大神啊

坐等大神

qfggg 发表于 2017-3-14 19:14
顶----------

static CanTxMsgTypeDef     Tx1Message;      //·¢ËÍÏûÏ¢
static CanRxMsgTypeDef     Rx1Message;      //½ÓÊÕÏûÏ¢

static CanTxMsgTypeDef     Tx2Message;      //·¢ËÍÏûÏ¢
static CanRxMsgTypeDef     Rx2Message;      //½ÓÊÕÏûÏ¢

u8 can_2_buf[8];
u8 databuf[8]={0};
u8 databuf_PTZ[8]={0,0,0,0,0,0,0,0};

//        hcan1.pTxMsg=&Tx1Message;     //·¢ËÍÏûÏ¢
//        hcan1.pRxMsg=&Rx1Message;     //½ÓÊÕÏûÏ¢
//        hcan2.pTxMsg=&Tx2Message;     //·¢ËÍÏûÏ¢
//        hcan2.pRxMsg=&Rx2Message;     //½ÓÊÕÏûÏ¢

/* USER CODE END 0 */

CAN_HandleTypeDef hcan1;
CAN_HandleTypeDef hcan2;

/* CAN1 init function */
void MX_CAN1_Init(void)
{

  hcan1.Instance = CAN1;
        hcan1.pTxMsg=&Tx1Message;     //·¢ËÍÏûÏ¢
        hcan1.pRxMsg=&Rx1Message;     //½ÓÊÕÏûÏ¢
  hcan1.Init.Prescaler = 3;
  hcan1.Init.Mode = CAN_MODE_NORMAL;
  hcan1.Init.SJW = CAN_SJW_1TQ;
  hcan1.Init.BS1 = CAN_BS1_7TQ;
  hcan1.Init.BS2 = CAN_BS2_6TQ;
  hcan1.Init.TTCM = DISABLE;
  hcan1.Init.ABOM = DISABLE;
  hcan1.Init.AWUM = DISABLE;
  hcan1.Init.NART = DISABLE;
  hcan1.Init.RFLM = DISABLE;
  hcan1.Init.TXFP = ENABLE;
  HAL_CAN_Init(&hcan1);

}
/* CAN2 init function */
void MX_CAN2_Init(void)
{

  hcan2.Instance = CAN2;
        hcan2.pTxMsg=&Tx2Message;     //·¢ËÍÏûÏ¢
        hcan2.pRxMsg=&Rx2Message;     //½ÓÊÕÏûÏ¢
  hcan2.Init.Prescaler = 3;
  hcan2.Init.Mode = CAN_MODE_NORMAL;
  hcan2.Init.SJW = CAN_SJW_1TQ;
  hcan2.Init.BS1 = CAN_BS1_7TQ;
  hcan2.Init.BS2 = CAN_BS2_6TQ;
  hcan2.Init.TTCM = DISABLE;
  hcan2.Init.ABOM = DISABLE;
  hcan2.Init.AWUM = DISABLE;
  hcan2.Init.NART = DISABLE;
  hcan2.Init.RFLM = DISABLE;
  hcan2.Init.TXFP = ENABLE;
  HAL_CAN_Init(&hcan2);

}

static int CAN1_CLK_ENABLED=0;

void HAL_CAN_MspInit(CAN_HandleTypeDef* hcan)
{

  GPIO_InitTypeDef GPIO_InitStruct;
  if(hcan->Instance==CAN1)
  {
  /* USER CODE BEGIN CAN1_MspInit 0 */

  /* USER CODE END CAN1_MspInit 0 */
    /* Peripheral clock enable */
    CAN1_CLK_ENABLED++;
    if(CAN1_CLK_ENABLED==1){
      __CAN1_CLK_ENABLE();
    }
  
    /**CAN1 GPIO Configuration   
    PA11     ------> CAN1_RX
    PA12     ------> CAN1_TX
    */
    GPIO_InitStruct.Pin = GPIO_PIN_11|GPIO_PIN_12;
    GPIO_InitStruct.Mode = GPIO_MODE_AF_PP;
    GPIO_InitStruct.Pull = GPIO_NOPULL;
    GPIO_InitStruct.Speed = GPIO_SPEED_HIGH;
    GPIO_InitStruct.Alternate = GPIO_AF9_CAN1;
    HAL_GPIO_Init(GPIOA, &GPIO_InitStruct);

  /* USER CODE BEGIN CAN1_MspInit 1 */
                CAN_FilterConfTypeDef  CAN1_FilerConf;
               
