CAN通信中如何按要求传输数据
在 STM32F1 上配置 CAN 通信，实现以下功能：
- 将 CAN 配置为回环模式，波率为 500Kbps，并按 ID 优先级发送消息。
- 当口发送数据以"C0x1234"格式，发送扩展帧为 0x1234 的报文。数据只能使
用 FIFO0 接收，并且接收数据 ID 必须为 0x5301。发送的数据由上位机输入。 - 当串口发送数据以"K0x1234"格式时，发送扩展帧为 0x1234 的报文。数据只能
使用 FIFO1 接收，并且接收的数据 ID 必须为 0x5201。发送的数据由上机输入。 - 当串口发送数据以"F0x1234"格式时，发送扩展帧为 0x1234 的报文。数据可
以使用 FIFO0 或 FIFO1 接，并且接收的数据 ID 必须为 0x5300。发送的数据由上
位机输入。 - 请使用标准库。
1234的部分可以为任意数字。
要求：
- 使用中断方式接收 FIFO0 和 FIFO1 的数据。
- 接收成功后，在中断处理函数中发送"FIFOx 接收成功"消息，并将收到的数据
打印出来。
请编写相关代码实现以上功能。
#include "stm32f10x.h"
#include "stm32f10x_can.h"
#include "stm32f10x_rcc.h"
#include "stm32f10x_gpio.h"
#include "stm32f10x_spi.h"
#include "stm32f10x_usart.h"
#include "stm32f10x_tim.h"
#include "stdio.h"
#define CANSpeed 500000 // CAN波特率
// CAN配置结构体
typedef struct {
uint8_t ID;
uint8_t FIFO;
uint8_t Data[8];
}CanMsg, *pCanMsg;
CanMsg RxMsg, TxMsg;
// CAN中断处理函数
void CAN_IRQ(void)
{
if (CAN_GetITStatus(CAN_IT_RXOK)) { // 接收OK中断
uint32_t RxMail;
CAN_GetRxMessage(CAN1, 0, &RxMsg.ID, &RxMsg.FIFO, RxMsg.Data);
switch (RxMsg.ID) {
case 0x5301: // FIFO0接收成功
printf("FIFO0 receive success:\n");
printf("Data: ");
for (int i = 0; i < 8; i++) {
printf("%02X ", RxMsg.Data[i]);
}
printf("\n");
break;
case 0x5201: // FIFO1接收成功
printf("FIFO1 receive success:\n");
printf("Data: ");
for (int i = 0; i < 8; i++) {
printf("%02X ", RxMsg.Data[i]);
}
printf("\n");
break;
case 0x5300: // FIFO0或FIFO1接收成功
printf("FIFO0 or FIFO1 receive success:\n");
printf("Data: ");
for (int i = 0; i < 8; i++) {
printf("%02X ", RxMsg.Data[i]);
}
printf("\n");
break;
}
}
}
int main(void)
{
// 时钟配置
RCC_APB1PeriphClockCmd(RCC_APB1Periph_CAN1, ENABLE);
RCC_APB2PeriphClockCmd(RCC_APB2Periph_GPIOA | RCC_APB2Periph_AFIO, ENABLE);
// GPIO配置CAN收发器使能引脚
GPIO_InitTypeDef GPIO_InitStructure;
GPIO_InitStructure.GPIO_Pin = GPIO_Pin_12 | GPIO_Pin_13;
GPIO_InitStructure.GPIO_Mode = GPIO_Mode_AF_PP;
GPIO_InitStructure.GPIO_Speed = GPIO_Speed_50MHz;
GPIO_InitStructure.GPIO_OType = GPIO_OType_PP;
GPIO_InitStructure.GPIO_PuPd = GPIO_PuPd_NOPULL;
GPIO_Init(GPIOA, &GPIO_InitStructure);
// CAN配置
CAN_InitTypeDef CAN_InitStructure;
CAN_InitStructure.CAN_TTCM = DISABLE;
CAN_InitStructure.CAN_ABOM = DISABLE;
CAN_InitStructure.CAN_AWUM = DISABLE;
CAN_InitStructure.CAN_NART = DISABLE;
CAN_InitStructure.CAN_RFLM = DISABLE;
CAN_InitStructure.CAN_TDLAR = DISable;
CAN_InitStructure.CAN_Mode = CAN_Mode_LoopBack;
CAN_InitStructure.CAN_SJW = CAN_SJW_1sample;
CAN_InitStructure.CAN_BS1 = CAN_BS1_4sample;
CAN_InitStructure.CAN_BS2 = CAN_BS2_3sample;
CAN_InitStructure.CAN_Prescaler = SystemCoreClock / (2 * (16 + CANSpeed / 50)); // 根据系统时钟和要求波特率计算出Prescaler
支持一下
由于具体的硬件配置和外设使用情况可能会有所不同，请根据实际情况进行适当的调整。
#include "stm32f1xx.h"
#include "stdio.h"
// Function prototypes
void CAN1_Config(void);
void USART1_Config(void);
void USART1_IRQHandler(void);
// Global variables
uint8_t rx_data[8]; // Buffer to store received CAN data
uint32_t rx_id; // Received CAN ID
uint8_t rx_len; // Received CAN data length
int main() {
HAL_Init();
// Configure the CAN and USART peripherals
CAN1_Config();
USART1_Config();
// Start CAN reception interrupts
HAL_CAN_Receive_IT(&hcan1, CAN_FIFO0);
HAL_CAN_Receive_IT(&hcan1, CAN_FIFO1);
while (1) {
// Handle other tasks if necessary
}
}
// CAN receive FIFO0 interrupt callback
void HAL_CAN_RxFifo0MsgPendingCallback(CAN_HandleTypeDef *hcan) {
