百度网站收入提交,网站友情链接购买,已备案网站更换域名,做调查报告的网站一、所用材料#xff1a;
STM32F103C6T6最小系统板 STM32CUBEMX#xff08;HAL库软件#xff09; MDK5 串口调试助手
二、所学内容#xff1a;
初步学习如何使用STM32的CAN通讯功能#xff0c;在本章节主要达到板内CAN通讯的效果#xff0c;即32发送CAN信息再在CAN接收…一、所用材料
STM32F103C6T6最小系统板 STM32CUBEMXHAL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 第二步串口配置 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
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-InstanceCAN1){/* 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 ConfigurationPA11 ------ CAN_RXPA12 ------ 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-InstanceCAN1){/* USER CODE BEGIN CAN1_MspDeInit 0 *//* USER CODE END CAN1_MspDeInit 0 *//* Peripheral clock disable */__HAL_RCC_CAN1_CLK_DISABLE();/**CAN GPIO ConfigurationPA11 ------ CAN_RXPA12 ------ 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0-27sFilterConfig.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FIFOsFilterConfig.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_OK\r\n); }
}
/*******************
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!\r\n);printf(RxMessage.StdId is %#x\r\n, RxMessage.StdId);printf(data[0] is 0x%02x\r\n, data[0]);printf(data[1] is 0x%02x\r\n, data[1]);printf(data[2] is 0x%02x\r\n, data[2]);printf(data[3] is 0x%02x\r\n, data[3]);printf(data[4] is 0x%02x\r\n, data[4]);printf(data[5] is 0x%02x\r\n, data[5]);printf(data[6] is 0x%02x\r\n, data[6]);printf(data[7] is 0x%02x\r\n, data[7]); printf(---\r\n); 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_OK\r\n); }
}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_OK\r\n); }/* 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_OK\r\n); }
}
/* 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 五、本文对应代码分享
https://download.csdn.net/download/qq_45854134/88522530
