本帖最后由 hemporer 于 2020-5-21 09:24 编辑
CAN通讯波特率为100K，数据位为8位
USART1的波特率为57600，N，8, 1
通过TJA1040连接到PEAK-004022
stm32f072c8每秒给PC发送一个CAN数据
PC每秒给stm32f072c8发送一个CAN数据，stm32f072c8收到CAN数据，再通过USART1发送给PC
/* USER CODE BEGIN Header */
/**
******************************************************************************
* @file : main.c
* @brief : Main program body
******************************************************************************
* @attention
*
* <h2><center>© 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"
/* 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 ---------------------------------------------------------*/
CAN_HandleTypeDef hcan;
UART_HandleTypeDef huart1;
/* USER CODE BEGIN PV */
/* USER CODE END PV */
/* Private function prototypes -----------------------------------------------*/
void SystemClock_Config(void);
static void MX_GPIO_Init(void);
static void MX_CAN_Init(void);
static void MX_USART1_UART_Init(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_USART1_UART_Init();
/* USER CODE BEGIN 2 */
/* USER CODE END 2 */
/* Infinite loop */
/* USER CODE BEGIN WHILE */
while (1)
{
uint32_t temp;
uint8_t gUartData[2];
uint8_t gUartData1[2];
CAN_TxHeaderTypeDef gTxMessage1;
CAN_FilterTypeDef gRxFilter;
CAN_RxHeaderTypeDef gRxMessage1;
uint32_t TxMailbox;
// uint32_t RxMailbox = 0;
uint8_t gTX_BUF[8]={0x12,0x34,0x56,0x78,0x9A,0xBC,0xDE,0xF0};
uint8_t gRX_BUF[8]={0x22,0x22,0x22,0x22,0x22,0x22,0x22,0x22};
gUartData[0] = 0x55;
gUartData[1] = 0xAA;
gUartData1[0] = 0x11;
gUartData1[1] = 0x22;
gTxMessage1.DLC = 8;
gTxMessage1.StdId = 0x018;
gTxMessage1.ExtId = 0x00002018;
gTxMessage1.IDE = CAN_ID_EXT;
gTxMessage1.RTR = CAN_RTR_DATA;
gTxMessage1.TransmitGlobalTime = DISABLE;
gRxMessage1.DLC = 8;
gRxMessage1.StdId = 0x018;
gRxMessage1.ExtId = 0x00031256;
gRxMessage1.IDE = CAN_ID_EXT;
gRxMessage1.RTR = CAN_RTR_DATA;
gRxMessage1.Timestamp = 0x01;
gRxMessage1.FilterMatchIndex = 0x01;
gRxFilter.FilterIdHigh=0xFFFF;
gRxFilter.FilterIdLow=0x0000;
gRxFilter.FilterScale=CAN_FILTERSCALE_16BIT; // CAN_FILTERSCALE_32BIT
gRxFilter.FilterMaskIdHigh=0xFFFF;
gRxFilter.FilterMaskIdLow=0x0000;
gRxFilter.FilterMode=CAN_FILTERMODE_IDMASK;
gRxFilter.FilterFIFOAssignment=CAN_RX_FIFO0;
gRxFilter.FilterBank=13;
gRxFilter.FilterActivation=ENABLE;
HAL_CAN_ConfigFilter(&hcan,&gRxFilter);
HAL_CAN_Start(&hcan);
// HAL_CAN_ActivateNotification(&hcan,CAN_IT_RX_FIFO0_MSG_PENDING);
HAL_Delay(1000);
HAL_GPIO_WritePin(GPIOC, GPIO_PIN_13|GPIO_PIN_15, GPIO_PIN_SET);
while(1)
{
if(hcan.State == HAL_CAN_STATE_RESET)
{
gUartData[0] = 0x00;
}
else if(hcan.State == HAL_CAN_STATE_READY)
{
gUartData[0] = 0x01;
}
else if(hcan.State == HAL_CAN_STATE_LISTENING)
{
gUartData[0] = 0x02;
}
else if(hcan.State == HAL_CAN_STATE_SLEEP_PENDING)
{
gUartData[0] = 0x03;
}
else if(hcan.State == HAL_CAN_STATE_SLEEP_ACTIVE)
{
gUartData[0] = 0x04;
}
else if(hcan.State == HAL_CAN_STATE_ERROR)
{
gUartData[0] = 0x05;
}
HAL_UART_Transmit(&huart1, gUartData, 2, 2);
if(HAL_CAN_AddTxMessage(&hcan,&gTxMessage1,gTX_BUF,&TxMailbox) != HAL_OK)
{
gUartData1[0] = 0x00;
HAL_UART_Transmit(&huart1, gUartData1, 1, 2);
}
if(HAL_CAN_GetRxMessage(&hcan,CAN_RX_FIFO0,&gRxMessage1,gRX_BUF) != HAL_OK)
{
gUartData1[0] = 0x11;
temp = HAL_CAN_GetRxFifoFillLevel(&hcan,CAN_RX_FIFO0);
gUartData1[0] = temp;
temp = HAL_CAN_GetRxFifoFillLevel(&hcan,CAN_RX_FIFO1);
gUartData1[1] = temp;
HAL_UART_Transmit(&huart1, gUartData1, 2, 2);
}
else
{
HAL_UART_Transmit(&huart1, gRX_BUF, 8, 2);
}
HAL_Delay(1000);
}
/* USER CODE END WHILE */
/* USER CODE BEGIN 3 */
}
/* USER CODE END 3 */
}
/**
* @brief System Clock Configuration
