使用新版HAL库CAN发送不了数据

/* USER CODE BEGIN Header */

/**

  ******************************************************************************

  * [url=home.php?mod=space&uid=288409]@file[/url]           : main.c

  * [url=home.php?mod=space&uid=247401]@brief[/url]          : Main program body

  ******************************************************************************

  * @attention

  *

  * <h2><center>&copy; Copyright (c) 2020 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

  *

  ******************************************************************************

  */

/* USER CODE END Header */



/* Includes ------------------------------------------------------------------*/

#include "main.h"

#include "can.h"

#include "tim.h"

#include "gpio.h"



/* Private includes ----------------------------------------------------------*/

/* USER CODE BEGIN Includes */



/* USER CODE END Includes */



/* Private typedef -----------------------------------------------------------*/

/* USER CODE BEGIN PTD */



/* USER CODE END PTD */



/* Private define ------------------------------------------------------------*/

/* USER CODE BEGIN PD */

/* USER CODE END PD */



/* Private macro -------------------------------------------------------------*/

/* USER CODE BEGIN PM */



/* USER CODE END PM */



/* Private variables ---------------------------------------------------------*/



/* USER CODE BEGIN PV */

                extern uint8_t Tim2_100ms_Flag;

                extern uint8_t Tim2_10ms_Flag;

                CAN_TxHeaderTypeDef TxMessage;

                uint8_t pData[8] = {0,1,2,3,4,5,6,7};

                uint32_t              TxMailbox;

/* USER CODE END PV */



/* Private function prototypes -----------------------------------------------*/

void SystemClock_Config(void);

/* USER CODE BEGIN PFP */



/* USER CODE END PFP */



/* Private user code ---------------------------------------------------------*/

/* USER CODE BEGIN 0 */



/* USER CODE END 0 */



/**

  * @brief  The application entry point.

  * @retval int

  */

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_TIM2_Init();

  /* USER CODE BEGIN 2 */

        HAL_TIM_Base_Start_IT(&htim2);

        HAL_CAN_Start(&hcan);

        HAL_CAN_ActivateNotification(&hcan, CAN_IT_RX_FIFO0_MSG_PENDING);



  /* USER CODE END 2 */



  /* Infinite loop */

  /* USER CODE BEGIN WHILE */

  while (1)

  {

    /* USER CODE END WHILE */



    /* USER CODE BEGIN 3 */

                if(Tim2_100ms_Flag == 1)

                {

                        Tim2_100ms_Flag = 0;

                        HAL_GPIO_TogglePin(LED_R_GPIO_Port, LED_R_Pin);

                }

                

                if(Tim2_100ms_Flag == 1)

                {

                        Tim2_100ms_Flag = 0;

                        TxMessage.DLC = 8;

                        TxMessage.IDE = CAN_ID_EXT;

                        TxMessage.RTR = CAN_RTR_DATA;

                        TxMessage.StdId = 0X321;

                        TxMessage.ExtId = 0x14015FA1;

                        TxMessage.TransmitGlobalTime = DISABLE;

                        HAL_CAN_AddTxMessage(&hcan,&TxMessage,pData,&TxMailbox);

                }

  }

  /* USER CODE END 3 */

}



/**

  * @brief System Clock Configuration

  * @retval None

  */

void SystemClock_Config(void)

{

  RCC_OscInitTypeDef RCC_OscInitStruct = {0};

  RCC_ClkInitTypeDef RCC_ClkInitStruct = {0};



  /** Initializes the CPU, AHB and APB busses clocks 

  */

  RCC_OscInitStruct.OscillatorType = RCC_OSCILLATORTYPE_HSE;

  RCC_OscInitStruct.HSEState = RCC_HSE_ON;

  RCC_OscInitStruct.PLL.PLLState = RCC_PLL_ON;

  RCC_OscInitStruct.PLL.PLLSource = RCC_PLLSOURCE_HSE;

  RCC_OscInitStruct.PLL.PLLMUL = RCC_PLL_MUL6;

  RCC_OscInitStruct.PLL.PREDIV = RCC_PREDIV_DIV1;

  if (HAL_RCC_OscConfig(&RCC_OscInitStruct) != HAL_OK)

  {

    Error_Handler();

  }

  /** Initializes the CPU, AHB and APB busses clocks 

  */

  RCC_ClkInitStruct.ClockType = RCC_CLOCKTYPE_HCLK|RCC_CLOCKTYPE_SYSCLK

                              |RCC_CLOCKTYPE_PCLK1;

  RCC_ClkInitStruct.SYSCLKSource = RCC_SYSCLKSOURCE_PLLCLK;

  RCC_ClkInitStruct.AHBCLKDivider = RCC_SYSCLK_DIV1;

  RCC_ClkInitStruct.APB1CLKDivider = RCC_HCLK_DIV2;



  if (HAL_RCC_ClockConfig(&RCC_ClkInitStruct, FLASH_LATENCY_1) != HAL_OK)

  {

    Error_Handler();

  }

}



/* USER CODE BEGIN 4 */



/* USER CODE END 4 */



/**

  * @brief  This function is executed in case of error occurrence.

