CAN通信的HAL库开发（板内通信+双板通信）

一，前言

        网上can通信的开发资料较少，csdn上有一些博客，但要么是用的标准库开发，要么自己偷偷定义一堆函数直接用，各种问题巨多，本文将从很实际的角度指出一些hal库can开发过程中可能遇到的难点，希望后人少踩坑。(这边顺便给华南小虎队的文引一波流)

https://blog.csdn.net/weixin_44793491/article/details/107298426

二，准备工作

       首先最重要的就是别忘了买can收发器（淘宝直接搜）！！！！！

        我一开始就是不知道买收发器导致浪费了大量时间

        

       

        这里举个例子，大家根据自己板子的具体情况购买收发器，我这块f4的板子有两路can，一路是自带can收发器的，即左图中的can1,也就不需要购买（图中红圈为收发器），另一路是不带的，即can2。

        对初学者来讲，can通信有三种开发方式，第一种：单板单can的回环模式收发，即只需要一块板，一路can进行回环模式的自收自发，这种情况下准备一块基础的stm32f103c8t6即可；第二种：单板双can的正常模式收发，即一块板，两路can，这种情况下得准备一块stm32f4才够；第三种，双板双can的互发互收，这种情况下准备两块带一路can的板子就行，但建议最好是一样型号的，别问我为什么。。。。。。。。。

    

三，接线

        

                模块上的can_rx对应地接板子上的can_rx,tx也对应地接tx，这点和串口通信有所不同，然后就是两个收发器，CANH接CANH，CANL接CANL。

四，注意事项

1. https://pan.baidu.com/s/1ccY_2qr_rLHp42GgS-bofg?pwd=1os

        正点原子开发指南里有can收发范例

2.STM32CubeMX | STM32 HAL库CAN总线收发、中断方式接收示例教程_hal库can收发例程-CSDN博客        这篇的收发报文的格式，和定义函数都比较简洁清晰

3.STM32-F407 CAN的双机通讯_can1_mode_init 500波特率-CSDN博客

        这篇说的双机通信代码不能完全一样，报文ID得不同，不然不能正常收发

4.STM32双路Can通信_stm32双can-CSDN博客

        这篇是板内双can通信，f4的板子一般两路can，一路主一路从，影响到过滤器的配置

五，代码部分

  ——板间收发（两块stm32f103c8t6）

 main.c 

/* USER CODE BEGIN Header */
/**
  ******************************************************************************
  * @file           : main.c
  * @brief          : Main program body
  ******************************************************************************
  * @attention
  *
  * Copyright (c) 2024 STMicroelectronics.
  * All rights reserved.
  *
  * This software is licensed under terms that can be found in the LICENSE file
  * in the root directory of this software component.
  * If no LICENSE file comes with this software, it is provided AS-IS.
  *
  ******************************************************************************
  */
/* USER CODE END Header */
/* Includes ------------------------------------------------------------------*/
#include "main.h"
#include "can.h"
#include "gpio.h"

/* Private includes ----------------------------------------------------------*/
/* USER CODE BEGIN Includes */
CAN_RxPacketTypeDef RECE;
CAN_TxPacketTypeDef SEND;
uint16_t TX_test;                        
uint16_t RX_test;                        //检测是否成功接收数据
/* USER CODE END Includes */

/* Private typedef -----------------------------------------------------------*/
/* USER CODE BEGIN PTD */

/* USER CODE END PTD */

/* Private define ------------------------------------------------------------*/
/* USER CODE BEGIN PD */

/* USER CODE END PD */

/* Private macro -------------------------------------------------------------*/
/* USER CODE BEGIN PM */

/* USER CODE END PM */

/* Private variables ---------------------------------------------------------*/

/* USER CODE BEGIN PV */

/* USER CODE END PV */

/* Private function prototypes -----------------------------------------------*/
void SystemClock_Config(void);
/* USER CODE BEGIN PFP */

/* USER CODE END PFP */

/* Private user code ---------------------------------------------------------*/
/* USER CODE BEGIN 0 */

/* USER CODE END 0 */

/**
  * @brief  The application entry point.
  * @retval int
  */
int main(void)
{
  /* USER CODE BEGIN 1 */

  /* USER CODE END 1 */

  /* MCU Configuration--------------------------------------------------------*/

  /* Reset of all peripherals, Initializes the Flash interface and the Systick. */
  HAL_Init();

