1、默认STM32CAN1就是主站。CAN2是从站
2、主站配置如下：参考时钟是72M/2=36M
波特率：36M/9/(2+2+1)=800K.所以通讯频率800K。
注意此处BUS-Off一定要enable。否则出现插上下载器两个站就不能同时发送的情况
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3、中断设置




5 L, K% J' }6 ?# `  k( P4、can开启函数：
HAL_CAN_Start(&hcan1);
HAL_CAN_ActivateNotification(&hcan1,CAN_IT_RX_FIFO0_MSG_PENDING);
can发送函数：
void CAN_TRANSMIT1(void)
{
; R7 `* }6 ]* O0 O" STxMessage2.DLC=8;
TxMessage2.StdId=0x314;
TxMessage2.ExtId=0x00001314;
9 i/ f' V$ a1 }* [6 F* F9 C, S$ lTxMessage2.IDE=CAN_ID_EXT;
; r: o4 G) l, }/ _0 n7 `" V3 GTxMessage2.RTR=CAN_RTR_DATA;
$ c$ s2 U- l' S9 L3 e  Yuint8_t TR_BUF[8]=“22222222”;
if(HAL_CAN_AddTxMessage(&hcan1,&TxMessage2,TR_BUF,(uint32_t*)CAN_TX_MAILBOX1)!=HAL_OK)
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  s: G+ f2 ~$ ]' A1 k- A; M" Dprintf("???1");
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5、can1配置
static void MX_CAN1_Init(void)
{


0 v: ?0 _1 H2 x+ n& l/* USER CODE BEGIN CAN1_Init 0 /
CAN_FilterTypeDef sFilterConfig;
/ USER CODE END CAN1_Init 0 */


/* USER CODE BEGIN CAN1_Init 1 */


/* USER CODE END CAN1_Init 1 /
' u% i. \; m: E2 m: ^, F- d: [; ^hcan1.Instance = CAN1;
* v; u) Q7 P3 |, i4 x' E$ jhcan1.Init.Prescaler = 18;
hcan1.Init.Mode = CAN_MODE_NORMAL;
hcan1.Init.SyncJumpWidth = CAN_SJW_1TQ;
hcan1.Init.TimeSeg1 = CAN_BS1_2TQ;
hcan1.Init.TimeSeg2 = CAN_BS2_1TQ;
8 L( Y0 {: M6 b3 O$ v2 P; Z9 qhcan1.Init.TimeTriggeredMode = DISABLE;
hcan1.Init.AutoBusOff = ENABLE;
hcan1.Init.AutoWakeUp = DISABLE;
hcan1.Init.AutoRetransmission = DISABLE;
hcan1.Init.ReceiveFifoLocked = DISABLE;
hcan1.Init.TransmitFifoPriority = DISABLE;
: Q  V. [/ z# V# @, [if (HAL_CAN_Init(&hcan1) != HAL_OK)
7 H& y# |# _, P/ v$ T{
Error_Handler();
}
/ USER CODE BEGIN CAN1_Init 2 */
  ]8 d& e; P* J) v6 s3 g3 Z! O$ csFilterConfig.FilterBank = 0;
; q# K: _4 W. J6 Z' m! s1 @4 [" ksFilterConfig.FilterMode = CAN_FILTERMODE_IDMASK;
9 ~  w" D- M0 r1 dsFilterConfig.FilterScale = CAN_FILTERSCALE_32BIT;
sFilterConfig.FilterIdHigh = 0x0000;
sFilterConfig.FilterIdLow = 0x0000;
- n3 h4 W# e) {sFilterConfig.FilterMaskIdHigh = 0x0000;
3 X4 X% b$ ^$ jsFilterConfig.FilterMaskIdLow = 0x0000;
# d+ ^; x# M% \) N+ L( R" C1 jsFilterConfig.FilterFIFOAssignment = CAN_RX_FIFO0;
# {9 v: C4 |# c# f1 msFilterConfig.FilterActivation = ENABLE;
* r0 _  k7 A# W8 d2 KsFilterConfig.SlaveStartFilterBank = 14;

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; {: y( @- |0 O" E3 z, Qif(HAL_CAN_ConfigFilter(&hcan1, &sFilterConfig)!=HAL_OK)
% ~7 `8 t* p2 T/ E0 V) W{
Error_Handler();
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/* USER CODE END CAN1_Init 2 */


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3 r4 c* O6 f" M6、CAN1中断函数
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4 O+ n! F1 j, _" ~0 m7 vvoid CAN1_RX0_IRQHandler(void)
{
/* USER CODE BEGIN CAN1_RX0_IRQn 0 */


3 i- \+ u) W. V/ F8 X8 t; eHAL_CAN_GetRxMessage(&hcan1,CAN_RX_FIFO0,&RxMessage1,RXBUF);
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- i- m; ?6 v' b$ G; a/* USER CODE END CAN1_RX0_IRQn 0 /
HAL_CAN_IRQHandler(&hcan1);
7 ~- k7 Z5 h# Y3 p3 b" e/ USER CODE BEGIN CAN1_RX0_IRQn 1 */
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/* USER CODE END CAN1_RX0_IRQn 1 */
}
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7、CAN2配置
7 c, b$ P9 x5 |5 a2 \$ ^static void MX_CAN2_Init(void)
{
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! a  W$ S5 P* v- q" {/* USER CODE BEGIN CAN2_Init 0 /
CAN_FilterTypeDef sFilterConfig;
& |6 y1 ]' u3 a8 m) K! x- _, _/ USER CODE END CAN2_Init 0 */


