stm32can通信实例

以下是一个基于STM32的CAN通信实例，使用了HAL库和标准外设库。

首先，需要在CubeMX中配置CAN控制器。选择相应的引脚和时钟源，然后生成代码。

接下来是主要的代码实现。

1. 初始化CAN控制器

CAN_HandleTypeDef hcan;

void MX_CAN_Init(void)
{
  hcan.Instance = CAN1;
  hcan.Init.Prescaler = 4;     //CAN总线波特率=时钟频率/（(Prescaler+1)*(BS1+1)*(BS2+1)）
  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.AutoRetransmission = ENABLE;
  hcan.Init.ReceiveFifoLocked = DISABLE;
  hcan.Init.TransmitFifoPriority = DISABLE;
  if (HAL_CAN_Init(&hcan) != HAL_OK)
  {
    Error_Handler();
  }
}

2. 配置CAN过滤器

CAN_FilterTypeDef sFilterConfig;

void MX_CAN_Filter_Config(void)
{
  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();
  }
}

3. 发送CAN消息

void CAN_Transmit(uint32_t id, uint8_t* data, uint8_t length)
{
  CAN_TxHeaderTypeDef TxHeader;
  TxHeader.StdId = id;
  TxHeader.ExtId = 0;
  TxHeader.RTR = CAN_RTR_DATA;
  TxHeader.IDE = CAN_ID_STD;
  TxHeader.DLC = length;
  uint32_t TxMailbox;
  if (HAL_CAN_AddTxMessage(&hcan, &TxHeader, data, &TxMailbox) != HAL_OK)
  {
    Error_Handler();
  }
}

4. 接收CAN消息

void CAN_Receive(void)
{
  CAN_RxHeaderTypeDef RxHeader;
  uint8_t data[8];
  if (HAL_CAN_GetRxMessage(&hcan, CAN_RX_FIFO0, &RxHeader, data) == HAL_OK)
  {
    //处理接收到的数据
  }
}

最后，在main函数中调用相关函数即可完成CAN通信的初始化和使用。

int main(void)
{
  //初始化CAN控制器和过滤器
  MX_CAN_Init();
  MX_CAN_Filter_Config();
  
  while(1)
  {
    //发送CAN消息
    uint8_t data[8] = {0x01, 0x02, 0x03, 0x04, 0x05, 0x06, 0x07, 0x08};
    CAN_Transmit(0x123, data, 8);
    
    //接收CAN消息
    CAN_Receive();
  }
}