STM32F103ZET6_HAL_CAN

1定义时钟

2定义按键

按键上拉电阻

3开启串口

4打开CAN（具体什么意思上一篇讲了）

5生成代码

/* 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 "usart.h"
#include "gpio.h"

/* Private includes ----------------------------------------------------------*/
/* USER CODE BEGIN Includes */
#include "stdio.h"
/* 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 */
/**
 *       CAN 发送一组数据
 *  	数据  长度
 */
uint8_t can_send_msg(  uint8_t *data, uint8_t len )
{
    //发的结构体
		CAN_TxHeaderTypeDef can_tx;

		can_tx.DLC=len;         // 数据长度代码
		can_tx.ExtId=0x00;// 扩展标识符
		can_tx.IDE=CAN_ID_EXT;// 标识符类型为扩展帧                            //标识符的长度
		can_tx.RTR=CAN_RTR_DATA;// 远程传输请求为数据帧
		can_tx.StdId=0x12;// 标准标识符                                           //can的ID
		//can_tx.TransmitGlobalTime=ENABLE;// 使用全局时间    ENABLE开启   DISABLE关闭   时间戳
	
		uint32_t as=CAN_TX_MAILBOX0;
	if(HAL_CAN_AddTxMessage(&hcan,&can_tx,data,&as)==HAL_OK){
				
				int as1=HAL_CAN_GetTxMailboxesFreeLevel(&hcan);
				char aa[28];
				sprintf(aa,"数据发送成功,邮箱个数为：%d\n",as1);
				HAL_UART_Transmit(&huart1,(uint8_t*)aa,27,50);
				
			}
    while (HAL_CAN_GetTxMailboxesFreeLevel(&hcan) != 3); /* 等待发送完成,所有邮箱为空 */
    return 0;
}

/**
 *        CAN 接收数据查询
	//    数据
 */
void can_receive_msg(  uint8_t *data )
{
   //接收的结构体
		// 声明一个变量来存储接收到的消息的头部信息
		CAN_RxHeaderTypeDef can_rx;
 
		//can_rx.DLC			// 数据长度
		//can_rx.ExtId				//扩展标识符
		//can_rx.FilterMatchIndex// 过滤器匹配索引
		//can_rx.IDE			// 标识符类型为扩展帧
		//can_rx.RTR			// 远程传输请求为数据帧
		//can_rx.StdId;			// 标准标识符
		//can_rx.Timestamp	;	// 时间戳
		
		if(HAL_CAN_GetRxMessage(&hcan, CAN_RX_FIFO0, &can_rx, data)== HAL_OK)
				{
				char aa[28]={"接收成功\n"};
				HAL_UART_Transmit(&huart1,(uint8_t*)aa,9,50);
				}else{
					
				char aa[28]={"接收失败\n"};
				HAL_UART_Transmit(&huart1,(uint8_t*)aa,9,50);
				}
}
/* 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();
  MX_USART1_UART_Init();
  /* USER CODE BEGIN 2 */
  
    CAN_FilterTypeDef sFilterConfig;

    //配置CAN过滤器
    sFilterConfig.FilterBank = 0;                             /* 过滤器0 */
    sFilterConfig.FilterMode = CAN_FILTERMODE_IDMASK;
    sFilterConfig.FilterScale = CAN_FILTERSCALE_32BIT;
    sFilterConfig.FilterIdHigh = 0x0000;                      /* 32位ID */
    sFilterConfig.FilterIdLow = 0x0000;
    sFilterConfig.FilterMaskIdHigh = 0x0000;                  /* 32位MASK */
    sFilterConfig.FilterMaskIdLow = 0x0000;
    sFilterConfig.FilterFIFOAssignment = CAN_FILTER_FIFO0;    /* 过滤器0关联到FIFO0 */
    sFilterConfig.FilterActivation = CAN_FILTER_ENABLE;       /* 激活滤波器0 */
    sFilterConfig.SlaveStartFilterBank = 14;

    // 过滤器配置 
    if ( HAL_CAN_ConfigFilter( &hcan, &sFilterConfig ) != HAL_OK )
    {
        return 2;
    }

    // 启动CAN外围设备 
    if ( HAL_CAN_Start( &hcan ) != HAL_OK )
    {
        return 3;
    }
  /* USER CODE END 2 */

  /* Infinite loop */
  /* USER CODE BEGIN WHILE */
  while (1)
  {
	  if(HAL_GPIO_ReadPin(GPIOE,GPIO_PIN_4)== GPIO_PIN_SET){
		 HAL_Delay(20);
		 if(HAL_GPIO_ReadPin(GPIOE,GPIO_PIN_4)==HAL_OK){
			char a[]={"按键按下了\n"};
			HAL_UART_Transmit(&huart1,(uint8_t*)a,11,50);
		
			uint8_t tx_data[8] = {"ABCDEFGH"}; // 消息数据

			 uint8_t rx_data[8]; // 接收数据缓冲区
	
			can_send_msg(  tx_data, 8 );
			
			if(HAL_CAN_GetRxFifoFillLevel(&hcan ,CAN_RX_FIFO0)){
				can_receive_msg(  rx_data );
			}else{
				char aa[28]={"无数据\n"};
				HAL_UART_Transmit(&huart1,(uint8_t*)aa,9,50);
			}

