测试收发OK!
fcan.c文件
/* USER CODE BEGIN Header */
/**
******************************************************************************
* @file fdcan.c
* @brief This file provides code for the configuration
* of the FDCAN instances.
******************************************************************************
* @attention
*
* Copyright (c) 2025 STMicroelectronics.
* All rights reserved.
*
* This software is licensed under terms that can be found in the LICENSE file
* in the root directory of this software component.
* If no LICENSE file comes with this software, it is provided AS-IS.
*
******************************************************************************
*/
/* USER CODE END Header */
/* Includes ------------------------------------------------------------------*/
#include "fdcan.h"
/* USER CODE BEGIN 0 */
/* USER CODE END 0 */
FDCAN_HandleTypeDef hfdcan1;
FDCAN_HandleTypeDef hfdcan2;
/* FDCAN1 init function */
void MX_FDCAN1_Init(void)
{
hfdcan1.Instance = FDCAN1;
hfdcan1.Init.ClockDivider = FDCAN_CLOCK_DIV1;
hfdcan1.Init.FrameFormat = FDCAN_FRAME_CLASSIC;
hfdcan1.Init.Mode = FDCAN_MODE_NORMAL;
hfdcan1.Init.AutoRetransmission = DISABLE;
hfdcan1.Init.TransmitPause = DISABLE;
hfdcan1.Init.ProtocolException = DISABLE;
hfdcan1.Init.NominalPrescaler = 17;
hfdcan1.Init.NominalSyncJumpWidth = 1;
hfdcan1.Init.NominalTimeSeg1 = 17;
hfdcan1.Init.NominalTimeSeg2 = 2;
hfdcan1.Init.DataPrescaler = 1;
hfdcan1.Init.DataSyncJumpWidth = 1;
hfdcan1.Init.DataTimeSeg1 = 1;
hfdcan1.Init.DataTimeSeg2 = 1;
// hfdcan1.Init.StdFiltersNbr = 0; // 使用1个标准过滤器
// hfdcan1.Init.ExtFiltersNbr = 1; // 禁用扩展过滤器
hfdcan1.Init.StdFiltersNbr = 1; // 使用1个标准过滤器
hfdcan1.Init.ExtFiltersNbr = 0; // 禁用扩展过滤器
hfdcan1.Init.TxFifoQueueMode = FDCAN_TX_FIFO_OPERATION;
if (HAL_FDCAN_Init(&hfdcan1) != HAL_OK)
{
Error_Handler();
}
/* USER CODE BEGIN FDCAN1_Init 2 */
// 配置过滤器（接收所有标准ID）
FDCAN_FilterTypeDef sFilterConfig;
sFilterConfig.IdType = FDCAN_STANDARD_ID;
sFilterConfig.FilterIndex = 0;
sFilterConfig.FilterType = FDCAN_FILTER_MASK;
sFilterConfig.FilterConfig = FDCAN_FILTER_TO_RXFIFO0;
sFilterConfig.FilterID1 = 0x000; // 接收所有ID
sFilterConfig.FilterID2 = 0x000; // 掩码全0
HAL_FDCAN_ConfigFilter(&hfdcan1, &sFilterConfig);
/* 配置全局过滤器，拒绝远程帧 */
if (HAL_FDCAN_ConfigGlobalFilter(&hfdcan1, FDCAN_REJECT, FDCAN_REJECT, FDCAN_FILTER_REMOTE, FDCAN_FILTER_REMOTE) != HAL_OK)
{
Error_Handler();
}
/* 激活IT0中断 */
// HAL_FDCAN_ActivateNotification(&hfdcan1, FDCAN_IT_RX_FIFO0_NEW_MESSAGE | FDCAN_IT_ERROR_WARNING,0); // 接收中断 + 错误中断 // 使用IT0
