[STM32G4] 深入探索STM32G431：基于CAN接口的多控制器通信设计

#include "stm32g4xx_hal.h"



CAN_HandleTypeDef hcan;



void CAN_Config(void) {

    // 配置CAN时钟

    __HAL_RCC_CAN1_CLK_ENABLE();

    __HAL_RCC_GPIOA_CLK_ENABLE();

    

    // 配置CAN引脚 (PA11: RX, PA12: TX)

    GPIO_InitTypeDef GPIO_InitStruct = {0};

    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_VERY_HIGH;

    GPIO_InitStruct.Alternate = GPIO_AF9_CAN1;

    HAL_GPIO_Init(GPIOA, &GPIO_InitStruct);

    

    // 初始化CAN

    hcan.Instance = CAN1;

    hcan.Init.Prescaler = 16; // 配置波特率，500Kbps

    hcan.Init.Mode = CAN_MODE_NORMAL;

    hcan.Init.SyncJumpWidth = CAN_SJW_1TQ;

    hcan.Init.TimeSeg1 = CAN_BS1_13TQ;

    hcan.Init.TimeSeg2 = CAN_BS2_2TQ;

    hcan.Init.AutoBusOff = DISABLE;

    hcan.Init.AutoWakeUp = DISABLE;

    hcan.Init.AutoRetransmission = ENABLE;

    hcan.Init.ReceiveFifoLocked = DISABLE;

    hcan.Init.TransmitFifoPriority = ENABLE;

    

    if (HAL_CAN_Init(&hcan) != HAL_OK) {

        // 初始化失败，进入错误处理

        Error_Handler();

    }

    

    // 配置过滤器

    CAN_FilterTypeDef sFilterConfig = {0};

    sFilterConfig.FilterBank = 0;

    sFilterConfig.FilterMode = CAN_FILTERMODE_IDMASK;

    sFilterConfig.FilterScale = CAN_FILTERSCALE_32BIT;

    sFilterConfig.FilterIdHigh = 0x0000;

    sFilterConfig.FilterIdLow = 0x0000;

    sFilterConfig.FilterMaskIdHigh = 0x0000;

    sFilterConfig.FilterMaskIdLow = 0x0000;

    sFilterConfig.FilterFIFOAssignment = CAN_FILTER_FIFO0;

    sFilterConfig.FilterActivation = ENABLE;

    sFilterConfig.SlaveStartFilterBank = 14;

    HAL_CAN_ConfigFilter(&hcan, &sFilterConfig);

}

void CAN_SendMessage(uint32_t id, uint8_t *data, uint8_t len) {

    CAN_TxHeaderTypeDef TxHeader;

    uint32_t TxMailbox;

    TxHeader.StdId = id;

    TxHeader.ExtId = 0x01;

    TxHeader.IDE = CAN_ID_STD;

    TxHeader.RTR = CAN_RTR_DATA;

    TxHeader.DLC = len;

    TxHeader.TransmitGlobalTime = DISABLE;

    

    if (HAL_CAN_AddTxMessage(&hcan, &TxHeader, data, &TxMailbox) != HAL_OK) {

        // 发送失败

        Error_Handler();

    }

}



void CAN_ReceiveMessage(void) {

    CAN_RxHeaderTypeDef RxHeader;

    uint8_t RxData[8];

    

    if (HAL_CAN_GetRxMessage(&hcan, CAN_RX_FIFO0, &RxHeader, RxData) == HAL_OK) {

        // 处理接收到的数据

        Process_CAN_Message(RxHeader.StdId, RxData, RxHeader.DLC);

    }

}

int main(void) {

    HAL_Init();

    SystemClock_Config();

    CAN_Config();

    

    if (HAL_CAN_Start(&hcan) != HAL_OK) {

        // 启动失败

        Error_Handler();

    }

    

    // 激活中断

    if (HAL_CAN_ActivateNotification(&hcan, CAN_IT_RX_FIFO0_MSG_PENDING) != HAL_OK) {

        Error_Handler();

    }

    

    while (1) {

        // 主循环

    }

}