                CAN1_FilerConf.FilterIdHigh=0X0000;     //32λID
                CAN1_FilerConf.FilterIdLow=0X0000;
                CAN1_FilerConf.FilterMaskIdHigh=0X0000; //32λMASK
                CAN1_FilerConf.FilterMaskIdLow=0X0000;  
                CAN1_FilerConf.FilterFIFOAssignment=CAN_FILTER_FIFO0;//¹ýÂËÆ÷0¹ØÁªµ½FIFO0
                CAN1_FilerConf.FilterNumber=0;          //¹ýÂËÆ÷0
                CAN1_FilerConf.FilterMode=CAN_FILTERMODE_IDMASK;
                CAN1_FilerConf.FilterScale=CAN_FILTERSCALE_32BIT;
                CAN1_FilerConf.FilterActivation=ENABLE; //¼¤»îÂ˲¨Æ÷0
                CAN1_FilerConf.BankNumber=14;
                HAL_CAN_ConfigFilter(&hcan1,&CAN1_FilerConf);
                __HAL_CAN_ENABLE_IT(&hcan1,CAN_IT_FMP0);
  /* USER CODE END CAN1_MspInit 1 */
  }
  else if(hcan->Instance==CAN2)
  {
  /* USER CODE BEGIN CAN2_MspInit 0 */

  /* USER CODE END CAN2_MspInit 0 */
    /* Peripheral clock enable */
    __CAN2_CLK_ENABLE();
    CAN1_CLK_ENABLED++;
    if(CAN1_CLK_ENABLED==1){
      __CAN1_CLK_ENABLE();
    }
  
    /**CAN2 GPIO Configuration   
    PB12     ------> CAN2_RX
    PB13     ------> CAN2_TX
    */
    GPIO_InitStruct.Pin = GPIO_PIN_12|GPIO_PIN_13;
    GPIO_InitStruct.Mode = GPIO_MODE_AF_PP;
    GPIO_InitStruct.Pull = GPIO_NOPULL;
    GPIO_InitStruct.Speed = GPIO_SPEED_HIGH;
    GPIO_InitStruct.Alternate = GPIO_AF9_CAN2;
    HAL_GPIO_Init(GPIOB, &GPIO_InitStruct);

    /* Peripheral interrupt init*/
    HAL_NVIC_SetPriority(CAN2_RX0_IRQn, 1, 1);
    HAL_NVIC_EnableIRQ(CAN2_RX0_IRQn);
  /* USER CODE BEGIN CAN2_MspInit 1 */
                CAN_FilterConfTypeDef  CAN2_FilerConf;
               
                CAN2_FilerConf.FilterIdHigh=0X0000;     //32λID
                CAN2_FilerConf.FilterIdLow=0X0000;
                CAN2_FilerConf.FilterMaskIdHigh=0X0000; //32λMASK
                CAN2_FilerConf.FilterMaskIdLow=0X0000;  
                CAN2_FilerConf.FilterFIFOAssignment=CAN_FILTER_FIFO0;//¹ýÂËÆ÷0¹ØÁªµ½FIFO0
                CAN2_FilerConf.FilterNumber=14;          //¹ýÂËÆ÷14
                CAN2_FilerConf.FilterMode=CAN_FILTERMODE_IDMASK;
                CAN2_FilerConf.FilterScale=CAN_FILTERSCALE_32BIT;
                CAN2_FilerConf.FilterActivation=ENABLE; //¼¤»îÂ˲¨Æ÷0
                CAN2_FilerConf.BankNumber=14;
                HAL_CAN_ConfigFilter(&hcan1,&CAN2_FilerConf);
                __HAL_CAN_ENABLE_IT(&hcan2,CAN_IT_FMP0);
  /* USER CODE END CAN2_MspInit 1 */
  }
}

void HAL_CAN_MspDeInit(CAN_HandleTypeDef* hcan)
{

  if(hcan->Instance==CAN1)
  {
  /* USER CODE BEGIN CAN1_MspDeInit 0 */

  /* USER CODE END CAN1_MspDeInit 0 */
    /* Peripheral clock disable */
    CAN1_CLK_ENABLED--;
    if(CAN1_CLK_ENABLED==0){
      __CAN1_CLK_DISABLE();
    }
  
    /**CAN1 GPIO Configuration   
    PA11     ------> CAN1_RX
    PA12     ------> CAN1_TX
    */
    HAL_GPIO_DeInit(GPIOA, GPIO_PIN_11|GPIO_PIN_12);

  /* USER CODE BEGIN CAN1_MspDeInit 1 */

  /* USER CODE END CAN1_MspDeInit 1 */
  }
  else if(hcan->Instance==CAN2)
  {
  /* USER CODE BEGIN CAN2_MspDeInit 0 */

  /* USER CODE END CAN2_MspDeInit 0 */
    /* Peripheral clock disable */
    __CAN2_CLK_DISABLE();
    CAN1_CLK_ENABLED--;
    if(CAN1_CLK_ENABLED==0){
      __CAN1_CLK_DISABLE();
    }
  
    /**CAN2 GPIO Configuration   
    PB12     ------> CAN2_RX
    PB13     ------> CAN2_TX
    */
    HAL_GPIO_DeInit(GPIOB, GPIO_PIN_12|GPIO_PIN_13);

    /* Peripheral interrupt Deinit*/
    HAL_NVIC_DisableIRQ(CAN2_RX0_IRQn);

  /* USER CODE BEGIN CAN2_MspDeInit 1 */

  /* USER CODE END CAN2_MspDeInit 1 */
  }
}


这样配就能进啦