HAL_FDCAN_ActivateNotification(&hfdcan1, FDCAN_IT_RX_FIFO0_NEW_MESSAGE,0); // 接收中断 + 错误中断 // 使用IT0
/* 启动CAN1 */
HAL_FDCAN_Start(&hfdcan1);
/* USER CODE END FDCAN1_Init 2 */
}
/* FDCAN2 init function */
void MX_FDCAN2_Init(void)
{
hfdcan2.Instance = FDCAN2;
hfdcan2.Init.ClockDivider = FDCAN_CLOCK_DIV1;
hfdcan2.Init.FrameFormat = FDCAN_FRAME_CLASSIC;
hfdcan2.Init.Mode = FDCAN_MODE_NORMAL;
hfdcan2.Init.AutoRetransmission = DISABLE;
hfdcan2.Init.TransmitPause = DISABLE;
hfdcan2.Init.ProtocolException = DISABLE;
hfdcan2.Init.NominalPrescaler = 17;
hfdcan2.Init.NominalSyncJumpWidth = 1;
hfdcan2.Init.NominalTimeSeg1 = 17;
hfdcan2.Init.NominalTimeSeg2 = 2;
hfdcan2.Init.DataPrescaler = 1;
hfdcan2.Init.DataSyncJumpWidth = 1;
hfdcan2.Init.DataTimeSeg1 = 1;
hfdcan2.Init.DataTimeSeg2 = 1;
// hfdcan2.Init.StdFiltersNbr = 0;
// hfdcan2.Init.ExtFiltersNbr = 1;
hfdcan2.Init.StdFiltersNbr = 1; // 使用1个标准过滤器
hfdcan2.Init.ExtFiltersNbr = 0;
hfdcan2.Init.TxFifoQueueMode = FDCAN_TX_FIFO_OPERATION;
if (HAL_FDCAN_Init(&hfdcan2) != HAL_OK)
{
Error_Handler();
}
/* USER CODE BEGIN FDCAN2_Init 2 */
// 配置过滤器（接收所有标准ID）
FDCAN_FilterTypeDef sFilterConfig;
sFilterConfig.IdType = FDCAN_STANDARD_ID;
sFilterConfig.FilterIndex = 0;
sFilterConfig.FilterType = FDCAN_FILTER_MASK;
sFilterConfig.FilterConfig = FDCAN_FILTER_TO_RXFIFO0;
sFilterConfig.FilterID1 = 0x000; // 接收所有ID
sFilterConfig.FilterID2 = 0x000; // 掩码全0
HAL_FDCAN_ConfigFilter(&hfdcan2, &sFilterConfig);
/* 配置全局过滤器，拒绝远程帧 */
if (HAL_FDCAN_ConfigGlobalFilter(&hfdcan2, FDCAN_REJECT, FDCAN_REJECT, FDCAN_FILTER_REMOTE, FDCAN_FILTER_REMOTE) != HAL_OK)
{
Error_Handler();
}
/* 激活IT0中断 */
HAL_FDCAN_ActivateNotification(&hfdcan2, FDCAN_IT_RX_FIFO0_NEW_MESSAGE | FDCAN_IT_ERROR_WARNING,0); // 接收中断 + 错误中断 // 使用IT10
/* 启动CAN2 */
HAL_FDCAN_Start(&hfdcan2);
/* USER CODE END FDCAN2_Init 2 */
}
static uint32_t HAL_RCC_FDCAN_CLK_ENABLED=0;
void HAL_FDCAN_MspInit(FDCAN_HandleTypeDef* fdcanHandle)
{
GPIO_InitTypeDef GPIO_InitStruct = {0};
RCC_PeriphCLKInitTypeDef PeriphClkInit = {0};
if(fdcanHandle->Instance==FDCAN1)
{
/* USER CODE BEGIN FDCAN1_MspInit 0 */
/* USER CODE END FDCAN1_MspInit 0 */
/** Initializes the peripherals clocks
*/
PeriphClkInit.PeriphClockSelection = RCC_PERIPHCLK_FDCAN;
PeriphClkInit.FdcanClockSelection = RCC_FDCANCLKSOURCE_PCLK1;
if (HAL_RCCEx_PeriphCLKConfig(&PeriphClkInit) != HAL_OK)
{
Error_Handler();
}
/* FDCAN1 clock enable */
