stm32 CAN LoopBack 自测模式成功

/* CAN filter init */
CAN_FilterInitStructure.CAN_FilterNumber=1;
CAN_FilterInitStructure.CAN_FilterMode=CAN_FilterMode_IdMask;
CAN_FilterInitStructure.CAN_FilterScale=CAN_FilterScale_32bit;
CAN_FilterInitStructure.CAN_FilterIdHigh=0x0000;
CAN_FilterInitStructure.CAN_FilterIdLow=0x0000;
CAN_FilterInitStructure.CAN_FilterMaskIdHigh=0x0000;
CAN_FilterInitStructure.CAN_FilterMaskIdLow=0x0000;
CAN_FilterInitStructure.CAN_FilterFIFOAssignment=CAN_FIFO0;
CAN_FilterInitStructure.CAN_FilterActivation=ENABLE;
CAN_FilterInit(&CAN_FilterInitStructure);

/* CAN FIFO0 message pending interrupt enable */
CAN_ITConfig(CAN1, CAN_IT_FMP0, ENABLE);

/* transmit 1 message */
TxMessage.StdId=0x00;
TxMessage.ExtId=0x1234;
TxMessage.IDE=CAN_ID_EXT;
TxMessage.RTR=CAN_RTR_DATA;
TxMessage.DLC=2;
TxMessage.Data[0]=0xDE;
TxMessage.Data[1]=0xCA;
CAN_Transmit(CAN1, &TxMessage);

/* initialize the value that will be returned */
ret = 0xFF;

/* receive message with interrupt handling */
i=0;
while((ret == 0xFF) && (i < 0xFFF))
{
i++;
}

if (i == 0xFFF)
{
ret=0;
}

/* disable interrupt handling */
CAN_ITConfig(CAN1, CAN_IT_FMP0, DISABLE);

return (TestStatus)ret;
}

/**
* @brief Configures the NVIC and Vector Table base address.
* @param None
* @retval None
*/
void NVIC_Configuration(void)
{
NVIC_InitTypeDef NVIC_InitStructure;

/* Enable CAN1 RX0 interrupt IRQ channel */
#ifndef STM32F10X_CL
NVIC_InitStructure.NVIC_IRQChannel = USB_LP_CAN1_RX0_IRQn;
#else
NVIC_InitStructure.NVIC_IRQChannel = CAN1_RX0_IRQn;
#endif /* STM32F10X_CL*/
NVIC_InitStructure.NVIC_IRQChannelPreemptionPriority = 0;
NVIC_InitStructure.NVIC_IRQChannelSubPriority = 0;
NVIC_InitStructure.NVIC_IRQChannelCmd = ENABLE;
NVIC_Init(&NVIC_InitStructure);
}

=======================

stm32f10x_it.c

/******************************************************************************/
/* STM32F10x Peripherals Interrupt Handlers */
/******************************************************************************/

/**
* @brief This function handles CAN1 Handler.
* @param None
* @retval None
*/
#ifndef STM32F10X_CL //如果没有使用使用了STM32互联系列微处理器
//也就是即将面世的STM32F105和STM32F107系列处理器
void USB_LP_CAN1_RX0_IRQHandler(void)
#else
void CAN1_RX0_IRQHandler(void)
#endif
{
CanRxMsg RxMessage;

RxMessage.StdId=0x00;
RxMessage.ExtId=0x00;
RxMessage.IDE=0;
RxMessage.DLC=0;
RxMessage.FMI=0;
RxMessage.Data[0]=0x00;
RxMessage.Data[1]=0x00;

CAN_Receive(CAN1, CAN_FIFO0, &RxMessage);

if((RxMessage.ExtId==0x1234) && (RxMessage.IDE==CAN_ID_EXT)
&& (RxMessage.DLC==2) && ((RxMessage.Data[1]|RxMessage.Data[0]<8)==0xDECA))
{
ret = 1;
}
else
{
ret = 0;
}
}

stm32 CAN LoopBack 自测模式成功