移植篇：CAN配置

硬件：STM32F407开发板，CAN调试器，ST—LINK调试器

使用CUBEMX创建工程#

选用外部高速晶振#

0.0

配置时钟树#

HCLK一般为默认最高，CAN使用的是APB1外设时钟。选择时钟源，输入需要的频率按回车即可自动调整其他参数
0.1

配置CAN#

使能后需要根据波特率对参数进行调整，当然也可以在程序中修改。
上图中可见APB1为42MHz，经过下图中预分频之后 42/3 = 14MHz。 如果我们希望得到1MHz波特率，那只需满足Jumpwidth+seg1+seg2= 14MHz / 1MHz = 14即可，其他波特率以此类推，也可以使用代码块实现波特率的配置。


#if defined (SOC_SERIES_STM32F1)/* APB1 36MHz(max) */static const struct stm32_baud_rate_tab can_baud_rate_tab[] ={    {CAN1MBaud, (CAN_SJW_2TQ | CAN_BS1_8TQ  | CAN_BS2_3TQ | 3)},    {CAN800kBaud, (CAN_SJW_2TQ | CAN_BS1_5TQ  | CAN_BS2_3TQ | 5)},    {CAN500kBaud, (CAN_SJW_2TQ | CAN_BS1_8TQ  | CAN_BS2_3TQ | 6)},    {CAN250kBaud, (CAN_SJW_2TQ | CAN_BS1_8TQ  | CAN_BS2_3TQ | 12)},    {CAN125kBaud, (CAN_SJW_2TQ | CAN_BS1_8TQ  | CAN_BS2_3TQ | 24)},    {CAN100kBaud, (CAN_SJW_2TQ | CAN_BS1_8TQ  | CAN_BS2_3TQ | 30)},    {CAN50kBaud, (CAN_SJW_2TQ | CAN_BS1_8TQ  | CAN_BS2_3TQ | 60)},    {CAN20kBaud, (CAN_SJW_2TQ | CAN_BS1_8TQ  | CAN_BS2_3TQ | 150)},    {CAN10kBaud, (CAN_SJW_2TQ | CAN_BS1_8TQ  | CAN_BS2_3TQ | 300)}};#elif defined (SOC_SERIES_STM32F4)/* APB1 42MHz(max) */static const struct stm32_baud_rate_tab can_baud_rate_tab[] ={    {CAN1MBaud, (CAN_SJW_2TQ | CAN_BS1_9TQ | CAN_BS2_4TQ | 3)},    {CAN800kBaud, (CAN_SJW_2TQ | CAN_BS1_8TQ | CAN_BS2_4TQ | 4)},    {CAN500kBaud, (CAN_SJW_2TQ | CAN_BS1_9TQ | CAN_BS2_4TQ | 6)},    {CAN250kBaud, (CAN_SJW_2TQ | CAN_BS1_9TQ | CAN_BS2_4TQ | 12)},    {CAN125kBaud, (CAN_SJW_2TQ | CAN_BS1_9TQ | CAN_BS2_4TQ | 24)},    {CAN100kBaud, (CAN_SJW_2TQ | CAN_BS1_9TQ | CAN_BS2_4TQ | 30)},    {CAN50kBaud, (CAN_SJW_2TQ | CAN_BS1_9TQ | CAN_BS2_4TQ | 60)},    {CAN20kBaud, (CAN_SJW_2TQ | CAN_BS1_9TQ | CAN_BS2_4TQ | 150)},    {CAN10kBaud, (CAN_SJW_2TQ | CAN_BS1_9TQ | CAN_BS2_4TQ | 300)}};#elif defined (SOC_SERIES_STM32F7)/* APB1 54MHz(max) */static const struct stm32_baud_rate_tab can_baud_rate_tab[] ={    {CAN1MBaud, (CAN_SJW_2TQ | CAN_BS1_10TQ  | CAN_BS2_7TQ | 3)},    {CAN800kBaud, (CAN_SJW_2TQ | CAN_BS1_9TQ  | CAN_BS2_7TQ | 4)},    {CAN500kBaud, (CAN_SJW_2TQ | CAN_BS1_10TQ  | CAN_BS2_7TQ | 6)},    {CAN250kBaud, (CAN_SJW_2TQ | CAN_BS1_10TQ  | CAN_BS2_7TQ | 12)},    {CAN125kBaud, (CAN_SJW_2TQ | CAN_BS1_10TQ  | CAN_BS2_7TQ | 24)},    {CAN100kBaud, (CAN_SJW_2TQ | CAN_BS1_10TQ  | CAN_BS2_7TQ | 30)},    {CAN50kBaud, (CAN_SJW_2TQ | CAN_BS1_10TQ  | CAN_BS2_7TQ | 60)},    {CAN20kBaud, (CAN_SJW_2TQ | CAN_BS1_10TQ  | CAN_BS2_7TQ | 150)},    {CAN10kBaud, (CAN_SJW_2TQ | CAN_BS1_10TQ  | CAN_BS2_7TQ | 300)}};#endif

0.1

生成代码并运行试车#

cubemx生成的默认代码只有初始化can的代码，开启can以及发送接收函数均需要自己编写，这部分可参照*_hal_can.c中提供的接口，也可以从网上直接copy，以下来自正点原子

void CAN_Config(void){  CAN_FilterTypeDef  sFilterConfig;
  /*##-2- Configure the CAN Filter ###########################################*/  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;  sFilterConfig.SlaveStartFilterBank = 14;
  if (HAL_CAN_ConfigFilter(&hcan1, &sFilterConfig) != HAL_OK)  {    /* Filter configuration Error */    while(1)      {      }  }
  /*##-3- Start the CAN peripheral ###########################################*/  if (HAL_CAN_Start(&hcan1) != HAL_OK)  {    /* Start Error */    while(1)      {      }  }
  /*##-4- Activate CAN RX notification #######################################*/  if (HAL_CAN_ActivateNotification(&hcan1, CAN_IT_RX_FIFO0_MSG_PENDING) != HAL_OK)  {    /* Notification Error */    while(1)      {      }  }
  /*##-5- Configure Transmission process #####################################*/  TxHeader.StdId = 0x321;  TxHeader.ExtId = 0x01;  TxHeader.RTR = CAN_RTR_DATA;  TxHeader.IDE = CAN_ID_STD;  TxHeader.DLC = 2;  TxHeader.TransmitGlobalTime = DISABLE;}

u8 CAN1_Send_Msg(u8* msg,u8 len){    u8 i=0;      u32 TxMailbox=0;    u8 message[8];    TxHeader.StdId=0X12;        //    TxHeader.ExtId=0x12;        //    TxHeader.IDE=CAN_ID_STD;    //使用标准帧    TxHeader.RTR=CAN_RTR_DATA;  //    TxHeader.DLC=len;                    for(i=0;i<len;i++)    {        message[i]=msg[i];    }    if(HAL_CAN_AddTxMessage(&hcan1, &TxHeader, message, &TxMailbox) != HAL_OK)//·¢ËÍ    {        return 1;    }    while(HAL_CAN_GetTxMailboxesFreeLevel(&hcan1) != 3) {}    return 0;}