STM32HAL库can通断通讯
时间: 2023-07-29 14:06:19 浏览: 181
CAN总线断电检测可以通过在CAN硬件上使用断电检测电路实现。在STM32上,可以使用HAL库函数来检测CAN总线的状态。以下是一个简单的示例代码,演示了如何使用STM32HAL库进行CAN通断通讯:
```c
#include "main.h"
#include "stm32f4xx_hal.h"
CAN_HandleTypeDef hcan1;
uint8_t can_tx_data[8] = {0x01, 0x23, 0x45, 0x67, 0x89, 0xAB, 0xCD, 0xEF};
uint8_t can_rx_data[8] = {0};
int main(void) {
HAL_Init();
SystemClock_Config();
__HAL_RCC_CAN1_CLK_ENABLE();
hcan1.Instance = CAN1;
hcan1.Init.Mode = CAN_MODE_NORMAL;
hcan1.Init.AutoRetransmission = ENABLE;
hcan1.Init.AutoBusOff = ENABLE;
hcan1.Init.ReceiveFifoLocked = DISABLE;
hcan1.Init.TimeTriggeredMode = DISABLE;
hcan1.Init.TransmitFifoPriority = DISABLE;
hcan1.Init.SyncJumpWidth = CAN_SJW_1TQ;
hcan1.Init.TimeSeg1 = CAN_BS1_13TQ;
hcan1.Init.TimeSeg2 = CAN_BS2_2TQ;
hcan1.Init.Prescaler = 2;
HAL_CAN_Init(&hcan1);
CAN_FilterTypeDef can_filter;
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.FilterBank = 0;
can_filter.FilterScale = CAN_FILTERSCALE_32BIT;
can_filter.FilterActivation = ENABLE;
HAL_CAN_ConfigFilter(&hcan1, &can_filter);
HAL_CAN_Start(&hcan1);
HAL_CAN_ActivateNotification(&hcan1, CAN_IT_RX_FIFO0_MSG_PENDING);
while (1) {
if (HAL_CAN_GetState(&hcan1) == HAL_CAN_STATE_BUS_OFF) {
// CAN bus is off
HAL_GPIO_WritePin(LED_GPIO_Port, LED_Pin, GPIO_PIN_SET);
HAL_Delay(500);
HAL_GPIO_WritePin(LED_GPIO_Port, LED_Pin, GPIO_PIN_RESET);
HAL_Delay(500);
} else {
// CAN bus is on
HAL_GPIO_WritePin(LED_GPIO_Port, LED_Pin, GPIO_PIN_SET);
HAL_Delay(100);
HAL_GPIO_WritePin(LED_GPIO_Port, LED_Pin, GPIO_PIN_RESET);
HAL_Delay(100);
}
if (HAL_CAN_GetState(&hcan1) == HAL_CAN_STATE_READY) {
CAN_TxHeaderTypeDef can_tx_header;
can_tx_header.StdId = 0x123;
can_tx_header.RTR = CAN_RTR_DATA;
can_tx_header.IDE = CAN_ID_STD;
can_tx_header.DLC = 8;
uint32_t tx_mailbox;
HAL_CAN_AddTxMessage(&hcan1, &can_tx_header, can_tx_data, &tx_mailbox);
}
HAL_Delay(1000);
}
}
void HAL_CAN_RxFifo0MsgPendingCallback(CAN_HandleTypeDef *hcan) {
CAN_RxHeaderTypeDef can_rx_header;
HAL_CAN_GetRxMessage(hcan, CAN_RX_FIFO0, &can_rx_header, can_rx_data);
}
```
在这个示例代码中,我们使用了CAN1总线,并在主循环中轮询了CAN总线的状态。如果CAN总线处于“BUS_OFF”状态,我们将LED灯设置为常亮,否则将LED灯闪烁。如果CAN总线处于“READY”状态,我们将发送一个长度为8个字节的CAN消息。我们还注册了一个CAN接收中断回调函数,在接收到CAN消息时,将CAN接收缓冲区中的数据复制到can_rx_data数组中。
需要注意的是,实际应用中需要根据具体的需求进行修改和优化。