使用芯片：STM32F103C8T6
cube软件版本：5.10
软件包版本为：STM32Cube FW_F1 V1.7.0
设置can波特率为500k，并设置为loopback模式，波特率计算方式为（systime/(pre*(bs1+bs2+sjw))）,can时钟为36M，则36/（12*（1+2+3））=500k。
CAN_FilterIdHigh和CAN_FilterIdLow组合成一个32位寄存器，用来存储将要过滤的ID
CAN_FilterMaskIdHigh和CAN_FilterMaskIdLow组合成一个32位寄存器，用来表示这个ID的哪些位必须符合（置1），哪些位不关心（置0）.
例如要过滤的ID为0x1e000000,则CAN_FilterIdHigh、CAN_FilterIdLow、CAN_FilterMaskIdHigh和CAN_FilterMaskIdLow配置为
uint32_t EXTID = 0x1e000000;
CAN_FilterType.FilterIdHigh=(EXTID<<3)>>16;
CAN_FilterType.FilterIdLow=((EXTID<<3)&0xffff)|CAN_ID_EXT;//只关心扩展帧，标准帧为CAN_ID_STD
CAN_FilterType.FilterMaskIdHigh=0xffff;
CAN_FilterType.FilterMaskIdLow=0xffff<<3|CAN_ID_EXT;//每一位都必须一致，只关心扩展帧，标准帧为CAN_ID_STD
以下配置代码，有列表模式和掩码模式，二选一
/* 列表模式只接受0x02200000和0x1e000000 */
void CAN1_IDLISTConfig(void)
{
uint32_t EXTID = 0x02200000;
uint32_t EXTID1 = 0x1e000000;
CAN_FilterTypeDef CAN_FilterType;
CAN_FilterType.FilterBank=0;
CAN_FilterType.FilterIdHigh=(EXTID<<3)>>16;
CAN_FilterType.FilterIdLow=((EXTID<<3)&0xffff)|CAN_ID_EXT;
CAN_FilterType.FilterMaskIdHigh=0xffff;
CAN_FilterType.FilterMaskIdLow=0xffff<<3|CAN_ID_EXT;
CAN_FilterType.FilterFIFOAssignment=CAN_RX_FIFO0;
CAN_FilterType.FilterMode=CAN_FILTERMODE_IDLIST;
CAN_FilterType.FilterScale=CAN_FILTERSCALE_32BIT;
CAN_FilterType.FilterActivation=ENABLE;
CAN_FilterType.SlaveStartFilterBank=14;
if(HAL_CAN_ConfigFilter(&hcan,&CAN_FilterType)!=HAL_OK)
{
Error_Handler();
}
CAN_FilterType.FilterBank=1;
CAN_FilterType.FilterIdHigh=(EXTID1<<3)>>16;
CAN_FilterType.FilterIdLow=((EXTID1<<3)&0xffff)|CAN_ID_EXT;
CAN_FilterType.FilterMaskIdHigh=0xffff;
CAN_FilterType.FilterMaskIdLow=0xffff<<3|CAN_ID_EXT;
CAN_FilterType.FilterFIFOAssignment=CAN_RX_FIFO0;
CAN_FilterType.FilterMode=CAN_FILTERMODE_IDLIST;//列表模式
CAN_FilterType.FilterScale=CAN_FILTERSCALE_32BIT;
CAN_FilterType.FilterActivation=ENABLE;
CAN_FilterType.SlaveStartFilterBank=14;
if(HAL_CAN_ConfigFilter(&hcan,&CAN_FilterType)!=HAL_OK)
{
Error_Handler();
}
if(HAL_CAN_ActivateNotification(&hcan,CAN_IT_RX_FIFO0_MSG_PENDING)!=HAL_OK)
{
Error_Handler();
}
if(HAL_CAN_Start(&hcan)!=HAL_OK)
{
Error_Handler();
}
}
/* 掩码模式全部接收 */
void CAN1_IDMASKConfig(void)
{
CAN_FilterTypeDef CAN_FilterType;
CAN_FilterType.FilterBank=0;
CAN_FilterType.FilterIdHigh=0x0000;
CAN_FilterType.FilterIdLow=0x0000;
CAN_FilterType.FilterMaskIdHigh=0x0000;
CAN_FilterType.FilterMaskIdLow=0x0000;
