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目的

通过stm32CubeMx配置CAN,实现回环测试

cubemx配置

时钟配置


开启外部时钟

打开sw调试



配置串口，默认配置



配置CAN



clk=APB1=36M;

波特率=clk/Prescaler /(1 + Segment1 + Segment2);

= 36M/4/(1+5+3)=1M；最高波特率1M

传输优先级禁止时取决于报文

Receive Fifo Locked Mode禁止时，FIFO满了不会覆盖原有数据

中断配置

代码编写：

/* USER CODE BEGIN Header */
/**
  ******************************************************************************
  * @file           : main.c
  * @brief          : Main program body
  ******************************************************************************
  * @attention
  *
  * <h2><center>&copy; Copyright (c) 2021 STMicroelectronics.
  * All rights reserved.</center></h2>
  *
  * This software component is licensed by ST under BSD 3-Clause license,
  * the "License"; You may not use this file except in compliance with the
  * License. You may obtain a copy of the License at:
  *                        opensource.org/licenses/BSD-3-Clause
  *
  ******************************************************************************
  */
/* USER CODE END Header */

/* Includes ------------------------------------------------------------------*/
#include "main.h"
#include "can.h"
#include "usart.h"
#include "gpio.h"

/* Private includes ----------------------------------------------------------*/
/* USER CODE BEGIN Includes */

/* 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 */

#define CAN_ID ((uint32_t)0x1314)

CAN_RxHeaderTypeDef CanRx;//接收消息报文信息
CAN_TxHeaderTypeDef CanTx;//发送消息报文信息
uint8_t RxData[8];			//接收数据区
uint8_t TxData[8] = {0,10,2,3,4,5,6,7};//发送数据区
uint8_t Flag_Rx = 0;		//接收到数据的标志
uint32_t pTxMailbox = 0;	//发送邮箱盒子

/********************************************
@function:Can_Config,对于Can的CubeMx外的基础配置
@param:void
@return:HAL_StatusTypeDef
@date:2021.5.31
@note:
********************************************/
HAL_StatusTypeDef Can_Config(void)
{
	CAN_FilterTypeDef sFilterConfig;
	
	
	
	CanTx.DLC = 8;				//数据长度
	CanTx.ExtId = CAN_ID;		
	CanTx.IDE = CAN_ID_EXT;		//扩展帧模式
	CanTx.RTR = CAN_RTR_DATA;	//数据帧
	CanTx.StdId = 0x00;			//使用扩展帧时需置零
	CanTx.TransmitGlobalTime = DISABLE;//时间戳
	
	sFilterConfig.FilterActivation = CAN_FILTER_ENABLE;	//筛选器使能
	sFilterConfig.FilterBank = 0;						//筛选器0
	sFilterConfig.FilterFIFOAssignment = CAN_FILTER_FIFO0;//指定将分配给过滤器的FIFO(0或1U)。
	sFilterConfig.FilterIdHigh = (((CAN_ID<<3) | CAN_ID_EXT | CAN_RTR_DATA)&0xFFFF0000)>>16;	//ID的高16位
	sFilterConfig.FilterIdLow = ((CAN_ID<<3) | CAN_ID_EXT | CAN_RTR_DATA) & 0xFFFF;	//ID的低16位，只接收扩展帧模式、数据帧
	sFilterConfig.FilterMaskIdHigh = 0;//FilterMask高低字节数据中位为1时代表必须与ID该位一致，0xFFFFFFFF代表接收筛选必须与ID一致才通过
	sFilterConfig.FilterMaskIdLow = 0;
	sFilterConfig.FilterMode = CAN_FILTERMODE_IDMASK;//掩码模式
	sFilterConfig.FilterScale = CAN_FILTERSCALE_32BIT;//32位
	sFilterConfig.SlaveStartFilterBank = 0;
	
	if(HAL_CAN_ConfigFilter(&hcan, &sFilterConfig) != HAL_OK)
	{
		return HAL_ERROR;
	}
	
	if(HAL_CAN_Start(&hcan) != HAL_OK) //启动CAN
	{
		return HAL_ERROR;
	}
	
	if(HAL_CAN_ActivateNotification(&hcan,CAN_IT_RX_FIFO0_MSG_PENDING) != HAL_OK)//激活CAN_IT_RX_FIFO0_MSG_PENDING中断
	{
		return HAL_ERROR;
	}
	
	return HAL_OK;
}

void HAL_CAN_RxFifo0MsgPendingCallback(CAN_HandleTypeDef *hcan)//报文接收中断
{
	if(HAL_CAN_GetRxMessage(hcan, CAN_FILTER_FIFO0, &CanRx, RxData) == HAL_OK)
	{
		Flag_Rx = 1;
	}
	
}

void HAL_CAN_RxFifo0FullCallback(CAN_HandleTypeDef *hcan)//当接收的Fifo0满了的时候产生该中断
{

}
/* 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_USART1_UART_Init();
  MX_CAN_Init();
  /* USER CODE BEGIN 2 */
	Can_Config();
  /* USER CODE END 2 */

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

    /* USER CODE BEGIN 3 */
	  if(Flag_Rx)
	  {
		Flag_Rx = 0;
		printf("Rx:%d %d %d\r\n",RxData[0],RxData[1],RxData[2]);
		printf("ID=0x%0x\r\n",CanRx.ExtId);
		TxData[0]++;
	  }
	  
	  if(HAL_CAN_AddTxMessage(&hcan, &CanTx, TxData, &pTxMailbox) != HAL_OK)//发送数据
	  {
		printf("Tx Fail\r\n");
	  }
	  CanTx.ExtId++;
	  HAL_Delay(500);	
	  if(Flag_Rx)
	  {
		Flag_Rx = 0;
		printf("Rx:%d %d %d\r\n",RxData[0],RxData[1],RxData[2]);
		printf("ID=0x%0x\r\n",CanRx.ExtId);
		TxData[0]++;
	  }	  
	  
	  if(HAL_CAN_AddTxMessage(&hcan, &CanTx, TxData, &pTxMailbox) != HAL_OK)//发送数据
	  {
		printf("Tx Fail\r\n");
	  }
	   CanTx.ExtId--;
	  	printf("System Run\r\n");
	  HAL_Delay(500);
  }
  /* USER CODE END 3 */
}

效果

注意1

当此处代码为0时代表，只要是报文就接收：
	sFilterConfig.FilterMaskIdHigh = 0;//FilterMask高低字节数据中位为1时代表必须与ID该位一致，0xFFFFFFFF代表接收筛选必须与ID一致才通过
	sFilterConfig.FilterMaskIdLow = 0;

注意2

当此处代码为oxFFFF时代表，只接收与ID位全匹配：
	sFilterConfig.FilterMaskIdHigh = 0xFFFF;//FilterMask高低字节数据中位为1时代表必须与ID该位一致，0xFFFFFFFF代表接收筛选必须与ID一致才通过
	sFilterConfig.FilterMaskIdLow = 0xFFFF;

代码链接

链接：https://pan.baidu.com/s/1A3GRqDl0Fl4Rm_jhH8RBAw 
提取码：y9gq 
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备注

回环模式测试通过后通过控制器芯片使用正常模式即可收发数据