STMCubeMX5.10版本CAN使用loopback模式自测

使用芯片：STM32F103C8T6
cube软件版本：5.10
软件包版本为：STM32Cube FW_F1 V1.7.0

一、配置时钟为使用外部晶振，并配置为72M

二、使能 can，并配置参数

设置can波特率为500k，并设置为loopback模式，波特率计算方式为（systime/(pre*(bs1+bs2+sjw))）,can时钟为36M，则36/（12*（1+2+3））=500k。

三、开启can接收中断

四、设置生成代码，在生成的can.c函数中增加过滤器配置代码如下

CAN_FilterIdHigh和CAN_FilterIdLow组合成一个32位寄存器，用来存储将要过滤的ID

CAN_FilterMaskIdHigh和CAN_FilterMaskIdLow组合成一个32位寄存器，用来表示这个ID的哪些位必须符合（置1），哪些位不关心（置0）.
例如要过滤的ID为0x1e000000,则CAN_FilterIdHigh、CAN_FilterIdLow、CAN_FilterMaskIdHigh和CAN_FilterMaskIdLow配置为

uint32_t EXTID = 0x1e000000;
CAN_FilterType.FilterIdHigh=(EXTID<<3)>>16;
CAN_FilterType.FilterIdLow=((EXTID<<3)&0xffff)|CAN_ID_EXT;//只关心扩展帧，标准帧为CAN_ID_STD
CAN_FilterType.FilterMaskIdHigh=0xffff;
CAN_FilterType.FilterMaskIdLow=0xffff<<3|CAN_ID_EXT;//每一位都必须一致，只关心扩展帧，标准帧为CAN_ID_STD

以下配置代码，有列表模式和掩码模式，二选一

/* 列表模式只接受0x02200000和0x1e000000 */
void CAN1_IDLISTConfig(void)
{
	uint32_t EXTID = 0x02200000;
	uint32_t EXTID1 = 0x1e000000;
	CAN_FilterTypeDef CAN_FilterType;
	CAN_FilterType.FilterBank=0;
	CAN_FilterType.FilterIdHigh=(EXTID<<3)>>16;
	CAN_FilterType.FilterIdLow=((EXTID<<3)&0xffff)|CAN_ID_EXT;
	CAN_FilterType.FilterMaskIdHigh=0xffff;
	CAN_FilterType.FilterMaskIdLow=0xffff<<3|CAN_ID_EXT;
	CAN_FilterType.FilterFIFOAssignment=CAN_RX_FIFO0;
	CAN_FilterType.FilterMode=CAN_FILTERMODE_IDLIST;
	CAN_FilterType.FilterScale=CAN_FILTERSCALE_32BIT;
	CAN_FilterType.FilterActivation=ENABLE;
	CAN_FilterType.SlaveStartFilterBank=14;
	if(HAL_CAN_ConfigFilter(&hcan,&CAN_FilterType)!=HAL_OK)
	{
		Error_Handler();
	}
	CAN_FilterType.FilterBank=1;
	CAN_FilterType.FilterIdHigh=(EXTID1<<3)>>16;
	CAN_FilterType.FilterIdLow=((EXTID1<<3)&0xffff)|CAN_ID_EXT;
	CAN_FilterType.FilterMaskIdHigh=0xffff;
	CAN_FilterType.FilterMaskIdLow=0xffff<<3|CAN_ID_EXT;
	CAN_FilterType.FilterFIFOAssignment=CAN_RX_FIFO0;
	CAN_FilterType.FilterMode=CAN_FILTERMODE_IDLIST;//列表模式
	CAN_FilterType.FilterScale=CAN_FILTERSCALE_32BIT;
	CAN_FilterType.FilterActivation=ENABLE;
	CAN_FilterType.SlaveStartFilterBank=14;
	if(HAL_CAN_ConfigFilter(&hcan,&CAN_FilterType)!=HAL_OK)
	{
		Error_Handler();
	}
	if(HAL_CAN_ActivateNotification(&hcan,CAN_IT_RX_FIFO0_MSG_PENDING)!=HAL_OK)
	{
		Error_Handler();
	}
	if(HAL_CAN_Start(&hcan)!=HAL_OK)
	{
		Error_Handler();
	}
}
/* 掩码模式全部接收 */
void CAN1_IDMASKConfig(void)
{
   	CAN_FilterTypeDef CAN_FilterType;
   	CAN_FilterType.FilterBank=0;
   	CAN_FilterType.FilterIdHigh=0x0000;
   	CAN_FilterType.FilterIdLow=0x0000;
   	CAN_FilterType.FilterMaskIdHigh=0x0000;
   	CAN_FilterType.FilterMaskIdLow=0x0000;
   	CAN_FilterType.FilterFIFOAssignment=CAN_RX_FIFO0;
   	CAN_FilterType.FilterMode=CAN_FILTERMODE_IDMASK;//掩码模式
   	CAN_FilterType.FilterScale=CAN_FILTERSCALE_32BIT;
   	CAN_FilterType.FilterActivation=ENABLE;
   	CAN_FilterType.SlaveStartFilterBank=14;
   	if(HAL_CAN_ConfigFilter(&hcan,&CAN_FilterType)!=HAL_OK)
   	{
   		Error_Handler();
   	}
   	if(HAL_CAN_ActivateNotification(&hcan,CAN_IT_RX_FIFO0_MSG_PENDING)!=HAL_OK)
   	{
   		Error_Handler();
   	}
   	if(HAL_CAN_Start(&hcan)!=HAL_OK)
   	{
   		Error_Handler();
   	}
}