  /* USER CODE BEGIN Init */

  /* USER CODE END Init */

  /* Configure the system clock */
  SystemClock_Config();

  /* USER CODE BEGIN SysInit */

  /* USER CODE END SysInit */

  /* Initialize all configured peripherals */
  MX_GPIO_Init();
  MX_CAN_Init();
  /* USER CODE BEGIN 2 */
	CAN_Init();
	CAN_SetTxPacket(&SEND);


  /* USER CODE END 2 */

  /* Infinite loop */
  /* USER CODE BEGIN WHILE */
  while (1)
  {
    /* USER CODE END WHILE */

    /* USER CODE BEGIN 3 */

			if(CAN_Transmit(&SEND) != 0)
			{TX_test=1;}

    HAL_Delay(100);
  }

  
  /* USER CODE END 3 */
}

/**
  * @brief System Clock Configuration
  * @retval None
  */
void SystemClock_Config(void)
{
  RCC_OscInitTypeDef RCC_OscInitStruct = {0};
  RCC_ClkInitTypeDef RCC_ClkInitStruct = {0};

  /** 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.HSEPredivValue = RCC_HSE_PREDIV_DIV1;
  RCC_OscInitStruct.HSIState = RCC_HSI_ON;
  RCC_OscInitStruct.PLL.PLLState = RCC_PLL_ON;
  RCC_OscInitStruct.PLL.PLLSource = RCC_PLLSOURCE_HSE;
  RCC_OscInitStruct.PLL.PLLMUL = RCC_PLL_MUL9;
  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_DIV2;
  RCC_ClkInitStruct.APB2CLKDivider = RCC_HCLK_DIV1;

  if (HAL_RCC_ClockConfig(&RCC_ClkInitStruct, FLASH_LATENCY_2) != HAL_OK)
  {
    Error_Handler();
  }
}

/* USER CODE BEGIN 4 */

void HAL_CAN_RxFifo0MsgPendingCallback(CAN_HandleTypeDef *canHandle)                         //重新定义中断回调函数
{

    // CAN数据接收
    if (canHandle->Instance == hcan.Instance)
    {
        if (HAL_CAN_GetRxMessage(canHandle, CAN_RX_FIFO0, &RECE2.hdr, RECE2.payload) == HAL_OK)		// 获得接收到的数据头和数据
        {

           HAL_CAN_ActivateNotification(canHandle, CAN_IT_RX_FIFO0_MSG_PENDING);						// 再次使能FIFO0接收中断
        }
				HAL_GPIO_WritePin(GPIOC,GPIO_PIN_13,GPIO_PIN_RESET);
    }
}

/* USER CODE END 4 */

/**
  * @brief  This function is executed in case of error occurrence.
  * @retval None
  */
void Error_Handler(void)
{
  /* USER CODE BEGIN Error_Handler_Debug */
  /* User can add his own implementation to report the HAL error return state */
  __disable_irq();
  while (1)
  {
  }
  /* USER CODE END Error_Handler_Debug */
}

#ifdef  USE_FULL_ASSERT
/**
  * @brief  Reports the name of the source file and the source line number
  *         where the assert_param error has occurred.
  * @param  file: pointer to the source file name
  * @param  line: assert_param error line source number
  * @retval None
  */
void assert_failed(uint8_t *file, uint32_t line)
{
  /* USER CODE BEGIN 6 */
  /* User can add his own implementation to report the file name and line number,
     ex: printf("Wrong parameters value: file %s on line %d\r\n", file, line) */
  /* USER CODE END 6 */
}
#endif /* USE_FULL_ASSERT */

can.c

/* USER CODE BEGIN Header */
/**
  ******************************************************************************
  * @file    can.c
  * @brief   This file provides code for the configuration
  *          of the CAN instances.
  ******************************************************************************
  * @attention
  *
  * Copyright (c) 2024 STMicroelectronics.
  * All rights reserved.
  *
  * This software is licensed under terms that can be found in the LICENSE file
  * in the root directory of this software component.
  * If no LICENSE file comes with this software, it is provided AS-IS.
  *
  ******************************************************************************
  */
/* USER CODE END Header */
/* Includes ------------------------------------------------------------------*/
#include "can.h"

/* USER CODE BEGIN 0 */


/* USER CODE END 0 */

CAN_HandleTypeDef hcan;

