1 步骤：
1.1 配置
/* USER CODE BEGIN 1 */
CAN_TxHeaderTypeDef hCAN2_TxHeader; //CAN1发送消息
CAN_RxHeaderTypeDef hCAN2_RxHeader; //CAN1接收消息
CAN_FilterTypeDef hCAN2_Filter; //CAN1滤波器
/*******************************************************************************
* Function Name : vApp_CAN_TxHeader_Init
* Description : 初始化发送帧头句柄
* Input : pHeader 发送帧头指针
StdId 标识符
ExtId 扩展标识符
IDE 0:标准帧 1:拓展帧
RTR 0:数据帧 1:远程帧
DLC 数据长度
* Output : None
* Return : None
****************************************************************************** */
void vApp_CAN_TxHeader_Init(CAN_TxHeaderTypeDef * pHeader,
uint32_t StdId,
uint32_t ExtId,
uint32_t IDE,
uint32_t RTR,
uint32_t DLC)
{
pHeader->StdId = StdId; //11位 标准标识符
pHeader->ExtId = ExtId; //29位 扩展标识符
pHeader->IDE = IDE; //1位 0:标准帧 1:拓展帧
pHeader->RTR = RTR; //1位 0:数据帧 1:远程帧
pHeader->DLC = DLC; //4位 发送的数据的长度
pHeader->TransmitGlobalTime = ENABLE;
}
/*******************************************************************************
* Function Name : vApp_CAN_Filter_Init
* Description : 初始化滤波器
* Input : pFilter 滤波器句柄，初始化全部值
IdHigh,
IdLow,
MaskIdHigh,
MaskIdLow,
FIFOAssignment,
Bank,
Mode,
Scale,
Activation,
SlaveStartFilterBank
* Output : None
* Return : None
****************************************************************************** */
void vApp_CAN_Filter_Init(CAN_FilterTypeDef * pFilter,
uint32_t IdHigh,
uint32_t IdLow,
uint32_t MaskIdHigh,
uint32_t MaskIdLow,
uint32_t FIFOAssignment,
uint32_t Bank,
uint32_t Mode,
uint32_t Scale,
uint32_t Activation,
uint32_t SlaveStartFilterBank)
{
pFilter->FilterIdHigh = 0;
pFilter->FilterIdLow = 0;
pFilter->FilterMaskIdHigh = 0;
pFilter->FilterMaskIdLow = 0;
pFilter->FilterFIFOAssignment = CAN_FILTER_FIFO0;
pFilter->FilterBank = 0;
pFilter->FilterMode = CAN_FILTERMODE_IDMASK;
pFilter->FilterScale = CAN_FILTERSCALE_32BIT;
pFilter->FilterActivation = ENABLE;
pFilter->SlaveStartFilterBank = 0;
}
/*******************************************************************************
* Function Name : vApp_CAN_Configuration
* Description : CAN初始化配置，配置发送帧头，配置滤波器
* Input : (...)
