1. Materials used:
STM32F103C6T6 Minimum System Board
STM32CUBEMX (HAL library software)
MDK5
Serial debugging assistant
2. What you learned:
Preliminarily learn how to use the CAN communication function of STM32. In this chapter, we mainly achieve the effect of on-board CAN communication, that is, 32 sends CAN information and then prints it out through the serial port in the CAN receiving interrupt.
3. CUBEMX configuration:
The first step: the old three-piece set-RCC, SYS, clock tree configuration
Step 2: Serial port configuration
Step 3: CAN configuration
key step:
- Baud rate setting: 1M bit/s, the specific configuration is as shown below
- TEST MODE-Loopback
- Turn on receive interrupt RX0
4. MDK5 configuration:
1. can.h header file configuration
/* Define to prevent recursive inclusion ---------------------------------------*/
#ifndef __CAN_H__
#define __CAN_H__
#ifdef __cplusplus
extern "C" {<!-- -->
#endif
/* Includes ----------------------------------------------- ------------------*/
#include "main.h"
/* USER CODE BEGIN Includes */
/* USER CODE END Includes */
extern CAN_HandleTypeDef hcan;
/* USER CODE BEGIN Private defines */
/* USER CODE END Private defines */
void MX_CAN_Init(void);
/* USER CODE BEGIN Prototypes */
void CANFilter_Config(void);
void CAN1_Send_Test(void);
void CAN_Start_Init(void);
void CAN1_Send(uint8_t* cdata);
/* USER CODE END Prototypes */
#ifdef __cplusplus
}
#endif
#endif /* __CAN_H__ */
2. can.c source file configuration
/* Includes ----------------------------------------------- -----------------------*/
#include "can.h"
/* USER CODE BEGIN 0 */
#include "stdio.h"
#include "usart.h"
#include "main.h"
static CAN_TxHeaderTypeDef TxMessage; //Message header of the message sent by CAN
static CAN_RxHeaderTypeDef RxMessage; //Message header of the message received by CAN
/* USER CODE END 0 */
CAN_HandleTypeDef hcan;
/* CAN init function */
void MX_CAN_Init(void)
{<!-- -->
hcan.Instance = CAN1;
hcan.Init.Prescaler = 4;
hcan.Init.Mode = CAN_MODE_LOOPBACK;
hcan.Init.SyncJumpWidth = CAN_SJW_1TQ;
hcan.Init.TimeSeg1 = CAN_BS1_5TQ;
hcan.Init.TimeSeg2 = CAN_BS2_3TQ;
hcan.Init.TimeTriggeredMode = DISABLE;
hcan.Init.AutoBusOff = DISABLE;
hcan.Init.AutoWakeUp = DISABLE;
hcan.Init.AutoRetransmission = DISABLE;
hcan.Init.ReceiveFifoLocked = DISABLE;
hcan.Init.TransmitFifoPriority = DISABLE;
if (HAL_CAN_Init( & amp;hcan) != HAL_OK)
{<!-- -->
Error_Handler();
}
/* USER CODE BEGIN CAN_Init 2 */
/* USER CODE END CAN_Init 2 */
}
void HAL_CAN_MspInit(CAN_HandleTypeDef* canHandle)
{<!-- -->
GPIO_InitTypeDef GPIO_InitStruct = {<!-- -->0};
if(canHandle->Instance==CAN1)
{<!-- -->
/* USER CODE BEGIN CAN1_MspInit 0 */
/* USER CODE END CAN1_MspInit 0 */
/* CAN1 clock enable */
__HAL_RCC_CAN1_CLK_ENABLE();
__HAL_RCC_GPIOA_CLK_ENABLE();
/**CAN GPIO Configuration
PA11 ------> CAN_RX
PA12 ------> CAN_TX
*/
GPIO_InitStruct.Pin = GPIO_PIN_11;
GPIO_InitStruct.Mode = GPIO_MODE_INPUT;
GPIO_InitStruct.Pull = GPIO_NOPULL;
HAL_GPIO_Init(GPIOA, &GPIO_InitStruct);
GPIO_InitStruct.Pin = GPIO_PIN_12;
GPIO_InitStruct.Mode = GPIO_MODE_AF_PP;
GPIO_InitStruct.Speed = GPIO_SPEED_FREQ_HIGH;
HAL_GPIO_Init(GPIOA, &GPIO_InitStruct);
/* CAN1 interrupt Init */
HAL_NVIC_SetPriority(USB_LP_CAN1_RX0_IRQn, 0, 0);
HAL_NVIC_EnableIRQ(USB_LP_CAN1_RX0_IRQn);
/* USER CODE BEGIN CAN1_MspInit 1 */
/* USER CODE END CAN1_MspInit 1 */
}
}
void HAL_CAN_MspDeInit(CAN_HandleTypeDef* canHandle)
{<!-- -->
if(canHandle->Instance==CAN1)
{<!-- -->
/* USER CODE BEGIN CAN1_MspDeInit 0 */
/* USER CODE END CAN1_MspDeInit 0 */
/* Peripheral clock disable */
__HAL_RCC_CAN1_CLK_DISABLE();
/**CAN GPIO Configuration
PA11 ------> CAN_RX
PA12 ------> CAN_TX
*/
HAL_GPIO_DeInit(GPIOA, GPIO_PIN_11|GPIO_PIN_12);
/* CAN1 interrupt Deinit */
HAL_NVIC_DisableIRQ(USB_LP_CAN1_RX0_IRQn);
/* USER CODE BEGIN CAN1_MspDeInit 1 */
/* USER CODE END CAN1_MspDeInit 1 */
}
}
/* USER CODE BEGIN 1 */