/* CAN init function */
void MX_CAN_Init(void)
{

  /* USER CODE BEGIN CAN_Init 0 */

  /* USER CODE END CAN_Init 0 */

  /* USER CODE BEGIN CAN_Init 1 */

  /* USER CODE END CAN_Init 1 */
  hcan.Instance = CAN1;
  hcan.Init.Prescaler = 9;
  hcan.Init.Mode = CAN_MODE_NORMAL;
  hcan.Init.SyncJumpWidth = CAN_SJW_1TQ;
  hcan.Init.TimeSeg1 = CAN_BS1_5TQ;
  hcan.Init.TimeSeg2 = CAN_BS2_2TQ;
  hcan.Init.TimeTriggeredMode = DISABLE;
  hcan.Init.AutoBusOff = DISABLE;
  hcan.Init.AutoWakeUp = DISABLE;
  hcan.Init.AutoRetransmission = DISABLE;
  hcan.Init.ReceiveFifoLocked = DISABLE;
  hcan.Init.TransmitFifoPriority = DISABLE;
  if (HAL_CAN_Init(&hcan) != HAL_OK)
  {
    Error_Handler();
  }
  /* USER CODE BEGIN CAN_Init 2 */

  /* USER CODE END CAN_Init 2 */

}

void HAL_CAN_MspInit(CAN_HandleTypeDef* canHandle)
{

  GPIO_InitTypeDef GPIO_InitStruct = {0};
  if(canHandle->Instance==CAN1)
  {
  /* USER CODE BEGIN CAN1_MspInit 0 */

  /* USER CODE END CAN1_MspInit 0 */
    /* CAN1 clock enable */
    __HAL_RCC_CAN1_CLK_ENABLE();

    __HAL_RCC_GPIOA_CLK_ENABLE();
    /**CAN GPIO Configuration
    PA11     ------> CAN_RX
    PA12     ------> CAN_TX
    */
    GPIO_InitStruct.Pin = GPIO_PIN_11;
    GPIO_InitStruct.Mode = GPIO_MODE_INPUT;
    GPIO_InitStruct.Pull = GPIO_NOPULL;
    HAL_GPIO_Init(GPIOA, &GPIO_InitStruct);

    GPIO_InitStruct.Pin = GPIO_PIN_12;
    GPIO_InitStruct.Mode = GPIO_MODE_AF_PP;
    GPIO_InitStruct.Speed = GPIO_SPEED_FREQ_HIGH;
    HAL_GPIO_Init(GPIOA, &GPIO_InitStruct);

    /* CAN1 interrupt Init */
    HAL_NVIC_SetPriority(USB_LP_CAN1_RX0_IRQn, 0, 0);
    HAL_NVIC_EnableIRQ(USB_LP_CAN1_RX0_IRQn);
  /* USER CODE BEGIN CAN1_MspInit 1 */

  /* USER CODE END CAN1_MspInit 1 */
  }
}

void HAL_CAN_MspDeInit(CAN_HandleTypeDef* canHandle)
{

  if(canHandle->Instance==CAN1)
  {
  /* USER CODE BEGIN CAN1_MspDeInit 0 */

  /* USER CODE END CAN1_MspDeInit 0 */
    /* Peripheral clock disable */
    __HAL_RCC_CAN1_CLK_DISABLE();

    /**CAN GPIO Configuration
    PA11     ------> CAN_RX
    PA12     ------> CAN_TX
    */
    HAL_GPIO_DeInit(GPIOA, GPIO_PIN_11|GPIO_PIN_12);

    /* CAN1 interrupt Deinit */
    HAL_NVIC_DisableIRQ(USB_LP_CAN1_RX0_IRQn);
  /* USER CODE BEGIN CAN1_MspDeInit 1 */

  /* USER CODE END CAN1_MspDeInit 1 */
  }
}

/* USER CODE BEGIN 1 */
void CAN_Init(void)                                                                 //功能：can初始化；过滤器配置；can开始；can中断启动
{

    CAN_Filter_Config();
    HAL_CAN_Start(&hcan);
    HAL_CAN_ActivateNotification(&hcan, CAN_IT_RX_FIFO0_MSG_PENDING);			// 使能CAN接收中断
}



	
void CAN_Filter_Config(void)                                                       //功能：配置过滤器到&hcan上
{
	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(&hcan, &sFilterConfig) != HAL_OK)
  {
    /* Filter configuration Error */
    Error_Handler();
	}