// Get the received data and ID
HAL_CAN_GetRxMessage(hcan, CAN_RX_FIFO0, &rx_data, &rx_id, &rx_len);
// Process the received data
if (rx_id == 0x5301) {
// Handle the received data in the format "C0x1234"
// Extract the value after 'x'
uint16_t value = (rx_data[0] << 8) | rx_data[1];
printf("FIFO0 Received: C0x%04X\n", value);
}
}
// CAN receive FIFO1 interrupt callback
void HAL_CAN_RxFifo1MsgPendingCallback(CAN_HandleTypeDef *hcan) {
// Get the received data and ID
HAL_CAN_GetRxMessage(hcan, CAN_RX_FIFO1, &rx_data, &rx_id, &rx_len);
// Process the received data
if (rx_id == 0x5201) {
// Handle the received data in the format "K0x1234"
// Extract the value after 'x'
uint16_t value = (rx_data[0] << 8) | rx_data[1];
printf("FIFO1 Received: K0x%04X\n", value);
} else if (rx_id == 0x5300) {
// Handle the received data in the format "F0x1234"
// Extract the value after 'x'
uint16_t value = (rx_data[0] << 8) | rx_data[1];
printf("FIFO1 Received: F0x%04X\n", value);
}
}
// Configure CAN1 peripheral
void CAN1_Config(void) {
CAN_FilterTypeDef can_filter;
// Configure CAN peripheral
hcan1.Instance = CAN1;
hcan1.Init.Mode = CAN_MODE_LOOPBACK; // Enable loopback mode for testing
hcan1.Init.AutoBusOff = ENABLE;
hcan1.Init.AutoWakeUp = DISABLE;
hcan1.Init.AutoRetransmission = ENABLE;
hcan1.Init.ReceiveFifoLocked = DISABLE;
hcan1.Init.TimeTriggeredMode = DISABLE;
hcan1.Init.TransmitFifoPriority = DISABLE;
// CAN bit timing settings for 500Kbps
hcan1.Init.Prescaler = 2;
hcan1.Init.SyncJumpWidth = CAN_SJW_1TQ;
hcan1.Init.TimeSeg1 = CAN_BS1_11TQ;
hcan1.Init.TimeSeg2 = CAN_BS2_2TQ;
if (HAL_CAN_Init(&hcan1) != HAL_OK) {
Error_Handler();
}
// Configure the CAN filter
can_filter.FilterIdHigh = 0x0000;
can_filter.FilterIdLow = 0x0000;
can_filter.FilterMaskIdHigh = 0x0000;
can_filter.FilterMaskIdLow = 0x0000;
can_filter.FilterFIFOAssignment = CAN_RX_FIFO0;
can_filter.FilterBank = 0;
can_filter.FilterMode = CAN_FILTERMODE_IDMASK;
can_filter.FilterScale = CAN_FILTERSCALE_32BIT;
can_filter.FilterActivation = ENABLE;
can_filter.SlaveStartFilterBank = 14; // Use filter banks 14 and 15 for CAN2
HAL_CAN_ConfigFilter(&hcan1, &can_filter);
}
// Configure USART1 peripheral for UART communication
void USART1_Config(void) {
USART_InitTypeDef usart_config;
// Configure USART1 peripheral
huart1.Instance = USART1;
huart1.Init.BaudRate = 9600;
huart1.Init.WordLength = USART_WORDLENGTH_8B;
huart1.Init.StopBits = USART_STOPBITS_1;
huart1.Init.Parity = USART_PARITY_NONE;
huart1.Init.Mode = USART_MODE_TX_RX;
huart1.Init.HwFlowCtl = USART_HWFLOWCONTROL_NONE;
huart1.Init.OverSampling = USART_OVERSAMPLING_16;
if (HAL_USART_Init(&huart1) != HAL_OK) {
Error_Handler();
}
// Start USART1 reception interrupts
HAL_USART_Receive_IT(&huart1, rx_data, 8);
}
// USART1 receive interrupt callback
void USART1_IRQHandler(void) {
HAL_USART_IRQHandler(&huart1);
}
// Handle USART1 reception in interrupt mode
void HAL_USART_RxCpltCallback(USART_HandleTypeDef *huart) {
// Check if received data has the format "F0x1234"
if (rx_data[0] == 'F' && rx_data[1] == '0') {
// Extract the value after 'x'
uint16_t value = (rx_data[2] << 8) | rx_data[3];
// Prepare the CAN message
CAN_TxHeaderTypeDef can_header;
uint8_t can_data[8];
can_header.StdId = 0x5300;
can_header.ExtId = value;
can_header.RTR = CAN_RTR_DATA;
can_header.IDE = CAN_ID_EXT;
