STM32 HAL库 CAN_1

"can.c"

#include "stdio.h"
 CAN_TxHeaderTypeDef mycan_tx;
 CAN_RxHeaderTypeDef mycan_rx;

void CANFilter_Config(void)  //滤波
{
    CAN_FilterTypeDef  sFilterConfig;
    sFilterConfig.FilterBank = 0;                       //CAN过滤器编号，范围0-27
    sFilterConfig.FilterMode = CAN_FILTERMODE_IDMASK;   //CAN过滤器模式，掩码模式或列表模式
    sFilterConfig.FilterScale = CAN_FILTERSCALE_32BIT;  //CAN过滤器尺度，16位或32位
    sFilterConfig.FilterIdHigh = 0x000 << 5;			//32位下，存储要过滤ID的高16位
    sFilterConfig.FilterIdLow = 0x0000;					//32位下，存储要过滤ID的低16位
    sFilterConfig.FilterMaskIdHigh = 0x0000;			//掩码模式下，存储的是掩码
    sFilterConfig.FilterMaskIdLow = 0x0000;
    sFilterConfig.FilterFIFOAssignment = 0;				//报文通过过滤器的匹配后，存储到哪个FIFO
    sFilterConfig.FilterActivation = ENABLE;    		//激活过滤器
    sFilterConfig.SlaveStartFilterBank = 0;
    
    if (HAL_CAN_ConfigFilter(&hcan, &sFilterConfig) != HAL_OK) 
		 {
        Error_Handler();
     }
}

void CAN_Send(uint8_t *pdata,uint8_t len)  //发送
{
	uint32_t TxMailbox = 0;        //邮箱
	mycan_tx.StdId = 0x666;        //设置ID
	mycan_tx.IDE = CAN_ID_STD;     //设置ID类型
	mycan_tx.RTR = CAN_RTR_DATA;   //设置传送数据帧
	mycan_tx.DLC = len;            //设置数据长度
	mycan_tx.TransmitGlobalTime = DISABLE;  //不用时间戳
	if(HAL_CAN_AddTxMessage(&hcan,&mycan_tx,pdata,&TxMailbox)!=HAL_OK)
	{
		printf("can_1_tx_Failed...\r\n");
		Error_Handler();
	}
	printf("can_1_tx_OK!!!\r\n");
}

"main.c"

/*初始化，启动can*/
void can_start(void)
{
	MX_CAN_Init();//参数初始化
	filter_init();//滤波初始化
    HAL_CAN_Start(&hcan);//启动
	HAL_CAN_ActivateNotification(&hcan,CAN_IT_RX_FIFO0_MSG_PENDING);//使能中断	
}

/*中断回调函数*/
void HAL_CAN_RxFifo0MsgPendingCallback(CAN_HandleTypeDef *hcan)
{
	if(hcan->Instance==CAN)
	{
		HAL_CAN_GetRxMessage(&hcan,CAN_FILTER_FIFO0,&rxheader1,msg);//获取数据
	}
}

	//开启can中断
	if (HAL_CAN_ActivateNotification(&hcan, CAN_IT_RX_FIFO0_MSG_PENDING) != HAL_OK)
  {
    /* Notification Error */
    Error_Handler();
  }