void CAN_SetBaudRate(uint8_t iBaud)

{

CAN_StructInit(&CAN_InitStructure);

CAN_InitStructure.CAN_TTCM = DISABLE;

CAN_InitStructure.CAN_ABOM = ENABLE; //ENABLE:一旦硬件檢測到128 次11位連續(xù)的隱性位，則自動退出離線狀態(tài)

CAN_InitStructure.CAN_AWUM = ENABLE;//ENABLE硬件自動喚醒

CAN_InitStructure.CAN_NART = DISABLE;//DISABLE:CAN報文一直重傳直到成功

CAN_InitStructure.CAN_RFLM = ENABLE;//EANBLE:FIFO滿之后再次接收到的報文將被丟棄

CAN_InitStructure.CAN_TXFP=ENABLE;//enable:優(yōu)先級由發(fā)送請求的順序決定

// CAN_InitStructure.CAN_TTCM = DISABLE;

// CAN_InitStructure.CAN_ABOM = DISABLE; //ENABLE:一旦硬件檢測到128 次11位連續(xù)的隱性位，則自動退出離線狀態(tài)

// CAN_InitStructure.CAN_AWUM = DISABLE;//ENABLE硬件自動喚醒

// CAN_InitStructure.CAN_NART = DISABLE;//DISABLE:CAN報文一直重傳直到成功

// CAN_InitStructure.CAN_RFLM = DISABLE;//EANBLE:FIFO滿之后再次接收到的報文將被丟棄

// CAN_InitStructure.CAN_TXFP=DISABLE;//enable:優(yōu)先級由發(fā)送請求的順序決定

CAN_InitStructure.CAN_Mode =CAN_Mode_Normal;//CAN_Mode_LoopBack;//

if(36000000==SystemCoreClock)

{

switch (iBaud)

{

case 0://5K

CAN_InitStructure.CAN_SJW = CAN_SJW_1tq;

CAN_InitStructure.CAN_BS1 = CAN_BS1_13tq;//CAN_BS1_3tq;

CAN_InitStructure.CAN_BS2 = CAN_BS2_2tq;//CAN_BS2_5tq;

CAN_InitStructure.CAN_Prescaler = 450;

break;

case 1://10K

CAN_InitStructure.CAN_SJW = CAN_SJW_1tq;

CAN_InitStructure.CAN_BS1 = CAN_BS1_13tq;//CAN_BS1_3tq;

CAN_InitStructure.CAN_BS2 = CAN_BS2_2tq;//CAN_BS2_5tq;

CAN_InitStructure.CAN_Prescaler = 225;

break;

case 2: //50K

CAN_InitStructure.CAN_SJW = CAN_SJW_1tq;

CAN_InitStructure.CAN_BS1 = CAN_BS1_6tq;//CAN_BS1_3tq;

CAN_InitStructure.CAN_BS2 = CAN_BS2_1tq;//CAN_BS2_5tq;

CAN_InitStructure.CAN_Prescaler = 45;

break;

case 3: //100K

CAN_InitStructure.CAN_SJW = CAN_SJW_1tq;

CAN_InitStructure.CAN_BS1 = CAN_BS1_14tq;//CAN_BS1_3tq;

CAN_InitStructure.CAN_BS2 = CAN_BS2_3tq;//CAN_BS2_5tq;

CAN_InitStructure.CAN_Prescaler = 10;

break;

case 4://125K

CAN_InitStructure.CAN_SJW = CAN_SJW_1tq;

CAN_InitStructure.CAN_BS1 = CAN_BS1_13tq;//CAN_BS1_3tq;

CAN_InitStructure.CAN_BS2 = CAN_BS2_2tq;//CAN_BS2_5tq;

CAN_InitStructure.CAN_Prescaler = 9;

break;

case 5: //250K

CAN_InitStructure.CAN_SJW = CAN_SJW_1tq;

CAN_InitStructure.CAN_BS1 = CAN_BS1_6tq;//CAN_BS1_3tq;

CAN_InitStructure.CAN_BS2 = CAN_BS2_1tq;//CAN_BS2_5tq;

CAN_InitStructure.CAN_Prescaler = 9;

break;

case 6://500K

CAN_InitStructure.CAN_SJW = CAN_SJW_1tq;

CAN_InitStructure.CAN_BS1 = CAN_BS1_8tq;//CAN_BS1_3tq;

CAN_InitStructure.CAN_BS2 = CAN_BS2_3tq;//CAN_BS2_5tq;

CAN_InitStructure.CAN_Prescaler = 3;

break;

case 7: //1M

CAN_InitStructure.CAN_SJW = CAN_SJW_1tq;

CAN_InitStructure.CAN_BS1 = CAN_BS1_14tq;//CAN_BS1_3tq;

CAN_InitStructure.CAN_BS2 = CAN_BS2_3tq;//CAN_BS2_5tq;

