stm32 can总线通信配置

由于在实际项目中经常用到can总线，在这里整理一下使用stm32 cubemx配置can通信的具体流程。

这里讲解一下，can2发送数据，采用can1中断接收can2发送过来的数据。

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大概步骤如下：

1、使用cubemx配置can总线，自动生成关键代码。

        具体的配置流程我就不具体写了，太简单了，网上有很多教程。

        注意：由于这里要使用can总线的中断接收数据，要记得在cubemx中勾选上can1的中断接收功能。

 2、添加can总线的过滤器代码。

void filter_to_can_1(void)
{
    // add filter_0 to can_1
	HAL_StatusTypeDef HAL_Status;
	CAN_FilterTypeDef CAN_Filter;
	
	CAN_Filter.FilterBank = 0;	                    
	CAN_Filter.FilterMode = CAN_FILTERMODE_IDMASK; 	
	CAN_Filter.FilterScale= CAN_FILTERSCALE_32BIT; 	// 32BIT WIDTH
	CAN_Filter.FilterIdHigh = 0x0000;	            // 32BIT ID
	CAN_Filter.FilterIdLow  = 0x0000;
	CAN_Filter.FilterMaskIdHigh = 0x0000;           // 32BIT MASK
	CAN_Filter.FilterMaskIdLow  = 0x0000;
	CAN_Filter.FilterFIFOAssignment = CAN_FILTER_FIFO0;  //filter_0 -->  FIFO0
    CAN_Filter.FilterActivation = ENABLE;           // NOTE: deactivate it if not used!
	if( HAL_OK != HAL_CAN_ConfigFilter(&hcan1, &CAN_Filter))
	{
		Error_Handler();
	}
 
	HAL_Status = HAL_CAN_Start(&hcan1); 
	if(HAL_Status!=HAL_OK){
		Error_Handler();
	}	
 
	// Activate CAN RX notification (HERE WE attach FIFO0 to CAN1) called "CAN0" in manual
	if (HAL_CAN_ActivateNotification(&hcan1, CAN_IT_RX_FIFO0_MSG_PENDING) != HAL_OK)
	{    
		Error_Handler();
	}
 
	// Activate CAN TX notification
	if (HAL_CAN_ActivateNotification(&hcan1, CAN_IT_TX_MAILBOX_EMPTY) != HAL_OK)
	{
		Error_Handler();
	}	
}

void filter_to_can_2(void)
{
	// add filter_0 to can_1
	HAL_StatusTypeDef HAL_Status;
	CAN_FilterTypeDef CAN_Filter;
	
	CAN_Filter.FilterBank = 14;	                    // <=27       
	CAN_Filter.FilterMode = CAN_FILTERMODE_IDMASK; 	
	CAN_Filter.FilterScale= CAN_FILTERSCALE_32BIT; 	// 32BIT WIDTH
	CAN_Filter.FilterIdHigh = 0x0000;	            // 32BIT ID
	CAN_Filter.FilterIdLow  = 0x0000;
	CAN_Filter.FilterMaskIdHigh = 0x0000;           // 32BIT MASK
	CAN_Filter.FilterMaskIdLow  = 0x0000;
	CAN_Filter.FilterFIFOAssignment = CAN_FILTER_FIFO1;  //filter_0 -->  FIFO0
	CAN_Filter.FilterActivation = ENABLE;
	CAN_Filter.SlaveStartFilterBank = 14;
	if( HAL_OK != HAL_CAN_ConfigFilter(&hcan2, &CAN_Filter))
	{
		Error_Handler();
	}
 
	HAL_Status = HAL_CAN_Start(&hcan2); 
	if(HAL_Status!=HAL_OK){
		Error_Handler();
	}	
 
	// Activate CAN RX notification 
	if (HAL_CAN_ActivateNotification(&hcan2, CAN_IT_RX_FIFO1_MSG_PENDING) != HAL_OK)
	{    
		Error_Handler();
	}
 
	// Activate CAN TX notification
	if (HAL_CAN_ActivateNotification(&hcan2, CAN_IT_TX_MAILBOX_EMPTY) != HAL_OK)
	{
		Error_Handler();
	}
}

 记得要把以上代码放在main函数里初始化一下。

3、 配置can2发送数据的代码。

extern CAN_HandleTypeDef hcan2;
CAN_TxHeaderTypeDef	TxHeader;      //发送句柄指针
u8 canbuf[8] = {0x11,0x22,0x33,0x44,0x55,0x66,0x77,0x88};//要发送的数据

//can发送一组数据(固定格式:ID为0X12,标准帧,数据帧)	
//len:数据长度(最大为8)				     
//msg:数据指针,最大为8个字节.
//返回值:0,成功;
u8 CAN2_Send_Msg(u8* msg,u8 len)
{	
    u8 i=0;
	u32 TxMailbox;
	u8 message[8];
    TxHeader.StdId=0X12;        //标准标识符
    TxHeader.ExtId=0x12;        //扩展标识符(29位)
    TxHeader.IDE=CAN_ID_STD;    //使用标准帧
    TxHeader.RTR=CAN_RTR_DATA;  //数据帧
    TxHeader.DLC=len;                
    for(i=0;i<len;i++)
    {
		message[i]=msg[i];
	}
    if(HAL_CAN_AddTxMessage(&hcan2, &TxHeader, message, &TxMailbox) != HAL_OK)//发送
	{
		return 1;
	}
	while(HAL_CAN_GetTxMailboxesFreeLevel(&hcan2) != 3) {}
    return 0;
}

4、配置can1中断接收代码。

extern CAN_HandleTypeDef hcan1;
CAN_RxHeaderTypeDef	RxHeader;      //接收句柄指针
uint8_t RXmessage[8];  //接收数据存放数组

//hal库CAN回调函数，can1口中断接收数据
void HAL_CAN_RxFifo0MsgPendingCallback(CAN_HandleTypeDef *hcan)//接受邮箱0挂起中断回调函数
{
	if(hcan->Instance==CAN1)
	{
		HAL_CAN_GetRxMessage(hcan,CAN_FILTER_FIFO0,&RxHeader,RXmessage);//获取数据
   }
	
}

5、测试can总线代码。

     while(1)中添加如下代码测试：

res=CAN2_Send_Msg(canbuf,8);//发送8个字节 
if(res) printf("发送失败!\r\n");//提示发送失败
		
printf("RX the CAN data: %02X%02X%02X%02X%02X%02X%02X%02X\r\n",RXmessage[0],RXmessage[1],RXmessage[2],RXmessage[3],RXmessage[4],RXmessage[5],RXmessage[6],RXmessage[7]);