使用HAL库实现F407的CANFD收发功能

下面是使用HAL库实现STM32F407的CAN FD收发功能的步骤：

1. 首先在CubeMX中配置CAN FD外设并生成代码。

2. 在代码中包含CAN外设的头文件和相关定义，例如：

#include "stm32f4xx_hal.h"
#include "stm32f4xx_hal_can.h"

/* CAN frame structure */
CAN_TxHeaderTypeDef TxHeader;
CAN_RxHeaderTypeDef RxHeader;
uint8_t TxData[8];
uint8_t RxData[8];

3. 初始化CAN外设和CAN通信参数，例如：

CAN_HandleTypeDef hcan;
hcan.Instance = CANx;
hcan.Init.Mode = CAN_MODE_NORMAL;
hcan.Init.AutoBusOff = DISABLE;
hcan.Init.AutoRetransmission = ENABLE;
hcan.Init.AutoWakeUp = DISABLE;
hcan.Init.ReceiveFifoLocked = DISABLE;
hcan.Init.TimeTriggeredMode = DISABLE;
hcan.Init.TransmitFifoPriority = DISABLE;
hcan.Init.SyncJumpWidth = CAN_SJW_1TQ;
hcan.Init.TimeSeg1 = CAN_BS1_12TQ;
hcan.Init.TimeSeg2 = CAN_BS2_3TQ;
hcan.Init.Prescaler = 2;

if (HAL_CAN_Init(&hcan) != HAL_OK) {
  /* Initialization Error */
  Error_Handler();
}

/* Configure the CAN filter */
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_RX_FIFO0;
sFilterConfig.FilterActivation = ENABLE;
sFilterConfig.SlaveStartFilterBank = 14;

if (HAL_CAN_ConfigFilter(&hcan, &sFilterConfig) != HAL_OK) {
  /* Filter configuration Error */
  Error_Handler();
}

4. 设置CAN发送帧和接收帧的参数，例如：

/* Set up the CAN Tx Header */
TxHeader.StdId = 0x321;
TxHeader.ExtId = 0x01;
TxHeader.RTR = CAN_RTR_DATA;
TxHeader.IDE = CAN_ID_STD;
TxHeader.DLC = 8;
TxHeader.TransmitGlobalTime = DISABLE;

/* Set up the CAN Rx Header */
RxHeader.StdId = 0x321;
RxHeader.ExtId = 0x01;
RxHeader.RTR = CAN_RTR_DATA;
RxHeader.IDE = CAN_ID_STD;
RxHeader.DLC = 8;
RxHeader.Timestamp = 0;

5. 向CAN发送数据，例如：

/* Fill in the CAN Tx Data */
TxData[0] = 0x00;
TxData[1] = 0x01;
TxData[2] = 0x02;
TxData[3] = 0x03;
TxData[4] = 0x04;
TxData[5] = 0x05;
TxData[6] = 0x06;
TxData[7] = 0x07;

/* Send the CAN frame */
if (HAL_CAN_AddTxMessage(&hcan, &TxHeader, TxData, &TxMailbox) != HAL_OK) {
  /* Transmission request Error */
  Error_Handler();
}

6. 接收CAN数据，例如：

/* Wait for the CAN Rx frame */
while (HAL_CAN_GetRxMessage(&hcan, CAN_RX_FIFO0, &RxHeader, RxData) != HAL_OK) {}

/* Process the received CAN frame */
if (RxHeader.IDE == CAN_ID_STD && RxHeader.StdId == 0x321 && RxHeader.DLC == 8) {
  uint8_t data[8];
  memcpy(data, RxData, 8);
  /* Process the received data */
}

注意，以上代码仅为示例代码，实际使用时需要根据具体需求进行修改。同时，还需要在代码中添加错误处理和中断处理等相关功能。