STM32里的CAN 支持2.0A,2.0B, 帶有FIFO,中斷等, 這里主要提一下內(nèi)部的時(shí)鐘應(yīng)用.

bxCAN掛接在APB1總線上,采用總線時(shí)鐘,所以我們需要知道APB1的總線時(shí)鐘是多少. 我們先看看下圖,看看APB1總線時(shí)鐘:

APB1時(shí)鐘取自AHB的分頻, 而AHB又取自系統(tǒng)時(shí)鐘的分頻, 系統(tǒng)時(shí)鐘可選HSI,HSE, PLLCLK, 這個(gè)在例程的RC設(shè)置里都有的,

總線時(shí)鐘MHz   (3+TS1+TS2)*(BRP+1)

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下面是我的計(jì)算：

CAN_InitStructure.CAN_SJW = CAN_SJW_1tq;
CAN_InitStructure.CAN_BS1 = CAN_BS1_3tq; 

注意//#define CAN_BS1_3tq                 ((uint8_t)0x02) /*!< 3 time quantum */
CAN_InitStructure.CAN_BS2 = CAN_BS2_5tq;
CAN_InitStructure.CAN_Prescaler = 4;//2
nominal bit time（3+5+1）tq=9tq
關(guān)于分頻系數(shù) 查看 system_stm32f10x.c下面的
static void SetSysClockTo72(void) 函數(shù)
/* HCLK = SYSCLK */
/* PCLK2 = HCLK */
/* PCLK1 = HCLK/2 */

所以can時(shí)鐘 72MHZ/2/4=9 Mhz
tq=1/36Mhz
波特率為 1/nominal bit time= 9/9=1MHZ 

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void CAN_Configuration(void) 
{ 
CAN_InitTypeDef         CAN_InitStructure; 
CAN_FilterInitTypeDef   CAN_FilterInitStructure; 

/* CAN register init */ 
CAN_DeInit(); 
CAN_StructInit(&CAN_InitStructure); 

/* CAN cell init */ 
CAN_InitStructure.CAN_TTCM=DISABLE; 
CAN_InitStructure.CAN_ABOM=DISABLE; 
CAN_InitStructure.CAN_AWUM=DISABLE; 
CAN_InitStructure.CAN_NART=DISABLE; 
CAN_InitStructure.CAN_RFLM=DISABLE; 
CAN_InitStructure.CAN_TXFP=DISABLE; 
CAN_InitStructure.CAN_Mode=CAN_Mode_Normal; 
CAN_InitStructure.CAN_SJW=CAN_SJW_1tq; 
CAN_InitStructure.CAN_BS1=CAN_BS1_9tq; 
CAN_InitStructure.CAN_BS2=CAN_BS2_8tq; 
CAN_InitStructure.CAN_Prescaler=200; 
CAN_Init(&CAN_InitStructure); 

/* CAN filter init */ 
CAN_FilterInitStructure.CAN_FilterNumber=0; 
CAN_FilterInitStructure.CAN_FilterMode=CAN_FilterMode_IdMask; 
CAN_FilterInitStructure.CAN_FilterScale=CAN_FilterScale_16bit; 
CAN_FilterInitStructure.CAN_FilterIdHigh=0x0000; 
CAN_FilterInitStructure.CAN_FilterIdLow=0x0000; 
CAN_FilterInitStructure.CAN_FilterMaskIdHigh=0x0000; 
CAN_FilterInitStructure.CAN_FilterMaskIdLow=0x0000; 
CAN_FilterInitStructure.CAN_FilterFIFOAssignment=0; 
CAN_FilterInitStructure.CAN_FilterActivation=ENABLE; 
CAN_FilterInit(&CAN_FilterInitStructure); 
} 
注意//#define CAN_BS1_3tq                 ((uint8_t)0x02) /*!< 3 time quantum */
撥特率10K，公式：72MHZ/2/200/（1+9+8）=0.01，即10K，和SJA1000測(cè)試通過   

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120歐姆電阻要加上?。。?nbsp;