  * @retval None

  */

void Error_Handler(void)

{

  /* USER CODE BEGIN Error_Handler_Debug */

  /* User can add his own implementation to report the HAL error return state */



  /* USER CODE END Error_Handler_Debug */

}



#ifdef  USE_FULL_ASSERT

/**

  * @brief  Reports the name of the source file and the source line number

  *         where the assert_param error has occurred.

  * @param  file: pointer to the source file name

  * @param  line: assert_param error line source number

  * @retval None

  */

void assert_failed(char *file, uint32_t line)

{ 

  /* USER CODE BEGIN 6 */

  /* User can add his own implementation to report the file name and line number,

     tex: printf("Wrong parameters value: file %s on line %d\r\n", file, line) */

  /* USER CODE END 6 */

}

#endif /* USE_FULL_ASSERT */



/************************ (C) COPYRIGHT STMicroelectronics *****END OF FILE****/

/**

  ******************************************************************************

  * File Name          : CAN.c

  * Description        : This file provides code for the configuration

  *                      of the CAN instances.

  ******************************************************************************

  * @attention

  *

  * <h2><center>&copy; Copyright (c) 2020 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 init function */

void MX_CAN_Init(void)

{



  hcan.Instance = CAN;

  hcan.Init.Prescaler = 3;

  hcan.Init.Mode = CAN_MODE_NORMAL;

  hcan.Init.SyncJumpWidth = CAN_SJW_1TQ;

  hcan.Init.TimeSeg1 = CAN_BS1_8TQ;

  hcan.Init.TimeSeg2 = CAN_BS2_7TQ;

  hcan.Init.TimeTriggeredMode = DISABLE;

  hcan.Init.AutoBusOff = DISABLE;

  hcan.Init.AutoWakeUp = DISABLE;

  hcan.Init.AutoRetransmission = ENABLE;

  hcan.Init.ReceiveFifoLocked = DISABLE;

  hcan.Init.TransmitFifoPriority = DISABLE;

  if (HAL_CAN_Init(&hcan) != HAL_OK)

  {

    Error_Handler();

  }



}



void HAL_CAN_MspInit(CAN_HandleTypeDef* canHandle)

{



  GPIO_InitTypeDef GPIO_InitStruct = {0};

  if(canHandle->Instance==CAN)

  {

  /* USER CODE BEGIN CAN_MspInit 0 */



  /* USER CODE END CAN_MspInit 0 */

    /* CAN 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_PIN_12;

    GPIO_InitStruct.Mode = GPIO_MODE_AF_PP;

    GPIO_InitStruct.Pull = GPIO_NOPULL;

    GPIO_InitStruct.Speed = GPIO_SPEED_FREQ_HIGH;

    GPIO_InitStruct.Alternate = GPIO_AF4_CAN;

    HAL_GPIO_Init(GPIOA, &GPIO_InitStruct);



    /* CAN interrupt Init */

    HAL_NVIC_SetPriority(CEC_CAN_IRQn, 0, 0);

    HAL_NVIC_EnableIRQ(CEC_CAN_IRQn);

  /* USER CODE BEGIN CAN_MspInit 1 */



  /* USER CODE END CAN_MspInit 1 */

  }

}



void HAL_CAN_MspDeInit(CAN_HandleTypeDef* canHandle)

{



  if(canHandle->Instance==CAN)

  {

  /* USER CODE BEGIN CAN_MspDeInit 0 */



  /* USER CODE END CAN_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);



    /* CAN interrupt Deinit */

    HAL_NVIC_DisableIRQ(CEC_CAN_IRQn);

  /* USER CODE BEGIN CAN_MspDeInit 1 */



  /* USER CODE END CAN_MspDeInit 1 */

  }

} 



/* USER CODE BEGIN 1 */





/* USER CODE END 1 */



/************************ (C) COPYRIGHT STMicroelectronics *****END OF FILE****/