/* USER CODE BEGIN Header */
/**
******************************************************************************
* @file : main.c
* @brief : Main program body
******************************************************************************
* @attention
*
* Copyright (c) 2025 STMicroelectronics.
* All rights reserved.
*
* This software is licensed under terms that can be found in the LICENSE file
* in the root directory of this software component.
* If no LICENSE file comes with this software, it is provided AS-IS.
*
******************************************************************************
*/
/* USER CODE END Header */
/* Includes ------------------------------------------------------------------*/
#include "main.h"
#include "can.h"
#include "gpio.h"
#include "string.h"
#include "stm32f4xx_hal.h"
/* Private includes ----------------------------------------------------------*/
/* USER CODE BEGIN Includes */
/* USER CODE END Includes */
/* Private typedef -----------------------------------------------------------*/
/* USER CODE BEGIN PTD */
typedef struct
{
uint8_t data[16]; // 直接使用 16 字节的数组填充构成 16字节的结构体
}CAN_struct;//储存发送或接收的16字节数据
typedef union
{
float a;
uint8_t megt[16];//megt 无符号字符数组成员名,在共用体里和float类型成员共享内存,实现浮点数与字节数组的转换(硬件不能直接解析,逐字节发送再转换成float;必须把float拆成字节数组填入,接收方再按协议还原)
}Unionfloat;
typedef union//16字节结构体与字节数组转换,让数据适配硬件通信,存储,协议,(与上述float类似)
{
CAN_struct DATAStruct;//共用体成员名
uint8_t send[16];
}Union_struct;
/* USER CODE END PTD */
/* Private define ------------------------------------------------------------*/
/* USER CODE BEGIN PD */
/* USER CODE END PD */
/* Private macro -------------------------------------------------------------*/
/* USER CODE BEGIN PM */
/* USER CODE END PM */
/* Private variables ---------------------------------------------------------*/
/* USER CODE BEGIN PV */
CAN_RxHeaderTypeDef Rxhader; //Rxhader:存储接收到的 CAN 消息的头部信息(说明书身份卡)(告诉系统谁发的,发给谁,ID,标准帧,扩展帧,DLC,远程帧标记,反馈错误状态,时间戳)
uint8_t RxData[8]; //RxData:用于存储接收到的 CAN 数据
float receivedFloat; //receivedFloat:用于存储接收到的浮点数
uint8_t rxframer=0; //rxframer:用于标记是否接收到完整的16字节数据。防止数据丢包错位,数据越界,解析乱码//rxframer为0(未收全)为1(收全)【后面先判断是否为1,再决定是否解析数据】
uint8_t structBuffer[16]={0}; //structBuffer:用于存储接收到的16字节结构体数据。数组所有元素初始化为0,不会被旧数据干扰
uint8_t buffer[8]; //buffer:用于临时存储接收到的8字节数据。防止没处理完数据就丢了
Unionfloat receiveunionfloat; //receiveunionfloat:用于将接收到的字节数组转换为浮点数。
Union_struct receiveunionstruct; //receiveunionstruct:用于将接收到的字节数组转换为16字节结构体。
CAN_struct receiveStruct; //receiveStruct:用于存储接收到的16字节结构体数据。
CAN_struct h; //h:用于存储要发送的16字节结构体数据。
/* USER CODE END PV */
/* Private function prototypes -----------------------------------------------*/
void SystemClock_Config(void);
/* USER CODE BEGIN PFP */
void MyCAN_Transmit_struct(CAN_struct* shuatment);
void MyCAN_Transmit_Float(float data);
/* USER CODE END PFP */
/* Private user code ---------------------------------------------------------*/
/* USER CODE BEGIN 0 */