* Output : None
* Return : None
****************************************************************************** */
void vApp_CAN_Configuration(CAN_TxHeaderTypeDef * pTxHeader,
CAN_FilterTypeDef * pFilter,
uint32_t StdId,
uint32_t ExtId,
uint32_t IDE,
uint32_t RTR,
uint32_t DLC,
uint32_t IdHigh,
uint32_t IdLow,
uint32_t MaskIdHigh,
uint32_t MaskIdLow,
uint32_t FIFOAssignment,
uint32_t Bank,
uint32_t Mode,
uint32_t Scale,
uint32_t Activation,
uint32_t SlaveStartFilterBank)
{
/*-1- 初始化TxHeader句柄 ----------------------------------------*/
vApp_CAN_TxHeader_Init(pTxHeader, StdId, ExtId, IDE, RTR, DLC);
/*-2- 初始化滤波器句柄 ------------------------------------------*/
vApp_CAN_Filter_Init(pFilter, IdHigh, IdLow, MaskIdHigh, MaskIdLow, FIFOAssignment, Bank, Mode, Scale, Activation, SlaveStartFilterBank);
HAL_CAN_ConfigFilter(&hcan2, pFilter);
/*-3- 启动CAN ---------------------------------------------------*/
while(HAL_CAN_Start(&hcan2) != HAL_OK )
{
printf("\nCAN_Start Failed!!");
HAL_Delay(100);
}
printf("\nCAN_Start Success!!");
/*-4- 使能中断通知 ----------------------------------------------*/
HAL_CAN_ActivateNotification(&hcan2, CAN_IT_RX_FIFO0_MSG_PENDING);
}
/********************************************************************************
Function Name : vApp_User_CAN_Configuration*
Description : 初始化CAN（用户修改）*
Input : None*
Output : None*
Return : None
****************************************************************************** */
void vApp_User_CAN_Configuration(void)
{
/*----------------- CAN初始化配置 --------------------------*/
vApp_CAN_Configuration(&hCAN2_TxHeader, &hCAN2_Filter,
/* TxHeader 句柄配置 */
/* StdId ExtId IDE RTR DLC */
0x12, 0, CAN_ID_STD, CAN_RTR_DATA, 8,
/* Filter 句柄配置 */
/* IdHigh(验证码) IdLow MaskIdHigh(掩码) MaskIdLow FIFOAssignment Bank Mode Scale Activation SlaveStartFilterBank */
0, 0, 0, 0, CAN_FILTER_FIFO0, 0, CAN_FILTERMODE_IDMASK, CAN_FILTERSCALE_32BIT, ENABLE, 0);
}
/*******************************************************************************
* Function Name : vApp_CAN_TxMessage
* Description : 邮箱发送数据
* Input : hcan
pTxHeader 发送帧头
aData 数据段
DLC 数据段长度
* Output : None
* Return : None
****************************************************************************** */
void vApp_CAN_TxMessage(CAN_HandleTypeDef *hcan, CAN_TxHeaderTypeDef * pTxHeader, uint8_t aData[], uint8_t DLC)
{
uint32_t Tx_MailBox;
/*-1- 配置数据段长度 ----------------------------------------*/
pTxHeader->DLC = DLC;
/*-2- 发送aData ---------------------------------------------*/
while(HAL_CAN_AddTxMessage(hcan, pTxHeader, aData, &Tx_MailBox) != HAL_OK)
{
printf("TxMsg Failed!!");
HAL_Delay(100);
}
printf("\nSend Tx Message Success!!Tx_Mail:%d", Tx_MailBox);
}
/********************************************************************************
Function Name : vApp_User_CAN1_TxMessage*
Description : 使用CAN1发送数据*
Input : None*
Output : None*
Return : None
****************************************************************************** */
void vApp_User_CAN2_TxMessage(uint8_t aTxData[], uint8_t DLC)
{
vApp_CAN_TxMessage(&hcan2, &hCAN2_TxHeader, aTxData, DLC);
}
/*******************************************************************************
* Function Name : HAL_CAN_RxFifo0MsgPendingCallback
* Description : 消息接收回调函数
* Input : hcan
* Output : None
* Return : None
****************************************************************************** */
void HAL_CAN_RxFifo0MsgPendingCallback(CAN_HandleTypeDef *hcan)
{
uint8_t aRxData[8], i;
if(HAL_CAN_GetRxMessage(hcan, CAN_RX_FIFO0, &hCAN2_RxHeader, aRxData) == HAL_OK)
{
printf("\nGet Rx Message Success!!\nData:");
for(i=0; i<8; i++)
printf("%d", aRxData[i]);
}
}
1.2 main函数
int main(void)
{
/* USER CODE BEGIN 1 */
uint8_t TxData[8] = {0x11, 0x22, 0x33, 0x44, 0x55, 0x66, 0x77, 0x88};
/* 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_CAN2_Init();
/* USER CODE BEGIN 2 */
vApp_User_CAN_Configuration();
/* USER CODE END 2 */
/* Infinite loop */
/* USER CODE BEGIN WHILE */
while (1)
{
/* USER CODE END WHILE */
vApp_User_CAN2_TxMessage(TxData, 8);
/* USER CODE BEGIN 3 */
}
/* USER CODE END 3 */
}
2 使用CubeMX配置：