STM32-HAL库09-CAN通讯(loopback模式)

一、所用材料:

STM32F103C6T6最小系统板
STM32CUBEMX(HAL库软件)
MDK5
串口调试助手

二、所学内容:

初步学习如何使用STM32的CAN通讯功能,在本章节主要达到板内CAN通讯的效果,即32发送CAN信息再在CAN接收中断中用串口打印出来。

三、CUBEMX配置:

第一步:老三件套-RCC,SYS,时钟树配置

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第二步:串口配置

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第三步:CAN配置

关键步骤:

  • 波特率设置:1M bit/s,具体配置如下图
  • TEST MODE - Loopback
  • 打开接收中断RX0
    在这里插入图片描述
    在这里插入图片描述

四、MDK5配置:

一、can.h头文件配置

/* Define to prevent recursive inclusion -------------------------------------*/
#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 */

/* USER CODE END Private defines */

void MX_CAN_Init(void);

/* USER CODE BEGIN Prototypes */
void CANFilter_Config(void);
void CAN1_Send_Test(void);
void CAN_Start_Init(void);
void CAN1_Send(uint8_t* cdata);
/* USER CODE END Prototypes */

#ifdef __cplusplus
}
#endif

#endif /* __CAN_H__ */


二、can.c源文件配置

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

/* USER CODE BEGIN 0 */
#include "stdio.h"
#include "usart.h"
#include "main.h"
static CAN_TxHeaderTypeDef TxMessage; //CAN发送的消息的消息头
static CAN_RxHeaderTypeDef RxMessage; //CAN接收的消息的消息头
/* USER CODE END 0 */

CAN_HandleTypeDef hcan;

/* CAN init function */
void MX_CAN_Init(void)
{
  hcan.Instance = CAN1;
  hcan.Init.Prescaler = 4;
  hcan.Init.Mode = CAN_MODE_LOOPBACK;
  hcan.Init.SyncJumpWidth = CAN_SJW_1TQ;
  hcan.Init.TimeSeg1 = CAN_BS1_5TQ;
  hcan.Init.TimeSeg2 = CAN_BS2_3TQ;
  hcan.Init.TimeTriggeredMode = DISABLE;
  hcan.Init.AutoBusOff = DISABLE;
  hcan.Init.AutoWakeUp = DISABLE;
  hcan.Init.AutoRetransmission = DISABLE;
  hcan.Init.ReceiveFifoLocked = DISABLE;
  hcan.Init.TransmitFifoPriority = DISABLE;
  if (HAL_CAN_Init(&hcan) != HAL_OK)
  {
    Error_Handler();
  }
  /* USER CODE BEGIN CAN_Init 2 */

  /* USER CODE END CAN_Init 2 */

}

void HAL_CAN_MspInit(CAN_HandleTypeDef* canHandle)
{

  GPIO_InitTypeDef GPIO_InitStruct = {0};
  if(canHandle->Instance==CAN1)
  {
  /* USER CODE BEGIN CAN1_MspInit 0 */

  /* USER CODE END CAN1_MspInit 0 */
    /* CAN1 clock enable */
    __HAL_RCC_CAN1_CLK_ENABLE();

    __HAL_RCC_GPIOA_CLK_ENABLE();
    /**CAN GPIO Configuration
    PA11     ------> CAN_RX
    PA12     ------> CAN_TX
    */
    GPIO_InitStruct.Pin = GPIO_PIN_11;
    GPIO_InitStruct.Mode = GPIO_MODE_INPUT;
    GPIO_InitStruct.Pull = GPIO_NOPULL;
    HAL_GPIO_Init(GPIOA, &GPIO_InitStruct);

    GPIO_InitStruct.Pin = GPIO_PIN_12;
    GPIO_InitStruct.Mode = GPIO_MODE_AF_PP;
    GPIO_InitStruct.Speed = GPIO_SPEED_FREQ_HIGH;
    HAL_GPIO_Init(GPIOA, &GPIO_InitStruct);

    /* CAN1 interrupt Init */
    HAL_NVIC_SetPriority(USB_LP_CAN1_RX0_IRQn, 0, 0);
    HAL_NVIC_EnableIRQ(USB_LP_CAN1_RX0_IRQn);
  /* USER CODE BEGIN CAN1_MspInit 1 */

  /* USER CODE END CAN1_MspInit 1 */
  }
}

void HAL_CAN_MspDeInit(CAN_HandleTypeDef* canHandle)
{

  if(canHandle->Instance==CAN1)
  {
  /* USER CODE BEGIN CAN1_MspDeInit 0 */

  /* USER CODE END CAN1_MspDeInit 0 */
    /* Peripheral clock disable */
    __HAL_RCC_CAN1_CLK_DISABLE();

    /**CAN GPIO Configuration
    PA11     ------> CAN_RX
    PA12     ------> CAN_TX
    */
    HAL_GPIO_DeInit(GPIOA, GPIO_PIN_11|GPIO_PIN_12);

    /* CAN1 interrupt Deinit */
    HAL_NVIC_DisableIRQ(USB_LP_CAN1_RX0_IRQn);
  /* USER CODE BEGIN CAN1_MspDeInit 1 */