void MyCAN_Transmit_Float(float data) //发送浮点数data
{
Unionfloat transmitUnionfloat; //共用体定义变量transmitUnionfloat
transmitUnionfloat.a=data; //data赋值给联合体成员a,transmitUnionfloat.megt就会存储对应浮点数的字节形式,实现浮点数到字节数组的转换
uint32_t TxMailbox; //存储CAN发送邮箱编号,HAL_CAN_AddTxHeaderTypeDef会用到,告知数据放到哪个发送邮箱
uint32_t TimeOut=0; //初始化超时计数器为0
CAN_TxHeaderTypeDef TxMessage; //CAN_TxHeaderTypeDef类型结构体,用来配置CAN发送报文的头部信息(ID,数据长度,帧类型)
//配置CAN发送头部信息
TxMessage.StdId = 0x555;
TxMessage.ExtId = 0x0000;
TxMessage.IDE = CAN_ID_STD;
TxMessage.RTR = CAN_RTR_DATA; //浮点型用数据帧
TxMessage.DLC = 4; //浮点数转4字节数据
TxMessage.TransmitGlobalTime = DISABLE;//关闭全局时间戳功能,发送报文时不附加全局时间信息
//把配置好的报文(TxMessage)和要发送的数据(transmitUnionfloat.megt浮点数转字节数组)放到hcan1对应的CAN外设发送邮箱(TxMailbox),函数返回HAL_StatusTypeDef类型状态
HAL_StatusTypeDef state=HAL_CAN_AddTxMessage(&hcan1, &TxMessage,transmitUnionfloat.megt , &TxMailbox);//状态(发送邮箱)
while(state!= HAL_OK) //state!= HAL_OK放入邮箱失败,进入循环重新尝试/检测超时 //HAL_OK成功放入邮箱等待发送
{
TimeOut++;
if (TimeOut > 100000) //计数器超过100000,认为发送失败,跳出循环
{
break;
}
}
}
//发送16字节结构体数据
void MyCAN_Transmit_struct(CAN_struct* shuatment) //参数是CAN_struct类型指针shuatment,接收要发送的结构体数据,发送出去
{
uint32_t TimeOut=0;
uint32_t TxMailbox;
Union_struct tx_struct; //Union_struct类型变量定义tx_struct //sizeof(CAN_struct)确保拷贝长度整个结构体大小,数据从入参到共用体变量的转移
memcpy(&tx_struct.DATAStruct, shuatment, sizeof(CAN_struct));//调用memcpy函数(string.h里的内存拷贝函数),把shuatment指针指向CAN_struct结构体内容,拷贝到tx_struct的DATAstruct成员里
CAN_TxHeaderTypeDef TxMessage; //CAN发送头部配置
TxMessage.StdId = 0x666;
TxMessage.ExtId = 0x0000;
TxMessage.IDE = CAN_ID_STD;
TxMessage.RTR = CAN_RTR_DATA; //结构体数据帧
TxMessage.DLC = 8; //一次发送八字节
TxMessage.TransmitGlobalTime = DISABLE;
//第一次发送报文
HAL_StatusTypeDef status =HAL_CAN_AddTxMessage(&hcan1, &TxMessage, tx_struct.send, &TxMailbox);
while(status!= HAL_OK)
{
TimeOut++;
if (TimeOut > 100000)
{
break;
}
}
TxMessage.StdId = 0x777; //第二次发送报文(补发或分段发)
HAL_CAN_AddTxMessage(&hcan1, &TxMessage, &tx_struct.send[8], &TxMailbox);//发送后续8个字节
while(status!= HAL_OK)
{
TimeOut++;
if (TimeOut > 100000)
{
break;
}
}
}
/* USER CODE END 0 */
/**
* @brief The application entry point.
* @retval int
*/
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_CAN1_Init();
/* USER CODE BEGIN 2 */
for(int i=0;i<16;i++)//初始化一个16字节结构体数据 h
{
// CAN_struct h;
h.data[i]=i;
}
/* USER CODE END 2 */
/* Infinite loop */
/* USER CODE BEGIN WHILE */
MyCAN_Transmit_Float(3.14f); //发送浮点数
MyCAN_Transmit_struct(&h); //发送结构体数据
while (1)
{
/* USER CODE END WHILE */
/* USER CODE BEGIN 3 */
}
/* USER CODE END 3 */
}
/**
* @brief System Clock Configuration
* @retval None
*/
void SystemClock_Config(void)
{
RCC_OscInitTypeDef RCC_OscInitStruct = {0};
RCC_ClkInitTypeDef RCC_ClkInitStruct = {0};
/** Configure the main internal regulator output voltage
*/
__HAL_RCC_PWR_CLK_ENABLE();
__HAL_PWR_VOLTAGESCALING_CONFIG(PWR_REGULATOR_VOLTAGE_SCALE1);
/** Initializes the RCC Oscillators according to the specified parameters
* in the RCC_OscInitTypeDef structure.
