STM32 硬件CAN收发 HAL代码流程

最新推荐文章于 2024-08-20 22:19:54 发布

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最新推荐文章于 2024-08-20 22:19:54 发布

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文章标签： stm32 嵌入式硬件单片机

本文链接：https://blog.csdn.net/falali162/article/details/132316242

版权

1.开启三个中断

2.计算波特率，使得波特率为需要的值，例如500kb，这样才能和设备进行通信

3.过滤器

CAN_FilterTypeDef  sFilterConfig;
  
  /*##-1- Configure the CAN peripheral #######################################*/


  /*##-2- Configure the CAN Filter ###########################################*/
  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)
  {
    /* Filter configuration Error */
    Error_Handler();
  }

4.开始CAN并开启接收数据中断

  if (HAL_CAN_Start(&hcan1) != HAL_OK)
  {
    /* Start Error */
    Error_Handler();
  }
 __HAL_CAN_ENABLE_IT(&hcan1, CAN_IT_RX_FIFO0_MSG_PENDING);

5.发送数据

 TxHeader.StdId = 0x11;
  TxHeader.RTR = CAN_RTR_DATA;
  TxHeader.IDE = CAN_ID_STD;
  TxHeader.DLC = 2;
  TxHeader.TransmitGlobalTime = DISABLE;
  TxData[0] = 0xCA;
  TxData[1] = 0xFE;
  
  /* Request transmission */
  if(HAL_CAN_AddTxMessage(&hcan1, &TxHeader, TxData, &TxMailbox) != HAL_OK)
  {
    /* Transmission request Error */
    Error_Handler();
  }
  
  /* Wait transmission complete */
  while(HAL_CAN_GetTxMailboxesFreeLevel(&hcan1) != 3) {}

6.接收数据

在循环里获取接收队列

  if(HAL_CAN_GetRxFifoFillLevel(&hcan1, CAN_RX_FIFO0) != 1)
  {
    /* Reception Missing */
    Error_Handler();
  }

  if(HAL_CAN_GetRxMessage(&hcan1, CAN_RX_FIFO0, &RxHeader, RxData) != HAL_OK)
  {
    /* Reception Error */
    Error_Handler();
  }

7.覆写中断处理弱函数

使用HAL_CAN_RxFifo0MsgPendingCallback

void HAL_CAN_RxFifo0MsgPendingCallback(CAN_HandleTypeDef *hcan) {
   
if (HAL_CAN_GetRxMessage(can->hcan, CAN_RX_FIFO0, can->tCAN_RxMsg, can->ucCAN_RxData) == HAL_OK){
    //获取到数据后进行处理
}
}

或者使用void HAL_CAN_RxCpltCallback(CAN_HandleTypeDef* hcan)