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。