* @retval None
*/
void SystemClock_Config(void)
{
RCC_OscInitTypeDef RCC_OscInitStruct = {0};
RCC_ClkInitTypeDef RCC_ClkInitStruct = {0};
RCC_PeriphCLKInitTypeDef PeriphClkInit = {0};
/** Initializes the CPU, AHB and APB busses clocks
*/
RCC_OscInitStruct.OscillatorType = RCC_OSCILLATORTYPE_HSI;
RCC_OscInitStruct.HSIState = RCC_HSI_ON;
RCC_OscInitStruct.HSICalibrationValue = RCC_HSICALIBRATION_DEFAULT;
RCC_OscInitStruct.PLL.PLLState = RCC_PLL_NONE;
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_HSI;
RCC_ClkInitStruct.AHBCLKDivider = RCC_SYSCLK_DIV1;
RCC_ClkInitStruct.APB1CLKDivider = RCC_HCLK_DIV1;
if (HAL_RCC_ClockConfig(&RCC_ClkInitStruct, FLASH_LATENCY_0) != HAL_OK)
{
Error_Handler();
}
PeriphClkInit.PeriphClockSelection = RCC_PERIPHCLK_USART1;
PeriphClkInit.Usart1ClockSelection = RCC_USART1CLKSOURCE_PCLK1;
if (HAL_RCCEx_PeriphCLKConfig(&PeriphClkInit) != HAL_OK)
{
Error_Handler();
}
}
/**
* @brief CAN Initialization Function
* @param None
* @retval None
*/
static void MX_CAN_Init(void)
{
/* USER CODE BEGIN CAN_Init 0 */
/* USER CODE END CAN_Init 0 */
/* USER CODE BEGIN CAN_Init 1 */
/* USER CODE END CAN_Init 1 */
hcan.Instance = CAN;
hcan.Init.Prescaler = 8;
hcan.Init.Mode = CAN_MODE_NORMAL;
hcan.Init.SyncJumpWidth = CAN_SJW_1TQ;
hcan.Init.TimeSeg1 = CAN_BS1_5TQ;
hcan.Init.TimeSeg2 = CAN_BS2_4TQ;
hcan.Init.TimeTriggeredMode = ENABLE;
hcan.Init.AutoBusOff = DISABLE;
hcan.Init.AutoWakeUp = DISABLE;
hcan.Init.AutoRetransmission = DISABLE;
hcan.Init.ReceiveFifoLocked = DISABLE;
hcan.Init.TransmitFifoPriority = DISABLE;
if (HAL_CAN_Init(&hcan) != HAL_OK)
{
Error_Handler();
}
/* USER CODE BEGIN CAN_Init 2 */
/* USER CODE END CAN_Init 2 */
}
/**
* @brief USART1 Initialization Function
* @param None
* @retval None
*/
static void MX_USART1_UART_Init(void)
{
/* USER CODE BEGIN USART1_Init 0 */
/* USER CODE END USART1_Init 0 */
/* USER CODE BEGIN USART1_Init 1 */
/* USER CODE END USART1_Init 1 */
huart1.Instance = USART1;
huart1.Init.BaudRate = 57600;
huart1.Init.WordLength = UART_WORDLENGTH_8B;
huart1.Init.StopBits = UART_STOPBITS_1;
huart1.Init.Parity = UART_PARITY_NONE;
huart1.Init.Mode = UART_MODE_TX_RX;
huart1.Init.HwFlowCtl = UART_HWCONTROL_NONE;
huart1.Init.OverSampling = UART_OVERSAMPLING_16;
huart1.Init.OneBitSampling = UART_ONE_BIT_SAMPLE_DISABLE;
huart1.AdvancedInit.AdvFeatureInit = UART_ADVFEATURE_NO_INIT;
if (HAL_UART_Init(&huart1) != HAL_OK)
{
Error_Handler();
}
/* USER CODE BEGIN USART1_Init 2 */
/* USER CODE END USART1_Init 2 */
}
/**
* @brief GPIO Initialization Function
* @param None
* @retval None
*/
static void MX_GPIO_Init(void)
{
GPIO_InitTypeDef GPIO_InitStruct = {0};
/* GPIO Ports Clock Enable */
__HAL_RCC_GPIOC_CLK_ENABLE();
__HAL_RCC_GPIOA_CLK_ENABLE();
__HAL_RCC_GPIOB_CLK_ENABLE();
/*Configure GPIO pin Output Level */
HAL_GPIO_WritePin(GPIOC, GPIO_PIN_13|GPIO_PIN_14|GPIO_PIN_15, GPIO_PIN_RESET);
/*Configure GPIO pin Output Level */
HAL_GPIO_WritePin(GPIOB, GPIO_PIN_5, GPIO_PIN_RESET);
/*Configure GPIO pins : PC13 PC14 PC15 */
GPIO_InitStruct.Pin = GPIO_PIN_13|GPIO_PIN_14|GPIO_PIN_15;
GPIO_InitStruct.Mode = GPIO_MODE_OUTPUT_PP;
GPIO_InitStruct.Pull = GPIO_NOPULL;
GPIO_InitStruct.Speed = GPIO_SPEED_FREQ_LOW;
HAL_GPIO_Init(GPIOC, &GPIO_InitStruct);
/*Configure GPIO pin : PB5 */
GPIO_InitStruct.Pin = GPIO_PIN_5;
GPIO_InitStruct.Mode = GPIO_MODE_OUTPUT_PP;
GPIO_InitStruct.Pull = GPIO_NOPULL;
GPIO_InitStruct.Speed = GPIO_SPEED_FREQ_LOW;
HAL_GPIO_Init(GPIOB, &GPIO_InitStruct);
}
/* 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****/
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