/*----------------------------------------------------------------------------
QQ:?958664258
21IC用戶名：banhushui
交流平臺：http://blog.21ic.com/user1/5817/index.html

旺旺：半壺水電子
編譯器版本：MDK4.12
?*---------------------------------------------------------------------------*/

#include?????????????????????????//?STM32F10x?Library?Definitions
#include?“STM32_Reg.h“????????????????????????????//?STM32?register?and?bit?Definitions
#include?“STM32_Init.h“???????????????????????????//?STM32?Initialization
#include?“CAN.h“??????????????????????????????????//?STM32?CAN?adaption?layer

//?CAN?messge?for?sending
//CAN發(fā)送消息郵箱
CAN_msg???????CAN_TxMsg;
//?CAN?message?for?receiving???
//CAN接收消息郵箱???????????????????????
CAN_msg???????CAN_RxMsg;??????????????????????????????????????????????????????????
//?CAN?HW?ready?to?transmit?a?message
//發(fā)送就緒標志
unsigned?int??CAN_TxRdy?=?0;??????????????????????
//?CAN?HW?received?a?message
//接收就緒標志
unsigned?int??CAN_RxRdy?=?0;??????????????????????

/*----------------------------------------------------------------------------
??setup?CAN?interface
?*----------------------------------------------------------------------------*/
void?CAN_setup?（void）??{
??unsigned?int?brp?=?stm32_GetPCLK1（）;

??RCC->APB1ENR?|=?RCC_APB1ENR_CANEN;??????????????//?enable?clock?for?CAN

??//?Note:?uses?PB8?and?PB9?for?CAN
??//?enable?clock?for?Alternate?Function
??//啟用復(fù)用功能的時鐘
??RCC->APB2ENR?|=?RCC_APB2ENR_AFIOEN;
??//?reset?CAN?remap
??//復(fù)位CAN重新映射
??AFIO->MAPR???&=?0xFFFF9FFF;
??//???set?CAN?remap?use?PB8?PB9
??//設(shè)置CAN重新映射，使用PB8，PB9
??AFIO->MAPR???|=?0x00004000;?
	//?enable?clock?for?GPIO?B
	//使能GPIOB使用的RCC時鐘										??
??RCC->APB2ENR?|=?RCC_APB2ENR_IOPBEN;
??//?CAN?RX?pin?PB.8?input?push?pull
??//PB.8推挽輸入
??GPIOB->CRH?&=?~（0x0F<<0）;
??GPIOB->CRH?|=??（0x08<<0）;????????????????????????
??//?CAN?TX?pin?PB.9?alternate?output?push?pull
??//PB.9復(fù)用推挽輸出
??GPIOB->CRH?&=?~（0x0F<<4）;
??GPIOB->CRH?|=??（0x0B<<4）;?
??//?enable?interrupt
??//發(fā)送中斷使能
??NVIC->ISER[0]?|=?（1?<??//?enable?interrupt
??//接收中斷使能
??NVIC->ISER[0]?|=?（1?<??//初始化模式，?禁止報文自動重傳
??CAN->MCR?=?（CAN_MCR_NART?|?CAN_MCR_INRQ）;???????//?init?mode?disable?auto.?retransmission
??//?Note:?only?FIFO?0?transmit?mailbox?0?used
??//?FIFO?0?msg?pending?Transmit?mbx?empty
??//FIFO0發(fā)生溢出的情況FIFO?0的FOVR位被置’1’時，產(chǎn)生中斷。
??//發(fā)送郵箱0變?yōu)榭眨琑QCPx位被置’1’時，產(chǎn)生中斷。
??CAN->IER?=?（CAN_IER_FMPIE0?|?CAN_IER_TMEIE）;????

??/*?Note:?this?calculations?fit?for?PCLK1?=?36MHz?*/
??//設(shè)置波特率
??brp??=?（brp?/?18）?/?500000;?????????????????????//?baudrate?is?set?to?500k?bit/s
??????????????????????????????????????????????????????????????????????????
??/*?set?BTR?register?so?that?sample?point?is?at?about?72%?bit?time?from?bit?start?*/
??/*?TSEG1?=?12?TSEG2?=?5?SJW?=?4?=>?1?CAN?bit?=?18?TQ?sample?at?72%????*/
??CAN->BTR?&=?~（（（????????0x03）?<