C++ CAN_DeInit函數代碼示例

void cpu_deinit_all() {
//**    ADC_DeInit(LPC_ADC);
    CAN_DeInit(LPC_CAN1);
    CAN_DeInit(LPC_CAN2);
    EMAC_DeInit();
    EXTI_DeInit();
    I2C_DeInit(LPC_I2C0);
    I2C_DeInit(LPC_I2C1);
    I2C_DeInit(LPC_I2C2);
    I2S_DeInit(LPC_I2S);
    NVIC_DeInit();
    NVIC_SCBDeInit();
    PWM_DeInit(LPC_PWM1);
    QEI_DeInit(LPC_QEI);
//**    RIT_DeInit(LPC_RIT);
    RTC_DeInit(LPC_RTC);
    SPI_DeInit(LPC_SPI);
    SSP_DeInit(LPC_SSP0);
    SSP_DeInit(LPC_SSP1);
    UART_DeInit(LPC_UART0);
    UART_DeInit((LPC_UART_TypeDef *) LPC_UART1);
//**    UART_DeInit(LPC_UART2);
//**    UART_DeInit(LPC_UART3);
    TIM_DeInit(LPC_TIM0);
    TIM_DeInit(LPC_TIM1);
//**    TIM_DeInit(LPC_TIM2);
//**    TIM_DeInit(LPC_TIM3);
}

void CAN_CAN_Config(void)
{
	CAN_InitTypeDef        CAN_InitStructure;
	
	/* Enable CAN clock */
#if USE_CAN1_R0 || USE_CAN1_R1
	RCC_APB1PeriphClockCmd(RCC_APB1Periph_CAN1 , ENABLE);
	CAN_DeInit(CAN1);
#endif
#if USE_CAN2_R0 || USE_CAN2_R1
	RCC_APB1PeriphClockCmd(RCC_APB1Periph_CAN2 , ENABLE);
	CAN_DeInit(CAN2);
#endif
	


	/* CAN cell init */
	CAN_InitStructure.CAN_TTCM = DISABLE;//失能時間觸發通訊模式
	CAN_InitStructure.CAN_ABOM = DISABLE;//失能自動離線管理
	CAN_InitStructure.CAN_AWUM = DISABLE;//失能自動喚醒模式
	
	CAN_InitStructure.CAN_NART = DISABLE;//失能非自動重傳輸模式,即自動重傳
	
	
	CAN_InitStructure.CAN_RFLM = DISABLE;//失能接收FIFO鎖定模式,即FIFO溢出時新數據覆蓋
	CAN_InitStructure.CAN_TXFP = ENABLE; //使能發送FIFO優先級,報文順序由發送順序決定 DISABLE:ID決定
	CAN_InitStructure.CAN_Mode = CAN_Mode_Normal;
	CAN_InitStructure.CAN_SJW = CAN_SJW_2tq;		   //BTR-SJW 重新同步跳躍寬度 1個時間單元

	CAN_InitStructure.CAN_BS1 = CAN_BS1_3tq;		   //BTR-TS1 時間段1 占用了2個時間單元
	CAN_InitStructure.CAN_BS2 = CAN_BS2_3tq;		   //BTR-TS1 時間段2 占用了3個時間單元
	
	//總線波特率,波特率計算請參見 F4手冊“24.7.7 Bit timing”
#if CAN1_BAUDRATE == 1000 /* 1MBps */
  CAN_InitStructure.CAN_Prescaler =6;			   //BTR-BRP 波特率分頻器  定義了時間單元的時間長度 42/(1+3+3)/6=1Mbps
#elif CAN1_BAUDRATE == 500 /* 500KBps */
  CAN_InitStructure.CAN_Prescaler =12;
#elif CAN1_BAUDRATE == 250 /* 250KBps */
  CAN_InitStructure.CAN_Prescaler =24;
#elif CAN1_BAUDRATE == 125 /* 125KBps */
  CAN_InitStructure.CAN_Prescaler =48;
#endif