HAL_RCC_FDCAN_CLK_ENABLED++;
if(HAL_RCC_FDCAN_CLK_ENABLED==1){
__HAL_RCC_FDCAN_CLK_ENABLE();
}
__HAL_RCC_GPIOA_CLK_ENABLE();
/**FDCAN1 GPIO Configuration
PA11 ------> FDCAN1_RX
PA12 ------> FDCAN1_TX
*/
GPIO_InitStruct.Pin = GPIO_PIN_11|GPIO_PIN_12;
GPIO_InitStruct.Mode = GPIO_MODE_AF_PP;
GPIO_InitStruct.Pull = GPIO_NOPULL;
GPIO_InitStruct.Speed = GPIO_SPEED_FREQ_LOW;
GPIO_InitStruct.Alternate = GPIO_AF9_FDCAN1;
HAL_GPIO_Init(GPIOA, &GPIO_InitStruct);
/* FDCAN1 interrupt Init */
HAL_NVIC_SetPriority(FDCAN1_IT0_IRQn, 0, 0);
HAL_NVIC_EnableIRQ(FDCAN1_IT0_IRQn);
/* USER CODE BEGIN FDCAN1_MspInit 1 */
/* USER CODE END FDCAN1_MspInit 1 */
}
else if(fdcanHandle->Instance==FDCAN2)
{
/* USER CODE BEGIN FDCAN2_MspInit 0 */
/* USER CODE END FDCAN2_MspInit 0 */
/** Initializes the peripherals clocks
*/
PeriphClkInit.PeriphClockSelection = RCC_PERIPHCLK_FDCAN;
PeriphClkInit.FdcanClockSelection = RCC_FDCANCLKSOURCE_PCLK1;
if (HAL_RCCEx_PeriphCLKConfig(&PeriphClkInit) != HAL_OK)
{
Error_Handler();
}
/* FDCAN2 clock enable */
HAL_RCC_FDCAN_CLK_ENABLED++;
if(HAL_RCC_FDCAN_CLK_ENABLED==1){
__HAL_RCC_FDCAN_CLK_ENABLE();
}
__HAL_RCC_GPIOB_CLK_ENABLE();
/**FDCAN2 GPIO Configuration
PB5 ------> FDCAN2_RX
PB6 ------> FDCAN2_TX
*/
GPIO_InitStruct.Pin = GPIO_PIN_5|GPIO_PIN_6;
GPIO_InitStruct.Mode = GPIO_MODE_AF_PP;
GPIO_InitStruct.Pull = GPIO_NOPULL;
GPIO_InitStruct.Speed = GPIO_SPEED_FREQ_LOW;
GPIO_InitStruct.Alternate = GPIO_AF9_FDCAN2;
HAL_GPIO_Init(GPIOB, &GPIO_InitStruct);
/* FDCAN2 interrupt Init */
HAL_NVIC_SetPriority(FDCAN2_IT0_IRQn, 0, 0);
HAL_NVIC_EnableIRQ(FDCAN2_IT0_IRQn);
/* USER CODE BEGIN FDCAN2_MspInit 1 */
/* USER CODE END FDCAN2_MspInit 1 */
}
}
void HAL_FDCAN_MspDeInit(FDCAN_HandleTypeDef* fdcanHandle)
{
if(fdcanHandle->Instance==FDCAN1)
{
/* USER CODE BEGIN FDCAN1_MspDeInit 0 */
/* USER CODE END FDCAN1_MspDeInit 0 */
/* Peripheral clock disable */
HAL_RCC_FDCAN_CLK_ENABLED--;
if(HAL_RCC_FDCAN_CLK_ENABLED==0){
__HAL_RCC_FDCAN_CLK_DISABLE();
}
/**FDCAN1 GPIO Configuration
PA11 ------> FDCAN1_RX
PA12 ------> FDCAN1_TX
*/
HAL_GPIO_DeInit(GPIOA, GPIO_PIN_11|GPIO_PIN_12);
/* FDCAN1 interrupt Deinit */
HAL_NVIC_DisableIRQ(FDCAN1_IT0_IRQn);
/* USER CODE BEGIN FDCAN1_MspDeInit 1 */
/* USER CODE END FDCAN1_MspDeInit 1 */
}
else if(fdcanHandle->Instance==FDCAN2)
{
/* USER CODE BEGIN FDCAN2_MspDeInit 0 */
/* USER CODE END FDCAN2_MspDeInit 0 */
/* Peripheral clock disable */
HAL_RCC_FDCAN_CLK_ENABLED--;
if(HAL_RCC_FDCAN_CLK_ENABLED==0){