}

	uint8_t CAN_Transmit(CAN_TxPacketTypeDef* packet)																			 //功能：发送报文
{
	if(HAL_CAN_AddTxMessage(&hcan, &packet->hdr, packet->payload, &packet->mailbox) != HAL_OK)
		return 1;
	return 0;
}

void CAN_SetTxPacket(CAN_TxPacketTypeDef*a)                                       //功能：配置发送报文a的格式
{
		a->hdr.StdId = 0x321;			// 标准ID
//	a->hdr.ExtId = 0x10F01234;		// 扩展ID
	a->hdr.IDE = CAN_ID_STD;			// 标准ID类型
//	a->hdr.IDE = CAN_ID_EXT;			// 扩展ID类型
	a->hdr.DLC = 8;					// 数据长度
	a->hdr.RTR = CAN_RTR_DATA;		// 数据帧
//	g_CanTxPacket.hdr.RTR = CAN_RTR_REMOTE;		// 远程帧
	a->hdr.TransmitGlobalTime = DISABLE;
	
	for(int i = 0; i < 8; i++)
	{
		a->payload[i] = i;    //数据数组（暂时）
	}
}
                                     

/* USER CODE END 1 */

can.h

/* USER CODE BEGIN Header */
/**
  ******************************************************************************
  * @file    can.h
  * @brief   This file contains all the function prototypes for
  *          the can.c file
  ******************************************************************************
  * @attention
  *
  * Copyright (c) 2024 STMicroelectronics.
  * All rights reserved.
  *
  * This software is licensed under terms that can be found in the LICENSE file
  * in the root directory of this software component.
  * If no LICENSE file comes with this software, it is provided AS-IS.
  *
  ******************************************************************************
  */
/* USER CODE END Header */
/* Define to prevent recursive inclusion -------------------------------------*/
#ifndef __CAN_H__
#define __CAN_H__

#ifdef __cplusplus
extern "C" {
#endif

/* Includes ------------------------------------------------------------------*/
#include "main.h"

/* USER CODE BEGIN Includes */
typedef struct
{
	uint32_t mailbox;
	CAN_TxHeaderTypeDef hdr;
	uint8_t payload[8];
}CAN_TxPacketTypeDef;

typedef struct
{
	CAN_RxHeaderTypeDef hdr;
	uint8_t payload[8];
}CAN_RxPacketTypeDef;
/* USER CODE END Includes */

extern CAN_HandleTypeDef hcan;

/* USER CODE BEGIN Private defines */
void CAN_Init(void);
void CAN_Filter_Config(void);
	uint8_t CAN_Transmit(CAN_TxPacketTypeDef* packet);
void CAN_SetTxPacket(CAN_TxPacketTypeDef*a) ;
/* USER CODE END Private defines */

void MX_CAN_Init(void);

/* USER CODE BEGIN Prototypes */

/* USER CODE END Prototypes */

#ifdef __cplusplus
}
#endif

#endif /* __CAN_H__ */

 

——板内双can(一块stm43f407)

main.c

/* USER CODE BEGIN Header */
/**
  ******************************************************************************
  * @file           : main.c
  * @brief          : Main program body
  ******************************************************************************
  * @attention
  *
  * Copyright (c) 2024 STMicroelectronics.
  * All rights reserved.
  *
  * This software is licensed under terms that can be found in the LICENSE file
  * in the root directory of this software component.
  * If no LICENSE file comes with this software, it is provided AS-IS.
  *
  ******************************************************************************
  */
/* USER CODE END Header */
/* Includes ------------------------------------------------------------------*/
#include "main.h"
#include "can.h"
#include "gpio.h"

/* Private includes ----------------------------------------------------------*/
/* USER CODE BEGIN Includes */
CAN_TxPacketTypeDef SEND1;
CAN_RxPacketTypeDef RECE1;
uint16_t RX_test1;   

CAN_TxPacketTypeDef SEND2;
CAN_RxPacketTypeDef RECE2;
uint16_t RX_test2; 
/* USER CODE END Includes */

/* Private typedef -----------------------------------------------------------*/
/* USER CODE BEGIN PTD */

/* USER CODE END PTD */

/* Private define ------------------------------------------------------------*/
/* USER CODE BEGIN PD */

/* USER CODE END PD */

/* Private macro -------------------------------------------------------------*/
/* USER CODE BEGIN PM */

