stm32h743 CAN透传

对于STM32H743，CAN透传是通过配置CAN控制器的工作模式来实现的。下面是一个简单的示例代码，演示了如何设置CAN控制器为透传模式：

#include "stm32h7xx.h"

// 定义CAN通信参数
#define CAN1_TX_GPIO_PORT GPIOB
#define CAN1_RX_GPIO_PORT GPIOB
#define CAN1_TX_PIN GPIO_PIN_9
#define CAN1_RX_PIN GPIO_PIN_8

// 定义CAN过滤器参数
#define CAN_FILTER_ID 0x123
#define CAN_FILTER_MASK 0x7FF

void CAN1_Config(void)
{
  CAN_FilterTypeDef can_filter;
  GPIO_InitTypeDef gpio_init;
  
  // 使能CAN1时钟
  __HAL_RCC_CAN1_CLK_ENABLE();
  
  // 配置CAN引脚为复用功能
  gpio_init.Pin = CAN1_TX_PIN | CAN1_RX_PIN;
  gpio_init.Mode = GPIO_MODE_AF_PP;
  gpio_init.Pull = GPIO_NOPULL;
  gpio_init.Speed = GPIO_SPEED_FREQ_HIGH;
  gpio_init.Alternate = GPIO_AF9_CAN1;
  HAL_GPIO_Init(CAN1_TX_GPIO_PORT, &gpio_init);
  
  // 配置CAN控制器
  hcan1.Instance = CAN1;
  hcan1.Init.Prescaler = 10;
  hcan1.Init.Mode = CAN_MODE_NORMAL;
  hcan1.Init.SyncJumpWidth = CAN_SJW_1TQ;
  hcan1.Init.TimeSeg1 = CAN_BS1_15TQ;
  hcan1.Init.TimeSeg2 = CAN_BS2_4TQ;
  hcan1.Init.TimeTriggeredMode = DISABLE;
  hcan1.Init.AutoBusOff = DISABLE;
  hcan1.Init.AutoWakeUp = DISABLE;
  hcan1.Init.AutoRetransmission = DISABLE;
  hcan1.Init.ReceiveFifoLocked = DISABLE;
  hcan1.Init.TransmitFifoPriority = DISABLE;
  
  // 初始化CAN控制器
  HAL_CAN_Init(&hcan1);
  
  // 配置CAN过滤器
  can_filter.FilterBank = 0;
  can_filter.FilterMode = CAN_FILTERMODE_IDMASK;
  can_filter.FilterScale = CAN_FILTERSCALE_32BIT;
  can_filter.FilterIdHigh = (CAN_FILTER_ID << 5) >> 16;
  can_filter.FilterIdLow = (CAN_FILTER_ID << 5) & 0xFFFF;
  can_filter.FilterMaskIdHigh = (CAN_FILTER_MASK << 5) >> 16;
  can_filter.FilterMaskIdLow = (CAN_FILTER_MASK << 5) & 0xFFFF;
  can_filter.FilterFIFOAssignment = CAN_RX_FIFO0;
  can_filter.FilterActivation = ENABLE;
  
  HAL_CAN_ConfigFilter(&hcan1, &can_filter);
  
  // 启动CAN通信
  HAL_CAN_Start(&hcan1);
}

int main(void)
{
  CAN1_Config();
  
  while(1)
  {
    // 接收CAN数据
    if(HAL_CAN_GetRxFifoFillLevel(&hcan1, CAN_RX_FIFO0) > 0)
    {
      CAN_RxHeaderTypeDef rx_header;
      uint8_t rx_data[8];
      
      HAL_CAN_GetRxMessage(&hcan1, CAN_RX_FIFO0, &rx_header, rx_data);
      
      // 处理接收到的数据
      
      // 发送CAN数据
      CAN_TxHeaderTypeDef tx_header;
      uint8_t tx_data[8] = {0x01, 0x02, 0x03, 0x04, 0x05, 0x06, 0x07, 0x08};
      
      tx_header.StdId = CAN_FILTER_ID;
      tx_header.ExtId = 0x00;
      tx_header.IDE = CAN_ID_STD;
      tx_header.RTR = CAN_RTR_DATA;
      tx_header.DLC = 8;
      
      HAL_CAN_AddTxMessage(&hcan1, &tx_header, tx_data, NULL);
    }
  }
}

以上代码配置了CAN1控制器为透传模式，并实现了简单的接收和发送CAN数据的功能。你可以根据自己的需求进行修改和扩展。