stm32写一个能控制M2006自带的CAN通信代码
时间: 2023-12-07 07:06:13 浏览: 23
以下是一个简单的示例代码,用于控制M2006自带的CAN通信:
```c
#include "stm32f4xx.h"
#include "stm32f4xx_can.h"
CAN_HandleTypeDef hcan;
void CAN_Config(void)
{
CAN_FilterConfTypeDef can_filter;
hcan.Instance = CAN1;
hcan.Init.Prescaler = 4;
hcan.Init.Mode = CAN_MODE_NORMAL;
hcan.Init.SyncJumpWidth = CAN_SJW_1TQ;
hcan.Init.TimeSeg1 = CAN_BS1_12TQ;
hcan.Init.TimeSeg2 = CAN_BS2_1TQ;
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)
{
Error_Handler();
}
can_filter.FilterMode = CAN_FILTERMODE_IDMASK;
can_filter.FilterIdHigh = 0x0000;
can_filter.FilterIdLow = 0x0000;
can_filter.FilterMaskIdHigh = 0x0000;
can_filter.FilterMaskIdLow = 0x0000;
can_filter.FilterFIFOAssignment = CAN_FILTER_FIFO0;
can_filter.FilterNumber = 0;
can_filter.FilterActivation = ENABLE;
if (HAL_CAN_ConfigFilter(&hcan, &can_filter) != HAL_OK)
{
Error_Handler();
}
if (HAL_CAN_Start(&hcan) != HAL_OK)
{
Error_Handler();
}
}
void CAN_Send(uint32_t id, uint8_t *data, uint8_t len)
{
CAN_TxHeaderTypeDef tx_header;
tx_header.StdId = id;
tx_header.RTR = CAN_RTR_DATA;
tx_header.IDE = CAN_ID_STD;
tx_header.DLC = len;
tx_header.TransmitGlobalTime = DISABLE;
if (HAL_CAN_AddTxMessage(&hcan, &tx_header, data, NULL) != HAL_OK)
{
Error_Handler();
}
}
void CAN_Receive(void)
{
CAN_RxHeaderTypeDef rx_header;
uint8_t data[8];
if (HAL_CAN_GetRxMessage(&hcan, CAN_RX_FIFO0, &rx_header, data) != HAL_OK)
{
Error_Handler();
}
// 处理接收到的数据
}
int main(void)
{
HAL_Init();
__HAL_RCC_CAN1_CLK_ENABLE();
CAN_Config();
while (1)
{
// 发送数据
uint8_t data[] = {0x01, 0x02, 0x03, 0x04};
CAN_Send(0x200, data, sizeof(data));
// 接收数据
CAN_Receive();
}
}
```
需要注意的是,代码中的CAN初始化和发送数据部分需要根据具体的硬件配置进行修改。同时,接收数据的处理部分也需要根据具体应用进行修改。
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