HAL_CAN_AddTxMessage 写一个发送CAN的程序
时间: 2024-03-24 22:36:40 浏览: 176
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:
```c
#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。