用stm32的标准库写一个can的通信程序
时间: 2023-06-16 19:03:20 浏览: 90
好的,这里提供一个简单的CAN通信程序,使用了STM32标准库和HAL库。
首先,需要在CubeMX中配置CAN的硬件参数,包括波特率、模式等。接下来,就可以在代码中使用HAL库提供的CAN相关函数进行数据的发送和接收。
下面是一个简单的示例代码:
```c
#include "stm32f4xx.h"
#include "stm32f4xx_hal.h"
#define CANx CAN1
#define CAN_CLK_ENABLE() __HAL_RCC_CAN1_CLK_ENABLE()
#define CAN_RX_PIN GPIO_PIN_8
#define CAN_TX_PIN GPIO_PIN_9
#define CAN_GPIO_PORT GPIOB
#define CAN_GPIO_CLK_ENABLE() __HAL_RCC_GPIOB_CLK_ENABLE()
#define CAN_AF_PORT GPIO_AF9_CAN1
#define CAN_RX_IRQn CAN1_RX0_IRQn
#define CAN_RX_IRQHandler CAN1_RX0_IRQHandler
CAN_HandleTypeDef hcan;
void CAN_Config(void)
{
GPIO_InitTypeDef GPIO_InitStruct;
CAN_CLK_ENABLE();
CAN_GPIO_CLK_ENABLE();
GPIO_InitStruct.Pin = CAN_RX_PIN | CAN_TX_PIN;
GPIO_InitStruct.Mode = GPIO_MODE_AF_PP;
GPIO_InitStruct.Pull = GPIO_NOPULL;
GPIO_InitStruct.Speed = GPIO_SPEED_FREQ_VERY_HIGH;
GPIO_InitStruct.Alternate = CAN_AF_PORT;
HAL_GPIO_Init(CAN_GPIO_PORT, &GPIO_InitStruct);
hcan.Instance = CANx;
hcan.Init.Prescaler = 6;
hcan.Init.Mode = CAN_MODE_NORMAL;
hcan.Init.SyncJumpWidth = CAN_SJW_1TQ;
hcan.Init.TimeSeg1 = CAN_BS1_10TQ;
hcan.Init.TimeSeg2 = CAN_BS2_5TQ;
hcan.Init.TimeTriggeredMode = DISABLE;
hcan.Init.AutoBusOff = ENABLE;
hcan.Init.AutoWakeUp = DISABLE;
hcan.Init.AutoRetransmission = ENABLE;
hcan.Init.ReceiveFifoLocked = DISABLE;
hcan.Init.TransmitFifoPriority = DISABLE;
if (HAL_CAN_Init(&hcan) != HAL_OK)
{
Error_Handler();
}
CAN_FilterTypeDef sFilterConfig;
sFilterConfig.FilterBank = 0;
sFilterConfig.FilterMode = CAN_FILTERMODE_IDMASK;
sFilterConfig.FilterScale = CAN_FILTERSCALE_32BIT;
sFilterConfig.FilterIdHigh = 0x0000;
sFilterConfig.FilterIdLow = 0x0000;
sFilterConfig.FilterMaskIdHigh = 0x0000;
sFilterConfig.FilterMaskIdLow = 0x0000;
sFilterConfig.FilterFIFOAssignment = CAN_FILTER_FIFO0;
sFilterConfig.FilterActivation = ENABLE;
sFilterConfig.SlaveStartFilterBank = 14;
if (HAL_CAN_ConfigFilter(&hcan, &sFilterConfig) != HAL_OK)
{
Error_Handler();
}
if (HAL_CAN_Start(&hcan) != HAL_OK)
{
Error_Handler();
}
if (HAL_CAN_ActivateNotification(&hcan, CAN_IT_RX_FIFO0_MSG_PENDING) != HAL_OK)
{
Error_Handler();
}
}
void HAL_CAN_RxFifo0MsgPendingCallback(CAN_HandleTypeDef *hcan)
{
CAN_RxHeaderTypeDef RxHeader;
uint8_t RxData[8];
if (HAL_CAN_GetRxMessage(hcan, CAN_RX_FIFO0, &RxHeader, RxData) != HAL_OK)
{
Error_Handler();
}
// 处理接收到的数据
}
void CAN_SendMsg(uint32_t id, uint8_t *data, uint32_t len)
{
CAN_TxHeaderTypeDef TxHeader;
TxHeader.StdId = id;
TxHeader.ExtId = 0;
TxHeader.RTR = CAN_RTR_DATA;
TxHeader.IDE = CAN_ID_STD;
TxHeader.DLC = len;
if (HAL_CAN_AddTxMessage(&hcan, &TxHeader, data, (void *)CAN_TX_MAILBOX0) != HAL_OK)
{
Error_Handler();
}
}
int main(void)
{
HAL_Init();
CAN_Config();
while (1)
{
// 发送数据
uint8_t data[8] = {0x01, 0x02, 0x03, 0x04, 0x05, 0x06, 0x07, 0x08};
CAN_SendMsg(0x123, data, 8);
HAL_Delay(1000);
}
}
```
以上代码中,`CAN_Config`函数用于初始化CAN硬件和HAL库,包括波特率、滤波器等参数的配置。`HAL_CAN_RxFifo0MsgPendingCallback`函数是CAN接收中断的回调函数,当接收到数据时会自动调用该函数。`CAN_SendMsg`函数用于发送CAN数据帧。
注意,在使用CAN通信时,需要注意硬件连接和相关参数的配置。如果有其他问题,可以参考STM32官方文档或者咨询相关技术支持。