STM32CubeMX_CAN_CAN3_FDCAN_cubemx dcan

CAN发送

CAN1为例, main.c中添加:

/\* USER CODE BEGIN PV \*/
CAN_TxHeaderTypeDef   TxHeader;
uint8_t               TxData[8] = {0};
uint32_t              TxMailbox;
/\* USER CODE END PV \*/

  /\* USER CODE BEGIN 2 \*/
	if (HAL\_CAN\_Start(&hcan1) != HAL_OK) {
		Error\_Handler();
	}
	
	TxHeader.StdId = 0x321;
	TxHeader.ExtId = 0x01;
	TxHeader.RTR = CAN_RTR_DATA;
	TxHeader.IDE = CAN_ID_STD;
	TxHeader.DLC = 2;
	TxHeader.TransmitGlobalTime = DISABLE;
	
	TxData[0] = 0xAC;
	TxData[1] = 0xAD;
  /\* USER CODE END 2 \*/
  
  /\* USER CODE BEGIN WHILE \*/
  while (1)
  {
    /\* USER CODE END WHILE \*/

    /\* USER CODE BEGIN 3 \*/
		++TxData[1];		
		HAL\_CAN\_AddTxMessage(&hcan1, &TxHeader, TxData, &TxMailbox);
		HAL\_Delay(10);	
  }
  /\* USER CODE END 3 \*/

编译下载运行:

CAN接收

CAN接收需要先设置滤波器, 这里设为0, 全部接收:

/\* USER CODE BEGIN 0 \*/
void CAN1\_Config(void) {
	/\*## 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(&hcan1, &sFilterConfig) != HAL_OK) {
		Error\_Handler();	/\* Filter configuration Error \*/
	}
	
	/\*## Start the CAN peripheral ##\*/
	if (HAL\_CAN\_Start(&hcan1) != HAL_OK) {
		Error\_Handler();
	}
	
	/\*## Activate CAN RX notification ##\*/
	if (HAL\_CAN\_ActivateNotification(&hcan1, CAN_IT_RX_FIFO0_MSG_PENDING) != HAL_OK) {
		Error\_Handler();
	}
}

void CAN2\_Config(void) {
	/\*## Configure the CAN Filter ##\*/
	CAN_FilterTypeDef  sFilterConfig;
    sFilterConfig.FilterBank = 14;
    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(&hcan2, &sFilterConfig) != HAL_OK) {
		Error\_Handler();	/\* Filter configuration Error \*/
	}
	
	/\*## Start the CAN peripheral ##\*/
	if (HAL\_CAN\_Start(&hcan2) != HAL_OK) {
		Error\_Handler();
	}
	
	/\*## Activate CAN RX notificati