CAN_InitStructure.CAN_Prescaler = 1;

break;

default://125K

CAN_InitStructure.CAN_SJW = CAN_SJW_1tq;

CAN_InitStructure.CAN_BS1 = CAN_BS1_13tq;//CAN_BS1_3tq;

CAN_InitStructure.CAN_BS2 = CAN_BS2_2tq;//CAN_BS2_5tq;

CAN_InitStructure.CAN_Prescaler = 9;

break;

}

}

else

{

switch (iBaud)

{

case 0://5K

CAN_InitStructure.CAN_SJW = CAN_SJW_1tq;

CAN_InitStructure.CAN_BS1 = CAN_BS1_13tq;//CAN_BS1_3tq;

CAN_InitStructure.CAN_BS2 = CAN_BS2_2tq;//CAN_BS2_5tq;

CAN_InitStructure.CAN_Prescaler = 450;

break;

case 1://10K

CAN_InitStructure.CAN_SJW = CAN_SJW_1tq;

CAN_InitStructure.CAN_BS1 = CAN_BS1_13tq;//CAN_BS1_3tq;

CAN_InitStructure.CAN_BS2 = CAN_BS2_2tq;//CAN_BS2_5tq;

CAN_InitStructure.CAN_Prescaler = 225;

break;

case 2: //50K

CAN_InitStructure.CAN_SJW = CAN_SJW_1tq;

CAN_InitStructure.CAN_BS1 = CAN_BS1_13tq;//CAN_BS1_3tq;

CAN_InitStructure.CAN_BS2 = CAN_BS2_2tq;//CAN_BS2_5tq;

CAN_InitStructure.CAN_Prescaler = 45;

break;

case 3: //100K

CAN_InitStructure.CAN_SJW = CAN_SJW_1tq;

CAN_InitStructure.CAN_BS1 = CAN_BS1_14tq;//CAN_BS1_3tq;

CAN_InitStructure.CAN_BS2 = CAN_BS2_3tq;//CAN_BS2_5tq;

CAN_InitStructure.CAN_Prescaler = 20;

break;

case 4://125K

CAN_InitStructure.CAN_SJW = CAN_SJW_1tq;

CAN_InitStructure.CAN_BS1 = CAN_BS1_13tq;//CAN_BS1_3tq;

CAN_InitStructure.CAN_BS2 = CAN_BS2_2tq;//CAN_BS2_5tq;

CAN_InitStructure.CAN_Prescaler = 18;

break;

case 5: //250K

CAN_InitStructure.CAN_SJW = CAN_SJW_1tq;

CAN_InitStructure.CAN_BS1 = CAN_BS1_13tq;//CAN_BS1_3tq;

CAN_InitStructure.CAN_BS2 = CAN_BS2_2tq;//CAN_BS2_5tq;

CAN_InitStructure.CAN_Prescaler = 9;

break;

case 6://500K

CAN_InitStructure.CAN_SJW = CAN_SJW_1tq;

CAN_InitStructure.CAN_BS1 = CAN_BS1_6tq;//CAN_BS1_3tq;

CAN_InitStructure.CAN_BS2 = CAN_BS2_1tq;//CAN_BS2_5tq;

CAN_InitStructure.CAN_Prescaler = 9;

break;

case 7: //1M

CAN_InitStructure.CAN_SJW = CAN_SJW_1tq;

CAN_InitStructure.CAN_BS1 = CAN_BS1_8tq;//CAN_BS1_3tq;

CAN_InitStructure.CAN_BS2 = CAN_BS2_3tq;//CAN_BS2_5tq;

CAN_InitStructure.CAN_Prescaler = 3;

break;

default://125K

CAN_InitStructure.CAN_SJW = CAN_SJW_1tq;

CAN_InitStructure.CAN_BS1 = CAN_BS1_13tq;//CAN_BS1_3tq;

CAN_InitStructure.CAN_BS2 = CAN_BS2_2tq;//CAN_BS2_5tq;

CAN_InitStructure.CAN_Prescaler = 18;

break;

}

}

CAN_Init(CAN1, &CAN_InitStructure);

}

void CAN_SetAddr(uint8_t addr)

{

uint32_t address;

//uint32_t addrmask;

address=addr;

address=address<<(13+3);

//addrmask=(0xff<<(13+3));

CAN_FilterInitStructure.CAN_FilterNumber=0;

CAN_FilterInitStructure.CAN_FilterMode=CAN_FilterMode_IdMask;

CAN_FilterInitStructure.CAN_FilterScale=CAN_FilterScale_32bit;

CAN_FilterInitStructure.CAN_FilterIdHigh = (((u32)address)&0xFFFF0000)>>16;

CAN_FilterInitStructure.CAN_FilterIdLow = (((u32)address)|CAN_ID_EXT|CAN_RTR_DATA)&0xFFFF;

CAN_FilterInitStructure.CAN_FilterMaskIdHigh = 0x00ff;

