正点原子阿波罗F429+STM32CubeMX+CAN收发

1、前言

出口打印等前期配置请看上一章内容点击跳转
can通讯的原理我就不说了。大家可以自行百度，我推荐一篇文章点击跳转
代码下载地址点击跳转

2、正文

(1)、打开上个项目，加上can1，因为只有1个开发版，所以设置为环回模式，有两个扳子的话可以试试can通讯，（原子的例程是老版本的了，cubeMX新建的项目和原子的有点不兼容。但有很大的参考意义）

2.1、参考代码

2.1.1main.c

/* USER CODE BEGIN Header */
/**
  ******************************************************************************
  * @file           : main.c
  * @brief          : Main program body
  ******************************************************************************
  * @attention
  *
  * 
© Copyright (c) 2020 STMicroelectronics.
  * All rights reserved.
  *
  * This software component is licensed by ST under BSD 3-Clause license,
  * the "License"; You may not use this file except in compliance with the
  * License. You may obtain a copy of the License at:
  *                        opensource.org/licenses/BSD-3-Clause
  *
  ******************************************************************************
  */
/* USER CODE END Header */

/* Includes ------------------------------------------------------------------*/
#include "main.h"
#include "can.h"
#include "dma.h"
#include "usart.h"
#include "gpio.h"

/* Private includes ----------------------------------------------------------*/
/* USER CODE BEGIN Includes */
#include "lk_sys.h"
/* 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 */

/* 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_DMA_Init();
  MX_USART1_UART_Init();
  MX_CAN1_Init();
  /* USER CODE BEGIN 2 */

  /* USER CODE END 2 */
 
 

  /* Infinite loop */
  /* USER CODE BEGIN WHILE */
  while (1)
  {
  	lk_run();
    /* USER CODE END WHILE */

    /* USER CODE BEGIN 3 */
  }
  /* USER CODE END 3 */
}

/**
  * @brief System Clock Configuration
  * @retval None
  */
void SystemClock_Config(void)
{
  RCC_OscInitTypeDef RCC_OscInitStruct = {0};
  RCC_ClkInitTypeDef RCC_ClkInitStruct = {0};

  /** Configure the main internal regulator output voltage 
  */
  __HAL_RCC_PWR_CLK_ENABLE();
  __HAL_PWR_VOLTAGESCALING_CONFIG(PWR_REGULATOR_VOLTAGE_SCALE1);
  /** Initializes the CPU, AHB and APB busses clocks 
  */
  RCC_OscInitStruct.OscillatorType = RCC_OSCILLATORTYPE_HSE;
  RCC_OscInitStruct.HSEState = RCC_HSE_ON;
  RCC_OscInitStruct.PLL.PLLState = RCC_PLL_ON;
  RCC_OscInitStruct.PLL.PLLSource = RCC_PLLSOURCE_HSE;
  RCC_OscInitStruct.PLL.PLLM = 15;
  RCC_OscInitStruct.PLL.PLLN = 216;
  RCC_OscInitStruct.PLL.PLLP = RCC_PLLP_DIV2;
  RCC_OscInitStruct.PLL.PLLQ = 4;
  if (HAL_RCC_OscConfig(&RCC_OscInitStruct) != HAL_OK)
  {
    Error_Handler();
  }
  /** Activate the Over-Drive mode 
  */
  if (HAL_PWREx_EnableOverDrive() != HAL_OK)
  {
    Error_Handler();
  }
  /** Initializes the CPU, AHB and APB busses 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_DIV4;
  RCC_ClkInitStruct.APB2CLKDivider = RCC_HCLK_DIV2;

  if (HAL_RCC_ClockConfig(&RCC_ClkInitStruct, FLASH_LATENCY_5) != 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 */

  /* 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,
     tex: printf("Wrong parameters value: file %s on line %d\r\n", file, line) */
  /* USER CODE END 6 */
}
#endif /* USE_FULL_ASSERT */

/************************ (C) COPYRIGHT STMicroelectronics *****END OF FILE****/

2.1.2 lk_sys.c

#include "lk_sys.h"

#include "lk_can.h"



void lk_run(void)
{
	lk_send_u("程序开始\r\n");
	lk_uart_idle_init();
	lk_can_init();
	while (1)
	{
		if(lk_uart1.b_rx_state)
		{
			lk_send_u("lk_uart1.rx_number = %d\r\n",lk_uart1.rx_number);
			lk_send_u("内容为:");
			HAL_UART_Transmit_DMA(&huart1,lk_uart1.rx_buff,lk_uart1.rx_number);
			lk_send_u("\r\n");
			lk_uart1.b_rx_state = 0;
			HAL_UART_Receive_DMA(&huart1,lk_uart1.rx_buff,lk_uart_rx_buff_max_size);
		}
		
		lk_can_send();
		
		HAL_Delay(1000);
		if(HAL_CAN_GetRxFifoFillLevel(&hcan1,CAN_RX_FIFO0))
		{
			lk_can_rx();
		}
		lk_send_u("1秒\r\n");
	}
}

2.1.3 lk_sys.h

#ifndef __lk_sys_h_
#define __lk_sys_h_

#include "lk_stdio.h"

#include "lk_uart.h"

void lk_run(void);

#endif

2.1.4 lk_can.c

#include "lk_can.h"


CAN_TxHeaderTypeDef   TxHeader;
CAN_RxHeaderTypeDef   RxHeader;
uint8_t               TxData[8];
uint8_t               RxData[8];

void lk_can_init(void)
{
	CAN_FilterTypeDef  sFilterConfig;
	
	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 */
		Error_Handler();
	}
	HAL_CAN_Start(&hcan1);
	
	memset(TxData,0,8);
}

void lk_can_send(void)
{
	TxData[7]++;
	TxHeader.DLC = 8;
	TxHeader.ExtId = 0x12;
	TxHeader.IDE = CAN_ID_STD;
	TxHeader.RTR = CAN_RTR_DATA;
	TxHeader.StdId = 0x12;
	TxHeader.TransmitGlobalTime = DISABLE;
	HAL_CAN_AddTxMessage(&hcan1,&TxHeader,TxData,(uint32_t*)CAN_TX_MAILBOX0);
}
void lk_can_rx(void)
{
	memset(RxData,0,8);
	if (HAL_CAN_GetRxMessage(&hcan1, CAN_RX_FIFO0, &RxHeader, RxData) == HAL_OK)
	{
		lk_send_u("\r\n");
		lk_send_u("RxHeader.DLC = %d\r\n",RxHeader.DLC);
		lk_send_u("can接收内容为:");
		lk_send_u("%d\r\n",RxData[7]);
	}
}

2.1.5 lk_can.h

#ifndef __lk_can_h_
#define __lk_can_h_

#include 
#include "lk_config.h"
#include "lk_stdio.h"


#include "can.h"



void lk_can_init(void);
void lk_can_send(void);
void lk_can_rx(void);

#endif

连接好开发版，编译下载就可以看到串口的内容的。自己可以再修改下其它代码测试下。