/* USER CODE END PM */

/* Private variables ---------------------------------------------------------*/

/* USER CODE BEGIN PV */

/* USER CODE END PV */

/* Private function prototypes -----------------------------------------------*/
void SystemClock_Config(void);
/* USER CODE BEGIN PFP */

/* USER CODE END PFP */

/* Private user code ---------------------------------------------------------*/
/* USER CODE BEGIN 0 */

/* USER CODE END 0 */

/**
  * @brief  The application entry point.
  * @retval int
  */
int main(void)
{
  /* USER CODE BEGIN 1 */

  /* USER CODE END 1 */

  /* MCU Configuration--------------------------------------------------------*/

  /* Reset of all peripherals, Initializes the Flash interface and the Systick. */
  HAL_Init();

  /* USER CODE BEGIN Init */

  /* USER CODE END Init */

  /* Configure the system clock */
  SystemClock_Config();

  /* USER CODE BEGIN SysInit */

  /* USER CODE END SysInit */

  /* Initialize all configured peripherals */
  MX_GPIO_Init();
  MX_CAN1_Init();
  MX_CAN2_Init();
  /* USER CODE BEGIN 2 */
	CAN1_Init();
	CAN2_Init();
	CAN1_SetTxPacket(&SEND1);
	CAN2_SetTxPacket(&SEND2);
  /* USER CODE END 2 */

  /* Infinite loop */
  /* USER CODE BEGIN WHILE */
  while (1)
  {
    /* USER CODE END WHILE */

    /* USER CODE BEGIN 3 */
				if(CAN1_Transmit(&SEND1) != 0)
			RX_test1=1;
		
		HAL_Delay(500);
			for(uint16_t i=0;i<8;i++)
		{
			SEND2.payload[i]=RECE2.payload[i];
		}
		
		if(CAN2_Transmit(&SEND2) != 0)
			RX_test2=1;
		HAL_Delay(500);
  }
  /* USER CODE END 3 */
}

/**
  * @brief System Clock Configuration
  * @retval None
  */
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 = 25;
  RCC_OscInitStruct.PLL.PLLN = 168;
  RCC_OscInitStruct.PLL.PLLP = RCC_PLLP_DIV2;
  RCC_OscInitStruct.PLL.PLLQ = 4;
  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_DIV2;
  RCC_ClkInitStruct.APB2CLKDivider = RCC_HCLK_DIV1;

  if (HAL_RCC_ClockConfig(&RCC_ClkInitStruct, FLASH_LATENCY_2) != HAL_OK)
  {
    Error_Handler();
  }
}

/* USER CODE BEGIN 4 */
void HAL_CAN_RxFifo0MsgPendingCallback(CAN_HandleTypeDef *canHandle)                         //重新定义中断回调函数
{

    // CAN数据接收
    if (canHandle->Instance == hcan1.Instance)
    {
        if (HAL_CAN_GetRxMessage(canHandle, CAN_RX_FIFO0, &RECE1.hdr, RECE1.payload) == HAL_OK)		// 获得接收到的数据头和数据
        {

           HAL_CAN_ActivateNotification(canHandle, CAN_IT_RX_FIFO0_MSG_PENDING);						// 再次使能FIFO0接收中断
        }
    }
		else if (canHandle->Instance == hcan2.Instance)
    {
        if (HAL_CAN_GetRxMessage(canHandle, CAN_RX_FIFO0, &RECE2.hdr, RECE2.payload) == HAL_OK)		// 获得接收到的数据头和数据
        {

           HAL_CAN_ActivateNotification(canHandle, CAN_IT_RX_FIFO0_MSG_PENDING);						// 再次使能FIFO0接收中断
        }
    }
}
/* USER CODE END 4 */

/**
  * @brief  This function is executed in case of error occurrence.
  * @retval None
  */
void Error_Handler(void)
{
  /* USER CODE BEGIN Error_Handler_Debug */
  /* User can add his own implementation to report the HAL error return state */
  __disable_irq();
  while (1)
  {
  }
  /* USER CODE END Error_Handler_Debug */
}

