STM32 HAL库 CAN2.0配置

本文章参考b站up主TrojanGeneric的教程进行配置，视频链接：【中科大RM电控合集】小白也能看懂的CAN通信+STM32CubeMX编程_哔哩哔哩_bilibili，本次配置为回环模式

1、Cubemx配置

进入cubemx中，勾选can，然后配置can参数

主要需要配置的三个参数分别为Prescaler、Time Quanta in Bit Seqment 1 、Time Quanta in Bit Seqment 2，通过这三个参数即可配置CAN通信的波特率，芯片使用的是STM32F446，主频设置为180MHz，APB1时钟频率为45MHz，波特率具体计算如下

时间片频率 = 45M/9（Prescaler）=5MHz
波特率 = 时间片 /（1（jump width） + 2（Time Quanta in Bit Seqment 1） + 2（Time Quanta in Bit Seqment 2））= 1M

勾选接收中断

2、代码配置

必要宏定义

/* USER CODE BEGIN PM */

// 滤波器编号
#define CAN_FILTER(x) ((x) << 3)

// 接收队列
#define CAN_FIFO_0 (0 << 2)
#define CAN_FIFO_1 (1 << 2)

//标准帧或扩展帧
#define CAN_STDID (0 << 1)
#define CAN_EXTID (1 << 1)

// 数据帧或遥控帧
#define CAN_DATA_TYPE (0 << 0)
#define CAN_REMOTE_TYPE (1 << 0)

/* USER CODE END PM */

添加CAN配置文件和接收中断

/**
 * @brief 初始化CAN总线
 *
 * @param hcan CAN编号
 * @param Callback_Function 处理回调函数
 */
void CAN_Init(CAN_HandleTypeDef *hcan)
{
  HAL_CAN_Start(hcan);
  __HAL_CAN_ENABLE_IT(hcan, CAN_IT_RX_FIFO0_MSG_PENDING);
  __HAL_CAN_ENABLE_IT(hcan, CAN_IT_RX_FIFO1_MSG_PENDING);
}

/**
 * @brief 配置CAN的滤波器
 *
 * @param hcan CAN编号
 * @param Object_Para 编号 | FIFOx | ID类型 | 帧类型
 * @param ID ID
 * @param Mask_ID 屏蔽位(0x3ff, 0x1fffffff)
 */
void CAN_Filter_Mask_Config(CAN_HandleTypeDef *hcan, uint8_t Object_Para, uint32_t ID, uint32_t Mask_ID)
{
  CAN_FilterTypeDef can_filter_init_structure;

  // 检测关键传参
  assert_param(hcan != NULL);

  if ((Object_Para & 0x02))
  {
    // 标准帧
    // 掩码后ID的高16bit
    can_filter_init_structure.FilterIdHigh = ID << 3 >> 16;
    // 掩码后ID的低16bit
    can_filter_init_structure.FilterIdLow = ID << 3 | ((Object_Para & 0x03) << 1);
    // ID掩码值高16bit
    can_filter_init_structure.FilterMaskIdHigh = Mask_ID << 3 << 16;
    // ID掩码值低16bit
    can_filter_init_structure.FilterMaskIdLow = Mask_ID << 3 | ((Object_Para & 0x03) << 1);
  }
  else
  {
    // 扩展帧
    // 掩码后ID的高16bit
    can_filter_init_structure.FilterIdHigh = ID << 5;
    // 掩码后ID的低16bit
    can_filter_init_structure.FilterIdLow = ((Object_Para & 0x03) << 1);
    // ID掩码值高16bit
    can_filter_init_structure.FilterMaskIdHigh = Mask_ID << 5;
    // ID掩码值低16bit
    can_filter_init_structure.FilterMaskIdLow = ((Object_Para & 0x03) << 1);
  }

  // 滤波器序号, 0-27, 共28个滤波器, can1是0~13, can2是14~27
  can_filter_init_structure.FilterBank = Object_Para >> 3;
  // 滤波器绑定FIFOx, 只能绑定一个
  can_filter_init_structure.FilterFIFOAssignment = (Object_Para >> 2) & 0x01;
  // 使能滤波器
  can_filter_init_structure.FilterActivation = ENABLE;
  // 滤波器模式, 设置ID掩码模式
  can_filter_init_structure.FilterMode = CAN_FILTERMODE_IDMASK;
  // 32位滤波
  can_filter_init_structure.FilterScale = CAN_FILTERSCALE_32BIT;
    //从机模式选择开始单元
  can_filter_init_structure.SlaveStartFilterBank = 14;

  HAL_CAN_ConfigFilter(hcan, &can_filter_init_structure);
}


/**
 * @brief 发送数据帧
 *
 * @param hcan CAN编号
 * @param ID ID
 * @param Data 被发送的数据指针
 * @param Length 长度
 * @return uint8_t 执行状态
 */
uint8_t CAN_Send_Data(CAN_HandleTypeDef *hcan, uint16_t ID, uint8_t *Data, uint16_t Length)
{
  CAN_TxHeaderTypeDef tx_header;
  uint32_t used_mailbox;

  // 检测关键传参
  assert_param(hcan != NULL);

  tx_header.StdId = ID;
  tx_header.ExtId = 0;
  tx_header.IDE = 0;
  tx_header.RTR = 0;
  tx_header.DLC = Length;

  return (HAL_CAN_AddTxMessage(hcan, &tx_header, Data, &used_mailbox));
}


CAN_RxHeaderTypeDef header;
uint8_t data;
/**
 * @brief HAL库CAN接收FIFO1中断
 *
 * @param hcan CAN编号
 */
void HAL_CAN_RxFifo1MsgPendingCallback(CAN_HandleTypeDef *hcan)
{

  HAL_CAN_GetRxMessage(hcan, CAN_FILTER_FIFO1, &header, &data);
  
  HAL_GPIO_TogglePin(MCU_STA_GPIO_Port, MCU_STA_Pin);
}

main函数调用

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_CAN1_Init();
  /* USER CODE BEGIN 2 */
	
	uint8_t Send_Data = 0;
	
	CAN_Init(&hcan1);
	CAN_Filter_Mask_Config(&hcan1, CAN_FILTER(13) |
	CAN_FIFO_1 | CAN_STDID | CAN_DATA_TYPE, 0x114, 0x7ff);
	
  /* USER CODE END 2 */

  /* Infinite loop */
  /* USER CODE BEGIN WHILE */
  while (1)
  {
		Send_Data ++;		
		HAL_Delay(1000);
		CAN_Send_Data(&hcan1, 0x114, &Send_Data, 1);
		
    /* USER CODE END WHILE */

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

即可实现基本的CAN通信收发

3、测试

在Debug中可以查看接收到的数据、帧ID、DLC等信息

使用cangaroo进行测试也能正常接收到数据