CAN报文接收的代码。
时间: 2024-05-11 13:13:48 浏览: 7
以下是一个简单的CAN报文接收代码示例,使用STM32 MCU和HAL库:
```
#include "stm32f4xx_hal.h"
CAN_HandleTypeDef hcan;
void HAL_CAN_RxCpltCallback(CAN_HandleTypeDef *hcan)
{
// 处理CAN报文接收
}
int main(void)
{
HAL_Init();
__HAL_RCC_CAN1_CLK_ENABLE();
hcan.Instance = CAN1;
hcan.Init.TimeTriggeredMode = DISABLE;
hcan.Init.AutoBusOff = ENABLE;
hcan.Init.AutoWakeUp = DISABLE;
hcan.Init.AutoRetransmission = ENABLE;
hcan.Init.ReceiveFifoLocked = DISABLE;
hcan.Init.TransmitFifoPriority = DISABLE;
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.Prescaler = 4;
if (HAL_CAN_Init(&hcan) != HAL_OK)
{
Error_Handler();
}
CAN_FilterTypeDef can_filter;
can_filter.FilterBank = 0;
can_filter.FilterMode = CAN_FILTERMODE_IDMASK;
can_filter.FilterScale = CAN_FILTERSCALE_32BIT;
can_filter.FilterIdHigh = 0x0000;
can_filter.FilterIdLow = 0x0000;
can_filter.FilterMaskIdHigh = 0x0000;
can_filter.FilterMaskIdLow = 0x0000;
can_filter.FilterFIFOAssignment = CAN_RX_FIFO0;
can_filter.FilterActivation = ENABLE;
can_filter.SlaveStartFilterBank = 14;
if (HAL_CAN_ConfigFilter(&hcan, &can_filter) != HAL_OK)
{
Error_Handler();
}
if (HAL_CAN_Start(&hcan) != HAL_OK)
{
Error_Handler();
}
if (HAL_CAN_ActivateNotification(&hcan, CAN_IT_RX_FIFO0_MSG_PENDING) != HAL_OK)
{
Error_Handler();
}
while (1)
{
// 主程序代码
}
}
```
此代码初始化了CAN和CAN过滤器,并使用HAL库的回调函数处理CAN报文接收。回调函数`HAL_CAN_RxCpltCallback`在每次CAN接收到报文时自动调用,可以在其中添加用户自定义代码以处理接收到的报文。在主程序中,可以添加其他代码以实现其他功能。