4. CAN Interface
2020-07-08 本文已影响0人
T_K_233
首先配置时钟，需要将 FLCK 配置为 36 MHz
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之后配置针脚，图为 500kHz CAN 的配置
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发送信息：
if (HAL_CAN_AddTxMessage(&hcan, &pHeader, &a, &TxMailbox) != HAL_OK) {
/* Transmission Error */
Error_Handler();
}
接收信息：
int a = HAL_CAN_GetRxFifoFillLevel(&hcan, CAN_RX_FIFO0);
【未完待续】
/* USER CODE BEGIN 2 */
pHeader.DLC=1; //give message size of 1 byte
pHeader.IDE=CAN_ID_STD; //set identifier to standard
pHeader.RTR=CAN_RTR_DATA; //set data type to remote transmission request?
pHeader.StdId=0x003; //define a standard identifier, used for message identification by filters (switch this for the other microcontroller)
//filter one (stack light blink)
sFilterConfig.FilterFIFOAssignment=CAN_FILTER_FIFO0; //set fifo assignment
sFilterConfig.FilterIdHigh=0xFFFF; //the ID that the filter looks for (switch this for the other microcontroller)
sFilterConfig.FilterIdLow=0;
sFilterConfig.FilterMaskIdHigh=0;
sFilterConfig.FilterMaskIdLow=0;
sFilterConfig.FilterScale=CAN_FILTERSCALE_32BIT; //set filter scale
sFilterConfig.FilterActivation=DISABLE;
HAL_CAN_ConfigFilter(&hcan, &sFilterConfig); //configure CAN filter
HAL_CAN_Start(&hcan); //start CAN
HAL_CAN_ActivateNotification(&hcan, CAN_IT_RX_FIFO0_MSG_PENDING); //enable interrupts
/* USER CODE END 2 */
/* Infinite loop */
/* USER CODE BEGIN WHILE */
while (1)
{
/* USER CODE END WHILE */
/* USER CODE BEGIN 3 */
HAL_Delay(1000);
int arr[8];
arr[0] = 0xff;
if (HAL_CAN_AddTxMessage(&hcan, &pHeader, &a, &TxMailbox) != HAL_OK) {
/* Transmission Error */
Error_Handler();
}
char str[] = "Listening...\r\n";
HAL_UART_Transmit(&huart2, (uint8_t *) str, strlen(str), 10);
int a = HAL_CAN_GetRxFifoFillLevel(&hcan, CAN_RX_FIFO0);
if (a > 0) {
HAL_UART_Transmit(&huart2, (uint8_t *) "msgpending", strlen("msgpending"), 10);
}
HAL_CAN_StateTypeDef state = HAL_CAN_GetState(&hcan);
if (state == HAL_CAN_STATE_RESET) {
HAL_UART_Transmit(&huart2, (uint8_t *) "HAL_CAN_STATE_RESET", strlen("HAL_CAN_STATE_RESET"), 10);
}
if (state == HAL_CAN_STATE_READY) {
HAL_UART_Transmit(&huart2, (uint8_t *) "HAL_CAN_STATE_READY", strlen("HAL_CAN_STATE_READY"), 10);
}
if (state == HAL_CAN_STATE_LISTENING) {
HAL_UART_Transmit(&huart2, (uint8_t *) "HAL_CAN_STATE_LISTENING", strlen("HAL_CAN_STATE_LISTENING"), 10);
}
if (state == HAL_CAN_STATE_ERROR) {
HAL_UART_Transmit(&huart2, (uint8_t *) "HAL_CAN_STATE_ERROR", strlen("HAL_CAN_STATE_ERROR"), 10);
}
if (state == HAL_CAN_STATE_RESET) {
HAL_UART_Transmit(&huart2, (uint8_t *) "HAL_CAN_STATE_RESET", strlen("HAL_CAN_STATE_RESET"), 10);
}
}
/* USER CODE END 3 */
}