#ifdef  USE_FULL_ASSERT
/**
  * @brief  Reports the name of the source file and the source line number
  *         where the assert_param error has occurred.
  * @param  file: pointer to the source file name
  * @param  line: assert_param error line source number
  * @retval None
  */
void assert_failed(uint8_t *file, uint32_t line)
{
  /* USER CODE BEGIN 6 */
  /* User can add his own implementation to report the file name and line number,
     ex: printf("Wrong parameters value: file %s on line %d\r\n", file, line) */
  /* USER CODE END 6 */
}
#endif /* USE_FULL_ASSERT */

can.c

/* USER CODE BEGIN Header */
/**
  ******************************************************************************
  * @file    can.c
  * @brief   This file provides code for the configuration
  *          of the CAN instances.
  ******************************************************************************
  * @attention
  *
  * Copyright (c) 2024 STMicroelectronics.
  * All rights reserved.
  *
  * This software is licensed under terms that can be found in the LICENSE file
  * in the root directory of this software component.
  * If no LICENSE file comes with this software, it is provided AS-IS.
  *
  ******************************************************************************
  */
/* USER CODE END Header */
/* Includes ------------------------------------------------------------------*/
#include "can.h"

/* USER CODE BEGIN 0 */

/* USER CODE END 0 */

CAN_HandleTypeDef hcan1;
CAN_HandleTypeDef hcan2;

/* CAN1 init function */
void MX_CAN1_Init(void)
{

  /* USER CODE BEGIN CAN1_Init 0 */

  /* USER CODE END CAN1_Init 0 */

  /* USER CODE BEGIN CAN1_Init 1 */

  /* USER CODE END CAN1_Init 1 */
  hcan1.Instance = CAN1;
  hcan1.Init.Prescaler = 7;
  hcan1.Init.Mode = CAN_MODE_NORMAL;
  hcan1.Init.SyncJumpWidth = CAN_SJW_1TQ;
  hcan1.Init.TimeSeg1 = CAN_BS1_5TQ;
  hcan1.Init.TimeSeg2 = CAN_BS2_6TQ;
  hcan1.Init.TimeTriggeredMode = DISABLE;
  hcan1.Init.AutoBusOff = DISABLE;
  hcan1.Init.AutoWakeUp = DISABLE;
  hcan1.Init.AutoRetransmission = DISABLE;
  hcan1.Init.ReceiveFifoLocked = DISABLE;
  hcan1.Init.TransmitFifoPriority = DISABLE;
  if (HAL_CAN_Init(&hcan1) != HAL_OK)
  {
    Error_Handler();
  }
  /* USER CODE BEGIN CAN1_Init 2 */

  /* USER CODE END CAN1_Init 2 */

}
/* CAN2 init function */
void MX_CAN2_Init(void)
{

  /* USER CODE BEGIN CAN2_Init 0 */

  /* USER CODE END CAN2_Init 0 */

  /* USER CODE BEGIN CAN2_Init 1 */

  /* USER CODE END CAN2_Init 1 */
  hcan2.Instance = CAN2;
  hcan2.Init.Prescaler = 7;
  hcan2.Init.Mode = CAN_MODE_NORMAL;
  hcan2.Init.SyncJumpWidth = CAN_SJW_1TQ;
  hcan2.Init.TimeSeg1 = CAN_BS1_5TQ;
  hcan2.Init.TimeSeg2 = CAN_BS2_6TQ;
  hcan2.Init.TimeTriggeredMode = DISABLE;
  hcan2.Init.AutoBusOff = DISABLE;
  hcan2.Init.AutoWakeUp = DISABLE;
  hcan2.Init.AutoRetransmission = DISABLE;
  hcan2.Init.ReceiveFifoLocked = DISABLE;
  hcan2.Init.TransmitFifoPriority = DISABLE;
  if (HAL_CAN_Init(&hcan2) != HAL_OK)
  {
    Error_Handler();
  }
  /* USER CODE BEGIN CAN2_Init 2 */

  /* USER CODE END CAN2_Init 2 */

}

static uint32_t HAL_RCC_CAN1_CLK_ENABLED=0;

void HAL_CAN_MspInit(CAN_HandleTypeDef* canHandle)
{

  GPIO_InitTypeDef GPIO_InitStruct = {0};
  if(canHandle->Instance==CAN1)
  {
  /* USER CODE BEGIN CAN1_MspInit 0 */

  /* USER CODE END CAN1_MspInit 0 */
    /* CAN1 clock enable */
    HAL_RCC_CAN1_CLK_ENABLED++;
    if(HAL_RCC_CAN1_CLK_ENABLED==1){
      __HAL_RCC_CAN1_CLK_ENABLE();
    }