  /* USER CODE END CAN1_MspDeInit 1 */
  }
}

/* USER CODE BEGIN 1 */
/*******************
接受信息过滤器
*******************/
 void CANFilter_Config(void)
{
    CAN_FilterTypeDef  sFilterConfig;
    
    sFilterConfig.FilterBank = 0;                       //CAN过滤器编号,范围0-27
    sFilterConfig.FilterMode = CAN_FILTERMODE_IDMASK;   //CAN过滤器模式,掩码模式或列表模式
    sFilterConfig.FilterScale = CAN_FILTERSCALE_32BIT;  //CAN过滤器尺度,16位或32位
    sFilterConfig.FilterIdHigh = 0x000 << 5;			//32位下,存储要过滤ID的高16位
    sFilterConfig.FilterIdLow = 0x0000;					//32位下,存储要过滤ID的低16位
    sFilterConfig.FilterMaskIdHigh = 0x0000;			//掩码模式下,存储的是掩码
    sFilterConfig.FilterMaskIdLow = 0x0000;
    sFilterConfig.FilterFIFOAssignment = 0;				//报文通过过滤器的匹配后,存储到哪个FIFO
    sFilterConfig.FilterActivation = ENABLE;    		//激活过滤器
    sFilterConfig.SlaveStartFilterBank = 0;
    
    if (HAL_CAN_ConfigFilter(&hcan, &sFilterConfig) != HAL_OK) 
		 {
        Error_Handler();
       }
	else{ printf("HAL_CAN_ConfigFilter(&hcan, &sFilterConfig) is HAL_OKrn"); }
}
/*******************
中断接受
*******************/
void HAL_CAN_RxFifo0MsgPendingCallback(CAN_HandleTypeDef *hcan)
{

    uint8_t  data[8];
    HAL_StatusTypeDef	status;
    status = HAL_CAN_GetRxMessage(hcan, CAN_RX_FIFO0, &RxMessage, data);
    if (HAL_OK == status)
	{    
		printf("--->Data Receieve!rn");
		printf("RxMessage.StdId is %#xrn",  RxMessage.StdId);
		printf("data[0] is 0x%02xrn", data[0]);
		printf("data[1] is 0x%02xrn", data[1]);
		printf("data[2] is 0x%02xrn", data[2]);
		printf("data[3] is 0x%02xrn", data[3]);
		printf("data[4] is 0x%02xrn", data[4]);
		printf("data[5] is 0x%02xrn", data[5]);
		printf("data[6] is 0x%02xrn", data[6]);
		printf("data[7] is 0x%02xrn", data[7]);		
		printf("<---rn");   
	    HAL_GPIO_TogglePin(GPIOC, GPIO_PIN_13);		
    }
}

/*******************
发送函数
*******************/
void CAN1_Send_Test(void)
{
    uint32_t TxMailbox;
    uint8_t data[4] = {0x01, 0x02, 0x03, 0x04};
    TxMessage.IDE = CAN_ID_STD;     //设置ID类型
	 TxMessage.StdId = 0x111;        //设置ID号
    TxMessage.RTR = CAN_RTR_DATA;   //设置传送数据帧
	 TxMessage.DLC = 4;              //设置数据长度
	if (HAL_CAN_AddTxMessage(&hcan, &TxMessage, data, &TxMailbox) != HAL_OK)
		{
        Error_Handler();
     }	
	// else{ printf("HAL_CAN_AddTxMessage(&hcan, &TxMessage, data, &TxMailbox) is HAL_OKrn"); }
}

void CAN1_Send(uint8_t* cdata)
{
    uint32_t TxMailbox;
    TxMessage.IDE = CAN_ID_STD;     //设置ID类型
	TxMessage.StdId = 0x111;        //设置ID号
    TxMessage.RTR = CAN_RTR_DATA;   //设置传送数据帧
	TxMessage.DLC = 8;              //设置数据长度	
	if (HAL_CAN_AddTxMessage(&hcan, &TxMessage, cdata, &TxMailbox) != HAL_OK)
	{
        Error_Handler();
    }		
}
/*******************
CAN启动函数
*******************/
void CAN_Start_Init(void)
{
  if (HAL_CAN_Start(&hcan) != HAL_OK) 
    {
        Error_Handler();
     }
  else{ printf("HAL_CAN_Start(&hcan) is HAL_OKrn"); }
    
    /* 3. Enable CAN RX Interrupt */
    if (HAL_CAN_ActivateNotification(&hcan, CAN_IT_RX_FIFO0_MSG_PENDING) !=  HAL_OK) {
        Error_Handler();
    }
  else{ printf("HAL_CAN_ActivateNotification(&hcan, CAN_IT_RX_FIFO0_MSG_PENDING) is HAL_OKrn"); }	
}
/* USER CODE END 1 */

三、main.c文件配置

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 */
  CANFilter_Config();
  CAN_Start_Init();
  /* USER CODE END 2 */

  /* Infinite loop */
  /* USER CODE BEGIN WHILE */
  while (1)
  {
	  CAN1_Send_Test();
	  HAL_Delay(1000);
    /* USER CODE END WHILE */

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

四、串口打印结果:

在这里插入图片描述

五、本文对应代码分享:

https://download.csdn.net/download/qq_45854134/88522530

本图文内容来源于网友网络收集整理提供,作为学习参考使用,版权属于原作者。
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