STM32F4用HAL库配置CAN通讯

下面是使用HAL库配置STM32F4的CAN通信步骤：

1.初始化CAN总线

CAN_HandleTypeDef hcan;

hcan.Instance = CAN1;
hcan.Init.Prescaler = 4; //时钟分频系数
hcan.Init.Mode = CAN_MODE_NORMAL; //工作模式
hcan.Init.SyncJumpWidth = CAN_SJW_1TQ; //同步跳转宽度
hcan.Init.TimeSeg1 = CAN_BS1_11TQ; //时间段1
hcan.Init.TimeSeg2 = CAN_BS2_2TQ; //时间段2
hcan.Init.TimeTriggeredMode = DISABLE;
hcan.Init.AutoBusOff = DISABLE;
hcan.Init.AutoWakeUp = DISABLE;
hcan.Init.AutoRetransmission = ENABLE;
hcan.Init.ReceiveFifoLocked = DISABLE;
hcan.Init.TransmitFifoPriority = DISABLE;

if (HAL_CAN_Init(&hcan) != HAL_OK) {
    /* 初始化失败 */
    Error_Handler();
}

2.配置CAN过滤器

CAN_FilterTypeDef filter;

filter.FilterBank = 0;
filter.FilterMode = CAN_FILTERMODE_IDMASK;
filter.FilterScale = CAN_FILTERSCALE_32BIT;
filter.FilterIdHigh = 0x0000;
filter.FilterIdLow = 0x0000;
filter.FilterMaskIdHigh = 0x0000;
filter.FilterMaskIdLow = 0x0000;
filter.FilterFIFOAssignment = CAN_FILTER_FIFO0;
filter.FilterActivation = ENABLE;
filter.SlaveStartFilterBank = 14;

if (HAL_CAN_ConfigFilter(&hcan, &filter) != HAL_OK) {
    /* 配置过滤器失败 */
    Error_Handler();
}

3.配置CAN中断

void HAL_CAN_RxCpltCallback(CAN_HandleTypeDef* hcan)
{
    /* 读取接收缓存中的数据 */

    /* 重新启动接收 */
    HAL_CAN_Receive_IT(hcan, CAN_FIFO0);
}

HAL_CAN_Receive_IT(&hcan, CAN_FIFO0); //启动接收中断

4.发送CAN消息

CAN_TxHeaderTypeDef txHeader;
uint8_t txData[8];

txHeader.StdId = 0x123;
txHeader.ExtId = 0;
txHeader.RTR = CAN_RTR_DATA;
txHeader.IDE = CAN_ID_STD;
txHeader.DLC = 8;
txHeader.TransmitGlobalTime = DISABLE;

txData[0] = 0x01;
txData[1] = 0x02;
txData[2] = 0x03;
txData[3] = 0x04;
txData[4] = 0x05;
txData[5] = 0x06;
txData[6] = 0x07;
txData[7] = 0x08;

if (HAL_CAN_AddTxMessage(&hcan, &txHeader, txData, &txMailbox) != HAL_OK) {
    /* 发送失败 */
    Error_Handler();
}

以上是STM32F4使用HAL库配置CAN通讯的基本步骤，需要根据具体情况进行相应的修改和调试。