#if USE_CAN1_R0 || USE_CAN1_R1
	CAN_Init(CAN1, &CAN_InitStructure);
#endif
#if USE_CAN2_R0 || USE_CAN2_R1
	CAN_Init(CAN2, &CAN_InitStructure);
#endif
}

void CAN_config_init(void)
{
  CAN_InitTypeDef        CAN_InitStructure;
  CAN_FilterInitTypeDef  CAN_FilterInitStructure;
 
  CAN_DeInit(CAN1);
  CAN_StructInit(&CAN_InitStructure);
    // 36M 250k速率
  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=ENABLE;
  //CAN_InitStructure.CAN_Mode=CAN_Mode_LoopBack;
	CAN_InitStructure.CAN_Mode=CAN_Mode_Normal;
  CAN_InitStructure.CAN_SJW=CAN_SJW_1tq;
  CAN_InitStructure.CAN_BS1=CAN_BS1_2tq;
  CAN_InitStructure.CAN_BS2=CAN_BS2_3tq;
  CAN_InitStructure.CAN_Prescaler=12;
  CAN_Init(CAN1, &CAN_InitStructure);
  CAN_OperatingModeRequest( CAN1, CAN_OperatingMode_Normal);
  CAN_FilterInitStructure.CAN_FilterNumber=0;
  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=0;
  CAN_FilterInitStructure.CAN_FilterActivation=ENABLE;
  CAN_FilterInit(&CAN_FilterInitStructure); 
}

u32 platform_can_setup( unsigned id, u32 clock )
{  
  LPC_CAN_TypeDef * canx;
  uint32_t div;

  switch (id)
  {
    case 0: canx = LPC_CAN1; break;
    case 1: canx = LPC_CAN2; break;
    default: return 0;
  }

  CAN_DeInit(canx); 
  CAN_Init(canx, clock);
  CAN_ModeConfig(canx, CAN_OPERATING_MODE, ENABLE); 
  CAN_IRQCmd(canx, CANINT_RIE, ENABLE);   // Receive IRQ 
  CAN_IRQCmd(canx, CANINT_EIE, ENABLE);   // Error IRQ 
  CAN_IRQCmd(canx, CANINT_BEIE, ENABLE);  // Bus error IRQ 
  LPC_CANAF->AFMR = 2;                    // Filter bypass (receive all messages) 
  NVIC_EnableIRQ(CAN_IRQn);               // Enable IRQs

  // Fix clock
  LPC_SC->PCLKSEL0 &= ~(3<<26 | 3<<28 | 3<<30); // PCLK / 2
  LPC_SC->PCLKSEL0 |=  (2<<26 | 2<<28 | 2<<30);
  div = (SystemCoreClock / 20) / clock;
  div --;
	canx->MOD = 0x01; // Enter reset mode
	canx->BTR  = (div & 0x3FF) | (3<<14) | (5<<16) | (2<<20) ; // Set bit timing
	canx->MOD = 0;    // Return to normal operating

  // Change pin function (for now using the MBED ones)
  // And read clock divider
  if (id == 0)
  {
    // Pin function
    LPC_PINCON->PINSEL0 &= ~(3<<0 | 3<<2);
    LPC_PINCON->PINSEL0 |= (1<<0 | 1<<2);

    // No pull up / pull down
    LPC_PINCON->PINMODE0 &= ~(3<<0 | 3<<2);
    LPC_PINCON->PINMODE0 |= (2<<0 | 2<<2);

    // NOT open drain
    LPC_PINCON->PINMODE_OD0 &= ~(1<<0 | 1<<1);
  }
  else
  {
    LPC_PINCON->PINSEL0 &= ~(3<<8 | 3<<10);
    LPC_PINCON->PINSEL0 |= (2<<8 | 2<<10);

    // No pull up / pull down
    LPC_PINCON->PINMODE0 &= ~(3<<8 | 3<<10);
    LPC_PINCON->PINMODE0 |= (2<<8 | 2<<10);

    // NOT open drain
    LPC_PINCON->PINMODE_OD0 &= ~(1<<4 | 1<<5);
  }

  return (SystemCoreClock / 20) / ((div & 0x3FF)+1);
}

static void CAN_device_init_1(int baud)
{
    CAN_DeInit(CAN1);