CAN_FilterType.FilterFIFOAssignment=CAN_RX_FIFO0;
CAN_FilterType.FilterMode=CAN_FILTERMODE_IDMASK;//掩码模式
CAN_FilterType.FilterScale=CAN_FILTERSCALE_32BIT;
CAN_FilterType.FilterActivation=ENABLE;
CAN_FilterType.SlaveStartFilterBank=14;
if(HAL_CAN_ConfigFilter(&hcan,&CAN_FilterType)!=HAL_OK)
{
Error_Handler();
}
if(HAL_CAN_ActivateNotification(&hcan,CAN_IT_RX_FIFO0_MSG_PENDING)!=HAL_OK)
{
Error_Handler();
}
if(HAL_CAN_Start(&hcan)!=HAL_OK)
{
Error_Handler();
}
}
/***********************************************
函数功能：can发送数据
入口参数：
ide： 0：标准帧
1：扩展帧
id： 帧ID
len： 数据长度
data： 数据
返回值：0：成功。1：失败
************************************************/
uint8_t Can_TxMessage(uint8_t ide,uint32_t id,uint8_t len,uint8_t *data)
{
uint32_t TxMailbox;
CAN_TxHeaderTypeDef CAN_TxHeader;
HAL_StatusTypeDef HAL_RetVal;
uint16_t i=0;
if(ide == 0)
{
CAN_TxHeader.IDE = CAN_ID_STD; //标准帧
CAN_TxHeader.StdId = id;
}
else
{
CAN_TxHeader.IDE = CAN_ID_EXT; //扩展帧
CAN_TxHeader.ExtId = id;
}
CAN_TxHeader.DLC = len;
CAN_TxHeader.RTR = CAN_RTR_DATA;//数据帧,CAN_RTR_REMOTE遥控帧
CAN_TxHeader.TransmitGlobalTime = DISABLE;
while(HAL_CAN_GetTxMailboxesFreeLevel(&hcan) == 0)
{
i++;
if(i>0xfffe)
return 1;
}
HAL_Delay(500);
HAL_RetVal = HAL_CAN_AddTxMessage(&hcan,&CAN_TxHeader,data,&TxMailbox);
if(HAL_RetVal != HAL_OK)
return 1;
return 0;
}
void HAL_CAN_RxFifo0MsgPendingCallback(CAN_HandleTypeDef *hcan)
{
CAN_RxHeaderTypeDef CAN_RxHeader;
HAL_StatusTypeDef HAL_Retval;
uint8_t Rx_Data[8];
uint8_t Data_Len=0;
uint32_t ID=0;
uint8_t i;
HAL_Retval = HAL_CAN_GetRxMessage(hcan,CAN_RX_FIFO0,&CAN_RxHeader,Rx_Data);
if(HAL_Retval == HAL_OK)
{
Data_Len = CAN_RxHeader.DLC;
if(CAN_RxHeader.IDE)
ID = CAN_RxHeader.ExtId;
else
ID = CAN_RxHeader.StdId;
printf("id:%x\r\n",ID);
printf("Data_Len:%d\r\n",Data_Len);
for(i=0;i<8;i++)
printf("Rx_Data[%d]=%x\r\n",i,Rx_Data[i]);
}
}
int main(void)
{
/* USER CODE BEGIN 1 */
uint8_t data[8]={1,2,3,4,5,6,7,8};
/* 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 */
CAN1_IDMASKConfig();//过滤器配置
/* USER CODE END 2 */
/* Infinite loop */
/* USER CODE BEGIN WHILE */
while (1)
{
/* USER CODE END WHILE */
/* USER CODE BEGIN 3 */
Can_TxMessage(0,0x222,8,data);//CAN发送
HAL_Delay(1000);
}
/* USER CODE END 3 */
}
每隔1S，通过can向标识符为0x222的设备发送一次数据，因为本例程设置的为loopback模式，所以不需要接任何外设即可，通过串口调试助手查看接收到的数据，与发送数据相符
工程下载地址：https://download.csdn.net/download/qq_32605451/11042109