__HAL_RCC_FDCAN_CLK_DISABLE();
}
/**FDCAN2 GPIO Configuration
PB5 ------> FDCAN2_RX
PB6 ------> FDCAN2_TX
*/
HAL_GPIO_DeInit(GPIOB, GPIO_PIN_5|GPIO_PIN_6);
/* FDCAN2 interrupt Deinit */
HAL_NVIC_DisableIRQ(FDCAN2_IT0_IRQn);
/* USER CODE BEGIN FDCAN2_MspDeInit 1 */
/* USER CODE END FDCAN2_MspDeInit 1 */
}
}
/* USER CODE BEGIN 1 */
/* CAN1发送函数 */
uint8_t FDCAN1_SendMessage(uint32_t id, uint8_t *data, uint8_t length)
{
FDCAN_TxHeaderTypeDef txHeader;
if(length > 8) return 0; // 检查数据长度
txHeader.Identifier = id;
txHeader.IdType = FDCAN_STANDARD_ID;
txHeader.TxFrameType = FDCAN_DATA_FRAME;
// txHeader.DataLength = length << 16;
txHeader.DataLength = length;
txHeader.ErrorStateIndicator = FDCAN_ESI_ACTIVE;
txHeader.BitRateSwitch = FDCAN_BRS_OFF;
txHeader.FDFormat = FDCAN_CLASSIC_CAN;
txHeader.TxEventFifoControl = FDCAN_NO_TX_EVENTS;
txHeader.MessageMarker = 0;
if (HAL_FDCAN_GetTxFifoFreeLevel(&hfdcan1) > 0)
{
if(HAL_FDCAN_AddMessageToTxFifoQ(&hfdcan1, &txHeader, data) != HAL_OK)
{
return 0; // 发送失败
}
}
return 1; // 发送成功
}
/* CAN2发送函数 */
uint8_t FDCAN2_SendMessage(uint32_t id, uint8_t *data, uint8_t length)
{
FDCAN_TxHeaderTypeDef txHeader;
if(length > 8) return 0;
txHeader.Identifier = id;
txHeader.IdType = FDCAN_STANDARD_ID;
txHeader.TxFrameType = FDCAN_DATA_FRAME;
// txHeader.DataLength = length << 16;
txHeader.DataLength = length;
txHeader.ErrorStateIndicator = FDCAN_ESI_ACTIVE;
txHeader.BitRateSwitch = FDCAN_BRS_OFF;
txHeader.FDFormat = FDCAN_CLASSIC_CAN;
txHeader.TxEventFifoControl = FDCAN_NO_TX_EVENTS;
txHeader.MessageMarker = 0;
if (HAL_FDCAN_GetTxFifoFreeLevel(&hfdcan2) > 0)
{
if(HAL_FDCAN_AddMessageToTxFifoQ(&hfdcan2, &txHeader, data) != HAL_OK)
{
return 0;
}
}
return 1;
}
//uint8_t RxData_1[8];
//uint8_t RxData_2[8];
//FDCAN_RxHeaderTypeDef RxHeader_1;
//FDCAN_RxHeaderTypeDef RxHeader_2;
//
//uint8_t RxData_1[8];
//uint8_t RxData_2[8];
uint8_t rxData[8];
uint8_t CAN1_Rx_Flag;
uint8_t CAN2_Rx_Flag;
/*
中断回调函数
*/
/* 共享的IT0中断回调函数 */
void HAL_FDCAN_RxFifo0Callback(FDCAN_HandleTypeDef *hfdcan, uint32_t RxFifo0ITs)
{
if((RxFifo0ITs & FDCAN_IT_RX_FIFO0_NEW_MESSAGE) != RESET)
{
FDCAN_RxHeaderTypeDef rxHeader;
if(HAL_FDCAN_GetRxMessage(hfdcan, FDCAN_RX_FIFO0, &rxHeader, rxData) == HAL_OK)
{
if(hfdcan->Instance == FDCAN1)
{
/* CAN1数据处理 */
for(int i=0; i<rxHeader.DataLength; i++)
{
CAN1_Rx_Flag = 1;
}
}
else if(hfdcan->Instance == FDCAN2)
{
/* CAN2数据处理 */
for(int i=0; i<rxHeader.DataLength; i++)
{
CAN2_Rx_Flag = 1;