CAN_FilterInitStructure.CAN_FilterMaskIdLow = 0x05;

//CAN_FilterInitStructure.CAN_FilterMaskIdHigh = 0;

//CAN_FilterInitStructure.CAN_FilterMaskIdLow = 0;

CAN_FilterInitStructure.CAN_FilterFIFOAssignment=0;

CAN_FilterInitStructure.CAN_FilterActivation=ENABLE;

CAN_FilterInit(&CAN_FilterInitStructure);

}

void CAN_InitEx(uint8_t addr,uint8_t uBaud)

{

GPIO_InitTypeDef GPIO_InitStructure;

NVIC_InitTypeDef NVIC_InitStructure;

RCC_APB2PeriphClockCmd(RCC_APB2Periph_AFIO |RCC_APB2Periph_GPIO_CAN1, ENABLE);

RCC_APB1PeriphClockCmd(RCC_APB1Periph_CAN1, ENABLE);

#ifndef AMP12_CAN

GPIO_PinRemapConfig(GPIO_Remap1_CAN1 , ENABLE);

#endif

GPIO_InitStructure.GPIO_Pin = GPIO_Pin_CAN_RX;

GPIO_InitStructure.GPIO_Mode = GPIO_Mode_IPU;

GPIO_InitStructure.GPIO_Speed = GPIO_Speed_50MHz;

GPIO_Init(GPIO_CAN, &GPIO_InitStructure);

GPIO_InitStructure.GPIO_Pin = GPIO_Pin_CAN_TX;

GPIO_InitStructure.GPIO_Mode = GPIO_Mode_AF_PP;

GPIO_InitStructure.GPIO_Speed = GPIO_Speed_50MHz;

GPIO_Init(GPIO_CAN, &GPIO_InitStructure);

NVIC_InitStructure.NVIC_IRQChannel = USB_LP_CAN1_RX0_IRQn;

NVIC_InitStructure.NVIC_IRQChannelPreemptionPriority = 0x0;

NVIC_InitStructure.NVIC_IRQChannelSubPriority = 0x0;

NVIC_InitStructure.NVIC_IRQChannelCmd = ENABLE;

NVIC_Init(&NVIC_InitStructure);

NVIC_InitStructure.NVIC_IRQChannel = CAN1_SCE_IRQn;

NVIC_InitStructure.NVIC_IRQChannelCmd = ENABLE;

NVIC_Init(&NVIC_InitStructure);

CAN_DeInit(CAN1);

CAN_SetBaudRate(uBaud);

CAN_SetAddr(addr);

CAN_ITConfig(CAN1, CAN_IT_BOF|CAN_IT_EPV |CAN_IT_EWG | CAN_IT_ERR, ENABLE);

}

void ICAN_Reset(void)

{

uint8_t param=*((uint8_t*)(0x1FFFF806));

uint8_t baud=0;

uint8_t addr=0;

GPIO_InitTypeDef GPIO_InitStructure;

NVIC_InitTypeDef NVIC_InitStructure;

RCC_APB2PeriphClockCmd(RCC_APB2Periph_AFIO |RCC_APB2Periph_GPIO_CAN1, ENABLE);

RCC_APB1PeriphClockCmd(RCC_APB1Periph_CAN1, ENABLE);

if(param==0xff)

{

baud=4;

addr=0x1;

}

else

{

addr=0x1F¶m;

baud=param>>5;

}

CAN_DeInit(CAN1);

CAN_SetBaudRate(baud);

CAN_SetAddr(addr);

CAN_ITConfig(CAN1, CAN_IT_BOF|CAN_IT_EPV |CAN_IT_EWG | CAN_IT_ERR, ENABLE);

}

void CAN1_SCE_IRQHandler(void)

{

static uint8_t error;

if(CAN_GetFlagStatus(CAN1,CAN_FLAG_BOF) == SET)

{

CAN_ClearITPendingBit(CAN1,CAN_IT_BOF);

}

else if(CAN_GetITStatus(CAN1,CAN_IT_ERR))

{

CAN_ClearITPendingBit(CAN1,CAN_IT_ERR);

}

else if(CAN_GetFlagStatus(CAN1,CAN_FLAG_EPV) == SET)

{

CAN_ClearITPendingBit(CAN1,CAN_IT_EPV);

}

else if(CAN_GetFlagStatus(CAN1,CAN_FLAG_EWG) == SET)

{

CAN_ClearITPendingBit(CAN1,CAN_IT_EWG);

}

else

{

CAN_ClearITPendingBit(CAN1,CAN_IT_EWG);

CAN_ClearITPendingBit(CAN1,CAN_IT_EPV);

CAN_ClearITPendingBit(CAN1,CAN_IT_BOF);

CAN_ClearITPendingBit(CAN1,CAN_IT_ERR);

}

error=CAN_GetLastErrorCode(CAN1);

error=error;

ICAN_Init();

}