stm32HAL库之can操作

基于STM32CubeMx的CAN配置信息

volatile

1.系统时钟APB1=36MHZ

 2.CAN计算通信率计算公式，参考数据手册， CAN bit timing register (CAN_BTR) 寄存器
 

NominalBitTime计算公式： NominalBitTime =1 t × q +  tBS1 + tBS2

 3.STM32CubeMx设置的Prescaler为8->对应BRP=7，TimeSeg1=6->对应TS1=5，TimeSeg2=2->对应TB2=2，STM32F103ZE对应APB1设置为36M，即Time for one Bit的时间为（1 + TimeSeg1+ TimeSeg2）* Prescaler/36M,--->（1+6+2）*8/36M=2us，即2000ns，500K bps

 

4.CAN.c
 

/**
  ******************************************************************************
  * File Name          : CAN.c
  * Description        : This file provides code for the configuration
  *                      of the CAN instances.
  ******************************************************************************
  * @attention
  *
  * <h2><center>&copy; Copyright (c) 2019 STMicroelectronics.
  * All rights reserved.</center></h2>
  *
  * This software component is licensed by ST under BSD 3-Clause license,
  * the "License"; You may not use this file except in compliance with the
  * License. You may obtain a copy of the License at:
  *                        opensource.org/licenses/BSD-3-Clause
  *
  ******************************************************************************
  */

/* Includes ------------------------------------------------------------------*/
#include "can.h"

/* USER CODE BEGIN 0 */

/* USER CODE END 0 */

CAN_HandleTypeDef hcan;

CAN_TxHeaderTypeDef   TxHeader;
CAN_RxHeaderTypeDef   RxHeader;
uint8_t               TxData[8];
uint8_t               RxData[8];
uint32_t              TxMailbox;
/* CAN init function */
void MX_CAN_Init(void)
{
	CAN_FilterTypeDef  sFilterConfig;
	
  hcan.Instance = CAN1;
  hcan.Init.Prescaler = 8;
  hcan.Init.Mode = CAN_MODE_NORMAL;
  hcan.Init.SyncJumpWidth = CAN_SJW_1TQ;
  hcan.Init.TimeSeg1 = CAN_BS1_6TQ;
  hcan.Init.TimeSeg2 = CAN_BS2_2TQ;
  hcan.Init.TimeTriggeredMode = DISABLE;
  hcan.Init.AutoBusOff = DISABLE;
  hcan.Init.AutoWakeUp = DISABLE;
  hcan.Init.AutoRetransmission = DISABLE;
  hcan.Init.ReceiveFifoLocked = ENABLE;
  hcan.Init.TransmitFifoPriority = ENABLE;
  if (HAL_CAN_Init(&hcan) != HAL_OK)
  {
    Error_Handler();
  }
	
  /* Configure the CAN Filter */
  sFilterConfig.FilterBank = 0;
  sFilterConfig.FilterMode = CAN_FILTERMODE_IDMASK;
  sFilterConfig.FilterScale = CAN_FILTERSCALE_32BIT;
  sFilterConfig.FilterIdHigh = 0x0000;
  sFilterConfig.FilterIdLow = 0x0000;
  sFilterConfig.FilterMaskIdHigh = 0x0000;
  sFilterConfig.FilterMaskIdLow = 0x0000;
  sFilterConfig.FilterFIFOAssignment = CAN_RX_FIFO0;
  sFilterConfig.FilterActivation = ENABLE;
  sFilterConfig.SlaveStartFilterBank = 14;

  if (HAL_CAN_ConfigFilter(&hcan, &sFilterConfig) != HAL_OK)
  {
    /* Filter configuration Error */
    Error_Handler();
  }

  /* Start the CAN peripheral */
  if