使用hal库进行can通信控制电机

要使用HAL库进行CAN通信控制电机，需要先配置CAN总线和电机控制器的硬件连接，并初始化CAN总线的参数。在初始化CAN总线后，可以使用HAL库提供的CAN发送和接收函数来与电机控制器进行通信。

以下是一个使用HAL库进行CAN通信控制电机的示例代码：

#include "stm32f4xx_hal.h"
#include "can.h"

CAN_HandleTypeDef hcan;

void MX_CAN_Init(void)
{
  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 = 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();
  }
}

void HAL_CAN_MspInit(CAN_HandleTypeDef* canHandle)
{
  GPIO_InitTypeDef GPIO_InitStruct = {0};
  if (canHandle->Instance == CAN1)
  {
    __HAL_RCC_CAN1_CLK_ENABLE();

    __HAL_RCC_GPIOB_CLK_ENABLE();
    /**CAN1 GPIO Configuration
    PB8     ------> CAN1_RX
    PB9     ------> CAN1_TX
    */
    GPIO_InitStruct.Pin = GPIO_PIN_8|GPIO_PIN_9;
    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(GPIOB, &GPIO_InitStruct);
  }
}

void HAL_CAN_RxCpltCallback(CAN_HandleTypeDef* hcan)
{
  /* Handle CAN RX Interrupt */
}

void HAL_CAN_TxCpltCallback(CAN_HandleTypeDef* hcan)
{
  /* Handle CAN TX Interrupt */
}

void HAL_CAN_ErrorCallback(CAN_HandleTypeDef *hcan)
{
  /* Handle CAN Error Interrupt */
}

void send_can_frame(uint32_t id, uint8_t data[8])
{
  CAN_TxHeaderTypeDef tx_header;
  tx_header.StdId = id;
  tx_header.RTR = CAN_RTR_DATA;
  tx_header.IDE = CAN_ID_STD;
  tx_header.DLC = 8;

  if (HAL_CAN_AddTxMessage(&hcan, &tx_header, data, &tx_mailbox) != HAL_OK)
  {
    Error_Handler();
  }
}

void receive_can_frame(void)
{
  CAN_RxHeaderTypeDef rx_header;
  uint8_t data[8];
  uint32_t fifo;

  if (HAL_CAN_GetRxMessage(&hcan, CAN_RX_FIFO0, &rx_header, data) != HAL_OK)
  {
    Error_Handler();
  }
  
  /* Handle received CAN frame */
}

int main(void)
{
  /* Initialize CAN bus */
  MX_CAN_Init();

  /* Loop forever */
  while (1)
  {
    /* Send CAN frame to control motor */
    uint8_t data[8] = {0, 0, 0, 0, 0, 0, 0, 0};
    send_can_frame(0x123, data);

    /* Receive CAN frame from motor */
    receive_can_frame();
  }
}

在上述代码中，MX_CAN_Init函数用于初始化CAN总线，HAL_CAN_MspInit函数用于配置CAN总线的GPIO管脚，HAL_CAN_RxCpltCallback和HAL_CAN_TxCpltCallback函数分别用于处理CAN接收和发送中断，HAL_CAN_ErrorCallback函数用于处理CAN错误中断。

send_can_frame函数用于发送CAN帧，receive_can_frame函数用于接收CAN帧。在主函数中，通过循环不断地发送和接收CAN帧，以控制电机的运行。