    /* CAN GPIOs configuration ************************************************* */
    /* Enable GPIO clock */
    RCC_AHBPeriphClockCmd(RCC_AHBPeriph_GPIOB, ENABLE);

    /* Connect CAN pins to Alternate Function */
    GPIO_PinAFConfig(GPIOB, GPIO_PinSource8, GPIO_AF_9);
    GPIO_PinAFConfig(GPIOB, GPIO_PinSource9, GPIO_AF_9);
    initGPIO(GPIOB, GPIO_Pin_8 | GPIO_Pin_9);

    /* CAN configuration ******************************************************* */
    /* Enable CAN clock */
    RCC_APB1PeriphClockCmd(RCC_APB1Periph_CAN1, ENABLE);

    initCAN(CAN1, baud);

    //set default filter
    CAN_device_set_filter(0, 0, 0, 0, 0);

    /* Enable FIFO 0 message pending Interrupt */
    CAN_ITConfig(CAN1, CAN_IT_FMP0, ENABLE);

    initCANInterrupts(CAN1, USB_LP_CAN1_RX0_IRQn);
}

/**
 * Initialize the CAN driver and return an opaque id
 * @param[out]   id the CAN interface handle
 * @param[in]    cfg the configuration structure
 * @return 0 if successful, negative otherwise
 */
int32_t PIOS_CAN_Init(uintptr_t *can_id, const struct pios_can_cfg *cfg)
{
	PIOS_DEBUG_Assert(can_id);
	PIOS_DEBUG_Assert(cfg);

	can_dev = (struct pios_can_dev *) PIOS_CAN_alloc();
	if (!can_dev) goto out_fail;

	/* Bind the configuration to the device instance */
	can_dev->cfg = cfg;

	/* Configure the CAN device */
	RCC_APB1PeriphClockCmd(RCC_APB1Periph_CAN1, ENABLE);

	/* Map pins to CAN function */
	if (can_dev->cfg->remap) {
		if (can_dev->cfg->rx.gpio != 0)
			GPIO_PinAFConfig(can_dev->cfg->rx.gpio,
				can_dev->cfg->rx.pin_source,
				can_dev->cfg->remap);
		if (can_dev->cfg->tx.gpio != 0)
			GPIO_PinAFConfig(can_dev->cfg->tx.gpio,
				can_dev->cfg->tx.pin_source,
				can_dev->cfg->remap);
	}

	/* Initialize the CAN Rx and Tx pins */
	if (can_dev->cfg->rx.gpio != 0)
		GPIO_Init(can_dev->cfg->rx.gpio, (GPIO_InitTypeDef *)&can_dev->cfg->rx.init);
	if (can_dev->cfg->tx.gpio != 0)
		GPIO_Init(can_dev->cfg->tx.gpio, (GPIO_InitTypeDef *)&can_dev->cfg->tx.init);

	*can_id = (uintptr_t)can_dev;

	CAN_DeInit(can_dev->cfg->regs);
	CAN_Init(can_dev->cfg->regs, (CAN_InitTypeDef *)&can_dev->cfg->init);

	/* CAN filter init */
	CAN_FilterInitTypeDef CAN_FilterInitStructure;
	CAN_FilterInitStructure.CAN_FilterNumber = 0;
	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 = 1;

	CAN_FilterInitStructure.CAN_FilterActivation = ENABLE;
	CAN_FilterInit(&CAN_FilterInitStructure);

	// Enable the receiver IRQ
 	NVIC_Init((NVIC_InitTypeDef*) &can_dev->cfg->rx_irq.init);
 	NVIC_Init((NVIC_InitTypeDef*) &can_dev->cfg->tx_irq.init);

	return(0);

out_fail:
	return(-1);
}

void TSVN_CAN_Init(void)
{
	GPIO_InitTypeDef  GPIO_InitStructure;
	CAN_InitTypeDef CAN_InitStructure;
	CAN_FilterInitTypeDef CAN_FilterInitStructure;
	NVIC_InitTypeDef  NVIC_InitStructure;
	