) R2 ^7 \. @+ u9 {! e4 ^/* USER CODE BEGIN CAN2_Init 1 */


" D6 B5 n/ u. _8 b% g; E$ s/* USER CODE END CAN2_Init 1 /
$ N1 g) B' V- c* _hcan2.Instance = CAN2;
6 T7 a# i* M- n* a4 N6 phcan2.Init.Prescaler = 18;
! b7 J/ M3 S, khcan2.Init.Mode = CAN_MODE_NORMAL;
hcan2.Init.SyncJumpWidth = CAN_SJW_1TQ;
! w' |, E+ f0 n6 y5 whcan2.Init.TimeSeg1 = CAN_BS1_2TQ;
hcan2.Init.TimeSeg2 = CAN_BS2_1TQ;
, m  C$ j# ?$ ^9 |. Q8 chcan2.Init.TimeTriggeredMode = DISABLE;
+ k/ R: H# w  l' Whcan2.Init.AutoBusOff = ENABLE;
$ Z) o+ d5 h5 c9 ?hcan2.Init.AutoWakeUp = DISABLE;
hcan2.Init.AutoRetransmission = DISABLE;
hcan2.Init.ReceiveFifoLocked = DISABLE;
hcan2.Init.TransmitFifoPriority = DISABLE;
if (HAL_CAN_Init(&hcan2) != HAL_OK)
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: r, q. |9 A" Z' g* Z& g& EError_Handler();
}
/ USER CODE BEGIN CAN2_Init 2 */


sFilterConfig.FilterBank = 14;
sFilterConfig.FilterMode = CAN_FILTERMODE_IDMASK;
sFilterConfig.FilterScale = CAN_FILTERSCALE_32BIT;
sFilterConfig.FilterIdHigh = 0x0000;
  t; B( G' I! C8 I; e. p6 M- msFilterConfig.FilterIdLow = 0x0000;
4 g/ k7 n7 V8 N; ?6 B0 a7 h. {sFilterConfig.FilterMaskIdHigh = 0x0000;
sFilterConfig.FilterMaskIdLow = 0x0000;
* x9 Z% ^; c" i0 O/ A2 o; `4 y# OsFilterConfig.FilterFIFOAssignment = CAN_RX_FIFO0;
sFilterConfig.FilterActivation = ENABLE;
sFilterConfig.SlaveStartFilterBank = 14;
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8 H8 T6 S/ L2 C! W) f0 r( yif(HAL_CAN_ConfigFilter(&hcan2, &sFilterConfig)!=HAL_OK)
{
$ G8 |$ R" C/ r0 |  S7 |Error_Handler();
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        HAL_CAN_Start(&hcan2);
        HAL_CAN_ActivateNotification(&hcan2,CAN_IT_RX_FIFO0_MSG_PENDING);               
/* USER CODE END CAN2_Init 2 */
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8 a; K+ [; ^* V2 N, T  F1 ^3 G8、CAN2中断函数
void CAN2_RX0_IRQHandler(void)
{
/* USER CODE BEGIN CAN2_RX0_IRQn 0 /
7 C9 k$ q. D! _4 yHAL_CAN_GetRxMessage(&hcan2,CAN_RX_FIFO0,&RxMessage1,RXBUF);
/ USER CODE END CAN2_RX0_IRQn 0 /
# y4 e$ ^( c* ?HAL_CAN_IRQHandler(&hcan2);
9 v' p0 x! ~1 {# z: X/ }- Z2 t/ USER CODE BEGIN CAN2_RX0_IRQn 1 */

* ~/ T) L4 X2 g/* USER CODE END CAN2_RX0_IRQn 1 */
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8 r9 m' y, @# i7 L  h% b9、CAN2发送函数
% _+ M( \4 J* f% B( I0 b& W  vvoid CAN_TRANSMIT1(void)
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- v7 G) a7 O1 Ostatic uint8_t ll;
TxMessage2.DLC=8;
TxMessage2.StdId=0x003;
2 v+ O7 k6 y6 z: S# s7 G( ]TxMessage2.ExtId=0x00000003;
/ S5 @; E3 i/ y7 l) [% K5 H5 gTxMessage2.IDE=CAN_ID_EXT;
TxMessage2.RTR=CAN_RTR_DATA;
- O7 Z6 o% S+ q  C' \7 i) tll++;
if(ll>100) {ll=0;}
% F7 ^0 q+ r+ `0 @9 D. u: n' fuint8_t TR_BUF[8]={0,1,2,3,4,5,6,ll};
if(HAL_CAN_AddTxMessage(&hcan2,&TxMessage2,TR_BUF,
(uint32_t*)CAN_TX_MAILBOX1)!=HAL_OK)
{
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版权声明：冬麻麻
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