, ENABLE);
       
    uint8_t TransmitMailbox = 0;
    
    CanTxMsg TxMessage;
    
    TxMessage.StdId = 0x321;
    TxMessage.ExtId = 0x01;    
    TxMessage.RTR = CAN_RTR_DATA;
    TxMessage.IDE = CAN_ID_EXT;//CAN_ID_STD;
    TxMessage.DLC = 1;
    TxMessage.Data[0] = 0x05;  
    TxMessage.Data[1] = 0x06;
    TxMessage.Data[2] = 0x07 ;
    TxMessage.Data[3] = 0x08 ;
    TxMessage.Data[4] = 0x09 ;
    TxMessage.Data[5] = 0x0A ;
    TxMessage.Data[6] = 0x0B ;
    TxMessage.Data[7] = 0x0C ;

    
while(1)
{
       
    TransmitMailbox=CAN_Transmit(CAN2, &TxMessage);
    uint32_t k = 0xffff;  // òàéìåð òàéìàóòà ïî çàâåðøåíèè ïåðåäà÷è
    while((CAN_TransmitStatus(CAN2, TransmitMailbox) != CANTXOK) && k )
      {
        k--;
      }
    CAN_CancelTransmit (CAN2 , TransmitMailbox); 
   
    
}
return 1;     

}