在RT-Thread Studio中HAL库的CAN不能使用

发布于 2020-01-20 09:50:02 浏览：2250 订阅该版

#include "stm32f1xx_hal.h"
#include "bsp_can.h"

CAN_TxHeaderTypeDef TxMessage;      //发送缓冲区
CAN_RxHeaderTypeDef RxMessage;      //接收缓冲区

can_receive MyCanReceive;

CAN_HandleTypeDef Can_Handle;
/*
 * 函数名：CAN_GPIO_Config
 * 描述  ：CAN的GPIO 配置
 * 输入  ：无
 * 输出  : 无
 * 调用  ：内部调用
 */

uint8_t InterfaceSendData[10]={0x79,0x00,0x01,0x02,0x03};

void MYCAN_Config(void)
 {
      MYCAN_GPIO_Config();
      MYCAN_Mode_Config();
 }

void MYCAN_GPIO_Config(void)
{

GPIO_InitTypeDef GPIO_InitStruct = {0};
    __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, 3);
    HAL_NVIC_EnableIRQ(USB_LP_CAN1_RX0_IRQn);

}

void MYCAN_Mode_Config(void)
{

Can_Handle.Instance = CAN1;
  Can_Handle.Init.Prescaler = 8;
  Can_Handle.Init.Mode = CAN_MODE_NORMAL;
  Can_Handle.Init.SyncJumpWidth = CAN_SJW_1TQ;
  Can_Handle.Init.TimeSeg1 = CAN_BS1_6TQ;
  Can_Handle.Init.TimeSeg2 = CAN_BS2_2TQ;
  Can_Handle.Init.TimeTriggeredMode = DISABLE;
  Can_Handle.Init.AutoBusOff = DISABLE; //ENABLE
  Can_Handle.Init.AutoWakeUp = DISABLE; //ENABLE
  Can_Handle.Init.AutoRetransmission = DISABLE;
  Can_Handle.Init.ReceiveFifoLocked = DISABLE;
  Can_Handle.Init.TransmitFifoPriority = DISABLE;
  if (HAL_CAN_Init(&Can_Handle) != HAL_OK)
  {
   // Error_Handler();
  }
  MYCAN_User_Init(&Can_Handle);

}

void MYCAN_User_Init(CAN_HandleTypeDef *h_can)
{
  CAN_FilterTypeDef sFilterConfig;
  HAL_StatusTypeDef HAL_Status;

//TxMeg.IDE = CAN_ID_STD;
  //TxMeg.RTR = CAN_RTR_DATA;
  sFilterConfig.FilterBank = 0;   //chenal 0
  sFilterConfig.FilterMode = CAN_FILTERMODE_IDMASK;   //mask mode
  sFilterConfig.FilterScale = CAN_FILTERSCALE_32BIT;
  sFilterConfig.FilterIdHigh = 0x0000;
  sFilterConfig.FilterIdLow = 0x0000;
  //MASK bit 0 means don't care,bit 0 means match
  sFilterConfig.FilterMaskIdHigh = 0x0000;
  sFilterConfig.FilterMaskIdLow = 0x0000;
  sFilterConfig.FilterFIFOAssignment = CAN_FILTER_FIFO0;
  sFilterConfig.FilterActivation = CAN_FILTER_ENABLE;   //enable filter
  sFilterConfig.SlaveStartFilterBank = 14;    //single CAN meaningless para
  HAL_Status = HAL_CAN_ConfigFilter(h_can, &sFilterConfig);
  if (HAL_Status != HAL_OK)
  {
   // printf("Filter init failed <br>");
  }
  HAL_Status = HAL_CAN_Start(h_can); //start CAN
  if (HAL_Status != HAL_OK)
  {
   // printf("CAN init failed <br>");
  }
  //regist RX_IT
  HAL_Status = HAL_CAN_ActivateNotification(h_can, CAN_IT_RX_FIFO0_MSG_PENDING);
  if (HAL_Status != HAL_OK)
  {
   // printf("CAN activate failed <br>");
  }
}

void DSPSendCan(uint32_t ID,uint8_t *data,uint8_t len)
{
  uint32_t TxBox = CAN_TX_MAILBOX0;

TxMessage.DLC=len;   //长度
  TxMessage.StdId=0x018;
  TxMessage.ExtId=ID;  //ID
  TxMessage.IDE=CAN_ID_EXT;
  TxMessage.RTR=CAN_RTR_DATA;
  HAL_CAN_AddTxMessage(&Can_Handle, &TxMessage, data, (uint32_t *)&TxBox);
}

void USB_LP_CAN1_RX0_IRQHandler(void)//也触发了
{
	HAL_CAN_IRQHandler(&Can_Handle);
    HAL_CAN_GetRxMessage(&Can_Handle,  CAN_FILTER_FIFO0, &RxMessage,  MyCanReceive.data[MyCanReceive.indexes_head]);
	if(MyCanReceive.indexes_head < DSPCanReceiveCount)
	MyCanReceive.indexes_head++;
}

void HAL_CAN_RxFifo0MsgPendingCallback(CAN_HandleTypeDef *hcan)  //接收回调函数
{
//  HAL_CAN_GetRxMessage(&Can_Handle,  CAN_FILTER_FIFO0, &RxMessage,  MyCanReceive.data[MyCanReceive.indexes_head]);
//	if(MyCanReceive.indexes_head < 66)
//	MyCanReceive.indexes_head++;
}