			HAL_Delay(500);
			HAL_UART_Transmit(&huart1,rx_data,8,500);
		}
	 }
    /* USER CODE END WHILE */

    /* USER CODE BEGIN 3 */
  }
  /* 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 */

/* 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 */

6编写过程

1编写接收函数

**
 *        CAN 接收数据查询
	//    数据
 */
void can_receive_msg(  uint8_t *data )
{
   //接收的结构体
		// 声明一个变量来存储接收到的消息的头部信息
		CAN_RxHeaderTypeDef can_rx;
 
		//can_rx.DLC			// 数据长度
		//can_rx.ExtId				//扩展标识符
		//can_rx.FilterMatchIndex// 过滤器匹配索引
		//can_rx.IDE			// 标识符类型为扩展帧
		//can_rx.RTR			// 远程传输请求为数据帧
		//can_rx.StdId;			// 标准标识符
		//can_rx.Timestamp	;	// 时间戳
		
		if(HAL_CAN_GetRxMessage(&hcan, CAN_RX_FIFO0, &can_rx, data)== HAL_OK)
				{
				char aa[28]={"接收成功\n"};
				HAL_UART_Transmit(&huart1,(uint8_t*)aa,9,50);
				}else{
					
				char aa[28]={"接收失败\n"};
				HAL_UART_Transmit(&huart1,(uint8_t*)aa,9,50);
				}
}

2编写发送函数

/**
 *       CAN 发送一组数据
 *  	数据  长度
 */
uint8_t can_send_msg(  uint8_t *data, uint8_t len )
{
    //发的结构体
		CAN_TxHeaderTypeDef can_tx;

		can_tx.DLC=len;         // 数据长度代码
		can_tx.ExtId=0x00;// 扩展标识符
		can_tx.IDE=CAN_ID_EXT;// 标识符类型为扩展帧                            //标识符的长度
		can_tx.RTR=CAN_RTR_DATA;// 远程传输请求为数据帧
		can_tx.StdId=0x12;// 标准标识符                                           //can的ID
		//can_tx.TransmitGlobalTime=ENABLE;// 使用全局时间    ENABLE开启   DISABLE关闭   时间戳
	
		uint32_t as=CAN_TX_MAILBOX0;
	if(HAL_CAN_AddTxMessage(&hcan,&can_tx,data,&as)==HAL_OK){
				
				int as1=HAL_CAN_GetTxMailboxesFreeLevel(&hcan);
				char aa[28];
				sprintf(aa,"数据发送成功,邮箱个数为：%d\n",as1);
				HAL_UART_Transmit(&huart1,(uint8_t*)aa,27,50);
				
			}
    while (HAL_CAN_GetTxMailboxesFreeLevel(&hcan) != 3); /* 等待发送完成,所有邮箱为空 */
    return 0;
}

3配置过滤器（不配置不可接收数据）

  
    CAN_FilterTypeDef sFilterConfig;

    //配置CAN过滤器
    sFilterConfig.FilterBank = 0;                             /* 过滤器0 */
    sFilterConfig.FilterMode = CAN_FILTERMODE_IDMASK;
    sFilterConfig.FilterScale = CAN_FILTERSCALE_32BIT;
    sFilterConfig.FilterIdHigh = 0x0000;                      /* 32位ID */
    sFilterConfig.FilterIdLow = 0x0000;
    sFilterConfig.FilterMaskIdHigh = 0x0000;                  /* 32位MASK */
    sFilterConfig.FilterMaskIdLow = 0x0000;
    sFilterConfig.FilterFIFOAssignment = CAN_FILTER_FIFO0;    /* 过滤器0关联到FIFO0 */
    sFilterConfig.FilterActivation = CAN_FILTER_ENABLE;       /* 激活滤波器0 */
    sFilterConfig.SlaveStartFilterBank = 14;

    // 过滤器配置 
    if ( HAL_CAN_ConfigFilter( &hcan, &sFilterConfig ) != HAL_OK )
    {
        return 2;
    }

    // 启动CAN外围设备 
    if ( HAL_CAN_Start( &hcan ) != HAL_OK )
    {
        return 3;
    }

4编写按键实现收发数据

while (1)
  {
	  if(HAL_GPIO_ReadPin(GPIOE,GPIO_PIN_4)== GPIO_PIN_SET){
		 HAL_Delay(20);
		 if(HAL_GPIO_ReadPin(GPIOE,GPIO_PIN_4)==HAL_OK){
			char a[]={"按键按下了\n"};
			HAL_UART_Transmit(&huart1,(uint8_t*)a,11,50);
		
			uint8_t tx_data[8] = {"ABCDEFGH"}; // 消息数据

			 uint8_t rx_data[8]; // 接收数据缓冲区
	
			can_send_msg(  tx_data, 8 );
			
			if(HAL_CAN_GetRxFifoFillLevel(&hcan ,CAN_RX_FIFO0)){
				can_receive_msg(  rx_data );
			}else{
				char aa[28]={"无数据\n"};
				HAL_UART_Transmit(&huart1,(uint8_t*)aa,9,50);
			}

			HAL_Delay(500);
			HAL_UART_Transmit(&huart1,rx_data,8,500);
		}
	 }
    /* USER CODE END WHILE */

    /* USER CODE BEGIN 3 */
  }
  /* USER CODE END 3 */
}

效果

注意

1过滤器

主页中有免费的CAN资料和项目文件