HAL_CAN_AddTxMessage 写一个发送CAN的程序

好的，下面是一个简单的发送CAN帧的程序，使用了HAL_CAN_AddTxMessage函数：

#include "stm32f4xx_hal.h"

CAN_HandleTypeDef hcan1;

void SystemClock_Config(void);
static void MX_GPIO_Init(void);
static void MX_CAN1_Init(void);

int main(void)
{
  HAL_Init();
  SystemClock_Config();
  MX_GPIO_Init();
  MX_CAN1_Init();

  CAN_TxHeaderTypeDef TxHeader;
  uint8_t TxData[8];

  // 初始化CAN帧头
  TxHeader.StdId = 0x123;
  TxHeader.ExtId = 0;
  TxHeader.RTR = CAN_RTR_DATA;
  TxHeader.IDE = CAN_ID_STD;
  TxHeader.DLC = 8;
  TxHeader.TransmitGlobalTime = DISABLE;

  // 初始化CAN数据
  TxData[0] = 0x11;
  TxData[1] = 0x22;
  TxData[2] = 0x33;
  TxData[3] = 0x44;
  TxData[4] = 0x55;
  TxData[5] = 0x66;
  TxData[6] = 0x77;
  TxData[7] = 0x88;

  // 发送CAN帧
  uint32_t TxMailbox;
  if(HAL_CAN_AddTxMessage(&hcan1, &TxHeader, TxData, &TxMailbox) != HAL_OK)
  {
    Error_Handler();
  }

  while (1)
  {
    // 程序主循环
  }
}

void SystemClock_Config(void)
{
  RCC_OscInitTypeDef RCC_OscInitStruct = {0};
  RCC_ClkInitTypeDef RCC_ClkInitStruct = {0};

  /** Configure the main internal regulator output voltage 
  */
  __HAL_RCC_PWR_CLK_ENABLE();
  __HAL_PWR_VOLTAGESCALING_CONFIG(PWR_REGULATOR_VOLTAGE_SCALE1);
  /** Initializes the RCC Oscillators according to the specified parameters
  * in the RCC_OscInitTypeDef structure.
  */
  RCC_OscInitStruct.OscillatorType = RCC_OSCILLATORTYPE_HSI;
  RCC_OscInitStruct.HSIState = RCC_HSI_ON;
  RCC_OscInitStruct.HSICalibrationValue = RCC_HSICALIBRATION_DEFAULT;
  RCC_OscInitStruct.PLL.PLLState = RCC_PLL_NONE;
  if (HAL_RCC_OscConfig(&RCC_OscInitStruct) != HAL_OK)
  {
    Error_Handler();
  }
  /** Initializes the CPU, AHB and APB buses clocks
  */
  RCC_ClkInitStruct.ClockType = RCC_CLOCKTYPE_HCLK|RCC_CLOCKTYPE_SYSCLK
                              |RCC_CLOCKTYPE_PCLK1|RCC_CLOCKTYPE_PCLK2;
  RCC_ClkInitStruct.SYSCLKSource = RCC_SYSCLKSOURCE_HSI;
  RCC_ClkInitStruct.AHBCLKDivider = RCC_SYSCLK_DIV1;
  RCC_ClkInitStruct.APB1CLKDivider = RCC_HCLK_DIV1;
  RCC_ClkInitStruct.APB2CLKDivider = RCC_HCLK_DIV1;

  if (HAL_RCC_ClockConfig(&RCC_ClkInitStruct, FLASH_LATENCY_0) != HAL_OK)
  {
    Error_Handler();
  }
}

static void MX_CAN1_Init(void)
{
  hcan1.Instance = CAN1;
  hcan1.Init.Prescaler = 2;
  hcan1.Init.Mode = CAN_MODE_NORMAL;
  hcan1.Init.SyncJumpWidth = CAN_SJW_1TQ;
  hcan1.Init.TimeSeg1 = CAN_BS1_13TQ;
  hcan1.Init.TimeSeg2 = CAN_BS2_2TQ;
  hcan1.Init.TimeTriggeredMode = DISABLE;
  hcan1.Init.AutoBusOff = DISABLE;
  hcan1.Init.AutoWakeUp = DISABLE;
  hcan1.Init.AutoRetransmission = ENABLE;
  hcan1.Init.ReceiveFifoLocked = DISABLE;
  hcan1.Init.TransmitFifoPriority = DISABLE;
  if (HAL_CAN_Init(&hcan1) != HAL_OK)
  {
    Error_Handler();
  }
}

static void MX_GPIO_Init(void)
{
  __HAL_RCC_GPIOA_CLK_ENABLE();

  GPIO_InitTypeDef GPIO_InitStruct = {0};
  GPIO_InitStruct.Pin = GPIO_PIN_12;
  GPIO_InitStruct.Mode = GPIO_MODE_AF_PP;
  GPIO_InitStruct.Pull = GPIO_NOPULL;
  GPIO_InitStruct.Speed = GPIO_SPEED_FREQ_VERY_HIGH;
  GPIO_InitStruct.Alternate = GPIO_AF9_CAN1;
  HAL_GPIO_Init(GPIOA, &GPIO_InitStruct);
}

该程序使用CAN1总线向标准ID为0x123的节点发送一个8字节的数据帧。你需要根据实际情况修改程序中的CAN总线参数、CAN帧头和数据内容。注意，在使用HAL_CAN_AddTxMessage函数之前，需要先初始化CAN总线和GPIO引脚。