*/
RCC_OscInitStruct.OscillatorType = RCC_OSCILLATORTYPE_HSE;
RCC_OscInitStruct.HSEState = RCC_HSE_ON;
RCC_OscInitStruct.PLL.PLLState = RCC_PLL_ON;
RCC_OscInitStruct.PLL.PLLSource = RCC_PLLSOURCE_HSE;
RCC_OscInitStruct.PLL.PLLM = 16;
RCC_OscInitStruct.PLL.PLLN = 192;
RCC_OscInitStruct.PLL.PLLP = RCC_PLLP_DIV2;
RCC_OscInitStruct.PLL.PLLQ = 4;
if (HAL_RCC_OscConfig(&RCC_OscInitStruct) != HAL_OK)
{
Error_Handler();
}
/** Initializes the CPU, AHB and APB buses clocks
*/
RCC_ClkInitStruct.ClockType = RCC_CLOCKTYPE_HCLK|RCC_CLOCKTYPE_SYSCLK
|RCC_CLOCKTYPE_PCLK1|RCC_CLOCKTYPE_PCLK2;
RCC_ClkInitStruct.SYSCLKSource = RCC_SYSCLKSOURCE_PLLCLK;
RCC_ClkInitStruct.AHBCLKDivider = RCC_SYSCLK_DIV4;
RCC_ClkInitStruct.APB1CLKDivider = RCC_HCLK_DIV1;
RCC_ClkInitStruct.APB2CLKDivider = RCC_HCLK_DIV1;
if (HAL_RCC_ClockConfig(&RCC_ClkInitStruct, FLASH_LATENCY_1) != HAL_OK)
{
Error_Handler();
}
}
/* USER CODE BEGIN 4 */
uint8_t count=0;
void HAL_CAN_RxFifo0MsgPendingCallback(CAN_HandleTypeDef *hcan1) //CAN 接收FIFO0消息挂起回调函数,处理接收到的数据
{
count++; //每收到一条CAN消息就自增1,统计接收报文的次数
Unionfloat floatBuff;
if(HAL_CAN_GetRxMessage(hcan1,CAN_RX_FIFO0,&Rxhader,buffer)==HAL_OK) //buffer收到的实际字节数据存在这里
{
if(Rxhader.StdId==0x555) //准备转成float数据
{
memcpy(floatBuff.megt,buffer,sizeof(floatBuff.megt));
receivedFloat = floatBuff.a; //存储接收到的浮点数
}
if(Rxhader.StdId==0x666)
{
memcpy(structBuffer,buffer,8); //buffer里的八字节数据拷贝到structBuffer
rxframer=1; //接收到分片等待拼接,下一步处理拼接逻辑
}
if((Rxhader.StdId==0x777)&&rxframer==1) //两个同时满足
{
memcpy(&structBuffer[8],buffer,8); //拷到前8个字节后面
memcpy(receiveunionstruct.send,structBuffer,16); //16字节数据拷到send数组成员里
receiveStruct=receiveunionstruct.DATAStruct; //存储接收到的结构体
rxframer=0; //分片处理完毕等待下一次
}
}
}
/* USER CODE END 4 */
/**
* @brief This function is executed in case of error occurrence.
* @retval None
*/
void Error_Handler(void)
{
/* USER CODE BEGIN Error_Handler_Debug */
/* User can add his own implementation to report the HAL error return state */
__disable_irq();
while (1)
{
}
/* USER CODE END Error_Handler_Debug */
}
#ifdef USE_FULL_ASSERT
/**
* @brief Reports the name of the source file and the source line number
* where the assert_param error has occurred.
* @param file: pointer to the source file name
* @param line: assert_param error line source number
* @retval None
*/
void assert_failed(uint8_t *file, uint32_t line)
{
/* USER CODE BEGIN 6 */
/* User can add his own implementation to report the file name and line number,
ex: printf("Wrong parameters value: file %s on line %d\r\n", file, line) */
/* USER CODE END 6 */
}
#endif /* USE_FULL_ASSERT */
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