一、单片机最小系统板使用can

资料：https://blog.csdn.net/yoie01/article/details/136921034
https://blog.csdn.net/qq_36561846/article/details/117431769

• 这里面有一个问题，最小系统板没有can收发器，所以没法直接用，只能测试一下回环模式

二、stm32f103vet6测试达妙电机

• 我用的是正点原子的战舰V3的板子，这个板子要调一下板子上的连接帽，将io口复用。
• 注意一下，can通信是需要反馈的，也就是can总线上如果没有通信的目标设备，can报文会一直待在单片机的邮箱内。一般邮箱满了，其实就代表通信失败了。
• 过滤器在测试阶段其实不用管，只要在cubemx生成的基础上，加上启动can的代码，就算启动了。剩下的就是设置发送和接收的数据缓存区和报文配置了
• 波特率的设置上，波特率=APB1/预分频/（TimeSeg1+TimeSeg2+1）
• 这个代码是在上面那两个资料上改的，把所有可以省略的代码去除了，只给电机发送了一个初始化的命令

#include "main.h"
#include "can.h"
#include "usart.h"
#include "gpio.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 ---------------------------------------------------------*//* USER CODE BEGIN PV *//* USER CODE END PV *//* Private function prototypes -----------------------------------------------*/
void SystemClock_Config(void);
/* USER CODE BEGIN PFP *//* USER CODE END PFP *//* Private user code ---------------------------------------------------------*/
/* USER CODE BEGIN 0 */
#define CAN_ID ((uint32_t)0x01)CAN_RxHeaderTypeDef CanRx;//接收消息报文信息
CAN_TxHeaderTypeDef CanTx;//发送消息报文信息
uint8_t RxData[8];			//接收数据区
uint8_t TxData[8] = {0xff,0xff,0xff,0xff,0xff,0xff,0xff,0xfc};//发送数据区
//uint8_t TxData[8] = {0x94,0x7a,0x7f,0xf0,0x08,0x19,0x97,0xff};//发送数据区
uint8_t Flag_Rx = 0;		//接收到数据的标志
uint32_t pTxMailbox = 0;	//发送邮箱盒子
uint8_t test = 10;
uint8_t test2 = 0;
/********************************************
@function:Can_Config,对于Can的CubeMx外的基础配置
@param:void
@return:HAL_StatusTypeDef
@date:2021.5.31
@note:
********************************************/
HAL_StatusTypeDef Can_Config(void)
{CanTx.DLC = 8;				//数据长度CanTx.StdId = CAN_ID;CanTx.IDE = CAN_ID_STD;		//标准帧模式CanTx.RTR = CAN_RTR_DATA;	//数据帧//CanTx.TransmitGlobalTime = DISABLE;//时间戳if(HAL_CAN_Start(&hcan) != HAL_OK) //启动CAN{return HAL_ERROR;}return HAL_OK;
}void HAL_CAN_RxFifo0MsgPendingCallback(CAN_HandleTypeDef *hcan)//报文接收中断
{if(HAL_CAN_GetRxMessage(hcan, CAN_FILTER_FIFO0, &CanRx, RxData) == HAL_OK){Flag_Rx = 1;}}/* 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 */Can_Config();/* USER CODE END 2 *//* Infinite loop *//* USER CODE BEGIN WHILE */while (1){/* USER CODE END WHILE *//* USER CODE BEGIN 3 */while( HAL_CAN_GetTxMailboxesFreeLevel( &hcan ) == 0 );  //等待邮箱空闲if(HAL_CAN_AddTxMessage(&hcan, &CanTx, TxData, &pTxMailbox) != HAL_OK)//发送数据{test2 = test2 + 1;}else{test = test - 1;}//HAL_Delay(1000);}/* USER CODE END 3 */
}/*** @brief System Clock Configuration* @retval None*/
void SystemClock_Config(void)
{RCC_OscInitTypeDef RCC_OscInitStruct = {0};RCC_ClkInitTypeDef RCC_ClkInitStruct = {0};/** Initializes the RCC Oscillators according to the specified parameters* in the RCC_OscInitTypeDef structure.*/RCC_OscInitStruct.OscillatorType = RCC_OSCILLATORTYPE_HSE;RCC_OscInitStruct.HSEState = RCC_HSE_ON;RCC_OscInitStruct.HSEPredivValue = RCC_HSE_PREDIV_DIV1;RCC_OscInitStruct.HSIState = RCC_HSI_ON;RCC_OscInitStruct.PLL.PLLState = RCC_PLL_ON;RCC_OscInitStruct.PLL.PLLSource = RCC_PLLSOURCE_HSE;RCC_OscInitStruct.PLL.PLLMUL = RCC_PLL_MUL9;if (HAL_RCC_OscConfig(&RCC_OscInitStruct) != HAL_OK){Error_Handler();}/** Initializes the CPU, AHB and APB buses clocks*/RCC_ClkInitStruct.ClockType = RCC_CLOCKTYPE_HCLK|RCC_CLOCKTYPE_SYSCLK|RCC_CLOCKTYPE_PCLK1|RCC_CLOCKTYPE_PCLK2;RCC_ClkInitStruct.SYSCLKSource = RCC_SYSCLKSOURCE_PLLCLK;RCC_ClkInitStruct.AHBCLKDivider = RCC_SYSCLK_DIV1;RCC_ClkInitStruct.APB1CLKDivider = RCC_HCLK_DIV2;RCC_ClkInitStruct.APB2CLKDivider = RCC_HCLK_DIV1;if (HAL_RCC_ClockConfig(&RCC_ClkInitStruct, FLASH_LATENCY_2) != HAL_OK){Error_Handler();}
}/* 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 */__disable_irq();while (1){}/* 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(uint8_t *file, uint32_t line)
{/* USER CODE BEGIN 6 *//* User can add his own implementation to report the file name and line number,ex: printf("Wrong parameters value: file %s on line %d\r\n", file, line) *//* USER CODE END 6 */
}
#endif /* USE_FULL_ASSERT */