	RCC_APB2PeriphClockCmd(RCC_APB2Periph_AFIO, ENABLE);
	RCC_APB2PeriphClockCmd(RCC_APB2Periph_GPIOD, ENABLE);
	RCC_APB1PeriphClockCmd(RCC_APB1Periph_CAN1, ENABLE);
	
	GPIO_InitStructure.GPIO_Pin = GPIO_Pin_0;
  GPIO_InitStructure.GPIO_Mode = GPIO_Mode_IPU;
  GPIO_Init(GPIOD, &GPIO_InitStructure);
	GPIO_InitStructure.GPIO_Pin = GPIO_Pin_1;
  GPIO_InitStructure.GPIO_Mode = GPIO_Mode_AF_PP;
  GPIO_InitStructure.GPIO_Speed = GPIO_Speed_50MHz;
  GPIO_Init(GPIOD, &GPIO_InitStructure);  
  GPIO_PinRemapConfig(GPIO_Remap2_CAN1 , ENABLE);
  GPIO_PinRemapConfig(GPIO_Remap_PD01 , ENABLE);
	
	CAN_DeInit(CAN1);
	
	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_3tq;  //3
  CAN_InitStructure.CAN_BS2 = CAN_BS2_5tq;	//5
  CAN_InitStructure.CAN_Prescaler = 4;
	
	CAN_FilterInitStructure.CAN_FilterNumber = 0;
	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 = 0;
  CAN_FilterInitStructure.CAN_FilterActivation = ENABLE;
  CAN_FilterInit(&CAN_FilterInitStructure);
	CAN_ITConfig(CAN1,CAN_IT_FMP0, ENABLE);  
	CAN_Init(CAN1, &CAN_InitStructure);
	
	NVIC_PriorityGroupConfig(NVIC_PriorityGroup_4);
	NVIC_InitStructure.NVIC_IRQChannel = CAN1_RX0_IRQn;
	NVIC_InitStructure.NVIC_IRQChannelPreemptionPriority = 0x0;
  NVIC_InitStructure.NVIC_IRQChannelSubPriority = 0x02;
  NVIC_InitStructure.NVIC_IRQChannelCmd = ENABLE;
  NVIC_Init(&NVIC_InitStructure);
	
}

void InitCAN(void)
{
	// Setup CAN Pins
	RCC_AHB1PeriphClockCmd(RCC_AHB1Periph_GPIOA, ENABLE);
	
	GPIO_InitTypeDef  GPIO_InitStructure;
	GPIO_InitStructure.GPIO_Pin = CAN_RX_PIN | CAN_TX_PIN;
	GPIO_InitStructure.GPIO_Mode = GPIO_Mode_AF;
	GPIO_InitStructure.GPIO_Speed = GPIO_Speed_100MHz;
	GPIO_InitStructure.GPIO_OType = GPIO_OType_PP;
	GPIO_InitStructure.GPIO_PuPd  = GPIO_PuPd_UP;
	GPIO_Init(GPIOA, &GPIO_InitStructure);
	
	// Alternate functions
	GPIO_PinAFConfig(GPIOA, GPIO_PinSource11, GPIO_AF_CAN1);
	GPIO_PinAFConfig(GPIOA, GPIO_PinSource12, GPIO_AF_CAN1);
	
	
	// Setup CAN-modules
	RCC_APB1PeriphClockCmd(RCC_APB1Periph_CAN1, ENABLE);

	/* CAN register init */
	CAN_DeInit(CAN1);

	/* CAN cell init */
	CAN_InitTypeDef CAN_InitStructure;
	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_3tq;

	/* CAN Baudrate = 500 KBps (CAN clocked at 42 MHz) */
	CAN_InitStructure.CAN_BS1 = CAN_BS1_4tq;
	CAN_InitStructure.CAN_BS2 = CAN_BS2_2tq;
	CAN_InitStructure.CAN_Prescaler = (42000000 / 7) / 500000;
	CAN_Init(CAN1, &CAN_InitStructure);