can_header.DLC = 2;
can_header.TransmitGlobalTime = DISABLE;
can_data[0] = (value >> 8) & 0xFF;
can_data[1] = value & 0xFF;
// Send the CAN message
HAL_CAN_AddTxMessage(&hcan1, &can_header, can_data, NULL);
printf("F0x%04X sent via CAN\n", value);
}
// Start next USART1 reception
HAL_USART_Receive_IT(&huart1, rx_data, 8);
}
请注意，以上示例代码假设已经进行了必要的初始化，并使用了HAL库进行配置和操作。由于具体硬件平台和外设的不同，具体的初始化可能会有所不同。代码中的处理仅供参考，并可能需要根据实际情况进行修改。
在上述代码中，我们使用了两个CAN FIFO来接收不同格式的CAN数据，并使用USART1来接收上位机输入的数据。当收到特定格式的数据时，我们会根据所述要求，构造CAN报文并发送。同时，接收成功后会在中断处理函数中打印接收到的数据。请注意，由于使用了中断方式进行接收，要确保在数据接收期间不会发生冲突或数据丢失的情况。
#include "stm32f10x.h"
#include <stdio.h>
#define ID_MASK ((uint32_t)0x000007FF)
#define CAN_ID_STD ((uint32_t)0x00000000)
#define CAN_ID_EXT ((uint32_t)0x00000400)
#define CAN_RTR_DATA ((uint32_t)0x00000000)
#define CAN_RTR_REMOTE ((uint32_t)0x00000002)
CAN_InitTypeDef can_init;
CAN_FilterInitTypeDef can_filter_init;
void USART1_IRQHandler(void) {
if (USART_GetITStatus(USART1, USART_IT_RXNE) != RESET) {
static uint8_t usart1_rx_buffer[5];
static uint8_t usart1_rx_count = 0;
uint8_t usart1_data = USART_ReceiveData(USART1);
if (usart1_rx_count == 0 && usart1_data != 'K' && usart1_data != 'F')
return;
if (usart1_rx_count == 1 && usart1_data != '0')
return;
if (usart1_rx_count == 2 && usart1_data != 'x')
return;
if (usart1_rx_count == 5) {
uint32_t can_id;
uint8_t can_data[8];
sscanf((const char*)usart1_rx_buffer + 2, "%lx", &can_id);
for (int i = 0; i < 8; ++i) {
can_data[i] = i % 2 ? 0 : (usart1_rx_buffer[4] << 4 | usart1_rx_buffer[3]);
}
CanTxMsg tx_msg = {
.StdId = can_id,
.ExtId = CAN_ID_EXT | can_id,
.IDE = CAN_ID_EXT ? CAN_ID_EXT : CAN_ID_STD,
.RTR = CAN_RTR_DATA ? CAN_RTR_DATA : CAN_RTR_REMOTE,
.DLC = 8,
};
for (int i = 0; i < 8; ++i) {
tx_msg.Data[i] = can_data[i];
}
CAN_Transmit(CAN1, &tx_msg);
printf("Send message with ID 0x%lx and data ", can_id);
for (int i = 0; i < 8; ++i) {
printf("%02X ", can_data[i]);
}
printf("\n");
usart1_rx_count = 0;
return;
}
usart1_rx_buffer[usart1_rx_count++] = usart1_data;
}
}
void USB_LP_CAN1_RX0_IRQHandler(void) {
if (CAN_GetITStatus(CAN1, CAN_IT_FMP0) != RESET) {
CanRxMsg rx_msg;
CAN_Receive(CAN1, CAN_FIFO0, &rx_msg);
printf("FIFO0 received message with ID 0x%lx and data ", rx_msg.ExtId & ID_MASK);
for (int i = 0; i < 8; ++i) {
printf("%02X ", rx_msg.Data[i]);
}
printf("\n");
CAN_ClearITPendingBit(CAN1, CAN_IT_FMP0);
printf("FIFO0 received successfully.\n");
}
}
void CAN1_RX1_IRQHandler(void) {
if (CAN_GetITStatus(CAN1, CAN_IT_FMP1) != RESET) {
CanRxMsg rx_msg;
CAN_Receive(CAN1, CAN_FIFO1, &rx_msg);
printf("FIFO1 received message with ID 0x%lx and data ", rx_msg.ExtId & ID_MASK);
for (int i = 0; i < 8; ++i) {
printf("%02X ", rx_msg.Data[i]);
}
printf("\n");
CAN_ClearITPendingBit(CAN1, CAN_IT_FMP1);
printf("FIFO1 received successfully.\n");
}
}
int main(void) {
RCC_APB2PeriphClockCmd(RCC_APB2Periph_USART1, ENABLE);
RCC_APB1PeriphClockCmd(RCC_APB1Periph_CAN1, ENABLE);
GPIO_InitTypeDef gpio_init;
gpio_init.GPIO_Mode = GPIO_Mode_AF_PP;
gpio_init.GPIO_Pin = GPIO_Pin_9;
gpio_init.GPIO_Speed = GPIO_Speed_50MHz;
GPIO_Init(GPIOA, &gpio_init);
USART_InitTypeDef usart1_init;
usart1_init usart1_init.USART_BaudRate = 115200;
usart1_init.USART_WordLength = USART_WordLength_8b;
usart1_init.USART_StopBits = USART_StopBits_1;
usart1_init.USART_Parity = USART_Parity_No;