    __HAL_RCC_GPIOA_CLK_ENABLE();
    /**CAN1 GPIO Configuration
    PA11     ------> CAN1_RX
    PA12     ------> CAN1_TX
    */
    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);

    /* CAN1 interrupt Init */
    HAL_NVIC_SetPriority(CAN1_RX0_IRQn, 0, 0);
    HAL_NVIC_EnableIRQ(CAN1_RX0_IRQn);
  /* USER CODE BEGIN CAN1_MspInit 1 */

  /* USER CODE END CAN1_MspInit 1 */
  }
  else if(canHandle->Instance==CAN2)
  {
  /* USER CODE BEGIN CAN2_MspInit 0 */

  /* USER CODE END CAN2_MspInit 0 */
    /* CAN2 clock enable */
    __HAL_RCC_CAN2_CLK_ENABLE();
    HAL_RCC_CAN1_CLK_ENABLED++;
    if(HAL_RCC_CAN1_CLK_ENABLED==1){
      __HAL_RCC_CAN1_CLK_ENABLE();
    }

    __HAL_RCC_GPIOB_CLK_ENABLE();
    /**CAN2 GPIO Configuration
    PB12     ------> CAN2_RX
    PB13     ------> CAN2_TX
    */
    GPIO_InitStruct.Pin = GPIO_PIN_12|GPIO_PIN_13;
    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_CAN2;
    HAL_GPIO_Init(GPIOB, &GPIO_InitStruct);

    /* CAN2 interrupt Init */
    HAL_NVIC_SetPriority(CAN2_RX0_IRQn, 0, 0);
    HAL_NVIC_EnableIRQ(CAN2_RX0_IRQn);
  /* USER CODE BEGIN CAN2_MspInit 1 */

  /* USER CODE END CAN2_MspInit 1 */
  }
}

void HAL_CAN_MspDeInit(CAN_HandleTypeDef* canHandle)
{

  if(canHandle->Instance==CAN1)
  {
  /* USER CODE BEGIN CAN1_MspDeInit 0 */

  /* USER CODE END CAN1_MspDeInit 0 */
    /* Peripheral clock disable */
    HAL_RCC_CAN1_CLK_ENABLED--;
    if(HAL_RCC_CAN1_CLK_ENABLED==0){
      __HAL_RCC_CAN1_CLK_DISABLE();
    }

    /**CAN1 GPIO Configuration
    PA11     ------> CAN1_RX
    PA12     ------> CAN1_TX
    */
    HAL_GPIO_DeInit(GPIOA, GPIO_PIN_11|GPIO_PIN_12);

    /* CAN1 interrupt Deinit */
    HAL_NVIC_DisableIRQ(CAN1_RX0_IRQn);
  /* USER CODE BEGIN CAN1_MspDeInit 1 */

  /* USER CODE END CAN1_MspDeInit 1 */
  }
  else if(canHandle->Instance==CAN2)
  {
  /* USER CODE BEGIN CAN2_MspDeInit 0 */

  /* USER CODE END CAN2_MspDeInit 0 */
    /* Peripheral clock disable */
    __HAL_RCC_CAN2_CLK_DISABLE();
    HAL_RCC_CAN1_CLK_ENABLED--;
    if(HAL_RCC_CAN1_CLK_ENABLED==0){
      __HAL_RCC_CAN1_CLK_DISABLE();
    }

    /**CAN2 GPIO Configuration
    PB12     ------> CAN2_RX
    PB13     ------> CAN2_TX
    */
    HAL_GPIO_DeInit(GPIOB, GPIO_PIN_12|GPIO_PIN_13);

    /* CAN2 interrupt Deinit */
    HAL_NVIC_DisableIRQ(CAN2_RX0_IRQn);
  /* USER CODE BEGIN CAN2_MspDeInit 1 */

  /* USER CODE END CAN2_MspDeInit 1 */
  }
}

/* USER CODE BEGIN 1 */
void CAN1_Init(void)
{
		CAN1_Filter_Config();
    HAL_CAN_Start(&hcan1);
    HAL_CAN_ActivateNotification(&hcan1, CAN_IT_RX_FIFO0_MSG_PENDING);		
}
void CAN2_Init(void)
{
		CAN2_Filter_Config();
    HAL_CAN_Start(&hcan2);
    HAL_CAN_ActivateNotification(&hcan2, CAN_IT_RX_FIFO0_MSG_PENDING);		
}

