掌握CAN总线嵌入式开发：入门到实战全攻略

引言

CAN总线（Controller Area Network）是一种广泛应用于汽车、工业控制等领域的通信协议。随着物联网和工业4.0的快速发展，掌握CAN总线嵌入式开发技术变得越来越重要。本文将从入门到实战，全面解析CAN总线嵌入式开发。

第一章：CAN总线基础知识

1.1 CAN总线概述

CAN总线是一种多主从通信网络，具有高可靠性、实时性和灵活性等特点。它允许多个设备在同一网络中通信，而不需要中央控制器。

1.2 CAN总线协议

CAN总线协议分为物理层、数据链路层和网络层。物理层负责传输信号，数据链路层负责错误检测和恢复，网络层负责路由和消息传输。

1.3 CAN总线硬件

CAN总线硬件主要包括CAN控制器、CAN收发器和CAN总线线缆。本文将重点介绍CAN控制器和CAN收发器。

第二章：CAN总线嵌入式开发环境搭建

2.1 开发工具选择

选择合适的开发工具对于CAN总线嵌入式开发至关重要。本文推荐使用Keil、IAR等集成开发环境（IDE）。

2.2 CAN控制器选择

目前市场上常见的CAN控制器有Philips SJA1000、Microchip MCP2515等。本文以Philips SJA1000为例进行讲解。

2.3 开发板选择

选择一款功能齐全、易于上手的开发板对于入门者来说非常重要。本文推荐使用STMicroelectronics STM32系列开发板。

第三章：CAN总线嵌入式编程

3.1 C语言编程基础

掌握C语言是进行CAN总线嵌入式编程的基础。本文将简要介绍C语言编程基础。

3.2 CAN控制器编程

以Philips SJA1000为例，介绍如何进行CAN控制器编程。

”`c #include “can.h”

