[STM32H7] 高性能嵌入式开发神器：STM32H743之深度解析与应用

#include "main.h"

#include "stm32h7xx_hal.h"



CAN_HandleTypeDef hcan1;

CAN_TxHeaderTypeDef TxHeader;

CAN_RxHeaderTypeDef RxHeader;

uint8_t TxData[8] = {0x01, 0x02, 0x03, 0x04, 0x05, 0x06, 0x07, 0x08};

uint8_t RxData[8];

uint32_t TxMailbox;



// 初始化CAN

void CAN_Init(void) {

    hcan1.Instance = CAN1;

    hcan1.Init.Prescaler = 16;

    hcan1.Init.Mode = CAN_MODE_NORMAL;

    hcan1.Init.SyncJumpWidth = CAN_SJW_1TQ;

    hcan1.Init.TimeSeg1 = CAN_BS1_12TQ;

    hcan1.Init.TimeSeg2 = CAN_BS2_8TQ;

    hcan1.Init.AutoBusOff = ENABLE;

    hcan1.Init.AutoWakeUp = ENABLE;

    hcan1.Init.ReceiveFifoLocked = DISABLE;

    hcan1.Init.TransmitFifoPriority = ENABLE;

    if (HAL_CAN_Init(&hcan1) != HAL_OK) {

        Error_Handler();

    }

}



// 配置CAN滤波器

void CAN_FilterConfig(void) {

    CAN_FilterTypeDef sFilterConfig;

    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_RX_FIFO0;

    sFilterConfig.FilterActivation = ENABLE;

    if (HAL_CAN_ConfigFilter(&hcan1, &sFilterConfig) != HAL_OK) {

        Error_Handler();

    }

}



// CAN发送数据

void CAN_SendMessage(void) {

    TxHeader.DLC = 8;

    TxHeader.IDE = CAN_ID_STD;

    TxHeader.RTR = CAN_RTR_DATA;

    TxHeader.StdId = 0x321;

    if (HAL_CAN_AddTxMessage(&hcan1, &TxHeader, TxData, &TxMailbox) != HAL_OK) {

        Error_Handler();

    }

}



// CAN接收数据

void CAN_ReceiveMessage(void) {

    if (HAL_CAN_GetRxMessage(&hcan1, CAN_RX_FIFO0, &RxHeader, RxData) == HAL_OK) {

        // 数据处理逻辑

    }

}



// 主函数

int main(void) {

    HAL_Init();

    SystemClock_Config();

    CAN_Init();

    CAN_FilterConfig();



    if (HAL_CAN_Start(&hcan1) != HAL_OK) {

        Error_Handler();

    }



    while (1) {

        CAN_SendMessage();

        HAL_Delay(1000);

    }

}



// 错误处理

void Error_Handler(void) {

    while (1) {

        // LED闪烁或其他错误指示

    }

}