汽车CAN总线-STM32轮询发送接收

1. 波特率

tq = 1/(PCLK1/Prescaler)  =  1/(42/21) = 1/2
TS1 + 1 = (Time Quanta in Bit Segment 1) = 1
TS2 + 1 = (Time Quanta in Bit Segment 2) = 2
tbs1 = tq * (TS1 + 1) = 1/2
tbs2 = tq * (TS2 + 1) = 1 
NominalBitTime = 1*tq + tbsq + tbs1 + tbs2 = 2000(ns)
BaudRate = 1/NominalBitTime  = 500000(bit/s)

2. 驱动代码

/*  can.c部分代码 */
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 = 21;
  hcan1.Init.Mode = CAN_MODE_NORMAL;
  hcan1.Init.SyncJumpWidth = CAN_SJW_1TQ;
  hcan1.Init.TimeSeg1 = CAN_BS1_1TQ;
  hcan1.Init.TimeSeg2 = CAN_BS2_2TQ;
  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 */

}

3. 应用代码

/* stm32f4xx_hal_can.h */
/* 本次代码用到的函数 */
HAL_StatusTypeDef HAL_CAN_Start(CAN_HandleTypeDef *hcan);
HAL_StatusTypeDef HAL_CAN_AddTxMessage(CAN_HandleTypeDef *hcan, CAN_TxHeaderTypeDef *pHeader, uint8_t aData[], uint32_t *pTxMailbox);

/* 本次代码用到的结构体 */
typedef struct
{
  uint32_t StdId;    /*!< Specifies the standard identifier.
                          This parameter must be a number between Min_Data = 0 and Max_Data = 0x7FF. */

  uint32_t ExtId;    /*!< Specifies the extended identifier.
                          This parameter must be a number between Min_Data = 0 and Max_Data = 0x1FFFFFFF. */

  uint32_t IDE;      /*!< Specifies the type of identifier for the message that will be transmitted.
                          This parameter can be a value of @ref CAN_identifier_type */

  uint32_t RTR;      /*!< Specifies the type of frame for the message that will be transmitted.
                          This parameter can be a value of @ref CAN_remote_transmission_request */

  uint32_t DLC;      /*!< Specifies the length of the frame that will be transmitted.
                          This parameter must be a number between Min_Data = 0 and Max_Data = 8. */

  uint32_t Timestamp; /*!< Specifies the timestamp counter value captured on start of frame reception.
                          @note: Time Triggered Communication Mode must be enabled.
                          This parameter must be a number between Min_Data = 0 and Max_Data = 0xFFFF. */

  uint32_t FilterMatchIndex; /*!< Specifies the index of matching acceptance filter element.
                          This parameter must be a number between Min_Data = 0 and Max_Data = 0xFF. */

} CAN_RxHeaderTypeDef;

HAL_CAN_Start(&hcan1);

void can_test(void)
{
	uint8_t tx_data[8] = {0x11,0x22,0x33,0x44,0x55,0x66,0x77,0x88};
	uint32_t tx_mailbox;
	CAN_TxHeaderTypeDef can_tx;
	can_tx.StdId = 0x78;//ID
	can_tx.RTR = CAN_RTR_DATA;//数据帧
	can_tx.IDE = CAN_ID_STD;//标准格式
	can_tx.DLC = 0x08;//数据长度
	
	while (HAL_CAN_GetTxMailboxesFreeLevel(&hcan1) < 1);
	if (HAL_CAN_AddTxMessage(&hcan1, &can_tx, tx_data, &tx_mailbox) != HAL_OK);
}

5. 测试

身边没有板子，待测试验证。