}
}
}
}
}
/* USER CODE END 1 */
fcan.h文件
/* USER CODE BEGIN Header */
/**
******************************************************************************
* @file fdcan.h
* @brief This file contains all the function prototypes for
* the fdcan.c file
******************************************************************************
* @attention
*
* Copyright (c) 2025 STMicroelectronics.
* All rights reserved.
*
* This software is licensed under terms that can be found in the LICENSE file
* in the root directory of this software component.
* If no LICENSE file comes with this software, it is provided AS-IS.
*
******************************************************************************
*/
/* USER CODE END Header */
/* Define to prevent recursive inclusion -------------------------------------*/
#ifndef __FDCAN_H__
#define __FDCAN_H__
#ifdef __cplusplus
extern "C" {
#endif
/* Includes ------------------------------------------------------------------*/
#include "main.h"
/* USER CODE BEGIN Includes */
/* USER CODE END Includes */
extern FDCAN_HandleTypeDef hfdcan1;
extern FDCAN_HandleTypeDef hfdcan2;
/* USER CODE BEGIN Private defines */
uint8_t FDCAN1_SendMessage(uint32_t id, uint8_t *data, uint8_t length);
uint8_t FDCAN2_SendMessage(uint32_t id, uint8_t *data, uint8_t length);
/* USER CODE END Private defines */
void MX_FDCAN1_Init(void);
void MX_FDCAN2_Init(void);
/* USER CODE BEGIN Prototypes */
extern uint8_t CAN1_Rx_Flag;
extern uint8_t CAN2_Rx_Flag;
/* USER CODE END Prototypes */
#ifdef __cplusplus
}
#endif
#endif /* __FDCAN_H__ */
main.c文件
/* USER CODE END Header */
/* Includes ------------------------------------------------------------------*/
#include "main.h"
#include "fdcan.h"
#include "gpio.h"
void SystemClock_Config(void);
//CAN2.0B 拓展帧消息发送
// uint8_t testData1[8] = {0x11,0x22,0x33,0x44,0x55,0x66,0x77,0x88};
// uint8_t testData2[8] = {0x55,0x66,0x77,0x88,0x11,0x22,0x33,0x44};
uint8_t testData1[7] = {0x11,0x22,0x33,0x44,0x55,0x66,0x77};
uint8_t testData2[7] = {0x55,0x66,0x77,0x88,0x11,0x22,0x33};
/* USER CODE END 0 */
/**
* @brief The application entry point.
* @retval int
*/
int main(void)
{
HAL_Init();
SystemClock_Config();
MX_GPIO_Init();
MX_FDCAN1_Init();//500K bps
MX_FDCAN2_Init();//500K bps
while (1)
{
if(CAN1_Rx_Flag == 1)
{
CAN1_Rx_Flag = 0;
FDCAN1_SendMessage(0xAA,testData1,sizeof(testData1));
}
if(CAN2_Rx_Flag == 1)
{
CAN2_Rx_Flag = 0;
FDCAN2_SendMessage(0xBB,testData2,sizeof(testData2));
}
}
}