【STM32CubeMX】11，STM32之CAN回环测试，过滤器的匹配设置，FIFO与过滤器的关联

1，因为自己目前只有一块板子有CAN模块，所以先做CAN的回环测试。

主要参考http://www.stm32cube.com/question/33

下面的代码测试可以使用

1-1，在CAN的编程中，主要是注意四大结构体，这几个都是自动生成的，

1、CAN_HandleTypeDef hcan1;// CAN handle Structure definition首先定义CAN的处理结构体，hcan1内部包括了

3、CanTxMsgTypeDef; 4、CanRxMsgTypeDef;的头地址

2、CAN_FilterConfTypeDef sFilterConfig;// CAN filter configuration structure definition需要学会怎么配置配置过滤器

3、CanTxMsgTypeDef;//CAN Tx message structure definition //can的发送配置，主要是Stdld标准标识符，Extld标准扩展标识符，IDE标准帧与扩展帧的区别,RTR数据帧或遥控帧，DLC数据帧的长度，data[]要发送的数据段的内容，最大8个字节

4、CanRxMsgTypeDef; //CAN Rx message structure definition//除了发送CAN中的参数，还包括FMI过滤器的编号，FIFONumber的编号。

1-2，CAN的发送与接收模式与以前的串口，I2C，FLASH都有区别。

can的发送是HAL_CAN_Transmit(&hcan1, 10)，在字面上并不指定发送数据的数组，而是发送的是一个结构体，包含的信息更多，如stdld,IDE,DLC，data[]等等。

但hcan1->Data中实际就是包含的数组值.

同理可以看到can 的接收函数(HAL_CAN_Receive(&hcan, CAN_FIFO0,10)，也是一样的分析

1-3，简单的发送可以封装函数

1-4，注释

1-5，hal_can.h常用函数

/** @addtogroup CAN_Exported_Functions_Group1
* @brief Initialization and Configuration functions
* @{
*/
/* Initialization and de-initialization functions *****************************/
HAL_StatusTypeDef HAL_CAN_Init(CAN_HandleTypeDef* hcan);
HAL_StatusTypeDef HAL_CAN_ConfigFilter(CAN_HandleTypeDef* hcan, CAN_FilterConfTypeDef* sFilterConfig);
HAL_StatusTypeDef HAL_CAN_DeInit(CAN_HandleTypeDef* hcan);
void HAL_CAN_MspInit(CAN_HandleTypeDef* hcan);
void HAL_CAN_MspDeInit(CAN_HandleTypeDef* hcan);
/**
* @}
*/

/** @addtogroup CAN_Exported_Functions_Group2
* @brief I/O operation functions
* @{
*/
/* I/O operation functions *****************************************************/
HAL_StatusTypeDef HAL_CAN_Transmit(CAN_HandleTypeDef *hcan, uint32_t Timeout);
HAL_StatusTypeDef HAL_CAN_Transmit_IT(CAN_HandleTypeDef *hcan);
HAL_StatusTypeDef HAL_CAN_Receive(CAN_HandleTypeDef *hcan, uint8_t FIFONumber, uint32_t Timeout);
HAL_StatusTypeDef HAL_CAN_Receive_IT(CAN_HandleTypeDef *hcan, uint8_t FIFONumber);
HAL_StatusTypeDef HAL_CAN_Sleep(CAN_HandleTypeDef *hcan);
HAL_StatusTypeDef HAL_CAN_WakeUp(CAN_HandleTypeDef *hcan);
void HAL_CAN_IRQHandler(CAN_HandleTypeDef* hcan);
void HAL_CAN_TxCpltCallback(CAN_HandleTypeDef* hcan);
void HAL_CAN_RxCpltCallback(CAN_HandleTypeDef* hcan);
void HAL_CAN_ErrorCallback(CAN_HandleTypeDef *hcan);
/**