	/* CAN filter init */
	CAN_FilterInitTypeDef CAN_FilterInitStructure;
	CAN_FilterInitStructure.CAN_FilterNumber = 0;
	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 = 0;
	CAN_FilterInitStructure.CAN_FilterActivation = ENABLE;
	CAN_FilterInit(&CAN_FilterInitStructure);

	/* Enable FIFO 0 message pending Interrupt */
	CAN_ITConfig(CAN1, CAN_IT_FMP0, ENABLE);
}

void CAN_Configuration(void)
{
  
  /* CAN1 Periph clock enable */
  
  CAN_InitTypeDef        CAN_InitStructure;
  CAN_FilterInitTypeDef  CAN_FilterInitStructure;
  /* CAN register init */
  CAN_DeInit(CAN1);
  CAN_DeInit(CAN2);
  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_3tq;
  CAN_InitStructure.CAN_BS2 = CAN_BS2_5tq;
  CAN_InitStructure.CAN_Prescaler = 16;//2 4=1m 8=500k
  CAN_Init(CAN1, &CAN_InitStructure);
  CAN_Init(CAN2, &CAN_InitStructure);
 /* CAN filter init */
 
  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=0;
  CAN_FilterInitStructure.CAN_FilterActivation=ENABLE;
  CAN_FilterInitStructure.CAN_FilterNumber=0;
  CAN_FilterInit(&CAN_FilterInitStructure);
  CAN_FilterInitStructure.CAN_FilterNumber=14;
  CAN_FilterInit(&CAN_FilterInitStructure);
 
  
}

 /**
  * @file   CAN_Configuration
  * @brief  Configures the CAN
  * @param  無
  * @retval 無
  */
void CAN_Configuration(void)
{
  CAN_InitTypeDef        CAN_InitStructure;
  CAN_FilterInitTypeDef  CAN_FilterInitStructure;

  GPIO_Configuration();
  /* CAN register init */
  CAN_DeInit(CAN1);
  CAN_StructInit(&CAN_InitStructure);

  /* CAN cell init */
  CAN_InitStructure.CAN_TTCM = DISABLE; /* 時間觸發禁止, 時間觸發：CAN硬件的內部定時器被激活，並且被用於產生時間戳 */
  CAN_InitStructure.CAN_ABOM = DISABLE; /* 自動離線禁止，自動離線：一旦硬件監控到128次11個隱性位，就自動退出離線狀態。在這裏要軟件設定後才能退出 */
  CAN_InitStructure.CAN_AWUM = DISABLE; /* 自動喚醒禁止，有報文來的時候自動退出休眠	*/
  CAN_InitStructure.CAN_NART = DISABLE; /* 報文重傳, 如果錯誤一直傳到成功止，否則隻傳一次 */
  CAN_InitStructure.CAN_RFLM = DISABLE; /* 接收FIFO鎖定, 1--鎖定後接收到新的報文摘不要，0--接收到新的報文則覆蓋前一報文	*/
  CAN_InitStructure.CAN_TXFP = ENABLE;  /* 發送優先級  0---由標識符決定  1---由發送請求順序決定	*/
  CAN_InitStructure.CAN_Mode = CAN_Mode_Normal; /* 模式	*/
  CAN_InitStructure.CAN_SJW = CAN_SJW_1tq;      /* 重新同步跳寬，隻有can硬件處於初始化模式時才能訪問這個寄存器 */
  CAN_InitStructure.CAN_BS1 = CAN_BS1_4tq;      /* 時間段1 */
  CAN_InitStructure.CAN_BS2 = CAN_BS2_3tq;      /* 時間段2 */
  CAN_InitStructure.CAN_Prescaler = 45;         /* 波特率預分頻數 */  
 
