STM32F407VET6兩個CAN同時工作

一、注意點
兩個CAN接口同時工作主要是初始化的時候必須一起使能時鐘

二、代碼分享

u8 can_init(u8 tsjw,u8 tbs2,u8 tbs1,u16 brp,u8 mode)
{
	u16 std_id_1 =0x123;  

	u16 std_id_2 =0x123;  

	GPIO_InitTypeDef GPIO_InitStructure; 
	CAN_InitTypeDef        CAN_InitStructure;
	CAN_FilterInitTypeDef  CAN_FilterInitStructure;
	#if CAN1_RX0_INT_ENABLE 
	NVIC_InitTypeDef  NVIC_InitStructure;
	#endif
	//使能相關時鐘
	RCC_AHB1PeriphClockCmd(RCC_AHB1Periph_GPIOA, ENABLE);//使能PORTA時鐘	                   											 
	RCC_AHB1PeriphClockCmd(RCC_AHB1Periph_GPIOB, ENABLE);//使能PORTA時鐘	   

	RCC_APB1PeriphClockCmd(RCC_APB1Periph_CAN1, ENABLE);//使能CAN1時鐘	
	RCC_APB1PeriphClockCmd(RCC_APB1Periph_CAN2, ENABLE);//使能CAN1時鐘	

	//初始化GPIO
	GPIO_InitStructure.GPIO_Pin = GPIO_Pin_11| GPIO_Pin_12;
	GPIO_InitStructure.GPIO_Mode = GPIO_Mode_AF;//複用功能
	GPIO_InitStructure.GPIO_OType = GPIO_OType_PP;//推輓輸出
	GPIO_InitStructure.GPIO_Speed = GPIO_Speed_100MHz;//100MHz
	GPIO_InitStructure.GPIO_PuPd = GPIO_PuPd_UP;//上拉
	GPIO_Init(GPIOA, &GPIO_InitStructure);//初始化PA11,PA12

	GPIO_InitStructure.GPIO_Pin = GPIO_Pin_5| GPIO_Pin_6;
	GPIO_InitStructure.GPIO_Mode = GPIO_Mode_AF;//複用功能
	GPIO_InitStructure.GPIO_OType = GPIO_OType_PP;//推輓輸出
	GPIO_InitStructure.GPIO_Speed = GPIO_Speed_100MHz;//100MHz
	GPIO_InitStructure.GPIO_PuPd = GPIO_PuPd_UP;//上拉
	GPIO_Init(GPIOB, &GPIO_InitStructure);//初始化PA12,PA13

	//引腳複用映射配置
	GPIO_PinAFConfig(GPIOA,GPIO_PinSource11,GPIO_AF_CAN1); //GPIOA11複用爲CAN1
	GPIO_PinAFConfig(GPIOA,GPIO_PinSource12,GPIO_AF_CAN1); //GPIOA12複用爲CAN1

	GPIO_PinAFConfig(GPIOB,GPIO_PinSource5,GPIO_AF_CAN2); //GPIOA11複用爲CAN2
	GPIO_PinAFConfig(GPIOB,GPIO_PinSource6,GPIO_AF_CAN2); //GPIOA12複用爲CAN2
	//CAN單元設置
	CAN_InitStructure.CAN_TTCM=DISABLE;	//非時間觸發通信模式   
	CAN_InitStructure.CAN_ABOM=DISABLE;	//軟件自動離線管理	  
	CAN_InitStructure.CAN_AWUM=DISABLE;//睡眠模式通過軟件喚醒(清除CAN->MCR的SLEEP位)
	CAN_InitStructure.CAN_NART=ENABLE;	//禁止報文自動傳送 
	CAN_InitStructure.CAN_RFLM=DISABLE;	//報文不鎖定,新的覆蓋舊的  
	CAN_InitStructure.CAN_TXFP=DISABLE;	//優先級由報文標識符決定 
	CAN_InitStructure.CAN_Mode= mode;	 //模式設置 
	CAN_InitStructure.CAN_SJW=tsjw;	//重新同步跳躍寬度(Tsjw)爲tsjw+1個時間單位 CAN_SJW_1tq~CAN_SJW_4tq
	CAN_InitStructure.CAN_BS1=tbs1; //Tbs1範圍CAN_BS1_1tq ~CAN_BS1_16tq
	CAN_InitStructure.CAN_BS2=tbs2;//Tbs2範圍CAN_BS2_1tq ~	CAN_BS2_8tq
	CAN_InitStructure.CAN_Prescaler=brp;  //分頻係數(Fdiv)爲brp+1	
	CAN_Init(CAN1, &CAN_InitStructure);   // 初始化CAN1 	
	CAN_Init(CAN2, &CAN_InitStructure);   // 初始化CAN2
	//配置過濾器
	CAN_FilterInitStructure.CAN_FilterNumber=0;	  //過濾器0
	CAN_FilterInitStructure.CAN_FilterMode=CAN_FilterMode_IdMask; //屏蔽模式
	CAN_FilterInitStructure.CAN_FilterScale=CAN_FilterScale_32bit; //32位 
	CAN_FilterInitStructure.CAN_FilterIdHigh=0x0000;////32位ID
	CAN_FilterInitStructure.CAN_FilterIdLow=0x0000; 	