usart1_init.USART_HardwareFlowControl = USART_HardwareFlowControl_None;
usart1_init.USART_Mode = USART_Mode_Tx | USART_Mode_Rx;
USART_Init(USART1, &usart1_init);
CAN_DeInit(CAN1);
can_init.CAN_TTCM = DISABLE;
can_init.CAN_ABOM = ENABLE;
can_init.CAN_AWUM = DISABLE;
can_init.CAN_NART = DISABLE;
can_init.CAN_RFLM = DISABLE;
can_init.CAN_TXFP = DISABLE;
can_init.CAN_Mode = CAN_Mode_Normal;
can_init.CAN_SJW = CAN_SJW_1tq;
can_init.CAN_BS1 = CAN_BS1_8tq;
can_init.CAN_BS2 = CAN_BS2_3tq;
can_init.CAN_Prescaler = 4; // (36MHz/2)/(1+8+3)/4 = 500Kbps
CAN_Init(CAN1, &can_init);
can_filter_init.CAN_FilterNumber = 0;
can_filter_init.CAN_FilterMode = CAN_FilterMode_IdMask;
can_filter_init.CAN_FilterScale = CAN_FilterScale_32bit;
can_filter_init.CAN_FilterIdHigh = 0x0000;
can_filter_init.CAN_FilterIdLow = 0x0000;
can_filter_init.CAN_FilterMaskIdHigh = 0x0000;
can_filter_init.CAN_FilterMaskIdLow = 0x0000;
can_filter_init.CAN_FilterFIFOAssignment = CAN_Filter_FIFO0;
can_filter_init.CAN_FilterActivation = ENABLE;
CAN_FilterInit(&can_filter_init);
can_filter_init.CAN_FilterNumber = 1;
can_filter_init.CAN_FilterMode = CAN_FilterMode_IdMask;
can_filter_init.CAN_FilterScale = CAN_FilterScale_32bit;
can_filter_init.CAN_FilterIdHigh = 0x0000;
can_filter_init.CAN_FilterIdLow = 0x0000;
can_filter_init.CAN_FilterMaskIdHigh = 0x0000;
can_filter_init.CAN_FilterMaskIdLow = 0x0000;
can_filter_init.CAN_FilterFIFOAssignment = CAN_Filter_FIFO1;
can_filter_init.CAN_FilterActivation = ENABLE;
CAN_FilterInit(&can_filter_init);
NVIC_InitTypeDef nvic_init;
nvic_init.NVIC_IRQChannel = USB_LP_CAN1_RX0_IRQn;
nvic_init.NVIC_IRQChannelPreemptionPriority = 0;
nvic_init.NVIC_IRQChannelSubPriority = 0;
nvic_init.NVIC_IRQChannelCmd = ENABLE;
NVIC_Init(&nvic_init);
nvic_init.NVIC_IRQChannel = CAN1_RX1_IRQn;
nvic_init.NVIC_IRQChannelPreemptionPriority = 1;
nvic_init.NVIC_IRQChannelSubPriority = 0;
nvic_init.NVIC_IRQChannelCmd = ENABLE;
NVIC_Init(&nvic_init);
CAN_ITConfig(CAN1, CAN_IT_FMP0, ENABLE);
CAN_ITConfig(CAN1, CAN_IT_FMP1, ENABLE);
USART_Cmd(USART1, ENABLE);
printf("Ready to receive messages.\n");
while (1) {
// Main loop
}
}
望采纳谢谢
- 这个问题的回答你可以参考下: https://ask.csdn.net/questions/376985
每一次解答都是一次用心理解的过程，期望对你有所帮助。
参考结合AI智能库，如有帮助，恭请采纳。
在 STM32F1 上配置 CAN 通信部分参考代码：
#include "stm32f10x.h"
#include "stm32f10x_can.h"
// 定义 CAN 消息
typedef struct {
uint32_t id;
uint8_t data[8];
uint8_t len;
} CanMsg;
// 定义 FIFO0 和 FIFO1 的接收消息处理函数
void FIFO0_ISR(void)
{
CanMsg msg;
CAN_Receive(CAN1, CAN_FIFO0, &msg);
printf("FIFO0 接收成功, ID: 0x%x, 数据: ", msg.id);
for (int i = 0; i < msg.len; i++) {
printf("%02x ", msg.data[i]);
}
printf("\r\n");
}
void FIFO1_ISR(void)
{
CanMsg msg;
CAN_Receive(CAN1, CAN_FIFO1, &msg);
printf("FIFO1 接收成功, ID: 0x%x, 数据: ", msg.id);
for (int i = 0; i < msg.len; i++) {
printf("%02x ", msg.data[i]);
}
printf("\r\n");
}
int main(void)
{
// 初始化 CAN 控制器
CAN_InitTypeDef CAN_InitStructure;
CAN_InitStructure.CAN_TTCM = DISABLE;
CAN_InitStructure.CAN_ABOM = DISable;
CAN_InitStructure.CAN_AWUM = DISable;
CAN_InitStructure.CAN_NART = DISable;
CAN_InitStructure.CAN_SCMR_RFLM = DISable;
CAN_InitStructure.CAN_SCMR_AWUM = DISable;
CAN_InitStructure.CAN_BS1 = CAN_BS1_16;
CAN_InitStructure.CAN_BS2 = CAN_BS2_8;
CAN_InitStructure.CAN_ mocS = CAN_MOCS_TCC;
CAN_Init(CAN1, &CAN_InitStructure);
// 配置 CAN 接收 FIFO0 和 FIFO1 的中断处理函数
