STM32 子设备通过CAN发送数据到主设备

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;
#endifRCC_APB2PeriphClockCmd(RCC_APB2Periph_GPIOB|RCC_APB2Periph_AFIO, ENABLE);//ʹÄÜPORTAʱÖÓ	                   											 RCC_APB1PeriphClockCmd(RCC_APB1Periph_CAN1, ENABLE);//ʹÄÜCAN1ʱÖÓ	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;	//¸´ÓÃÍÆÍìGPIO_Init(CAN_GPIO, &GPIO_InitStructure);		//³õʼ»¯IOGPIO_InitStructure.GPIO_Pin = CAN_LOW;GPIO_InitStructure.GPIO_Mode = GPIO_Mode_IPU;//ÉÏÀ­ÊäÈëGPIO_Init(CAN_GPIO, &GPIO_InitStructure);//³õʼ»¯IO//CANµ¥ÔªÉèÖÃCAN_InitStructure.CAN_TTCM=DISABLE;						 //·Çʱ¼ä´¥·¢Í¨ÐÅģʽ  //CAN_InitStructure.CAN_ABOM=ENABLE;						 //Èí¼þ×Ô¶¯ÀëÏß¹ÜÀí	 //CAN_InitStructure.CAN_AWUM=DISABLE;						 //˯Ãßģʽͨ¹ýÈí¼þ»½ÐÑ(Çå³ýCAN->MCRµÄSLEEPλ)//CAN_InitStructure.CAN_NART=ENABLE;						 	//½ûÖ¹±¨ÎÄ×Ô¶¯´«ËÍ //CAN_InitStructure.CAN_RFLM=DISABLE;						 //±¨ÎIJ»Ëø¶¨,еĸ²¸Ç¾ÉµÄ // CAN_InitStructure.CAN_TXFP=DISABLE;						 //ÓÅÏȼ¶Óɱ¨Îıêʶ·û¾ö¶¨ //CAN_InitStructure.CAN_Mode= mode;	         //ģʽÉèÖ㺠mode:0,ÆÕͨģʽ;1,»Ø»·Ä£Ê½; ////ÉèÖò¨ÌØÂÊCAN_InitStructure.CAN_SJW=tsjw;				//ÖØÐÂͬ²½ÌøÔ¾¿í¶È(Tsjw)Ϊtsjw+1¸öʱ¼äµ¥Î»  CAN_SJW_1tq	 CAN_SJW_2tq CAN_SJW_3tq CAN_SJW_4tqCAN_InitStructure.CAN_BS1=tbs1; //Tbs1=tbs1+1¸öʱ¼äµ¥Î»CAN_BS1_1tq ~CAN_BS1_16tqCAN_InitStructure.CAN_BS2=tbs2;//Tbs2=tbs2+1¸öʱ¼äµ¥Î»CAN_BS2_1tq ~	CAN_BS2_8tqCAN_InitStructure.CAN_Prescaler=brp;            //·ÖƵϵÊý(Fdiv)Ϊbrp+1	//CAN_Init(CAN1, &CAN_InitStructure);            // ³õʼ»¯CAN1 CAN_FilterInitStructure.CAN_FilterNumber=0;	  //¹ýÂËÆ÷0CAN_FilterInitStructure.CAN_FilterMode=CAN_FilterMode_IdMask; CAN_FilterInitStructure.CAN_FilterScale=CAN_FilterScale_32bit; //32λ CAN_FilterInitStructure.CAN_FilterIdHigh=0x0000;32λIDCAN_FilterInitStructure.CAN_FilterIdLow=0x0000;CAN_FilterInitStructure.CAN_FilterMaskIdHigh=0x0000;//32λMASKCAN_FilterInitStructure.CAN_FilterMaskIdLow=0x0000;CAN_FilterInitStructure.CAN_FilterFIFOAssignment=CAN_Filter_FIFO0;//¹ýÂËÆ÷0¹ØÁªµ½FIFO0CAN_FilterInitStructure.CAN_FilterActivation=ENABLE; //¼¤»î¹ýÂËÆ÷0CAN_FilterInit(&CAN_FilterInitStructure);//Â˲¨Æ÷³õʼ»¯
#if CAN_RX0_INT_ENABLECAN_ITConfig(CAN1,CAN_IT_FMP0,ENABLE);//FIFO0ÏûÏ¢¹ÒºÅÖжÏÔÊÐí.		    NVIC_InitStructure.NVIC_IRQChannel = USB_LP_CAN1_RX0_IRQn;NVIC_InitStructure.NVIC_IRQChannelPreemptionPriority = 1;     // Ö÷ÓÅÏȼ¶Îª1NVIC_InitStructure.NVIC_IRQChannelSubPriority = 0;            // ´ÎÓÅÏȼ¶Îª0NVIC_InitStructure.NVIC_IRQChannelCmd = ENABLE;NVIC_Init(&NVIC_InitStructure);
#endifreturn 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 thingsbme280GetData(&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¢·¢ËÍcan_buff[0] = ((STD_ID_BASE&0xff00)>>8);can_buff[1] = ((STD_ID_BASE&0x00ff)>>0);can_buff[2] = (sht30_temp&0xff00)>>8;//ζÈcan_buff[3] = (sht30_temp&0x00ff)>>0;can_buff[4] = (sht30_humidity&0xff00)>>8;//ʪ¶Ècan_buff[5] = (sht30_humidity&0x00ff)>>0;can_buff[6] = ((u16)rel_data.bmp280_press&0xff00)>>8;//´óÆøѹcan_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¢·¢ËÍcan_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));//γ¶ÈÐÅÏ¢·¢ËÍcan_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 thingssys_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-ͳһ°´ÕÕ´ó¶ËÐòcan_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±êʶ·û 11λTxMessage.ExtId=1;				   // ÉèÖÃÀ©Õ¹±êʾ·û TxMessage.IDE=CAN_Id_Standard; // ±ê×¼Ö¡TxMessage.RTR=CAN_RTR_Data;		 // Êý¾ÝÖ¡TxMessage.DLC=8;						// Òª·¢Ë͵ÄÊý¾Ý³¤¶Èfor(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·¢ËͽáÊøif(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