五、增加can发送函数

 /***********************************************
    函数功能：can发送数据
    入口参数：
    			ide：	0：标准帧
    					1：扩展帧
    			id：	帧ID
    			len：	数据长度
    			data：	数据
    返回值：0：成功。1：失败
    ************************************************/
    uint8_t Can_TxMessage(uint8_t ide,uint32_t id,uint8_t len,uint8_t *data)
    {
    	uint32_t   TxMailbox;
    	CAN_TxHeaderTypeDef CAN_TxHeader;
    	HAL_StatusTypeDef   HAL_RetVal; 
    	uint16_t i=0;
    	if(ide == 0)
    	{
    		CAN_TxHeader.IDE = CAN_ID_STD;	//标准帧
    		CAN_TxHeader.StdId = id;
    	}
    	else 
    	{
    		CAN_TxHeader.IDE = CAN_ID_EXT;			//扩展帧
    		CAN_TxHeader.ExtId = id;
    	}
    	CAN_TxHeader.DLC = len;
    	CAN_TxHeader.RTR = CAN_RTR_DATA;//数据帧,CAN_RTR_REMOTE遥控帧
    	CAN_TxHeader.TransmitGlobalTime = DISABLE;
    	while(HAL_CAN_GetTxMailboxesFreeLevel(&hcan) == 0)
    	{
    		i++;
    		if(i>0xfffe)
    			return 1;
    	}
    	HAL_Delay(500);
    	HAL_RetVal = HAL_CAN_AddTxMessage(&hcan,&CAN_TxHeader,data,&TxMailbox);
    	if(HAL_RetVal != HAL_OK)
    		return 1;
    	return 0;
    }

六、增加接收中断回调函数

 void HAL_CAN_RxFifo0MsgPendingCallback(CAN_HandleTypeDef *hcan)
    {
    	CAN_RxHeaderTypeDef CAN_RxHeader;
    	HAL_StatusTypeDef HAL_Retval;
    	uint8_t Rx_Data[8];
    	uint8_t Data_Len=0;
    	uint32_t ID=0;
    	uint8_t i;
    	HAL_Retval = HAL_CAN_GetRxMessage(hcan,CAN_RX_FIFO0,&CAN_RxHeader,Rx_Data);
    	if(HAL_Retval == HAL_OK)
    	{
    		Data_Len = CAN_RxHeader.DLC;
    		if(CAN_RxHeader.IDE)
    			ID = CAN_RxHeader.ExtId;
    		else
    			ID = CAN_RxHeader.StdId;
    		printf("id:%x\r\n",ID);
    		printf("Data_Len:%d\r\n",Data_Len);
    		for(i=0;i<8;i++)
    			printf("Rx_Data[%d]=%x\r\n",i,Rx_Data[i]);	
    	}
    }

七，在main.c函数中增加函数，最终如下：

 int main(void)
    {
      /* USER CODE BEGIN 1 */
    	uint8_t data[8]={1,2,3,4,5,6,7,8};
      /* 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();
      MX_USART1_UART_Init();
      /* USER CODE BEGIN 2 */
    	CAN1_IDMASKConfig();//过滤器配置
      /* USER CODE END 2 */
      /* Infinite loop */
      /* USER CODE BEGIN WHILE */
      while (1)
      {
        /* USER CODE END WHILE */
    
        /* USER CODE BEGIN 3 */
    	  Can_TxMessage(0,0x222,8,data);//CAN发送
    	  HAL_Delay(1000);
      }
      /* USER CODE END 3 */
    }

每隔1S，通过can向标识符为0x222的设备发送一次数据，因为本例程设置的为loopback模式，所以不需要接任何外设即可，通过串口调试助手查看接收到的数据，与发送数据相符

工程下载地址：https://download.csdn.net/download/qq_32605451/11042109