void CAN1_Filter_Config(void)
{
	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)
  {
    /* Filter configuration Error */
    Error_Handler();
	}
}
void CAN2_Filter_Config(void)
{
	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(&hcan1, &sFilterConfig) != HAL_OK)
  {
    /* Filter configuration Error */
    Error_Handler();
	}
}

void CAN1_SetTxPacket(CAN_TxPacketTypeDef*a)
{
		a->hdr.StdId = 0x321;			// 标准ID
	a->hdr.ExtId = 0x10F01234;   //扩展至ID
	a->hdr.IDE = CAN_ID_STD;			// 标准ID类型
	a->hdr.DLC = 8;					// 数据长度
	a->hdr.RTR = CAN_RTR_DATA;		// 数据帧
	a->hdr.TransmitGlobalTime = DISABLE;
	a->mailbox=CAN_TX_MAILBOX0;
	
	for(int i = 0; i < 8; i++)
	{
		a->payload[i] = i;    //数据数组（暂时）
	}
}
void CAN2_SetTxPacket(CAN_TxPacketTypeDef*a)
{
		a->hdr.StdId = 0x321;			// 标准ID
	a->hdr.IDE = CAN_ID_STD;			// 标准ID类型
	a->hdr.DLC = 8;					// 数据长度
	a->hdr.RTR = CAN_RTR_DATA;		// 数据帧
	a->hdr.TransmitGlobalTime = DISABLE;
	a->mailbox=CAN_TX_MAILBOX0;
	
	for(int i = 0; i < 8; i++)
	{
		a->payload[i] = 0;    //数据数组（暂时）
	}
}

uint8_t CAN1_Transmit(CAN_TxPacketTypeDef* packet)
{
	if(HAL_CAN_AddTxMessage(&hcan1, &packet->hdr, packet->payload, &packet->mailbox) != HAL_OK)
		return 1;
	return 0;
}
uint8_t CAN2_Transmit(CAN_TxPacketTypeDef* packet)
{
	if(HAL_CAN_AddTxMessage(&hcan2, &packet->hdr, packet->payload, &packet->mailbox) != HAL_OK)
		return 1;
	return 0;
}
/* USER CODE END 1 */

can.h

/* USER CODE BEGIN Header */
/**
  ******************************************************************************
  * @file    can.h
  * @brief   This file contains all the function prototypes for
  *          the can.c file
  ******************************************************************************
  * @attention
  *
  * Copyright (c) 2024 STMicroelectronics.
  * All rights reserved.
  *
  * This software is licensed under terms that can be found in the LICENSE file
  * in the root directory of this software component.
  * If no LICENSE file comes with this software, it is provided AS-IS.
  *
  ******************************************************************************
  */
/* USER CODE END Header */
/* Define to prevent recursive inclusion -------------------------------------*/
#ifndef __CAN_H__
#define __CAN_H__

#ifdef __cplusplus
extern "C" {
#endif

/* Includes ------------------------------------------------------------------*/
#include "main.h"

/* USER CODE BEGIN Includes */
typedef struct
{
	uint32_t mailbox;
	CAN_TxHeaderTypeDef hdr;
	uint8_t payload[8];
}CAN_TxPacketTypeDef;

typedef struct
{
	CAN_RxHeaderTypeDef hdr;
	uint8_t payload[8];
}CAN_RxPacketTypeDef;
/* USER CODE END Includes */

extern CAN_HandleTypeDef hcan1;

extern CAN_HandleTypeDef hcan2;

/* USER CODE BEGIN Private defines */
void CAN1_Init(void);
void CAN2_Init(void);

void CAN1_SetTxPacket(CAN_TxPacketTypeDef*a);
void CAN2_SetTxPacket(CAN_TxPacketTypeDef*a);

void CAN1_SetRxPacket(CAN_RxPacketTypeDef*a);
void CAN2_SetRxPacket(CAN_RxPacketTypeDef*a);

void CAN1_Filter_Config(void);
void CAN2_Filter_Config(void);

uint8_t CAN1_Transmit(CAN_TxPacketTypeDef* packet)	;
uint8_t CAN2_Transmit(CAN_TxPacketTypeDef* packet)	;

/* USER CODE END Private defines */

void MX_CAN1_Init(void);
void MX_CAN2_Init(void);

/* USER CODE BEGIN Prototypes */

/* USER CODE END Prototypes */

#ifdef __cplusplus
}
#endif

#endif /* __CAN_H__ */