stm32cube使用

1、使用stm32cube生成CAN代码注意事项：

　　a、需要手动配置CAN过滤器

{
	CAN_FilterConfTypeDef  sFilterConfig;
	uint32_t filterID = (uint32_t)SysAddr<<23;
	uint32_t filterMaskID = 0x7F800000;
		
	sFilterConfig.FilterNumber = 0;
	sFilterConfig.FilterMode = CAN_FILTERMODE_IDMASK;
	sFilterConfig.FilterScale = CAN_FILTERSCALE_32BIT;
	sFilterConfig.FilterIdHigh = (uint16_t)(filterID>>16);
	sFilterConfig.FilterIdLow = filterID;
	sFilterConfig.FilterMaskIdHigh = (uint16_t)(filterMaskID>>16);
	sFilterConfig.FilterMaskIdLow = filterMaskID;
	sFilterConfig.FilterFIFOAssignment = 0; //收到的报文放在FIFO 0里面
	sFilterConfig.FilterActivation = ENABLE;
	sFilterConfig.BankNumber = 14;
		
	if (HAL_CAN_ConfigFilter(&hcan, &sFilterConfig) != HAL_OK)
	{
		/* Filter configuration Error */
		Error_Handler();
	}
		
	filterID = 0x7F800000;
	sFilterConfig.FilterNumber = 1;
	sFilterConfig.FilterIdHigh = (uint16_t)(filterID>>16);
	sFilterConfig.FilterIdLow = filterID;

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

　　b、需要手动使能CAN FIFO接收中断

HAL_CAN_Receive_IT(&hcan, CAN_FIFO0);	//使能FIFO0接收中断

　　c、需要手动初始化数据结构体

typedef struct
{
  CanTxMsgTypeDef	TxMsg;
  CanRxMsgTypeDef	RxMsg;
  CanRxMsgTypeDef	Rx1Msg;
}CAN_RxTxBufTypeDef;

CAN_RxTxBufTypeDef CAN_RxTxBuf;

void Can_DataRxTxInit(CAN_HandleTypeDef* hcan)
{
	memset(&CAN_RxTxBuf, 0X00, sizeof(CAN_RxTxBuf));
	
	hcan->pTxMsg = (CanTxMsgTypeDef *)&CAN_RxTxBuf.TxMsg;
	hcan->pRxMsg = (CanRxMsgTypeDef *)&CAN_RxTxBuf.RxMsg;
	hcan->pRx1Msg = (CanRxMsgTypeDef *)&CAN_RxTxBuf.Rx1Msg;
}

　　d、每次接收中断完成后需要手动使能下一次接收中断

void USB_LP_CAN1_RX0_IRQHandler(void)
{
       /* USER CODE BEGIN USB_LP_CAN1_RX0_IRQn 0 */
       /* USER CODE END USB_LP_CAN1_RX0_IRQn 0 */
       HAL_CAN_IRQHandler(&hcan);
       HAL_CAN_Receive_IT(&hcan,CAN_FIFO0);

       /* USER CODE END USB_LP_CAN1_RX0_IRQn 1 */
} 

　　e、数据接收、发送与错误回调函数

void HAL_CAN_TxCpltCallback(CAN_HandleTypeDef* hcan);
void HAL_CAN_RxCpltCallback(CAN_HandleTypeDef* hcan);
void HAL_CAN_ErrorCallback(CAN_HandleTypeDef *hcan);