  /* 波特率計算方法 */
  /* CANbps= Fpclk/((BRP+1)*((Tseg1+1)+(Tseg2+1)+1)  此處計算為  CANbps=36000000/(45*(4+3+1))=100kHz */   														  //此處Tseg1+1 = CAN_BS1_8tp
  /* 配置大方向: Tseg1>=Tseg2  Tseg2>=tq; Tseg2>=2TSJW */
    
  if (CAN_Init(CAN1,&CAN_InitStructure) == CANINITFAILED) 		
  {
    /* 初始化時先設置CAN_MCR的初始化位 */  														
    /* 然後查看硬件是否真的設置了CAN_MSR的初始化位來確認是否進入了初始化模式  */		 													                  
  }	
  /* 配置CAN過濾器 */
  /* 32位對應的id */
  /* stdid[10:0]，extid[17:0],ide,rtr	*/
  /* 16位對應的id */
  /* stdid[10:0],ide,rtr,extid[17:15] */
  /* 一般使用屏蔽模式	*/
  /* 要注意的是fifo接收存滿了中斷，還有就是fifo的概念，即取的一直是最早那一個數據， 要釋放才能取下一個數據 */
  /* 常使用的中斷有 */
  /* 1,有信息中斷，即fifo掛號中斷 */
  /* 2,fifo滿中斷	*/
  /* 3,fifo滿之後又有信息來則中斷，即fifo溢出中斷	*/
  CAN_FilterInitStructure.CAN_FilterNumber=0;     /* 過濾器0 */
  CAN_FilterInitStructure.CAN_FilterMode=CAN_FilterMode_IdMask;  /* 屏敝模式 */
  CAN_FilterInitStructure.CAN_FilterScale=CAN_FilterScale_32bit; /* 32位 */
  CAN_FilterInitStructure.CAN_FilterIdHigh=0x0000;  /* 以下四個都為0, 表明不過濾任何id */
  CAN_FilterInitStructure.CAN_FilterIdLow=0x0000;
  CAN_FilterInitStructure.CAN_FilterMaskIdHigh=0x0000;
  CAN_FilterInitStructure.CAN_FilterMaskIdLow=0x0000;
  CAN_FilterInitStructure.CAN_FilterFIFOAssignment=0;  /* 能夠通過該過濾器的報文存到fifo0中 */
  CAN_FilterInitStructure.CAN_FilterActivation=ENABLE;
  CAN_ITConfig(CAN1,CAN_IT_FMP0, ENABLE);   /* 掛號中斷, 進入中斷後讀fifo的報文函數釋放報文清中斷標誌 */
  CAN_FilterInit(&CAN_FilterInitStructure);
}

void CAN_Open() 
{
  CAN_InitTypeDef        CAN_InitStructure;
  CAN_FilterInitTypeDef  CAN_FilterInitStructure;
  GPIO_InitTypeDef GPIO_InitStructure;
  
  RCC_APB1PeriphClockCmd(RCC_APB1Periph_CAN, ENABLE);

  // Configure CAN pin: RX
  GPIO_InitStructure.GPIO_Speed = GPIO_Speed_50MHz;
  GPIO_InitStructure.GPIO_Pin = GPIO_Pin_11;
  GPIO_InitStructure.GPIO_Mode = GPIO_Mode_IPU;
  GPIO_Init(GPIOA, &GPIO_InitStructure);

  // Configure CAN pin: TX
  GPIO_InitStructure.GPIO_Pin = GPIO_Pin_12;
  GPIO_InitStructure.GPIO_Mode = GPIO_Mode_AF_PP;
  GPIO_Init(GPIOA, &GPIO_InitStructure);

  /* 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_NART=ENABLE; //no automatic retransmission
  CAN_InitStructure.CAN_RFLM=DISABLE;
  CAN_InitStructure.CAN_TXFP=DISABLE;

  CAN_InitStructure.CAN_Mode=CAN_Mode_Normal;
  
  //CAN block is clocked with Low Speed APB1 clock (PCLK1) = 36MHz
  CAN_InitStructure.CAN_SJW=CAN_SJW_1tq;
  CAN_InitStructure.CAN_BS1=CAN_BS1_9tq; //CAN_BS1_8tq @ 24mhz
  CAN_InitStructure.CAN_BS2=CAN_BS2_8tq; //CAN_BS2_7tq @24mhz
  CAN_InitStructure.CAN_Prescaler=4; //=3  [email protected]
  
  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_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=0;
  CAN_FilterInitStructure.CAN_FilterActivation=ENABLE;
  CAN_FilterInit(&CAN_FilterInitStructure);
}