哦   確實(shí)是 

      CAN->BTR = (u32)((u32)CAN_InitStruct->CAN_Mode << 30) | ((u32)CAN_InitStruct->CAN_SJW << 24) | 
                ((u32)CAN_InitStruct->CAN_BS1 << 16) | ((u32)CAN_InitStruct->CAN_BS2 << 20) | 
                ((u32)CAN_InitStruct->CAN_Prescaler - 1); 

   總結(jié)一下 
   Fpclk=36M 時(shí) can波特率為250k   的配置為 
   
/* CAN cell init */ 
   CAN_InitStructure.CAN_TTCM=DISABLE; 
   CAN_InitStructure.CAN_ABOM=DISABLE; 
   CAN_InitStructure.CAN_AWUM=DISABLE; 
   CAN_InitStructure.CAN_NART=DISABLE; 
   CAN_InitStructure.CAN_RFLM=DISABLE; 
   CAN_InitStructure.CAN_TXFP=DISABLE; 
   CAN_InitStructure.CAN_Mode=CAN_Mode_LoopBack; 
   CAN_InitStructure.CAN_SJW=CAN_SJW_1tq; 
   CAN_InitStructure.CAN_BS1=CAN_BS1_8tq; 
   CAN_InitStructure.CAN_BS2=CAN_BS2_7tq; 
   CAN_InitStructure.CAN_Prescaler=9; 
   CAN_Init(&CAN_InitStructure); 250k 

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的：將can總線波特率設(shè)置為250k 
   　　 
　在官方的can例程上 給出了100k 查詢 和500k 中斷方式的例子 分別設(shè)置如下： 
   CAN_Polling： 
   /* CAN cell init */ 
   CAN_InitStructure.CAN_TTCM=DISABLE; 
   CAN_InitStructure.CAN_ABOM=DISABLE; 
   CAN_InitStructure.CAN_AWUM=DISABLE; 
   CAN_InitStructure.CAN_NART=DISABLE; 
   CAN_InitStructure.CAN_RFLM=DISABLE; 
   CAN_InitStructure.CAN_TXFP=DISABLE; 
   CAN_InitStructure.CAN_Mode=CAN_Mode_LoopBack; 
   CAN_InitStructure.CAN_SJW=CAN_SJW_1tq; 
   CAN_InitStructure.CAN_BS1=CAN_BS1_8tq; 
   CAN_InitStructure.CAN_BS2=CAN_BS2_7tq; 
   CAN_InitStructure.CAN_Prescaler=5; 
   CAN_Init(&CAN_InitStructure); 100k 

   /* CAN cell init */    CAN_Interrupt 
   CAN_InitStructure.CAN_TTCM=DISABLE; 
   CAN_InitStructure.CAN_ABOM=DISABLE; 
   CAN_InitStructure.CAN_AWUM=DISABLE; 
   CAN_InitStructure.CAN_NART=DISABLE; 
   CAN_InitStructure.CAN_RFLM=DISABLE; 
   CAN_InitStructure.CAN_TXFP=DISABLE; 
   CAN_InitStructure.CAN_Mode=CAN_Mode_LoopBack; 
   CAN_InitStructure.CAN_SJW=CAN_SJW_1tq; 
   CAN_InitStructure.CAN_BS1=CAN_BS1_8tq; 
   CAN_InitStructure.CAN_BS2=CAN_BS2_7tq; 
   CAN_InitStructure.CAN_Prescaler=1; 
   CAN_Init(&CAN_InitStructure); //500k 

can時(shí)鐘是RCC_APB1PeriphClock，你要注意CAN時(shí)鐘頻率 
CAN波特率 = RCC_APB1PeriphClock/CAN_SJW+CAN_BS1+CAN_BS2/CAN_Prescaler; 
如果CAN時(shí)鐘為8M， CAN_SJW = 1，CAN_BS1 = 8，CAN_BS2 = 7，CAN_Prescaler = 2 
那么波特率就是=8M/(1+8+7)/2=250K 

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得到500Kb/s的波特率

上邊這個(gè)公式算出來的就是CAN的速率了