STM32F407 CAN通信代码

您可以在GitHub上搜索STM32F407 CAN通信代码，例如https://github.com/analogdevicesinc/no-OS/tree/master/drivers/stm32/can。

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stm32f407 can通信代码

STM32F407是一款基于ARM Cortex-M4的微控制器，可以通过CAN（Controller Area Network）总线进行通信。以下是一个基本的STM32F407 CAN通信代码示例：

#include "stm32f4xx.h"

CAN_InitTypeDef CAN_InitStructure;
CAN_FilterInitTypeDef CAN_FilterInitStructure;
CanTxMsg TxMessage;
CanRxMsg RxMessage;

void CAN1_Configuration(void) {
  GPIO_InitTypeDef GPIO_InitStructure;

  // 使能GPIO和CAN1时钟
  RCC_AHB1PeriphClockCmd(RCC_AHB1Periph_GPIOA, ENABLE);
  RCC_APB1PeriphClockCmd(RCC_APB1Periph_CAN1, ENABLE);

  // 配置CAN引脚
  GPIO_PinAFConfig(GPIOA, GPIO_PinSource11, GPIO_AF_CAN1);
  GPIO_PinAFConfig(GPIOA, GPIO_PinSource12, GPIO_AF_CAN1);

  GPIO_InitStructure.GPIO_Mode = GPIO_Mode_AF;
  GPIO_InitStructure.GPIO_Speed = GPIO_Speed_50MHz;
  GPIO_InitStructure.GPIO_Pin = GPIO_Pin_11 | GPIO_Pin_12;
  GPIO_Init(GPIOA, &GPIO_InitStructure);

  // CAN1 初始化
  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_6tq;
  CAN_InitStructure.CAN_BS2 = CAN_BS2_7tq;
  CAN_InitStructure.CAN_Prescaler = 12; // 设置波特率为500Kbps

  CAN_Init(CAN1, &CAN_InitStructure);

  // CAN筛选器初始化
  CAN_FilterInitStructure.CAN_FilterNumber = 0;
  CAN_FilterInitStructure.CAN_FilterMode = CAN_FilterMode_IdList;
  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);
}

void CAN1_SendMessage(void) {
  uint8_t TransmitSuccess = 0;

  // 配置发送消息
  TxMessage.StdId = 0x321; // 标准标识符
  TxMessage.ExtId = 0x01; // 扩展标识符
  TxMessage.RTR = CAN_RTR_DATA; // 数据帧
  TxMessage.IDE = CAN_ID_STD; // 使用标准标识符
  TxMessage.DLC = 2; // 数据长度为2字节
  TxMessage.Data[0] = 0xAA; // 数据字节1
  TxMessage.Data[1] = 0x55; // 数据字节2

  TransmitSuccess = CAN_Transmit(CAN1, &TxMessage); // 发送消息

  if (TransmitSuccess == CAN_TxStatus_Ok) {
    // 发送成功
    // 执行其他操作
  }
}

void CAN1_ReceiveMessage(void) {
  if (CAN_MessagePending(CAN1, CAN_FIFO0) != 0) {
    // 接收到CAN消息
    CAN_Receive(CAN1, CAN_FIFO0, &RxMessage); // 读取消息

    // 处理接收到的消息
    if (RxMessage.StdId == 0x321 && RxMessage.RTR == CAN_RTR_DATA) {
      // 标识符和RTR校验
      // 执行其他操作
    }
  }
}

int main(void) {
  CAN1_Configuration(); // 配置CAN1

  while (1) {
    CAN1_SendMessage(); // 发送CAN消息
    CAN1_ReceiveMessage(); // 接收CAN消息
  }
}

以上是一个基本的STM32F407 CAN通信代码示例，包括了CAN1的初始化、发送消息和接收消息的函数。在`CAN1_SendMessage()`函数中，可以通过设置`TxMessage`结构体的成员来配置要发送的CAN消息。在`CAN1_ReceiveMessage()`函数中，通过调用`CAN_Receive()`函数来读取消息并进行处理。在`main()`函数中，循环调用发送和接收函数。请注意，此示例仅为演示基本CAN通信的代码框架，具体的功能和扩展应根据实际需求进行进一步开发。

stm32f407can通信例程

以下是一个简单的stm32f407can通信例程，可以通过CAN1发送和接收CAN2发送的数据。

首先需要在STM32CubeMX中配置CAN1和CAN2模块，并生成代码。然后在代码中添加以下内容：

#include "main.h"
#include "can.h"

