cubemx配置can和收发代码

can的使用

cubemx配置

中断：

can.h

#ifndef __can_H
#define __can_H
#ifdef __cplusplus
 extern "C" {
#endif

/* Includes ------------------------------------------------------------------*/
#include "main.h"

/* USER CODE BEGIN Includes */

/* USER CODE END Includes */

extern CAN_HandleTypeDef hcan;

/* USER CODE BEGIN Private defines */

//发送接收状态宏定义
#define CAN_SEND_OK     0
#define CAN_SEND_FAIL   1

#define CAN_REC_OK      0
#define CAN_REC_FAIL    1

//定义结构体类型
typedef struct
{
    uint32_t uiOperate_Mode;        //操作模式
    __IO uint8_t ucRec_Flag;             //接收标志位
    uint8_t ucSend_Buf[8];          //发送缓存
    uint8_t ucRec_Buf[8];           //接收缓存

//    void (*CAN_Init)(void);
//    void (*CAN_Config)(void);
//    uint8_t (*CAN_Send_Msg)(uint8_t* pSend_Buf,uint8_t LEN);
//    uint8_t (*CAN_Rec_Msg)(uint8_t* pRec_Buf);

}CAN_Test_T;

/* USER CODE END Private defines */

void MX_CAN_Init(void);

/* USER CODE BEGIN Prototypes */
void CAN_Config(void);
uint8_t CAN_Send_Msg(uint8_t motor_id, uint8_t* pSend_Buf,uint8_t LEN);
/* USER CODE END Prototypes */

#ifdef __cplusplus
}
#endif
#endif /*__ can_H */

can.c

CAN_Config()配置函数：

void CAN_Config(void)
{
    //CAN过滤器参数配置
    CAN_FilterTypeDef CAN_FilterTypeDefSture;

    CAN_FilterTypeDefSture.FilterBank  = 0;                             //配置过滤器0（F1共有14个，0-13）
    CAN_FilterTypeDefSture.FilterScale = CAN_FILTERSCALE_16BIT;         //配置为16位过滤器
    CAN_FilterTypeDefSture.FilterMode  = CAN_FILTERMODE_IDMASK;         //屏蔽位模式
    //ID号为0x00，屏蔽位为0x00，说明任何ID都接收
    CAN_FilterTypeDefSture.FilterIdLow      = 0x00;                     //FR1
    CAN_FilterTypeDefSture.FilterMaskIdLow  = 0x00;
    CAN_FilterTypeDefSture.FilterIdHigh     = 0x00;                     //FR2
    CAN_FilterTypeDefSture.FilterMaskIdHigh = 0x00;   
    CAN_FilterTypeDefSture.FilterFIFOAssignment = CAN_FILTER_FIFO0;     //过滤器0关联到FIFO0
    CAN_FilterTypeDefSture.FilterActivation = ENABLE;                   //激活过滤器0
    CAN_FilterTypeDefSture.SlaveStartFilterBank = 14;

    //启动过滤器
    if(HAL_CAN_ConfigFilter(&hcan,&CAN_FilterTypeDefSture) != HAL_OK)
    {
//      printf("CAN配置过滤器成功！");
    }

    //使能FIFO0接收到一个新报文中断，具体为FIFO0的挂起中断
    if(HAL_CAN_ActivateNotification(&hcan,CAN_IT_RX_FIFO0_MSG_PENDING) != HAL_OK)
    {
//      printf("CAN使能FIFO0接收到一个新报文中断");
    }

    //启动CAN
    if(HAL_CAN_Start(&hcan) != HAL_OK)
    {
//      printf("CAN启动失败！");
    }

//    printf("配置成功，CAN成功启动！\r\n");
}

CAN_Send_Msg()发送函数

uint8_t CAN_Send_Msg(uint8_t motor_id, uint8_t* pSend_Buf,uint8_t len)
{

  uint32_t uiTxMailBox;           //接收CAN发送数据成功时返回的邮箱号（0-2）

  //定义CAN TX消息头参数
  CAN_TxHeaderTypeDef CAN_TxHeaderTypeDefStrue = 
  {
    motor_id,           //标准标识符-11位
    0x00,           //拓展标识符-29位
    CAN_ID_STD,     //设置为标准格式
    CAN_RTR_DATA,   //设置为数据帧
    len,              //发送数据的长度 0 ~ 8
    ENABLE         //不使用捕获时间戳计数器
  };

  //将消息添加到第一个空闲的Tx邮箱并激活相应的传输要求
  if(HAL_CAN_AddTxMessage(&hcan,&CAN_TxHeaderTypeDefStrue,pSend_Buf,&uiTxMailBox) != HAL_OK)
  {
    return CAN_SEND_FAIL;
  }
  
  //发送成功
  return CAN_SEND_OK;
}

HAL_CAN_RxFifo0MsgPendingCallback接收回调函数

void HAL_CAN_RxFifo0MsgPendingCallback(CAN_HandleTypeDef *hcan_)
{
  //定义CAN Rx消息头参数
  CAN_RxHeaderTypeDef CAN_RxHeaderTypeDefStrue;

  //CAN接收消息
  if(HAL_CAN_GetRxMessage(&hcan,CAN_RX_FIFO0, &CAN_RxHeaderTypeDefStrue, rx_data.data) == HAL_OK)
  {
		rx_data.id = CAN_RxHeaderTypeDefStrue.StdId;
    rx_data.rx_flag = 1;
  }
}

main函数

  /* USER CODE BEGIN 2 */
	
	CAN_Config();		//can 配置
	/*...*/

  /* USER CODE END 2 */

  /* Infinite loop */
  /* USER CODE BEGIN WHILE */
  while (1)
  {
    /* USER CODE END WHILE */

    /* USER CODE BEGIN 3 */
		if (rx_data.rx_flag)		//收到信息
		{
            /*...*/
			rx_data.rx_flag = 0;
		}
  }

typedef struct
{
	uint8_t data[8];
	uint8_t len;
	uint32_t id;
	uint8_t rx_flag;
} CanData_TypeDef;