stm32的can接收中断如何使用

使用STM32的CAN接收中断的步骤如下：

1. 使能CAN模块和中断：

CAN_HandleTypeDef hcan;

hcan.Instance = CAN1;
hcan.Init.Mode = CAN_MODE_NORMAL;
hcan.Init.AutoBusOff = ENABLE;
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();
}

HAL_NVIC_SetPriority(CAN1_RX0_IRQn, 0, 0);
HAL_NVIC_EnableIRQ(CAN1_RX0_IRQn);

2. 编写中断服务程序：

void CAN1_RX0_IRQHandler(void)
{
  HAL_CAN_IRQHandler(&hcan);
}

3. 在CAN初始化中使能中断：

CAN_FilterTypeDef sFilterConfig;

sFilterConfig.FilterBank = 0;
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_FILTER_FIFO0;
sFilterConfig.FilterActivation = ENABLE;
sFilterConfig.SlaveStartFilterBank = 14;

if (HAL_CAN_ConfigFilter(&hcan, &sFilterConfig) != HAL_OK)
{
  Error_Handler();
}

if (HAL_CAN_ActivateNotification(&hcan, CAN_IT_RX_FIFO0_MSG_PENDING) != HAL_OK)
{
  Error_Handler();
}

4. 在CAN接收回调函数中处理数据：

void HAL_CAN_RxFifo0MsgPendingCallback(CAN_HandleTypeDef *hcan)
{
  CAN_RxHeaderTypeDef RxHeader;
  uint8_t RxData[8];

  if (HAL_CAN_GetRxMessage(hcan, CAN_RX_FIFO0, &RxHeader, RxData) != HAL_OK)
  {
    Error_Handler();
  }

  // 处理数据
}