【原】STM32CUBEmxhal库CAN2配置

 1 /**
 2   * @brief CAN2 Initialization Function
 3   * @param None
 4   * @retval None
 5   */
 6 void MX_CAN2_Init(void)
 7 {
 8 
 9   /* USER CODE BEGIN CAN2_Init 0 */
10     CAN_FilterTypeDef CAN2_FilerConf;
11   /* USER CODE END CAN2_Init 0 */
12 
13   /* USER CODE BEGIN CAN2_Init 1 */
14 
15   /* USER CODE END CAN2_Init 1 */
16   hcan2.Instance = CAN2;
17   hcan2.Init.Prescaler = 3;
18   hcan2.Init.Mode = CAN_MODE_NORMAL;
19   hcan2.Init.SyncJumpWidth = CAN_SJW_1TQ;
20   hcan2.Init.TimeSeg1 = CAN_BS1_9TQ;
21   hcan2.Init.TimeSeg2 = CAN_BS2_4TQ;
22   hcan2.Init.TimeTriggeredMode = DISABLE;//这几个DISABLE暂时还用不上，我试着改了几个为ENABLE也能正常运行（小弟才疏学浅，要是有错误轻喷）
23   hcan2.Init.AutoBusOff = DISABLE;
24   hcan2.Init.AutoWakeUp = DISABLE;
25   hcan2.Init.AutoRetransmission = DISABLE;
26   hcan2.Init.ReceiveFifoLocked = DISABLE;
27   hcan2.Init.TransmitFifoPriority = DISABLE;
28   if (HAL_CAN_Init(&hcan2) != HAL_OK)
29   {
30     Error_Handler();
31   }
32     
33   /* USER CODE BEGIN CAN2_Init 2 */
34     CAN2_FilerConf.FilterIdHigh = 0X0000;
35     CAN2_FilerConf.FilterIdLow = 0X0000;
36     CAN2_FilerConf.FilterMaskIdHigh = 0X0000; 
37     CAN2_FilerConf.FilterMaskIdLow = 0X0000;
38     CAN2_FilerConf.FilterFIFOAssignment = CAN_FILTER_FIFO1;//此处选择fifo号要与其他地方一致
39     CAN2_FilerConf.FilterBank = 14;
40     CAN2_FilerConf.FilterMode = CAN_FILTERMODE_IDMASK;
41     CAN2_FilerConf.FilterScale = CAN_FILTERSCALE_32BIT;
42     CAN2_FilerConf.FilterActivation = ENABLE; 
43     CAN2_FilerConf.SlaveStartFilterBank = 14;
44     if (HAL_CAN_ConfigFilter(&hcan2, &CAN2_FilerConf) != HAL_OK)
45   {
46     /* Filter configuration Error */
47     Error_Handler();
48   }
49     
50   /* Start the CAN peripheral */
51   if (HAL_CAN_Start(&hcan2) != HAL_OK)//这个函数和下面的函数是cubemx没有给出的，需要手动添加
52   {
53     /* Start Error */
54     Error_Handler();
55   }
56     
57   /* Activate CAN RX notification */
58   if (HAL_CAN_ActivateNotification(&hcan2, CAN_IT_RX_FIFO1_MSG_PENDING) != HAL_OK)//选择fifo1中断
59   {
60     /* Notification Error */
61     Error_Handler();
62   }
63 
64   /* USER CODE END CAN2_Init 2 */
65 }

 1 /**
 2 *@brief  CAN2回调函数
 3 */
 4 void HAL_CAN_RxFifo1MsgPendingCallback(CAN_HandleTypeDef *hcan)
 5 {
 6     CAN_RxHeaderTypeDef RxMsg;
 7     
 8   uint8_t Rx_BUF[8];
 9   RxMsg.DLC=8;
10   RxMsg.IDE=CAN_ID_STD;
11   RxMsg.RTR=CAN_RTR_DATA;
12 
13     if(hcan->Instance == CAN2)
14     {
15         HAL_CAN_GetRxMessage(&hcan2, CAN_RX_FIFO1, &RxMsg, Rx_BUF);//此处的fifo1也要注意         
16     }
17 }