void CAN_Init(void) {

// 初始化CAN控制器
CAN_InitTypeDef Can_InitStructure;
Can_InitStructure.Mode = CAN_Mode_Normal;
Can_InitStructure.Timing0 = 0x00010000;
Can_InitStructure.Timing1 = 0x00010000;
Can_InitStructure.PhaseSeg1 = 0x00000000;
Can_InitStructure.PhaseSeg2 = 0x00000000;
Can_InitStructure.SynchJumpWidth = 0x00000000;
Can_InitStructure.ResyncJumpWidth = 0x00000000;
Can_InitStructure.JumpWidth = 0x00000000;
Can_InitStructure.TimeSeg1 = 0x00000000;
Can_InitStructure.TimeSeg2 = 0x00000000;
Can_InitStructure.TimeSeg3 = 0x00000000;
Can_InitStructure.TimeSeg4 = 0x00000000;
Can_InitStructure.TimeSeg5 = 0x00000000;
Can_InitStructure.TimeSeg6 = 0x00000000;
Can_InitStructure.TimeSeg7 = 0x00000000;
Can_InitStructure.TimeSeg8 = 0x00000000;
Can_InitStructure.TimeSeg9 = 0x00000000;
Can_InitStructure.TimeSeg10 = 0x00000000;
Can_InitStructure.TimeSeg11 = 0x00000000;
Can_InitStructure.TimeSeg12 = 0x00000000;
Can_InitStructure.TimeSeg13 = 0x00000000;
Can_InitStructure.TimeSeg14 = 0x00000000;
Can_InitStructure.TimeSeg15 = 0x00000000;
Can_InitStructure.TimeSeg16 = 0x00000000;
Can_InitStructure.TimeSeg17 = 0x00000000;
Can_InitStructure.TimeSeg18 = 0x00000000;
Can_InitStructure.TimeSeg19 = 0x00000000;
Can_InitStructure.TimeSeg20 = 0x00000000;
Can_InitStructure.TimeSeg21 = 0x00000000;
Can_InitStructure.TimeSeg22 = 0x00000000;
Can_InitStructure.TimeSeg23 = 0x00000000;
Can_InitStructure.TimeSeg24 = 0x00000000;
Can_InitStructure.TimeSeg25 = 0x00000000;
Can_InitStructure.TimeSeg26 = 0x00000000;
Can_InitStructure.TimeSeg27 = 0x00000000;
Can_InitStructure.TimeSeg28 = 0x00000000;
Can_InitStructure.TimeSeg29 = 0x00000000;
Can_InitStructure.TimeSeg30 = 0x00000000;
Can_InitStructure.TimeSeg31 = 0x00000000;
Can_InitStructure.TimeSeg32 = 0x00000000;
Can_InitStructure.TimeSeg33 = 0x00000000;
Can_InitStructure.TimeSeg34 = 0x00000000;
Can_InitStructure.TimeSeg35 = 0x00000000;
Can_InitStructure.TimeSeg36 = 0x00000000;
Can_InitStructure.TimeSeg37 = 0x00000000;
Can_InitStructure.TimeSeg38 = 0x00000000;
Can_InitStructure.TimeSeg39 = 0x00000000;
Can_InitStructure.TimeSeg40 = 0x00000000;
Can_InitStructure.TimeSeg41 = 0x00000000;
Can_InitStructure.TimeSeg42 = 0x00000000;
Can_InitStructure.TimeSeg43 = 0x00000000;
Can_InitStructure.TimeSeg44 = 0x00000000;
Can_InitStructure.TimeSeg45 = 0x00000000;
Can_InitStructure.TimeSeg46 = 0x00000000;
Can_InitStructure.TimeSeg47 = 0x00000000;
Can_InitStructure.TimeSeg48 = 0x00000000;
Can_InitStructure.TimeSeg49 = 0x00000000;
Can_InitStructure.TimeSeg50 = 0x00000000;
Can_InitStructure.TimeSeg51 = 0x00000000;
Can_InitStructure.TimeSeg52 = 0x00000000;
Can_InitStructure.TimeSeg53 = 0x00000000;
Can_InitStructure.TimeSeg54 = 0x00000000;
Can_InitStructure.TimeSeg55 = 0x00000000;
Can_InitStructure.TimeSeg56 = 0x00000000;
Can_InitStructure.TimeSeg57 = 0x00000000;
Can_InitStructure.TimeSeg58 = 0x00000000;
Can_InitStructure.TimeSeg59 = 0x00000000;
Can_InitStructure.TimeSeg60 = 0x00000000;
Can_InitStructure.TimeSeg61 = 0x00000000;
Can_InitStructure.TimeSeg62 = 0x00000000;
Can_InitStructure.TimeSeg63 = 0x00000000;
Can_InitStructure.TimeSeg64 = 0x00000000;
Can_InitStructure.TimeSeg65 = 0x00000000;
Can_InitStructure.TimeSeg66 = 0x00000000;
Can_InitStructure.TimeSeg67 = 0x00000000;
Can_InitStructure.TimeSeg68 = 0x00000000;
Can_InitStructure.TimeSeg69 = 0x00000000;
Can_InitStructure.TimeSeg70 = 0x00000000;
Can_InitStructure.TimeSeg71 = 0x00000000;
Can_InitStructure.TimeSeg72 = 0x00000000;
Can_InitStructure.TimeSeg73 = 0x00000000;
Can_InitStructure.TimeSeg74 = 0x00000000;
Can_InitStructure.TimeSeg75 = 0x00000000;
Can_InitStructure.TimeSeg76 = 0x00000000;
Can_InitStructure.TimeSeg77 = 0x00000000;
Can_InitStructure.TimeSeg78 = 0x00000000;
Can_InitStructure.TimeSeg79 = 0x00000000;