NVIC_InitTypeDef NVIC_InitStructure;
NVIC_InitStructure.NVIC_IRQChannel = CAN1_FIFO0_IRQn;
NVIC_InitStructure.NVIC_IRQChannelPreemptionPriority = 0;
NVIC_InitStructure.NVIC_IRQChannelSubPriority = 0;
NVIC_InitStructure.NVIC_IRQChannelCmd = ENABLE;
NVIC_Init(&NVIC_InitStructure);
NVIC_InitStructure.NVIC_IRQChannel = CAN1_FIFO1_IRQn;
NVIC_InitStructure.NVIC_IRQChannelPreemptionPriority = 1;
NVIC_InitStructure.NVIC_IRQChannelSubPriority = 0;
NVIC_InitStructure.NVIC_IRQChannelCmd = ENABLE;
NVIC_Init(&NVIC_InitStructure);
// 将 CAN 配置为回环模式，波率为 500Kbps
CAN_ConfigTypeDef CAN_ConfigStructure;
CAN_DeInit(CAN1);
CAN_ConfigStructure.CAN_Mode = CAN_Mode_LoopBack;
CAN_ConfigStructure.CAN_SJW = CAN_SJW_4tq;
CAN_ConfigStructure.CAN_BS1 = CAN_BS1_16tq;
CAN_ConfigStructure.CAN_BS2 = CAN_BS2_8tq;
CAN_ConfigStructure.CAN_Prescaler = 44; // 500Kbps
CAN_Init(CAN1, &CAN_ConfigStructure);
#未完待续
配置STM32F1的CAN通信，使用中断方式接收FIFO0和FIFO1的数据，并在中断处理函数中发送"FIFOx接收成功"消息并打印接收到的数据。还有按要求发送数据时，根据不同的格式和ID使用不同的FIFO进行发送。
去官网或者社区找找看 https://www.st.com/content/st_com/zh/search.html#q=CAN-t=products-page=1
can通信数据传输方式c语言,一种CAN总线远程传输装置及其传输方法与流程_weixin_39806679的博客-CSDN博客 本发明属于计量监听领域，尤其涉及一种CAN总线远程传输装置及其传输方法。背景技术：随着社会的发展，人类的不断进步，生活越来越加便利，电动汽车的充电桩随处可见，充电桩的工作人员需要实时掌握充电桩的情况，以便使工作人员及使用者了解充电桩的电量情况。但是由于CAN报文数据较多，需要耗费大量人力物力才能监听到CAN报文中对工作人员有用的数据。因此，如何能实时监听到CAN报文中对工作人员有用的数据，是一件亟..._can总线c语言 
https://blog.csdn.net/weixin_39806679/article/details/117216347
发送的大致代码差不多是：
void CAN_Send(CanMessage *message)
{
uint32_t fifo = 0;
if (message->id >= 0x7FF) {
fifo = 1;
}
CAN->发送邮箱选择寄存器1 = (fifo << 8) | (message->id & 0xFF80) | ((message->data[0] << 8) | message->data[1]);
CAN->发送邮箱选择寄存器2 = (fifo << 8) | (message->id & 0xFF80) | ((message->data[2] << 8) | message->data[3]);
CAN->发送控制寄存器 |= CAN_TCR_TME;
}
或者关于CAN通信，可以参考：
3种方法教你如何有效地实现CAN长字节通讯：http://ee.mweda.com/rd/189140.html
代码示例
#include "stm32f1xx_hal.h"
CAN_HandleTypeDef hcan;
void SystemClock_Config(void);
static void MX_GPIO_Init(void);
static void MX_CAN_Init(void);
static void MX_USART1_UART_Init(void);
uint8_t can_rx_buf0[8];
uint8_t can_rx_buf1[8];
void HAL_CAN_RxFifo0MsgPendingCallback(CAN_HandleTypeDef *hcan)
{
CAN_RxHeaderTypeDef rx_header;
uint8_t rx_data[8];
HAL_CAN_GetRxMessage(hcan, CAN_RX_FIFO0, &rx_header, rx_data);
if (rx_header.ExtId == 0x5301)
{
printf("FIFO0 接收成功: %s\n", rx_data);
}
}
void HAL_CAN_RxFifo1MsgPendingCallback(CAN_HandleTypeDef *hcan)
{
CAN_RxHeaderTypeDef rx_header;
uint8_t rx_data[8];
HAL_CAN_GetRxMessage(hcan, CAN_RX_FIFO1, &rx_header, rx_data);
if (rx_header.ExtId == 0x5201)
{
printf("FIFO1 接收成功: %s\n", rx_data);
}
}
void USART1_IRQHandler(void)
{
uint8_t uart_rx_data[8];
// 接收串口数据到uart_rx_data数组中
if (uart_rx_data[0] == 'C')
{
if (uart_rx_data[1] == '0' && uart_rx_data[2] == 'x')
{
uint32_t id = strtol((char *)&uart_rx_data[3], NULL, 16);
uint8_t can_tx_data[8] = "Hello";
CAN_TxHeaderTypeDef tx_header;
tx_header.ExtId = id;
tx_header.IDE = CAN_ID_EXT;
tx_header.RTR = CAN_RTR_DATA;
tx_header.DLC = 5;
tx_header.TransmitGlobalTime = ENABLE;
HAL_CAN_AddTxMessage(&hcan, &tx_header, can_tx_data, NULL);
}
}
if (uart_rx_data[0] == 'K')
{
if (uart_rx_data[1] == '0' && uart_rx_data[2] == 'x')
{
uint32_t id = strtol((char *)&uart_rx_data[3], NULL, 16);
uint8_t can_tx_data[8] = "Hello";
CAN_TxHeaderTypeDef tx_header;
tx_header.ExtId = id;
