2019年10月08日 | stm32HAL库之can操作

基于STM32CubeMx的CAN配置信息

volatile

1.系统时钟APB1=36MHZ

2.CAN计算通信率计算公式，参考数据手册， CAN bit timing register (CAN_BTR) 寄存器

NominalBitTime计算公式： NominalBitTime =1 t × q +  tBS1 + tBS2

3.STM32CubeMx设置的Prescaler为8->对应BRP=7，TimeSeg1=6->对应TS1=5，TimeSeg2=2->对应TB2=2，STM32F103ZE对应APB1设置为36M，即Time for one Bit的时间为（1 + TimeSeg1+ TimeSeg2）* Prescaler/36M,--->（1+6+2）*8/36M=2us，即2000ns，500K bps

4.CAN.c

/**

  ******************************************************************************

  * File Name          : CAN.c

  * Description        : This file provides code for the configuration

  *                      of the CAN instances.

  ******************************************************************************

  * @attention

  *

  *

© Copyright (c) 2019 STMicroelectronics.

  * All rights reserved.

  *

  * 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

  *

  ******************************************************************************

  */

/* Includes ------------------------------------------------------------------*/

#include "can.h"

/* USER CODE BEGIN 0 */

/* USER CODE END 0 */

CAN_HandleTypeDef hcan;

CAN_TxHeaderTypeDef   TxHeader;

CAN_RxHeaderTypeDef   RxHeader;

uint8_t               TxData[8];

uint8_t               RxData[8];

uint32_t              TxMailbox;

/* CAN init function */

void MX_CAN_Init(void)

{

CAN_FilterTypeDef  sFilterConfig;

  hcan.Instance = CAN1;

  hcan.Init.Prescaler = 8;

  hcan.Init.Mode = CAN_MODE_NORMAL;

  hcan.Init.SyncJumpWidth = CAN_SJW_1TQ;

  hcan.Init.TimeSeg1 = CAN_BS1_6TQ;

  hcan.Init.TimeSeg2 = CAN_BS2_2TQ;

  hcan.Init.TimeTriggeredMode = DISABLE;

  hcan.Init.AutoBusOff = DISABLE;

  hcan.Init.AutoWakeUp = DISABLE;

  hcan.Init.AutoRetransmission = DISABLE;

  hcan.Init.ReceiveFifoLocked = ENABLE;

  hcan.Init.TransmitFifoPriority = ENABLE;

  if (HAL_CAN_Init(&hcan) != HAL_OK)

  {

    Error_Handler();

  }

  /* Configure the CAN Filter */

  sFilterConfig.FilterBank = 0;

  sFilterConfig.FilterMode = CAN_FILTERMODE_IDMASK;

  sFilterConfig.FilterScale = CAN_FILTERSCALE_32BIT;

  sFilterConfig.FilterIdHigh = 0x0000;

  sFilterConfig.FilterIdLow = 0x0000;

  sFilterConfig.FilterMaskIdHigh = 0x0000;

  sFilterConfig.FilterMaskIdLow = 0x0000;

  sFilterConfig.FilterFIFOAssignment = CAN_RX_FIFO0;

  sFilterConfig.FilterActivation = ENABLE;

  sFilterConfig.SlaveStartFilterBank = 14;

  if (HAL_CAN_ConfigFilter(&hcan, &sFilterConfig) != HAL_OK)

  {

    /* Filter configuration Error */

    Error_Handler();

  }

  /* Start the CAN peripheral */

  if (HAL_CAN_Start(&hcan) != HAL_OK)

  {

    /* Start Error */

    Error_Handler();

  }

  /* Activate CAN RX notification */

  if (HAL_CAN_ActivateNotification(&hcan, CAN_IT_RX_FIFO0_MSG_PENDING) != HAL_OK)

  {

    /* Notification Error */

    Error_Handler();

  }

  /* Activate CAN TX notification */

  if (HAL_CAN_ActivateNotification(&hcan, CAN_IT_TX_MAILBOX_EMPTY) != HAL_OK)

  {

    /* Notification Error */

    Error_Handler();

  }

  /* Configure Transmission process */

  TxHeader.StdId = 0x321;

  TxHeader.ExtId = 0x01;

  TxHeader.RTR = CAN_RTR_DATA;

  TxHeader.IDE = CAN_ID_STD;

  TxHeader.DLC = 8;

  TxHeader.TransmitGlobalTime = DISABLE;

}

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, 7, 0);

    HAL_NVIC_EnableIRQ(USB_LP_CAN1_RX0_IRQn);

  /* USER CODE BEGIN CAN1_MspInit 1 */

    HAL_NVIC_SetPriority(USB_HP_CAN1_TX_IRQn, 5, 0);

    HAL_NVIC_EnableIRQ(USB_HP_CAN1_TX_IRQn);

  /* 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 */

void USER_CAN_Send()

{

HAL_Delay(1000);

HAL_CAN_ActivateNotification(&hcan, CAN_IT_TX_MAILBOX_EMPTY);//开启中断

if (HAL_CAN_AddTxMessage(&hcan, &TxHeader, TxData, &TxMailbox) != HAL_OK)

{

/* Transmission request Error */

Error_Handler();

}

HAL_Delay(100);

TxData[0]++;

}

/**

  * @brief  Rx Fifo 0 message pending callback in non blocking mode

  * @param  CanHandle: pointer to a CAN_HandleTypeDef structure that contains

  *         the configuration information for the specified CAN.

  * @retval None

  */

void HAL_CAN_RxFifo0MsgPendingCallback(CAN_HandleTypeDef *CanHandle)

{

  /* Get RX message */

  if (HAL_CAN_GetRxMessage(CanHandle, CAN_RX_FIFO0, &RxHeader, RxData) != HAL_OK)

  {

    /* Reception Error */

    Error_Handler();

  }

  /* Display LEDx */

  if ((RxHeader.StdId == 0x321) && (RxHeader.IDE == CAN_ID_STD) && (RxHeader.DLC == 2))

  {

RxData[0] = RxData[0];

  }

}

/* USER CODE END 1 */

/**

  * @brief  Transmission Mailbox 0 complete callback.

  * @param  hcan pointer to a CAN_HandleTypeDef structure that contains

  *         the configuration information for the specified CAN.

  * @retval None

  */

void HAL_CAN_TxMailbox0CompleteCallback(CAN_HandleTypeDef *hcan)

{

static uint8_t num = 0;

  /* Prevent unused argument(s) compilation warning */

  UNUSED(hcan);

  /* NOTE : This function Should not be modified, when the callback is needed,

            the HAL_CAN_TxMailbox0CompleteCallback could be implemented in the

            user file

   */

/* if() 数据 要到 */

HAL_CAN_DeactivateNotification(hcan, CAN_IT_TX_MAILBOX_EMPTY);

HAL_CAN_AddTxMessage(hcan, &TxHeader, TxData, &TxMailbox);

TxData[1] = TxData[1]+ 1;

}

/************************ (C) COPYRIGHT STMicroelectronics *****END OF FILE****/

can.h

/**

  ******************************************************************************

  * File Name          : CAN.h

  * Description        : This file provides code for the configuration

  *                      of the CAN instances.

  ******************************************************************************

  * @attention

  *

  *

© Copyright (c) 2019 STMicroelectronics.

  * All rights reserved.

  *

  * 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

  *

  ******************************************************************************

  */

/* 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;

extern CAN_TxHeaderTypeDef   TxHeader;

extern CAN_RxHeaderTypeDef   RxHeader;

extern uint8_t               TxData[8];

extern uint8_t               RxData[8];