	CAN_FilterInitStructure.CAN_FilterMaskIdHigh=0x0000;//32位MASK
	CAN_FilterInitStructure.CAN_FilterMaskIdLow=0x0000;
	CAN_FilterInitStructure.CAN_FilterFIFOAssignment=CAN_Filter_FIFO0;//過濾器0關聯到FIFO0
	CAN_FilterInitStructure.CAN_FilterActivation=ENABLE; //激活過濾器0
	CAN_FilterInit(&CAN_FilterInitStructure);//濾波器初始化
	/*---------------------------------------------------------------------------------------------------------------------------------*/		

	CAN_FilterInitStructure.CAN_FilterNumber=14; //過濾器14
	CAN_FilterInitStructure.CAN_FilterMode=CAN_FilterMode_IdMask; //屏蔽模式
	CAN_FilterInitStructure.CAN_FilterScale=CAN_FilterScale_32bit; //32位 
	CAN_FilterInitStructure.CAN_FilterIdHigh=0x0000;////32位ID
	CAN_FilterInitStructure.CAN_FilterIdLow=0x0000; 

	CAN_FilterInitStructure.CAN_FilterMaskIdHigh=0x0000;//32位MASK
	CAN_FilterInitStructure.CAN_FilterMaskIdLow=0x0000;
	CAN_FilterInitStructure.CAN_FilterFIFOAssignment=CAN_Filter_FIFO0;//過濾器0關聯到FIFO0
	CAN_FilterInitStructure.CAN_FilterActivation=ENABLE; //激活過濾器0
	CAN_FilterInit(&CAN_FilterInitStructure);  //CAN2

	#if CAN1_RX0_INT_ENABLE

	CAN_ITConfig(CAN1,CAN_IT_FMP0,ENABLE);//FIFO0消息掛號中斷允許.		    

	NVIC_InitStructure.NVIC_IRQChannel = CAN1_RX0_IRQn;
	NVIC_InitStructure.NVIC_IRQChannelPreemptionPriority = 1;     // 主優先級爲1
	NVIC_InitStructure.NVIC_IRQChannelSubPriority = 0;            // 次優先級爲0
	NVIC_InitStructure.NVIC_IRQChannelCmd = ENABLE;
	NVIC_Init(&NVIC_InitStructure);
	#endif

	#if CAN2_RX0_INT_ENABLE

	CAN_ITConfig(CAN2,CAN_IT_FMP0,ENABLE);//FIFO0消息掛號中斷允許.		    

	NVIC_InitStructure.NVIC_IRQChannel = CAN2_RX0_IRQn;
	NVIC_InitStructure.NVIC_IRQChannelPreemptionPriority = 1;     // 主優先級爲1
	NVIC_InitStructure.NVIC_IRQChannelSubPriority = 1;            // 次優先級爲0
	NVIC_InitStructure.NVIC_IRQChannelCmd = ENABLE;
	NVIC_Init(&NVIC_InitStructure);
	#endif
	return 0;
}