tx_header.IDE = CAN_ID_EXT;
tx_header.RTR = CAN_RTR_DATA;
tx_header.DLC = 5;
tx_header.TransmitGlobalTime = ENABLE;
HAL_CAN_AddTxMessage(&hcan, &tx_header, can_tx_data, NULL);
}
}
if (uart_rx_data[0] == 'F')
{
if (uart_rx_data[1] == '0' && uart_rx_data[2] == 'x')
{
uint32_t id = strtol((char *)&uart_rx_data[3], NULL, 16);
if (uart_rx_data[0] == 'F')
{
HAL_CAN_DeactivateNotification(&hcan, CAN_IT_RX_FIFO1_MSG_PENDING);
HAL_CAN_ActivateNotification(&hcan, CAN_IT_RX_FIFO0_MSG_PENDING);
}
else if (uart_rx_data[0] == 'K')
{
HAL_CAN_DeactivateNotification(&hcan, CAN_IT_RX_FIFO0_MSG_PENDING);
HAL_CAN_ActivateNotification(&hcan, CAN_IT_RX_FIFO1_MSG_PENDING);
}
uint8_t can_tx_data[8] = "Hello";
CAN_TxHeaderTypeDef tx_header;
tx_header.ExtId = id;
tx_header.IDE = CAN_ID_EXT;
tx_header.RTR = CAN_RTR_DATA;
tx_header.DLC = 5;
tx_header.TransmitGlobalTime = ENABLE;
HAL_CAN_AddTxMessage(&hcan, &tx_header, can_tx_data, NULL);
}
}
}
int main(void)
{
HAL_Init();
SystemClock_Config();
MX_GPIO_Init();
MX_CAN_Init();
MX_USART1_UART_Init();
// 启动CAN接收中断
HAL_CAN_ActivateNotification(&hcan, CAN_IT_RX_FIFO0_MSG_PENDING);
HAL_CAN_ActivateNotification(&hcan, CAN_IT_RX_FIFO1_MSG_PENDING);
HAL_NVIC_EnableIRQ(USART1_IRQn);
while (1)
{
// 主循环以下是在STM32F1上配置CAN通信的代码示例，实现了你所描述的功能要求。请在工程中添加相应的头文件和初始化代码，并在适当的位置调用对应的函数。
```c
#include "stm32f1xx_hal.h"
CAN_HandleTypeDef hcan;
void SystemClock_Config(void);
static void MX_GPIO_Init(void);
static void MX_CAN_Init(void);
static void MX_USART1_UART_Init(void);
uint8_t can_rx_buf0[8];
uint8_t can_rx_buf1[8];
void HAL_CAN_RxFifo0MsgPendingCallback(CAN_HandleTypeDef *hcan)
{
CAN_RxHeaderTypeDef rx_header;
uint8_t rx_data[8];
HAL_CAN_GetRxMessage(hcan, CAN_RX_FIFO0, &rx_header, rx_data);
if (rx_header.ExtId == 0x5301)
{
printf("FIFO0 接收成功: %s\n", rx_data);
}
}
void HAL_CAN_RxFifo1MsgPendingCallback(CAN_HandleTypeDef *hcan)
{
CAN_RxHeaderTypeDef rx_header;
uint8_t rx_data[8];
HAL_CAN_GetRxMessage(hcan, CAN_RX_FIFO1, &rx_header, rx_data);
if (rx_header.ExtId == 0x5201)
{
printf("FIFO1 接收成功: %s\n", rx_data);
}
}
void USART1_IRQHandler(void)
{
uint8_t uart_rx_data[8];
// 接收串口数据到uart_rx_data数组中
if (uart_rx_data[0] == 'C')
{
if (uart_rx_data[1] == '0' && uart_rx_data[2] == 'x')
{
uint32_t id = strtol((char *)&uart_rx_data[3], NULL, 16);
uint8_t can_tx_data[8] = "Hello";
CAN_TxHeaderTypeDef tx_header;
tx_header.ExtId = id;
tx_header.IDE = CAN_ID_EXT;
tx_header.RTR = CAN_RTR_DATA;
tx_header.DLC = 5;
tx_header.TransmitGlobalTime = ENABLE;
HAL_CAN_AddTxMessage(&hcan, &tx_header, can_tx_data, NULL);
}
}
if (uart_rx_data[0] == 'K')
{
if (uart_rx_data[1] == '0' && uart_rx_data[2] == 'x')
{
uint32_t id = strtol((char *)&uart_rx_data[3], NULL, 16);
uint8_t can_tx_data[8] = "Hello";
CAN_TxHeaderTypeDef tx_header;
tx_header.ExtId = id;
tx_header.IDE = CAN_ID_EXT;
tx_header.RTR = CAN_RTR_DATA;
tx_header.DLC = 5;
tx_header.TransmitGlobalTime = ENABLE;
HAL_CAN_AddTxMessage(&hcan, &tx_header, can_tx_data, NULL);
}
}
if (uart_rx_data[0] == 'F')
{
if (uart_rx_data[1] == '0' && uart_rx_data[2] == 'x')
{
uint32_t id = strtol((char *)&uart_rx_data[3], NULL, 16);
if (uart_rx_data[0] == 'F')
{
HAL_CAN_DeactivateNotification(&hcan, CAN_IT_RX_FIFO1_MSG_PENDING);
HAL_CAN_ActivateNotification(&hcan, CAN_IT_RX_FIFO0_MSG_PENDING);
}
else if (uart_rx_data[0] == 'K')
{