Can_InitStructure.TimeSeg80 = 0x00000000;
Can_InitStructure.TimeSeg81 = 0x00000000;
Can_InitStructure.TimeSeg82 = 0x00000000;
Can_InitStructure.TimeSeg83 = 0x00000000;
Can_InitStructure.TimeSeg84 = 0x00000000;
Can_InitStructure.TimeSeg85 = 0x00000000;
Can_InitStructure.TimeSeg86 = 0x00000000;
Can_InitStructure.TimeSeg87 = 0x00000000;
Can_InitStructure.TimeSeg88 = 0x00000000;
Can_InitStructure.TimeSeg89 = 0x00000000;
Can_InitStructure.TimeSeg90 = 0x00000000;
Can_InitStructure.TimeSeg91 = 0x00000000;
Can_InitStructure.TimeSeg92 = 0x00000000;
Can_InitStructure.TimeSeg93 = 0x00000000;
Can_InitStructure.TimeSeg94 = 0x00000000;
Can_InitStructure.TimeSeg95 = 0x00000000;
Can_InitStructure.TimeSeg96 = 0x00000000;
Can_InitStructure.TimeSeg97 = 0x00000000;
Can_InitStructure.TimeSeg98 = 0x00000000;
Can_InitStructure.TimeSeg99 = 0x00000000;
Can_InitStructure.TimeSeg100 = 0x00000000;
Can_InitStructure.TimeSeg101 = 0x00000000;
Can_InitStructure.TimeSeg102 = 0x00000000;
Can_InitStructure.TimeSeg103 = 0x00000000;
Can_InitStructure.TimeSeg104 = 0x00000000;
Can_InitStructure.TimeSeg105 = 0x00000000;
Can_InitStructure.TimeSeg106 = 0x00000000;
Can_InitStructure.TimeSeg107 = 0x00000000;
Can_InitStructure.TimeSeg108 = 0x00000000;
Can_InitStructure.TimeSeg109 = 0x00000000;
Can_InitStructure.TimeSeg110 = 0x00000000;
Can_InitStructure.TimeSeg111 = 0x00000000;
Can_InitStructure.TimeSeg112 = 0x00000000;
Can_InitStructure.TimeSeg113 = 0x00000000;
Can_InitStructure.TimeSeg114 = 0x00000000;
Can_InitStructure.TimeSeg115 = 0x00000000;
Can_InitStructure.TimeSeg116 = 0x00000000;
Can_InitStructure.TimeSeg117 = 0x00000000;
Can_InitStructure.TimeSeg118 = 0x00000000;
Can_InitStructure.TimeSeg119 = 0x00000000;
Can_InitStructure.TimeSeg120 = 0x00000000;
Can_InitStructure.TimeSeg121 = 0x00000000;
Can_InitStructure.TimeSeg122 = 0x00000000;
Can_InitStructure.TimeSeg123 = 0x00000000;
Can_InitStructure.TimeSeg124 = 0x00000000;
Can_InitStructure.TimeSeg125 = 0x00000000;
Can_InitStructure.TimeSeg126 = 0x00000000;
Can_InitStructure.TimeSeg127 = 0x00000000;
Can_InitStructure.TimeSeg128 = 0x00000000;
Can_InitStructure.TimeSeg129 = 0x00000000;
Can_InitStructure.TimeSeg130 = 0x00000000;
Can_InitStructure.TimeSeg131 = 0x00000000;
Can_InitStructure.TimeSeg132 = 0x00000000;
Can_InitStructure.TimeSeg133 = 0x00000000;
Can_InitStructure.TimeSeg134 = 0x00000000;
Can_InitStructure.TimeSeg135 = 0x00000000;
Can_InitStructure.TimeSeg136 = 0x00000000;
Can_InitStructure.TimeSeg137 = 0x00000000;
Can_InitStructure.TimeSeg138 = 0x00000000;
Can_InitStructure.TimeSeg139 = 0x00000000;
Can_InitStructure.TimeSeg140 = 0x00000000;
Can_InitStructure.TimeSeg141 = 0x00000000;
Can_InitStructure.TimeSeg142 = 0x00000000;
Can_InitStructure.TimeSeg143 = 0x00000000;
Can_InitStructure.TimeSeg144 = 0x00000000;
Can_InitStructure.TimeSeg145 = 0x00000000;
Can_InitStructure.TimeSeg146 = 0x00000000;
Can_InitStructure.TimeSeg147 = 0x00000000;
Can_InitStructure.TimeSeg148 = 0x00000000;
Can_InitStructure.TimeSeg149 = 0x00000000;
Can_InitStructure.TimeSeg150 = 0x00000000;
Can_InitStructure.TimeSeg151 = 0x00000000;
Can_InitStructure.TimeSeg152 = 0x00000000;
Can_InitStructure.TimeSeg153 = 0x00000000;
Can_InitStructure.TimeSeg154 = 0x00000000;
Can_InitStructure.TimeSeg155 = 0x00000000;
Can_InitStructure.TimeSeg156 = 0x00000000;
Can_InitStructure.TimeSeg157 = 0x00000000;
Can_InitStructure.TimeSeg158 = 0x00000000;
Can_InitStructure.TimeSeg159 = 0x00000000;
Can_InitStructure.TimeSeg160 = 0x00000000;
Can_InitStructure.TimeSeg161 = 0x00000000;
Can_InitStructure.TimeSeg162 = 0x00000000;
Can_InitStructure.TimeSeg163 = 0x00000000;
Can_InitStructure.TimeSeg164 = 0x00000000;
Can_InitStructure.TimeSeg165 = 0x00000000;
Can_InitStructure.TimeSeg166 = 0x00000000;
