HAL库实现CAN接收
时间: 2023-11-07 08:28:01 浏览: 227
首先,需要在CubeMX中配置CAN时钟和引脚,然后在代码中初始化CAN。以下是一个简单的CAN接收代码示例:
```c
#include "stm32f1xx_hal.h"
CAN_HandleTypeDef hcan;
void HAL_CAN_RxCpltCallback(CAN_HandleTypeDef *hcan)
{
uint8_t data[8];
uint32_t id;
HAL_CAN_GetRxMessage(hcan, CAN_RX_FIFO0, &rxHeader, data);
// 处理接收到的数据
}
void CAN_Init(void)
{
// 初始化CAN
hcan.Instance = CAN1;
hcan.Init.Mode = CAN_MODE_NORMAL;
hcan.Init.AutoBusOff = ENABLE;
hcan.Init.AutoWakeUp = ENABLE;
hcan.Init.AutoRetransmission = ENABLE;
hcan.Init.ReceiveFifoLocked = DISABLE;
hcan.Init.TransmitFifoPriority = DISABLE;
hcan.Init.SyncJumpWidth = CAN_SJW_1TQ;
hcan.Init.TimeSeg1 = CAN_BS1_13TQ;
hcan.Init.TimeSeg2 = CAN_BS2_2TQ;
hcan.Init.Prescaler = 4;
if (HAL_CAN_Init(&hcan) != HAL_OK)
{
Error_Handler();
}
// 配置接收过滤器
CAN_FilterTypeDef filter;
filter.FilterActivation = ENABLE;
filter.FilterBank = 0;
filter.FilterFIFOAssignment = CAN_RX_FIFO0;
filter.FilterIdHigh = 0x0000;
filter.FilterIdLow = 0x0000;
filter.FilterMaskIdHigh = 0x0000;
filter.FilterMaskIdLow = 0x0000;
filter.FilterMode = CAN_FILTERMODE_IDMASK;
filter.FilterScale = CAN_FILTERSCALE_32BIT;
if (HAL_CAN_ConfigFilter(&hcan, &filter) != HAL_OK)
{
Error_Handler();
}
// 启动CAN接收中断
HAL_CAN_ActivateNotification(&hcan, CAN_IT_RX_FIFO0_MSG_PENDING);
}
int main(void)
{
// 启动CAN接收
if (HAL_CAN_Start(&hcan) != HAL_OK)
{
Error_Handler();
}
while (1)
{
// 主循环
}
}
```
在以上代码中,我们初始化了CAN,并配置了一个接收过滤器。然后启动了CAN接收,并开启了CAN接收中断。当接收到CAN数据时,将调用`HAL_CAN_RxCpltCallback`函数,在该函数中处理接收到的数据即可。