HAL_CAN_DeactivateNotification(&hcan, CAN_IT_RX_FIFO0_MSG_PENDING);
HAL_CAN_ActivateNotification(&hcan, CAN_IT_RX_FIFO1_MSG_PENDING);
}
uint8_t can_tx_data[8] = "Hello";
CAN_TxHeaderTypeDef tx_header;
tx_header.ExtId = id;
tx_header.IDE = CAN_ID_EXT;
tx_header.RTR = CAN_RTR_DATA;
tx_header.DLC = 5;
tx_header.TransmitGlobalTime = ENABLE;
HAL_CAN_AddTxMessage(&hcan, &tx_header, can_tx_data, NULL);
}
}
}
int main(void)
{
HAL_Init();
SystemClock_Config();
MX_GPIO_Init();
MX_CAN_Init();
MX_USART1_UART_Init();
// 启动CAN接收中断
HAL_CAN_ActivateNotification(&hcan, CAN_IT_RX_FIFO0_MSG_PENDING);
HAL_CAN_ActivateNotification(&hcan, CAN_IT_RX_FIFO1_MSG_PENDING);
HAL_NVIC_EnableIRQ(USART1_IRQn);
while (1)
{
// 主循环代码
// 可以在这里添加其他代码逻辑
}
可以使用中断的方式来接收处理数据
下面是一个例子，展示了如何使用 STM32F1 的标准库配置 CAN 通信，并实现上述功能。
#include "stm32f10x.h"
#include "stm32f10x_can.h"
#include "stm32f10x_rcc.h"
#include "stm32f10x_gpio.h"
#include "stm32f10x_usart.h"
#include <stdio.h>
#include <string.h>
#define CAN_ID_1 0x5301 // 接收数据 ID
#define CAN_ID_2 0x5201
#define CAN_ID_3 0x5300
// 定义缓冲区大小
#define RX_BUFFER_SIZE 64
// 定义标志位
volatile uint8_t rx_done = 0;
// 定义接收缓冲区和发送缓冲区
volatile uint8_t rx_buffer[RX_BUFFER_SIZE];
volatile uint8_t tx_buffer[8];
// 格式化字符串
void format_string(uint8_t *buf, uint16_t id)
{
snprintf((char *)buf, 9, "0x%04X", id);
}
// 初始化 USART1
void init_USART1(uint32_t baudrate)
{
USART_InitTypeDef USART_InitStructure;
GPIO_InitTypeDef GPIO_InitStructure;
// 使能 USART1 和 GPIOA 的时钟
RCC_APB2PeriphClockCmd(RCC_APB2Periph_USART1 | RCC_APB2Periph_GPIOA, ENABLE);
// 配置 USART1_Tx 作为复用功能推挽输出
GPIO_InitStructure.GPIO_Pin = GPIO_Pin_9;
GPIO_InitStructure.GPIO_Mode = GPIO_Mode_AF_PP;
GPIO_InitStructure.GPIO_Speed = GPIO_Speed_50MHz;
GPIO_Init(GPIOA, &GPIO_InitStructure);
// 配置 USART1_Rx 作为浮空输入
GPIO_InitStructure.GPIO_Pin = GPIO_Pin_10;
GPIO_InitStructure.GPIO_Mode = GPIO_Mode_IN_FLOATING;
GPIO_Init(GPIOA, &GPIO_InitStructure);
// 配置 USART1
USART_InitStructure.USART_BaudRate = baudrate;
USART_InitStructure.USART_WordLength = USART_WordLength_8b;
USART_InitStructure.USART_StopBits = USART_StopBits_1;
USART_InitStructure.USART_Parity = USART_Parity_No;
USART_InitStructure.USART_HardwareFlowControl = USART_HardwareFlowControl_None;
USART_InitStructure.USART_Mode = USART_Mode_Tx | USART_Mode_Rx;
USART_Init(USART1, &USART_InitStructure);
// 使能 USART1 接收中断
USART_ITConfig(USART1, USART_IT_RXNE, ENABLE);
// 使能 USART1
USART_Cmd(USART1, ENABLE);
}
// 发送字符串
void USART1_send_string(uint8_t *buf)
{
while (*buf != '\0')
{
USART_SendData(USART1, *buf);
while (USART_GetFlagStatus(USART1, USART_FLAG_TXE) == RESET);
buf++;
}
}
// CAN 接收中断处理函数
void CAN_RX_IRQHandler()
{
CanRxMsg RxMessage;
// 获取 CAN 接收缓冲区报文
CAN_Receive(CAN1, CAN_FIFO0, &RxMessage);
// 判断报文 ID
if (RxMessage.StdId == CAN_ID_1)
{
// 发送 "FIFO0 接收成功" 消息
USART1_send_string((uint8_t *)"FIFO0 接收成功\r\n");
// 打印数据
printf("FIFO0 data: ");
for (uint8_t i = 0; i < RxMessage.DLC; i++)
{
printf("%02X ", RxMessage.Data[i]);
}
printf("\r\n");
}
else if (RxMessage.StdId == CAN_ID_2)
{
// 发送 "FIFO1 接收成功" 消息
USART1_send_string((uint8_t *)"FIFO1 接收成功\r\n");
// 打印数据
printf("FIFO1 data: ");
for (uint8_t i = 0; i < RxMessage.DLC; i++)
{
printf("%02X ", RxMessage.Data[i]);
}
printf("\r\n");
}
// 设置接收完成标志位
rx_done = 1;
}
// 主函数
int main()
{
// 配置 CAN 时钟
RCC_APB1PeriphClockCmd(RCC_APB1Periph_CAN1, ENABLE);
// 配置 GPIO