/************************
Accept message filters
*******************/
void CANFilter_Config(void)
{<!-- -->
CAN_FilterTypeDef sFilterConfig;
sFilterConfig.FilterBank = 0; //CAN filter number, range 0-27
sFilterConfig.FilterMode = CAN_FILTERMODE_IDMASK; //CAN filter mode, mask mode or list mode
sFilterConfig.FilterScale = CAN_FILTERSCALE_32BIT; //CAN filter scale, 16-bit or 32-bit
sFilterConfig.FilterIdHigh = 0x000 << 5; //Under 32 bits, store the high 16 bits of the ID to be filtered
sFilterConfig.FilterIdLow = 0x0000; //Under 32 bits, store the lower 16 bits of the ID to be filtered
sFilterConfig.FilterMaskIdHigh = 0x0000; //In mask mode, the mask is stored
sFilterConfig.FilterMaskIdLow = 0x0000;
sFilterConfig.FilterFIFOAssignment = 0; //After the message passes the filter match, which FIFO is stored in it
sFilterConfig.FilterActivation = ENABLE; //Activate filter
sFilterConfig.SlaveStartFilterBank = 0;
if (HAL_CAN_ConfigFilter( & amp;hcan, & amp;sFilterConfig) != HAL_OK)
{<!-- -->
Error_Handler();
}
else{<!-- --> printf("HAL_CAN_ConfigFilter( & amp;hcan, & amp;sFilterConfig) is HAL_OK\r\\
"); }
}
/************************
Interrupt acceptance
*******************/
void HAL_CAN_RxFifo0MsgPendingCallback(CAN_HandleTypeDef *hcan)
{<!-- -->
uint8_t data[8];
HAL_StatusTypeDef status;
status = HAL_CAN_GetRxMessage(hcan, CAN_RX_FIFO0, & amp;RxMessage, data);
if (HAL_OK == status)
{<!-- -->
printf("--->Data Receive!\r\\
");
printf("RxMessage.StdId is %#x\r\\
", RxMessage.StdId);
printf("data[0] is 0x x\r\\
", data[0]);
printf("data[1] is 0x x\r\\
", data[1]);
printf("data[2] is 0x x\r\\
", data[2]);
printf("data[3] is 0x x\r\\
", data[3]);
printf("data[4] is 0x x\r\\
", data[4]);
printf("data[5] is 0x x\r\\
", data[5]);
printf("data[6] is 0x x\r\\
", data[6]);
printf("data[7] is 0x x\r\\
", data[7]);
printf("<---\r\\
");
HAL_GPIO_TogglePin(GPIOC, GPIO_PIN_13);
}
}
/************************
send function
*******************/
void CAN1_Send_Test(void)
{<!-- -->
uint32_t TxMailbox;
uint8_t data[4] = {<!-- -->0x01, 0x02, 0x03, 0x04};
TxMessage.IDE = CAN_ID_STD; //Set ID type
TxMessage.StdId = 0x111; //Set ID number
TxMessage.RTR = CAN_RTR_DATA; //Set the transmission data frame
TxMessage.DLC = 4; //Set data length
if (HAL_CAN_AddTxMessage( & amp;hcan, & amp;TxMessage, data, & amp;TxMailbox) != HAL_OK)
{<!-- -->
Error_Handler();
}
// else{ printf("HAL_CAN_AddTxMessage( & amp;hcan, & amp;TxMessage, data, & amp;TxMailbox) is HAL_OK\r\\
"); }
}
void CAN1_Send(uint8_t* cdata)
{<!-- -->
uint32_t TxMailbox;
TxMessage.IDE = CAN_ID_STD; //Set ID type
TxMessage.StdId = 0x111; //Set ID number
TxMessage.RTR = CAN_RTR_DATA; //Set the transmission data frame
TxMessage.DLC = 8; //Set data length
if (HAL_CAN_AddTxMessage( & amp;hcan, & amp;TxMessage, cdata, & amp;TxMailbox) != HAL_OK)
{<!-- -->
Error_Handler();
}
}
/************************
CAN start function
*******************/
void CAN_Start_Init(void)
{<!-- -->
if (HAL_CAN_Start( & amp;hcan) != HAL_OK)
{<!-- -->
Error_Handler();
}
else{<!-- --> printf("HAL_CAN_Start( & amp;hcan) is HAL_OK\r\\
"); }
/* 3. Enable CAN RX Interrupt */
if (HAL_CAN_ActivateNotification( & amp;hcan, CAN_IT_RX_FIFO0_MSG_PENDING) != HAL_OK) {<!-- -->
Error_Handler();
}
else{<!-- --> printf("HAL_CAN_ActivateNotification( & amp;hcan, CAN_IT_RX_FIFO0_MSG_PENDING) is HAL_OK\r\\
"); }
}
/* USER CODE END 1 */
3. Main.c file configuration
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_CAN_Init();
MX_USART1_UART_Init();
/* USER CODE BEGIN 2 */
CANFilter_Config();
CAN_Start_Init();
/* USER CODE END 2 */
/* Infinite loop */
/* USER CODE BEGIN WHILE */
while (1)
{<!-- -->
CAN1_Send_Test();
HAL_Delay(1000);
/* USER CODE END WHILE */
/* USER CODE BEGIN 3 */
}
/* USER CODE END 3 */
}
4. Serial port printing results:
5. Sharing of code corresponding to this article:
https://download.csdn.net/download/qq_45854134/88522530