STM32F407 CAN接收程序

以下是一个基本的STM32F407 CAN接收程序，使用了HAL库提供的CAN相关函数，同时使用了中断模式：

#include "stm32f4xx.h"
#include "stm32f4xx_hal.h"

CAN_HandleTypeDef hcan;

void SystemClock_Config(void);
static void MX_GPIO_Init(void);
static void MX_CAN1_Init(void);

int main(void)
{
  HAL_Init();
  SystemClock_Config();
  MX_GPIO_Init();
  MX_CAN1_Init();
  
  HAL_CAN_Start(&hcan);
  HAL_CAN_ActivateNotification(&hcan, CAN_IT_RX_FIFO0_MSG_PENDING);
  
  while (1)
  {
  }
}

void HAL_CAN_RxFifo0MsgPendingCallback(CAN_HandleTypeDef *hcan)
{
  CAN_RxHeaderTypeDef rxHeader;
  uint8_t rxData[8];
  
  if (HAL_CAN_GetRxMessage(hcan, CAN_RX_FIFO0, &rxHeader, rxData) != HAL_OK)
  {
    // error handling
  }
  
  // process received data
}

void SystemClock_Config(void)
{
  RCC_OscInitTypeDef RCC_OscInitStruct = {0};
  RCC_ClkInitTypeDef RCC_ClkInitStruct = {0};

  /** Configure the main internal regulator output voltage 
  */
  __HAL_RCC_PWR_CLK_ENABLE();
  __HAL_PWR_VOLTAGESCALING_CONFIG(PWR_REGULATOR_VOLTAGE_SCALE1);
  /** Initializes the RCC Oscillators according to the specified parameters
  * in the RCC_OscInitTypeDef structure.
  */
  RCC_OscInitStruct.OscillatorType = RCC_OSCILLATORTYPE_HSE;
  RCC_OscInitStruct.HSEState = RCC_HSE_ON;
  RCC_OscInitStruct.PLL.PLLState = RCC_PLL_ON;
  RCC_OscInitStruct.PLL.PLLSource = RCC_PLLSOURCE_HSE;
  RCC_OscInitStruct.PLL.PLLM = 8;
  RCC_OscInitStruct.PLL.PLLN = 336;
  RCC_OscInitStruct.PLL.PLLP = RCC_PLLP_DIV2;
  RCC_OscInitStruct.PLL.PLLQ = 7;
  if (HAL_RCC_OscConfig(&RCC_OscInitStruct) != HAL_OK)
  {
    Error_Handler();
  }
  /** Initializes the CPU, AHB and APB buses clocks
  */
  RCC_ClkInitStruct.ClockType = RCC_CLOCKTYPE_HCLK|RCC_CLOCKTYPE_SYSCLK
                              |RCC_CLOCKTYPE_PCLK1|RCC_CLOCKTYPE_PCLK2;
  RCC_ClkInitStruct.SYSCLKSource = RCC_SYSCLKSOURCE_PLLCLK;
  RCC_ClkInitStruct.AHBCLKDivider = RCC_SYSCLK_DIV1;
  RCC_ClkInitStruct.APB1CLKDivider = RCC_HCLK_DIV4;
  RCC_ClkInitStruct.APB2CLKDivider = RCC_HCLK_DIV2;

  if (HAL_RCC_ClockConfig(&RCC_ClkInitStruct, FLASH_LATENCY_5) != HAL_OK)
  {
    Error_Handler();
  }
}

static void MX_CAN1_Init(void)
{
  hcan.Instance = CAN1;
  hcan.Init.Prescaler = 6;
  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();
  }
  
  CAN_FilterTypeDef filter;
  filter.FilterIdHigh = 0x0000;
  filter.FilterIdLow = 0x0000;
  filter.FilterMaskIdHigh = 0x0000;
  filter.FilterMaskIdLow = 0x0000;
  filter.FilterFIFOAssignment = CAN_FILTER_FIFO0;
  filter.FilterBank = 0;
  filter.FilterMode = CAN_FILTERMODE_IDMASK;
  filter.FilterScale = CAN_FILTERSCALE_32BIT;
  filter.FilterActivation = ENABLE;
  if (HAL_CAN_ConfigFilter(&hcan, &filter) != HAL_OK)
  {
    Error_Handler();
  }
}

static void MX_GPIO_Init(void)
{
  __HAL_RCC_GPIOA_CLK_ENABLE();
  GPIO_InitTypeDef GPIO_InitStruct = {0};
  GPIO_InitStruct.Pin = GPIO_PIN_11|GPIO_PIN_12;
  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(GPIOA, &GPIO_InitStruct);
}

void Error_Handler(void)
{
  while (1)
  {
  }
}

该程序使用了HAL库提供的CAN相关函数来配置CAN硬件和接收CAN数据，其中`HAL_CAN_RxFifo0MsgPendingCallback()`函数是CAN接收中断回调函数，当有数据到来时会触发该回调函数。在该函数中，可以使用`HAL_CAN_GetRxMessage()`函数获取接收到的数据帧，并进行解析和处理。需要注意的是，该程序只配置了一个接收过滤器，如果需要接收多个不同ID的数据帧，需要配置多个过滤器。