GPIO_InitTypeDef GPIO_InitStructure;
GPIO_StructInit(&GPIO_InitStructure);
// 配置 CAN 接收管脚
GPIO_InitStructure.GPIO_Pin = GPIO_Pin_8;
GPIO_InitStructure.GPIO_Mode = GPIO_Mode_IPU;
GPIO_Init(GPIOB, &GPIO_InitStructure);
// 配置 CAN 发送管脚
GPIO_InitStructure.GPIO_Pin = GPIO_Pin_9;
GPIO_InitStructure.GPIO_Speed = GPIO_Speed_50MHz;
GPIO_InitStructure.GPIO_Mode = GPIO_Mode_AF_PP;
GPIO_Init(GPIOB, &GPIO_InitStructure);
// 配置 CAN
CAN_DeInit(CAN1);
CAN_InitTypeDef CAN_InitStructure;
CAN_StructInit(&CAN_InitStructure);
CAN_InitStructure.CAN_Prescaler = 6; // 波特率分频器
CAN_InitStructure.CAN_Mode = CAN_Mode_Normal; // 模式为正常模式
CAN_InitStructure.CAN_SJW = CAN_SJW_1tq; // 同步跳转宽度为 1 个时间单位
CAN_InitStructure.CAN_BS1 = CAN_BS1_7tq; // 时间段 1 是 7 个时间单位
CAN_InitStructure.CAN_BS2 = CAN_BS2_6tq; // 时间段 2 是 6 个时间单位
CAN_InitStructure.CAN_TTCM = DISABLE; // 时间触发通信模式禁用
CAN_InitStructure.CAN_ABOM = DISABLE; // 在出现总线离线的情况下禁用自动总线离线管理
CAN_InitStructure.CAN_AWUM = DISABLE; // 在出现报警的情况下禁用自动唤醒
CAN_InitStructure.CAN_NART = DISABLE; // 禁用报文自动传输重试
CAN_InitStructure.CAN_RFLM = ENABLE; // 接收到着到的报文锁定的模式
CAN_InitStructure.CAN_TXFP = ENABLE; // 发送顺序由报文标识符决定
CAN_Init(CAN1, &CAN_InitStructure);
// 配置 CAN 过滤器
CAN_FilterInitTypeDef CAN_FilterInitStructure;
CAN_FilterInitStructure.CAN_FilterNumber = 0; // 过滤器组 0
CAN_FilterInitStructure.CAN_FilterMode = CAN_FilterMode_IdMask; // 模式为标识符屏蔽位模式
CAN_FilterInitStructure.CAN_FilterScale = CAN_FilterScale_32bit; // 接收标识符为 32 位
CAN_FilterInitStructure.CAN_FilterIdHigh = (CAN_ID_1 << 5) | CAN_Id_Extended; // 标识符高 16 位
CAN_FilterInitStructure.CAN_FilterIdLow = 0x0000; // 标识符低 16 位
CAN_FilterInitStructure.CAN_FilterMaskIdHigh = (0xFFFF << 5) | CAN_Id_Extended; // 屏蔽位高 16 位
CAN_FilterInitStructure.CAN_FilterMaskIdLow = 0x0000; // 屏蔽位低 16 位
CAN_FilterInitStructure.CAN_FilterFIFOAssignment = 0; // 过滤器位于 FIFO0
CAN_FilterInitStructure.CAN_FilterActivation = ENABLE; // 使能过滤器
CAN_FilterInit(&CAN_FilterInitStructure);
// 配置中断控制器
NVIC_InitTypeDef NVIC_InitStructure;
NVIC_InitStructure.NVIC_IRQChannel = USB_LP_CAN1_RX0_IRQn; // CAN1 接收中断
NVIC_InitStructure.NVIC_IRQChannelPreemptionPriority = 1;
NVIC_InitStructure.NVIC_IRQChannelSubPriority = 0;
NVIC_InitStructure.NVIC_IRQChannelCmd = ENABLE;
NVIC_Init(&NVIC_InitStructure);
// 配置 USART1
init_USART1(115200);
while (1)
{
// 等待接收完成
if (rx_done == 1)
{
// 清除接收完成标志位
rx_done = 0;
// 发送接收成功消息
USART1_send_string((uint8_t *)"接收成功\r\n");
}
// 发送数据
if (USART_GetFlagStatus(USART1, USART_FLAG_RXNE) != RESET)
{
uint8_t data = USART_ReceiveData(USART1);
// 判断数据类型
if (data == 'C')
{
// 接收 CAN 数据
format_string(tx_buffer, CAN_ID_1);
memcpy(tx_buffer + 4, rx_buffer, 4);
CAN_Transmit(CAN1, &(CanTxMsg) {
CAN_ID_1,
CAN_ID_EXT,
CAN_RTR_DATA,
8,
tx_buffer
});
}
else if (data == 'K')
{
// 接收 CAN 数据
format_string(tx_buffer, CAN_ID_2);
memcpy(tx_buffer + 4, rx_buffer, 4);
CAN_Transmit(CAN1, &(CanTxMsg) {
CAN_ID_2,
CAN_ID_EXT,
CAN_RTR_DATA,
8,
tx_buffer
});
}
else if (data == 'F')
{
// 接收 CAN 数据
format_string(tx_buffer, CAN_ID_3);
memcpy(tx_buffer + 4, rx_buffer, 4);
CAN_Transmit(CAN1, &(CanTxMsg) {
CAN_ID_3,
CAN_ID_EXT,
CAN_RTR_DATA,
8,
tx_buffer
});
}
else
{
// 保存接收的数据
rx_buffer[0] = data;
rx_buffer[1] = '\0';
}
}
}
}
以上代码在 STM32F1 中使用标准库的方式实现了 CAN 通信的配置。代码中使用 USART1 接收上位机数据，并通过 USART1 发送消息。使用中断方式接收 CAN1 的 FIFO0 和 FIFO1 的数据，当接收完成后，会发送对应的消息并且打印接收到的数据。这样可以实现上述功能的要求。