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MCU#xff1a;STM32G0B1CEU6 CAN收发器#xff1a;JIA1042
二、MX配置
配置SYS
配置canfd并开启中断#xff0c;我开了两个FDCAN#xff0c;配置是一样的#xff0c;这里贴一下波特率的计算公式#xff1a; 也就是#xff1a;CAN时钟频率/预分频器/STM32G0B1CEU6 CAN收发器JIA1042
二、MX配置
配置SYS
配置canfd并开启中断我开了两个FDCAN配置是一样的这里贴一下波特率的计算公式 也就是CAN时钟频率/预分频器/1TS1TS2 按照我这里的时钟就是 CAN时钟频率为40MHZ预分频器为1TS15,TS24 所以数据段的频率为40/8/154500MHZ 同时我这里开了个uart用作调试配置完成后生成
三、滤波器配置
这里设置了ID为0x000使用CANFD数据长度64滤波器在系统初始化完成后就可以进行配置了
void FDCAN1_config(void){FDCAN_FilterTypeDef sFilterConfig;/* Configure Rx filter */sFilterConfig.IdType FDCAN_STANDARD_ID;sFilterConfig.FilterIndex 0;sFilterConfig.FilterType FDCAN_FILTER_MASK;sFilterConfig.FilterConfig FDCAN_FILTER_TO_RXFIFO0;sFilterConfig.FilterID1 0x000;sFilterConfig.FilterID2 0x000;if (HAL_FDCAN_ConfigFilter(hfdcan1, sFilterConfig) ! HAL_OK){Error_Handler();}/* Configure global filter:Filter all remote frames with STD and EXT IDReject non matching frames with STD ID and EXT ID */if (HAL_FDCAN_ConfigGlobalFilter(hfdcan1, FDCAN_REJECT, FDCAN_REJECT, FDCAN_FILTER_REMOTE, FDCAN_FILTER_REMOTE) ! HAL_OK){Error_Handler();}/* Start the FDCAN module */if (HAL_FDCAN_Start(hfdcan1) ! HAL_OK){Error_Handler();}if (HAL_FDCAN_ActivateNotification(hfdcan1, FDCAN_IT_RX_FIFO0_NEW_MESSAGE, 0) ! HAL_OK){Error_Handler();}TxHeader.Identifier 0x000; // CAN IDTxHeader.IdType FDCAN_STANDARD_ID; // 标准IDTxHeader.TxFrameType FDCAN_DATA_FRAME; TxHeader.DataLength FDCAN_DLC_BYTES_64;TxHeader.ErrorStateIndicator FDCAN_ESI_ACTIVE;TxHeader.BitRateSwitch FDCAN_BRS_ON;TxHeader.FDFormat FDCAN_FD_CAN; // CANFDTxHeader.TxEventFifoControl FDCAN_NO_TX_EVENTS;TxHeader.MessageMarker 0;
}
void FDCAN2_config(void){FDCAN_FilterTypeDef sFilterConfig;/* Configure Rx filter */sFilterConfig.IdType FDCAN_STANDARD_ID;sFilterConfig.FilterIndex 0;sFilterConfig.FilterType FDCAN_FILTER_MASK;sFilterConfig.FilterConfig FDCAN_FILTER_TO_RXFIFO0;sFilterConfig.FilterID1 0x000;sFilterConfig.FilterID2 0x000;if (HAL_FDCAN_ConfigFilter(hfdcan2, sFilterConfig) ! HAL_OK){Error_Handler();}/* Configure global filter:Filter all remote frames with STD and EXT IDReject non matching frames with STD ID and EXT ID */if (HAL_FDCAN_ConfigGlobalFilter(hfdcan2, FDCAN_REJECT, FDCAN_REJECT, FDCAN_FILTER_REMOTE, FDCAN_FILTER_REMOTE) ! HAL_OK){Error_Handler();}/* Start the FDCAN module */if (HAL_FDCAN_Start(hfdcan2) ! HAL_OK){Error_Handler();}if (HAL_FDCAN_ActivateNotification(hfdcan2, FDCAN_IT_RX_FIFO0_NEW_MESSAGE, 0) ! HAL_OK){Error_Handler();}TxHeader.Identifier 0x000; // CAN IDTxHeader.IdType FDCAN_STANDARD_ID; // 标准IDTxHeader.TxFrameType FDCAN_DATA_FRAME; TxHeader.DataLength FDCAN_DLC_BYTES_64;TxHeader.ErrorStateIndicator FDCAN_ESI_ACTIVE;TxHeader.BitRateSwitch FDCAN_BRS_ON;TxHeader.FDFormat FDCAN_FD_CAN; // CANFDTxHeader.TxEventFifoControl FDCAN_NO_TX_EVENTS;TxHeader.MessageMarker 0;
}
四、发送和接收函数 这里我的发送是写在while里面的实现的功能flag标志位1时是一个canfd1发送数据canfd2接收后flag值为2flag为2时canfd2发送数据canfd1接收将flag值等于1 HAL库发送函数为
HAL_FDCAN_AddMessageToTxFifoQ(FDCAN_HandleTypeDef *hfdcan, const FDCAN_TxHeaderTypeDef *pTxHeader,const uint8_t *pTxData)接收函数为
HAL_FDCAN_GetRxMessage(FDCAN_HandleTypeDef *hfdcan, uint32_t RxLocation,FDCAN_RxHeaderTypeDef *pRxHeader, uint8_t *pRxData)下面时我的main发送和中断回调函数接收函数
FDCAN_RxHeaderTypeDef RxHeader;
FDCAN_TxHeaderTypeDef TxHeader;
uint8_t TXData[64]{0x55,0x55,0x55,0x55,0x55,0x55,0x55,0x55,0x55,0x55,0x55,0x55,0x55,0x55,0x55,0x55,0x55,0x55,0x55,0x55,0x55,0x55,0x55,0x55,0x55,0x55,0x55,0x55,0x55,0x55,0x55,0x55,0x55,0x55,0x55,0x55,0x55,0x55,0x55,0x55,0x55,0x55,0x55,0x55,0x55,0x55,0x55,0x55,0x55,0x55,0x55,0x55,0x55,0x55,0x55,0x55,0x55,0x55,0x55,0x55,0x55,0x55,0x55,0x00};
uint8_t RxData[64]{0};
uint8_t flag1;
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_FDCAN1_Init();MX_FDCAN2_Init();MX_USART3_UART_Init();/* USER CODE BEGIN 2 */FDCAN1_config();FDCAN2_config();HAL_Delay(2000);/* USER CODE END 2 *//* Infinite loop *//* USER CODE BEGIN WHILE */while (1){if(flag0x01){if(HAL_FDCAN_AddMessageToTxFifoQ(hfdcan1, TxHeader, TXData)!HAL_OK){Error_Handler();}HAL_Delay(1000);}else{if(HAL_FDCAN_AddMessageToTxFifoQ(hfdcan2, TxHeader, TXData)!HAL_OK){Error_Handler();}HAL_Delay(1000);}HAL_Delay(1000);/* USER CODE END WHILE *//* USER CODE BEGIN 3 */}/* USER CODE END 3 */
}
void HAL_FDCAN_RxFifo0Callback(FDCAN_HandleTypeDef *hfdcan, uint32_t RxFifo0ITs)
{if((RxFifo0ITs FDCAN_IT_RX_FIFO0_NEW_MESSAGE) ! RESET){if(hfdcan-Instance FDCAN1){if (HAL_FDCAN_GetRxMessage(hfdcan, FDCAN_RX_FIFO0, RxHeader, RxData) ! HAL_OK){Error_Handler();}flag0x01;HAL_UART_Transmit(huart3,flag,1,1000);}if(hfdcan-Instance FDCAN2){if (HAL_FDCAN_GetRxMessage(hfdcan, FDCAN_RX_FIFO0, RxHeader, RxData) ! HAL_OK){Error_Handler();}flag0x02;HAL_UART_Transmit(huart3,flag,1,1000);}}
}
五、实际使用
实际使用过程中需要将两个CANFD建立在一个CAN网络中才能进行通讯
六、源码工程
https://download.csdn.net/download/weixin_46516921/90080900
