野火STM32电机系列（三）Cubemx配置CAN通信

news2024/10/1 17:16:09

CAN接口:

PI9

PB9

1.配置CAN 通信参数

由于F4的 CAN外设挂载在APB1上，时钟配置后APB1的时钟速率为42MHz，目标通信速率为1000KHz，由公式：

BaudRate = 1/NominalBitTime

NominalBitTime = 1tq + tBS1 +tBS2

设置参数如下：

CAN时钟分频参数为7，BS1为4，BS2为1，CAN模式为Nomal模式。

生成工程

在can.c中添加如下函数

CAN_TxHeaderTypeDef TXHeader;
CAN_RxHeaderTypeDef RXHeader;


uint8_t TXmessage[8] = {0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00};
uint8_t RXmessage[8] = {0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00};

uint32_t pTxMailbox = 0;
uint32_t CAN_ID = 0x01;
int counT_A = 0;
int counT_B = 0;

void CAN_Config(void)
{
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_RX_FIFO0;//过滤器0关联到FIFO0
  sFilterConfig.FilterActivation = ENABLE;          //激活滤波器0
  sFilterConfig.SlaveStartFilterBank = 14;
	
	
 if(HAL_CAN_ConfigFilter(&hcan1,&sFilterConfig) != HAL_OK)//初始化过滤器
 {
  Error_Handler();
 }
 if(HAL_CAN_Start(&hcan1) != HAL_OK)//打开can
 {
  Error_Handler();
 }
 if(HAL_CAN_ActivateNotification(&hcan1,CAN_IT_RX_FIFO0_MSG_PENDING) != HAL_OK)//开启接受邮邮箱0挂起中断
 {
  Error_Handler();
 }
 
   /*配置传输过程*/
  TXHeader.StdId = 0x321;
  TXHeader.ExtId = 0x01;
  TXHeader.RTR = CAN_RTR_DATA;
  TXHeader.IDE = CAN_ID_STD;
  TXHeader.DLC = 2;
  TXHeader.TransmitGlobalTime = DISABLE;

}

//发送函数
void CAN_senddata(CAN_HandleTypeDef *hcan,uint32_t can_id)
{
   TXHeader.StdId=can_id ;
	 TXHeader.ExtId=0x12345000;//0x12345000
	 TXHeader.DLC=8;
	 TXHeader.IDE=CAN_ID_EXT;
	 TXHeader.RTR=CAN_RTR_DATA;
	 TXHeader.TransmitGlobalTime = DISABLE;

    	HAL_CAN_AddTxMessage(hcan,&TXHeader,TXmessage,&pTxMailbox);

}
//接受函数
uint32_t CAN1_Receive_Msg(uint8_t *buf)
{
 	uint32_t i;
	uint8_t	RxData[8];
 
	if(HAL_CAN_GetRxFifoFillLevel(&hcan1, CAN_RX_FIFO0) != 1)//没有接收到数据,直接退出 
	{
		return 0xF1;
	}
 
	if(HAL_CAN_GetRxMessage(&hcan1, CAN_RX_FIFO0, &RXHeader, RxData) != HAL_OK)
	{
		return 0xF2;
	}
	
    for(i=0;i<RXHeader.DLC;i++)
    buf[i]=RxData[i];
	  return RXHeader.DLC;
}

头文件声明