/**
 * \brief Call this method to make the CANTestcase driver configure pins,
 * set up the CAN peripheral et cetera.
 */
void CANTestcase::setUp()
{
	// Enable CAN1 peripheral clock.
	RCC_APB1PeriphClockCmd(RCC_APB1Periph_CAN1,ENABLE);
	// Enable GPIO clock of CAN_Tx and CAN_Rx pins.
	RCC_APB2PeriphClockCmd(RCC_APB2Periph_GPIOA,ENABLE);

	/* Configure CAN pin: RX */
	GPIO_InitTypeDef GPIO_InitStructure;
	GPIO_InitStructure.GPIO_Pin = GPIO_Pin_11;
	GPIO_InitStructure.GPIO_Mode = GPIO_Mode_IPU;
	GPIO_Init(GPIOA, &GPIO_InitStructure);

	/* Configure CAN pin: TX */
	GPIO_InitStructure.GPIO_Pin = GPIO_Pin_12;
	//GPIO_InitStructure.GPIO_Mode = GPIO_Mode_Out_PP;
	GPIO_InitStructure.GPIO_Mode = GPIO_Mode_AF_PP;
	GPIO_InitStructure.GPIO_Speed = GPIO_Speed_50MHz;
	GPIO_Init(GPIOA, &GPIO_InitStructure);

	// Configure CAN peripheral:
	CAN_InitTypeDef        CAN_InitStructure;
	/* CAN register init */
	CAN_DeInit(CAN1);
	CAN_StructInit(&CAN_InitStructure);

	CAN_InitStructure.CAN_TTCM = DISABLE;
	CAN_InitStructure.CAN_ABOM = DISABLE;
	CAN_InitStructure.CAN_AWUM = DISABLE;
	CAN_InitStructure.CAN_NART = ENABLE;
	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_3tq;
	CAN_InitStructure.CAN_BS2 = CAN_BS2_5tq;
	CAN_InitStructure.CAN_Prescaler = 20;
	CAN_Init(CAN1, &CAN_InitStructure);

	/* CAN filter init */
	CAN_FilterInitTypeDef  CAN_FilterInitStructure;
	CAN_FilterInitStructure.CAN_FilterNumber=0;
	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=0;
	CAN_FilterInitStructure.CAN_FilterActivation=ENABLE;
	CAN_FilterInit(&CAN_FilterInitStructure);

}//eof

void CAN2_Configuration(void)
{
    CAN_InitTypeDef        can;
    CAN_FilterInitTypeDef  can_filter;
    GPIO_InitTypeDef       gpio;
    NVIC_InitTypeDef       nvic;

    RCC_AHB1PeriphClockCmd(RCC_AHB1Periph_GPIOB, ENABLE);
    RCC_APB1PeriphClockCmd(RCC_APB1Periph_CAN1, ENABLE);
    RCC_APB1PeriphClockCmd(RCC_APB1Periph_CAN2, ENABLE);

    GPIO_PinAFConfig(GPIOB, GPIO_PinSource12, GPIO_AF_CAN2);
    GPIO_PinAFConfig(GPIOB, GPIO_PinSource13, GPIO_AF_CAN2); 

    gpio.GPIO_Pin = GPIO_Pin_12 | GPIO_Pin_13 ;
    gpio.GPIO_Mode = GPIO_Mode_AF;
    GPIO_Init(GPIOB, &gpio);

    nvic.NVIC_IRQChannel = CAN2_RX0_IRQn;
    nvic.NVIC_IRQChannelPreemptionPriority = 1;
    nvic.NVIC_IRQChannelSubPriority = 0;
    nvic.NVIC_IRQChannelCmd = ENABLE;
    NVIC_Init(&nvic);

