接续上篇,配置中断
main.c中增加如下代码:
/以下为CAN的配置按照实际项目更改参数,特别是接收ID
/**************** 以下为过滤器设置 ****************/
FDCAN_FilterTypeDef sFilterConfig;
// 下面这组设置只接受标准帧ID为0x666的消息
sFilterConfig.IdType = FDCAN_STANDARD_ID;
sFilterConfig.FilterIndex = 0;
sFilterConfig.FilterType = FDCAN_FILTER_MASK;
sFilterConfig.FilterConfig = FDCAN_FILTER_TO_RXFIFO0;
sFilterConfig.FilterID1 = 0x666;
sFilterConfig.FilterID2 = 0x7FF;
sFilterConfig.RxBufferIndex = 0;
HAL_FDCAN_ConfigFilter(&hfdcan1, &sFilterConfig);
// 下面这组设置只接受扩展ID为0x233和0x2233的消息
sFilterConfig.IdType = FDCAN_EXTENDED_ID;
sFilterConfig.FilterIndex = 0;
sFilterConfig.FilterType = FDCAN_FILTER_MASK;
sFilterConfig.FilterConfig = FDCAN_FILTER_TO_RXFIFO0;
sFilterConfig.FilterID1 = 0x00002233;
sFilterConfig.FilterID2 = 0x1FFFDFFF;
sFilterConfig.RxBufferIndex = 0;
HAL_FDCAN_ConfigFilter(&hfdcan1, &sFilterConfig);
// 默认情况下,如果未配置全局过滤器,则会接收所有不匹配的帧并将其重定向到RxFIFO0
// 后面四个参数分别 拒绝未匹配的标准数据帧 拒绝未匹配的扩展数据帧 拒绝标准远程帧 拒绝扩展远程帧
HAL_FDCAN_ConfigGlobalFilter(&hfdcan1, FDCAN_REJECT, FDCAN_REJECT, FDCAN_REJECT_REMOTE, FDCAN_REJECT_REMOTE);
/**************** 以下为启动中断 ****************/
HAL_FDCAN_ActivateNotification(&hfdcan1, FDCAN_IT_RX_FIFO0_NEW_MESSAGE, 0); // 使能FIFO0数据接收中断
/**************** 以下为启动CAN外设 ****************/
HAL_FDCAN_Start(&hfdcan1);
/can call back
/**************** 以下为重写中断回调函数 ****************/
// Fifo0收到消息回调
#define BUFFER_SIZE 100
uint8_t Can_rxBuffer[BUFFER_SIZE];
uint32_t rxIndex = 0;
void HAL_FDCAN_RxFifo0Callback(FDCAN_HandleTypeDef *hfdcan, uint32_t RxFifo0ITs)
{
if (hfdcan == &hfdcan1) // 判断是hfdcan1的中断
{
if ((RxFifo0ITs & FDCAN_IT_RX_FIFO0_NEW_MESSAGE) != RESET) // 判断是FIFO0_NEW_MESSAGE回调
{
FDCAN_RxHeaderTypeDef RxHeader; // 用来保存接收到的数据帧头部信息
uint8_t RxData[64]; // 用来保存接收数据端数据
if(HAL_FDCAN_GetRxMessage(&hfdcan1, FDCAN_RX_FIFO0, &RxHeader, RxData) == HAL_OK) // 从接收队列中读取数据帧
{
FDCAN_TxHeaderTypeDef TxHeader = {0}; // 用来保存发送数据帧头部信息
TxHeader.Identifier = RxHeader.Identifier;
TxHeader.IdType = RxHeader.IdType; // 标准-FDCAN_STANDARD_ID; 扩展-FDCAN_EXTENDED_ID
TxHeader.TxFrameType = RxHeader.RxFrameType; // 数据帧-FDCAN_DATA_FRAME; 远程帧-FDCAN_REMOTE_FRAME
TxHeader.DataLength = RxHeader.DataLength; // FDCAN_DLC_BYTES_xx
// xx = 0 1 2 3 4 5 6 7 8 12 16 20 24 32 48 64
TxHeader.ErrorStateIndicator = RxHeader.ErrorStateIndicator; // FDCAN_ESI_ACTIVE FDCAN_ESI_PASSIVE
TxHeader.BitRateSwitch = RxHeader.BitRateSwitch; // 波特率不可变-FDCAN_BRS_OFF; 波特率可变-FDCAN_BRS_ON
TxHeader.FDFormat = RxHeader.FDFormat; // 经典CAN-FDCAN_CLASSIC_CAN; CANFD-FDCAN_FD_CAN
// TxHeader.TxEventFifoControl = FDCAN_NO_TX_EVENTS;
// TxHeader.MessageMarker = 0;
for(int i=0; i<RxHeader.DataLength; i++)
{
Can_rxBuffer[rxIndex++] = RxData[i];
}
// Restart FDCAN reception
HAL_FDCAN_ActivateNotification(hfdcan, FDCAN_IT_RX_FIFO0_NEW_MESSAGE, 0);
}
}
}
}
can接收程序