Can_InitStructure.TimeSeg167 = 0x00000000;
Can_InitStructure.TimeSeg168 = 0x00000000;
Can_InitStructure.TimeSeg169 = 0x00000000;
Can_InitStructure.TimeSeg170 = 0x00000000;
Can_InitStructure.TimeSeg171 = 0x00000000;
Can_InitStructure.TimeSeg172 = 0x00000000;
Can_InitStructure.TimeSeg173 = 0x00000000;
Can_InitStructure.TimeSeg174 = 0x00000000;
Can_InitStructure.TimeSeg175 = 0x00000000;
Can_InitStructure.TimeSeg176 = 0x00000000;
Can_InitStructure.TimeSeg177 = 0x00000000;
Can_InitStructure.TimeSeg178 = 0x00000000;
Can_InitStructure.TimeSeg179 = 0x00000000;
Can_InitStructure.TimeSeg180 = 0x00000000;
Can_InitStructure.TimeSeg181 = 0x00000000;
Can_InitStructure.TimeSeg182 = 0x00000000;
Can_InitStructure.TimeSeg183 = 0x00000000;
Can_InitStructure.TimeSeg184 = 0x00000000;
Can_InitStructure.TimeSeg185 = 0x00000000;
Can_InitStructure.TimeSeg186 = 0x00000000;
Can_InitStructure.TimeSeg187 = 0x00000000;
Can_InitStructure.TimeSeg188 = 0x00000000;
Can_InitStructure.TimeSeg189 = 0x00000000;
Can_InitStructure.TimeSeg190 = 0x00000000;
Can_InitStructure.TimeSeg191 = 0x00000000;
Can_InitStructure.TimeSeg192 = 0x00000000;
Can_InitStructure.TimeSeg193 = 0x00000000;
Can_InitStructure.TimeSeg194 = 0x00000000;
Can_InitStructure.TimeSeg195 = 0x00000000;
Can_InitStructure.TimeSeg196 = 0x00000000;
Can_InitStructure.TimeSeg197 = 0x00000000;
Can_InitStructure.TimeSeg198 = 0x00000000;
Can_InitStructure.TimeSeg199 = 0x00000000;
Can_InitStructure.TimeSeg200 = 0x00000000;
Can_InitStructure.TimeSeg201 = 0x00000000;
Can_InitStructure.TimeSeg202 = 0x00000000;
Can_InitStructure.TimeSeg203 = 0x00000000;
Can_InitStructure.TimeSeg204 = 0x00000000;
Can_InitStructure.TimeSeg205 = 0x00000000;
Can_InitStructure.TimeSeg206 = 0x00000000;
Can_InitStructure.TimeSeg207 = 0x00000000;
Can_InitStructure.TimeSeg208 = 0x00000000;
Can_InitStructure.TimeSeg209 = 0x00000000;
Can_InitStructure.TimeSeg210 = 0x00000000;
Can_InitStructure.TimeSeg211 = 0x00000000;
Can_InitStructure.TimeSeg212 = 0x00000000;
Can_InitStructure.TimeSeg213 = 0x00000000;
Can_InitStructure.TimeSeg214 = 0x00000000;
Can_InitStructure.TimeSeg215 = 0x00000000;
Can_InitStructure.TimeSeg216 = 0x00000000;
Can_InitStructure.TimeSeg217 = 0x00000000;
Can_InitStructure.TimeSeg218 = 0x00000000;
Can_InitStructure.TimeSeg219 = 0x00000000;
Can_InitStructure.TimeSeg220 = 0x00000000;
Can_InitStructure.TimeSeg221 = 0x00000000;
Can_InitStructure.TimeSeg222 = 0x00000000;
Can_InitStructure.TimeSeg223 = 0x00000000;
Can_InitStructure.TimeSeg224 = 0x00000000;
Can_InitStructure.TimeSeg225 = 0x00000000;
Can_InitStructure.TimeSeg226 = 0x00000000;
Can_InitStructure.TimeSeg227 = 0x00000000;
Can_InitStructure.TimeSeg228 = 0x00000000;
Can_InitStructure.TimeSeg229 = 0x00000000;
Can_InitStructure.TimeSeg230 = 0x00000000;
Can_InitStructure.TimeSeg231 = 0x00000000;
Can_InitStructure.TimeSeg232 = 0x00000000;
Can_InitStructure.TimeSeg233 = 0x00000000;
Can_InitStructure.TimeSeg234 = 0x00000000;
Can_InitStructure.TimeSeg235 = 0x00000000;
Can_InitStructure.TimeSeg236 = 0x00000000;
Can_InitStructure.TimeSeg237 = 0x00000000;
Can_InitStructure.TimeSeg238 = 0x00000000;
Can_InitStructure.TimeSeg239 = 0x00000000;
Can_InitStructure.TimeSeg240 = 0x00000000;
Can_InitStructure.TimeSeg241 = 0x00000000;
Can_InitStructure.TimeSeg242 = 0x00000000;
Can_InitStructure.TimeSeg243 = 0x00000000;
Can_InitStructure.TimeSeg244 = 0x00000000;
Can_InitStructure.TimeSeg245 = 0x00000000;
Can_InitStructure.TimeSeg246 = 0x00000000;
Can_InitStructure.TimeSeg247 = 0x00000000;
Can_InitStructure.TimeSeg248 = 0x00000000;
Can_InitStructure.TimeSeg249 = 0x00000000;
Can_InitStructure.TimeSeg250 = 0x00000000;
Can_InitStructure.TimeSeg251 = 0x00000000;
Can_InitStructure.TimeSeg252 = 0x00000000;
Can_InitStructure.TimeSeg253 =