CAN (Controller area network) контроллер процессора Cortex-M3
Инициализацию CAN-контроллера можно выполнить с помощью функции стандартной библиотеки (stm32f10x_can.h):
uint8_t CAN_Init (CAN_TypeDef* CANx, CAN_InitTypeDef* CAN_InitStruct);
где: CANx - интерфейс CAN1;
CAN_InitStruct - структура с параметрами инициализации:
typedef struct
{
uint16_t CAN_Prescaler; /* Specifies the length of a time quantum.
It ranges from 1 to 1024. */
uint8_t CAN_Mode; /* Specifies the CAN operating mode.
This parameter can be a value of
@ref CAN_operating_mode */
uint8_t CAN_SJW; /* Specifies the maximum number of time quanta
the CAN hardware is allowed to lengthen or
shorten a bit to perform resynchronization.
This parameter can be a value of
@ref CAN_synchronisation_jump_width */
uint8_t CAN_BS1; /* Specifies the number of time quanta in Bit
Segment 1. This parameter can be a value of
@ref CAN_time_quantum_in_bit_segment_1 */
uint8_t CAN_BS2; /* Specifies the number of time quanta in Bit
Segment 2.
This parameter can be a value of
@ref CAN_time_quantum_in_bit_segment_2 */
FunctionalState CAN_TTCM; /* Enable or disable the time triggered
communication mode. This parameter can be set
either to ENABLE or DISABLE. */
FunctionalState CAN_ABOM; /* Enable or disable the automatic bus-off
management. This parameter can be set either
to ENABLE or DISABLE. */
FunctionalState CAN_AWUM; /* Enable or disable the automatic wake-up mode.
This parameter can be set either to ENABLE or
DISABLE. */
FunctionalState CAN_NART; /* Enable or disable the no-automatic
retransmission mode. This parameter can be
set either to ENABLE or DISABLE. */
FunctionalState CAN_RFLM; /* Enable or disable the Receive FIFO Locked mode.
This parameter can be set either to ENABLE
or DISABLE. */
FunctionalState CAN_TXFP; /* Enable or disable the transmit FIFO priority.
This parameter can be set either to ENABLE
or DISABLE. */
} CAN_InitTypeDef;
CAN_Mode - режим работы CAN-контроллера:
#define CAN_Mode_Normal ((uint8_t)0x00) /* normal mode */
#define CAN_Mode_LoopBack ((uint8_t)0x01) /* loopback mode */
#define CAN_Mode_Silent ((uint8_t)0x02) /* silent mode */
#define CAN_Mode_Silent_LoopBack ((uint8_t)0x03) /* loopback combined with silent mode */
CAN_SJW - кол-во изменяемых квантов для синхронизации:
#define CAN_SJW_1tq ((uint8_t)0x00) /* 1 time quantum */
#define CAN_SJW_2tq ((uint8_t)0x01) /* 2 time quantum */
#define CAN_SJW_3tq ((uint8_t)0x02) /* 3 time quantum */
#define CAN_SJW_4tq ((uint8_t)0x03) /* 4 time quantum */
CAN_BS1 - кол-во квантов первого сегмента минус один:
#define CAN_BS1_1tq ((uint8_t)0x00) /* 1 time quantum */
#define CAN_BS1_2tq ((uint8_t)0x01) /* 2 time quantum */
#define CAN_BS1_3tq ((uint8_t)0x02) /* 3 time quantum */
#define CAN_BS1_4tq ((uint8_t)0x03) /* 4 time quantum */
#define CAN_BS1_5tq ((uint8_t)0x04) /* 5 time quantum */
#define CAN_BS1_6tq ((uint8_t)0x05) /* 6 time quantum */
#define CAN_BS1_7tq ((uint8_t)0x06) /* 7 time quantum */
#define CAN_BS1_8tq ((uint8_t)0x07) /* 8 time quantum */
#define CAN_BS1_9tq ((uint8_t)0x08) /* 9 time quantum */
#define CAN_BS1_10tq ((uint8_t)0x09) /* 10 time quantum */
#define CAN_BS1_11tq ((uint8_t)0x0A) /* 11 time quantum */
#define CAN_BS1_12tq ((uint8_t)0x0B) /* 12 time quantum */
#define CAN_BS1_13tq ((uint8_t)0x0C) /* 13 time quantum */
#define CAN_BS1_14tq ((uint8_t)0x0D) /* 14 time quantum */
#define CAN_BS1_15tq ((uint8_t)0x0E) /* 15 time quantum */
#define CAN_BS1_16tq ((uint8_t)0x0F) /* 16 time quantum */
CAN_BS2 - кол-во квантов второго сегмента минус один:
#define CAN_BS2_1tq ((uint8_t)0x00) /* 1 time quantum */
#define CAN_BS2_2tq ((uint8_t)0x01) /* 2 time quantum */
#define CAN_BS2_3tq ((uint8_t)0x02) /* 3 time quantum */
#define CAN_BS2_4tq ((uint8_t)0x03) /* 4 time quantum */
#define CAN_BS2_5tq ((uint8_t)0x04) /* 5 time quantum */
#define CAN_BS2_6tq ((uint8_t)0x05) /* 6 time quantum */
#define CAN_BS2_7tq ((uint8_t)0x06) /* 7 time quantum */
#define CAN_BS2_8tq ((uint8_t)0x07) /* 8 time quantum */