stm32f405 CAN接收

STM32F405 CAN 接收实现方法
对于STM32F405微控制器上的CAN总线接收功能，通常通过配置CAN外设来完成初始化设置并进入正常工作模式。具体来说，在启动CAN模块之前，需要先进行一系列必要的参数设定。
初始化CAN接口
为了使能CAN通信，需调用HAL_CAN_Init()函数以激活硬件资源，并传递一个预配置好的结构体指针给此函数作为输入参数[^1]：
CAN_HandleTypeDef hcan;

void MX_CAN_Init(void) {
hcan.Instance = CAN1;
hcan.Init.Prescaler = 16;
hcan.Init.Mode = CAN_MODE_NORMAL;
hcan.Init.SyncJumpWidth = CAN_SJW_1TQ;
hcan.Init.TimeSeg1 = CAN_BS1_13TQ;
hcan.Init.TimeSeg2 = CAN_BS2_2TQ;
hcan.Init.TimeTriggeredMode = DISABLE;
hcan.Init.AutoBusOff = DISABLE;
hcan.Init.AutoWakeUp = DISABLE;
hcan.Init.GatewayOff = DISABLE;
hcan.Init.NoAck = DISABLE;
hcan.InitReceiveFifoLocked = DISABLE;
hcan.Init.TransmitFifoPriority = DISABLE;

HAL_CAN_Init(&hcan);
}
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配置过滤器
接着要创建至少一条消息筛选规则用于匹配接收到的数据帧ID。这一步骤涉及到了滤波器的建立，可以采用标准或扩展格式的标识符以及掩码来进行精确控制[^2]:
static void CAN_Filter_Configuration(void){
CanFilterConfTypeDef sFilterConfig;

sFilterConfig.FilterNumber = 0; // Filter number within the bank.
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_RX_FIFO0;
sFilterConfig.FilterActivation = ENABLE;
sFilterConfig.BankNumber = 14;

HAL_CAN_ConfigFilter(&hcan, &sFilterConfig);
}
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启动接收过程
一旦上述准备工作就绪，则可通过启用相应的中断服务例程（ISR）监听特定事件的发生情况；当检测到新数据包到达时触发回调机制执行自定义逻辑处理操作[^3]:
/* Enable reception */
HAL_CAN_ActivateNotification(&hcan, CAN_IT_RX_FIFO0_MSG_PENDING);

// Inside your main loop or interrupt handler you would check for received messages like this:
if (HAL_CAN_GetRxFifoFillLevel(&hcan, CAN_RX_FIFO0)) {
/* Get data from FIFO buffer into local variable */
if(HAL_CAN_GetRxMessage(&hcan, CAN_RX_FIFO0, &Header, RxData)==HAL_OK){
// Process message here...
}
}
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