1-6 测试函数

/* USER CODE BEGIN 1 */
HAL_StatusTypeDef CAN_Polling(void)
{
CAN_FilterConfTypeDef sFilterConfig;
static CanTxMsgTypeDef TxMessage;
static CanRxMsgTypeDef RxMessage;

hcan.pTxMsg = &TxMessage;//²é¿´CAN_HandleTypeDefµÄ¶¨Òå£¬pTxMsgÊÇÒ»¸ö½á¹¹ÌåÖ¸Õë
hcan.pRxMsg = &RxMessage;

//Configure the CAN Filter
sFilterConfig.FilterNumber = 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 = 0;//???????FIFO?,0??1,??????FIFO0
sFilterConfig.FilterActivation = ENABLE;
sFilterConfig.BankNumber = 14;

if(HAL_CAN_ConfigFilter(&hcan, &sFilterConfig) != HAL_OK)
{
//[i] Filter configuration Error [/i]/
Error_Handler();
}

//3- Start the Transmission process
hcan.pTxMsg->StdId = 0x11; //Ö¸¶¨±ê×¼±êÊ¶·û£¬0-0X7FF
hcan.pTxMsg->RTR = CAN_RTR_DATA; //RTR,Çø·ÖÊý¾ÝÖ¡»¹ÊÇÒ£¿ØÖ¡£¬´Ë´¦ÎªÊý¾ÝÖ¡
hcan.pTxMsg->IDE = CAN_ID_STD;//Çø±ð±ê×¼Ö¡ºÍÀ©Õ¹Ö¡£¬#define CAN_ID_EXT 0x00000004U /*!< Extended Id */
hcan.pTxMsg->DLC = 2;//ÉèÖÃÊý¾ÝÖ¡Êý¾Ý³¤¶È£¬·¶Î§0-8
hcan.pTxMsg->Data[0] = 0xCA;//µÚÒ»¸ö×Ö½ÚÊý¾Ý
hcan.pTxMsg->Data[1] = 0xFE;//µÚ¶þ¸ö×Ö½ÚÊý¾Ý

if(HAL_CAN_Transmit(&hcan, 10) != HAL_OK)//timeout 10ms
{
//²é¿´´«ÊäÊÇ·ñ³¬Ê±£¬³¬Ê±µãÁÁºìÉ«LED
HAL_GPIO_WritePin (GPIOB,GPIO_PIN_5,GPIO_PIN_RESET );
while(1);
}

if(HAL_CAN_GetState(&hcan) != HAL_CAN_STATE_READY)
{
return HAL_ERROR;
}

//4- Start the Reception process
if(HAL_CAN_Receive(&hcan, CAN_FIFO0,10) != HAL_OK)//ÉÏÃæ¶¨ÒåÁËFIFO0
{
//Reception Error

HAL_GPIO_WritePin (GPIOB,GPIO_PIN_5,GPIO_PIN_RESET );
while(1);
}

if(HAL_CAN_GetState(&hcan) != HAL_CAN_STATE_READY)
{
return HAL_ERROR;
}


if (hcan.pRxMsg->StdId != 0x11)//½ÓÊÕµ½µÄÊý¾Ý±êÊ¶·û
{
printf ("CAN1 Loopback fause !/r/n");
return HAL_ERROR;
}

if (hcan.pRxMsg->IDE != CAN_ID_STD)//??????????
{
return HAL_ERROR;
}

if (hcan.pRxMsg->DLC != 2)//????????
{
return HAL_ERROR;
}

if ((RxMessage.Data[0]<<8|RxMessage.Data[1]) != 0xCAFE)
{
return HAL_ERROR;
}

return HAL_OK; //[i] Test Passed [/i]/
}

/* USER CODE END 1 */

1-7，过滤器的匹配设置

https://blog.csdn.net/houqi02/article/details/51545967

https://blog.csdn.net/bonson2004/article/details/68942442

1-8，FIFO与过滤器的关联

http://www.openedv.com/posts/list/43984.htm

【STM32CubeMX】11，STM32之CAN回环测试，过滤器的匹配设置，FIFO与过滤器的关联

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