CAN_HandleTypeDef hcan1;
CAN_HandleTypeDef hcan2;

void SystemClock_Config(void);
static void MX_GPIO_Init(void);
static void MX_CAN1_Init(void);
static void MX_CAN2_Init(void);

uint8_t can1_rx_data[8];
uint32_t can1_rx_mailbox;
uint8_t can2_rx_data[8];
uint32_t can2_rx_mailbox;

int main(void)
{
  HAL_Init();
  SystemClock_Config();
  MX_GPIO_Init();
  MX_CAN1_Init();
  MX_CAN2_Init();
  HAL_CAN_Start(&hcan1);
  HAL_CAN_Start(&hcan2);
  HAL_CAN_ActivateNotification(&hcan1, CAN_IT_RX_FIFO0_MSG_PENDING);
  HAL_CAN_ActivateNotification(&hcan2, CAN_IT_RX_FIFO0_MSG_PENDING);
  
  while (1)
  {
    CAN_TxHeaderTypeDef can1_tx_header;
    uint8_t can1_tx_data[8] = {1, 2, 3, 4, 5, 6, 7, 8};
    can1_tx_header.StdId = 0x123;
    can1_tx_header.IDE = CAN_ID_STD;
    can1_tx_header.RTR = CAN_RTR_DATA;
    can1_tx_header.DLC = 8;
    HAL_CAN_AddTxMessage(&hcan1, &can1_tx_header, can1_tx_data, &can1_rx_mailbox);
    
    CAN_TxHeaderTypeDef can2_tx_header;
    uint8_t can2_tx_data[8] = {8, 7, 6, 5, 4, 3, 2, 1};
    can2_tx_header.StdId = 0x456;
    can2_tx_header.IDE = CAN_ID_STD;
    can2_tx_header.RTR = CAN_RTR_DATA;
    can2_tx_header.DLC = 8;
    HAL_CAN_AddTxMessage(&hcan2, &can2_tx_header, can2_tx_data, &can2_rx_mailbox);
  }
}

void HAL_CAN_RxFifo0MsgPendingCallback(CAN_HandleTypeDef *hcan)
{
  if (hcan->Instance == CAN1)
  {
    CAN_RxHeaderTypeDef can1_rx_header;
    HAL_CAN_GetRxMessage(&hcan1, CAN_RX_FIFO0, &can1_rx_header, can1_rx_data);
    // 处理CAN1接收到的数据
  }
  else if (hcan->Instance == CAN2)
  {
    CAN_RxHeaderTypeDef can2_rx_header;
    HAL_CAN_GetRxMessage(&hcan2, CAN_RX_FIFO0, &can2_rx_header, can2_rx_data);
    // 处理CAN2接收到的数据
  }
}

static void MX_CAN1_Init(void)
{
  hcan1.Instance = CAN1;
  hcan1.Init.Prescaler = 6;
  hcan1.Init.Mode = CAN_MODE_NORMAL;
  hcan1.Init.SyncJumpWidth = CAN_SJW_1TQ;
  hcan1.Init.TimeSeg1 = CAN_BS1_6TQ;
  hcan1.Init.TimeSeg2 = CAN_BS2_3TQ;
  hcan1.Init.TimeTriggeredMode = DISABLE;
  hcan1.Init.AutoBusOff = ENABLE;
  hcan1.Init.AutoWakeUp = DISABLE;
  hcan1.Init.AutoRetransmission = ENABLE;
  hcan1.Init.ReceiveFifoLocked = DISABLE;
  hcan1.Init.TransmitFifoPriority = DISABLE;
  if (HAL_CAN_Init(&hcan1) != HAL_OK)
  {
    Error_Handler();
  }
}

static void MX_CAN2_Init(void)
{
  hcan2.Instance = CAN2;
  hcan2.Init.Prescaler = 6;
  hcan2.Init.Mode = CAN_MODE_NORMAL;
  hcan2.Init.SyncJumpWidth = CAN_SJW_1TQ;
  hcan2.Init.TimeSeg1 = CAN_BS1_6TQ;
  hcan2.Init.TimeSeg2 = CAN_BS2_3TQ;
  hcan2.Init.TimeTriggeredMode = DISABLE;
  hcan2.Init.AutoBusOff = ENABLE;
  hcan2.Init.AutoWakeUp = DISABLE;
  hcan2.Init.AutoRetransmission = ENABLE;
  hcan2.Init.ReceiveFifoLocked = DISABLE;
  hcan2.Init.TransmitFifoPriority = DISABLE;
  if (HAL_CAN_Init(&hcan2) != HAL_OK)
  {
    Error_Handler();
  }
}

在这个例程中，使用了CAN1和CAN2模块进行通信。在while循环中，可以看到每隔一段时间就会发送一组数据。收到数据后，会调用`HAL_CAN_RxFifo0MsgPendingCallback`函数，并且根据收到数据的CAN模块进行不同的处理。

需要注意的是，在stm32f407上，CAN1和CAN2的引脚分配如下：

CAN1_TX: PA12

CAN1_RX: PA11

CAN2_TX: PB13

CAN2_RX: PB12

因此，在STM32CubeMX中需要正确配置这些引脚。