STM32 Cubmx CAN配置2

最新推荐文章于 2023-07-26 20:08:23 发布

kebidaixu

最新推荐文章于 2023-07-26 20:08:23 发布

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文章标签： stm32 单片机嵌入式硬件

本文链接：https://blog.csdn.net/kebidaixu/article/details/127586686

版权

一、CAN发送

CAN_TxHeaderTypeDef TXHeader;
CAN_RxHeaderTypeDef RXHeader;

uint8_t TXmessage[8] = {0};
uint8_t RXmessage[8];

void CANSendData(void)
{
	uint32_t pTxMailBox;
	
  TXHeader.StdId=0x401 + (BMUID << 3);
	TXHeader.ExtId=0;
	TXHeader.DLC=8;
	TXHeader.IDE=CAN_ID_STD;
	TXHeader.RTR=CAN_RTR_DATA;
	TXHeader.TransmitGlobalTime = DISABLE;
	
	if(rpmFan > 0)
	{
	  TXmessage[0] = 1;//Fan working
	}
	else
	{
	  TXmessage[0] = 0;
	}
	TXmessage[1] = 0;
	TXmessage[2] = 0;
	TXmessage[3] = 0;
	TXmessage[4] = 0;
	TXmessage[5] = 0;
	TXmessage[6] = 0;
	TXmessage[7] = 0;
	
	if((BMUID != 0) && (CANSendEn_flg == 1))
	{
	  HAL_CAN_AddTxMessage(&hcan,&TXHeader,TXmessage,&pTxMailBox);
	}
}

二、CAN接收

CAN接收通常是通过中断接收，并将接收的信息暂存到一个buffer里，并周期性的去处理接收到的信息。

1.CAN接收中断，调用RXDateStackPress()函数，将接收信息压缩进buffer里

#define CAN_BUF_SIZE 100

#define BT_BASIC_TX_CAN_ID              0x703
#define BT_BASIC_RX_CAN_ID              0x702
#define BT_SERVER_TX_CAN_ID             (BT_BASIC_TX_CAN_ID | (BMUID<<3)) 
#define BT_SERVER_RX_CAN_ID             (BT_BASIC_RX_CAN_ID | (BMUID<<3))

#define BT_SERVER_CAN_CHL               0x00

typedef union
{
  uint8_t W[19];
  struct
  {
    uint32_t TimeStamp;
    uint8_t  Channel;
    uint8_t  DLC;
    uint8_t  IDE;
    uint32_t ID;
    uint8_t  Data[8];
  } B;     /* Big-endian */
}CANBUF_tag; /* CAN Buffer */


typedef struct
{
  uint8_t Channel;
  uint32_t ID;
  uint8_t Length;
  uint8_t Extended;
  uint8_t Remote;
  uint8_t Data[8];
}CAN_APP_DATATYPE;



CAN_TxHeaderTypeDef TXHeader;
CAN_RxHeaderTypeDef RXHeader;

uint8_t TXmessage[8] = {0};
uint8_t RXmessage[8];

CANBUF_tag CanBuf[CAN_BUF_SIZE];
uint32_t can_rx_idx=0;
uint32_t can_rd_idx=0;

void HAL_CAN_RxFifo0MsgPendingCallback(CAN_HandleTypeDef *hcan)
{
	uint8_t RXmessage[8] = {0};
	
	if(hcan->Instance==CAN)
	{
		if(HAL_CAN_GetRxMessage(hcan,CAN_FILTER_FIFO0,&RXHeader,RXmessage) == HAL_OK)
    {
      RXDateStackPress(hcan, CAN_RX_FIFO0, &RXHeader, RXmessage);
    }
  }
}


void RXDateStackPress(CAN_HandleTypeDef *hcan, uint32_t RxFifo, CAN_RxHeaderTypeDef *pHeader, uint8_t aData[])
{

    	CanBuf[can_rx_idx].B.TimeStamp = 0;
		CanBuf[can_rx_idx].B.Channel = 0;
		if(pHeader->IDE == 4)
		{
			CanBuf[can_rx_idx].B.ID   = pHeader->ExtId;
		}
		else
		{
			CanBuf[can_rx_idx].B.ID   = pHeader->StdId;
		}
		CanBuf[can_rx_idx].B.DLC = pHeader->DLC;  
		CanBuf[can_rx_idx].B.IDE = pHeader->IDE;
		memcpy(&CanBuf[can_rx_idx].B.Data, &aData[0], pHeader->DLC);
		
		can_rx_idx++;
		if(can_rx_idx >= CAN_BUF_SIZE)
		{
			can_rx_idx = 0;
		}
}

2.周期性的检查buffer中是否有未处理的数据

void HandleRXData(void)
{

  CANBUF_tag iCanBufStr;
  uint8_t rx_data[8];
  uint8_t rx_dlc;
  uint16_t rx_id;

	if(RXDateStackPop(&iCanBufStr))//received can buff not handle finish
	{
		memcpy(rx_data,iCanBufStr.B.Data,iCanBufStr.B.DLC);
		rx_id = iCanBufStr.B.ID;
		rx_dlc = iCanBufStr.B.DLC;
		
		//boot message
		if((rx_id == BT_SERVER_RX_CAN_ID)
		&& (rx_dlc == 8)
		&& (rx_data[0] == 0x02)
		&& (rx_data[1] == 0x10)
		&& (rx_data[2] == 0x03))
		{
           vStartBootLoader();			
		} 
  }
}


uint8_t RXDateStackPop(CANBUF_tag *tmp_buf)
{
  uint8_t SearchMsgResult = 0;

  if(can_rx_idx != can_rd_idx)
  {
    *tmp_buf = CanBuf[can_rd_idx];
    can_rd_idx++;
    if(can_rd_idx >= CAN_BUF_SIZE)
    {
      can_rd_idx = 0;
    }
    SearchMsgResult =1;
  }
  return SearchMsgResult;
}