    CAN_DeInit(CAN2);
    CAN_StructInit(&can);

    can.CAN_TTCM = DISABLE;
    can.CAN_ABOM = DISABLE;    
    can.CAN_AWUM = DISABLE;    
    can.CAN_NART = DISABLE;    
    can.CAN_RFLM = DISABLE;    
    can.CAN_TXFP = ENABLE;     
    can.CAN_Mode = CAN_Mode_Normal; 
    can.CAN_SJW  = CAN_SJW_1tq;
    can.CAN_BS1 = CAN_BS1_9tq;
    can.CAN_BS2 = CAN_BS2_4tq;
    can.CAN_Prescaler = 3;   //CAN BaudRate 42/(1+9+4)/3=1Mbps
    CAN_Init(CAN2, &can);
    
    can_filter.CAN_FilterNumber=14;
    can_filter.CAN_FilterMode=CAN_FilterMode_IdMask;
    can_filter.CAN_FilterScale=CAN_FilterScale_32bit;
    can_filter.CAN_FilterIdHigh=0x0000;
    can_filter.CAN_FilterIdLow=0x0000;
    can_filter.CAN_FilterMaskIdHigh=0x0000;
    can_filter.CAN_FilterMaskIdLow=0x0000;
    can_filter.CAN_FilterFIFOAssignment=0;//the message which pass the filter save in fifo0
    can_filter.CAN_FilterActivation=ENABLE;
    CAN_FilterInit(&can_filter);
    
    CAN_ITConfig(CAN2,CAN_IT_FMP0,ENABLE);
}

void CANController_Init(void) {
	CAN_FilterInitTypeDef CAN_FilterInitStructure;
	GPIO_InitTypeDef GPIO_InitStructure;
	NVIC_InitTypeDef NVIC_InitStructure;

	RCC_APB1PeriphClockCmd(RCC_APB1Periph_CAN1, ENABLE);

	// Configure CAN pin: RX
	GPIO_InitStructure.GPIO_Pin = GPIO_Pin_11;
	GPIO_InitStructure.GPIO_Mode = GPIO_Mode_IPU;
	GPIO_Init(GPIOA, &GPIO_InitStructure);

	// Configure CAN pin: TX
	GPIO_InitStructure.GPIO_Pin = GPIO_Pin_12;
	GPIO_InitStructure.GPIO_Mode = GPIO_Mode_AF_PP;
	GPIO_Init(GPIOA, &GPIO_InitStructure);

	// Reset CAN1
	CAN_DeInit(CAN1);

	// CAN filter init - all messages to FIFO0
	CAN_FilterInitStructure.CAN_FilterNumber=0;
	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=0;
	CAN_FilterInitStructure.CAN_FilterActivation=ENABLE;
	CAN_FilterInit(&CAN_FilterInitStructure);


	NVIC_InitStructure.NVIC_IRQChannelPreemptionPriority = 14;
	NVIC_InitStructure.NVIC_IRQChannelSubPriority = 0;
	NVIC_InitStructure.NVIC_IRQChannelCmd = ENABLE;

	NVIC_InitStructure.NVIC_IRQChannel = USB_HP_CAN1_TX_IRQn;
	NVIC_Init(&NVIC_InitStructure);

	NVIC_InitStructure.NVIC_IRQChannel = USB_LP_CAN1_RX0_IRQn;
	NVIC_Init(&NVIC_InitStructure);

	NVIC_InitStructure.NVIC_IRQChannel = CAN1_SCE_IRQn;
	NVIC_Init(&NVIC_InitStructure);

	// enable intertrupts, TODO: less magic values !
	CAN1->IER = 0x00008F13; // enable all interrupts (except FIFOx full/overrun, sleep/wakeup)

}

void EOBD_CAN_Configure(int baudrate)
{
	CAN_InitTypeDef	CAN_InitStructure;

	CAN_DeInit(CAN1);
	CAN_StructInit(&CAN_InitStructure);

	CAN_InitStructure.CAN_SJW		= CAN_SJW_1tq;
	CAN_InitStructure.CAN_BS1		= CAN_BS1_7tq;
	CAN_InitStructure.CAN_BS2		= CAN_BS2_6tq;
	CAN_InitStructure.CAN_Prescaler = scale250KB;    // 1/((1/112M)*(bs1+bs2+1))*scale

	CAN_Init(CAN1,&CAN_InitStructure);
}