STM32 HAL CAN

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STM32_CAN

CAN Project on STM32

• You can use case analysis
• STM32 CAN read

CAN Analyzer use case

Taobao bought by sales of CAN analyzer , test products are Benewake the TF02 , a serial port and CAN interface, here, of course, CAN interface.

CAN information given on the data sheet TF02 follows:


That is 1Mbps, ID is 0x00090002, the frame format for the extended frame, Byte0 DIST high as 8, Byte1 DIST is the lower 8 bits.

TF02 to the 5V power supply, respectively, then the CANH and CANL H and L CAN interface CAN1 analyzer, connected to a terminal resistor 120Ω, as shown:

Open CAN Analyzer PC USB-CAN Tool V2.12, equipment operators -> boot device:

OK, you can see the output of the data:

The frame rate can be seen in FIG 103.8, ID number 0x009002, extended frame format of the frame, the length of 8 bytes, then the 8-byte hexadecimal data.

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STM32 CAN read

Reference Github can2uart engineering, the STM32 TF02 CAN interface to read the data, it transmits to the host computer through the serial port.

STM32F103TBU6, VP230 (received PA11 CAN_RX, PA12 CAN_TX), USB to serial port (PA9, PA10).
Open STM32CubeMX, Pinout tab to configure the following:

Clock Configuration tab to configure the following:

Configuration tab configuration is as follows:

APB1 clock hanging on CAN, CAN baud rate 36M / Pre / (BS1 + BS2 + SJW) = 36M / 3 / (5 + 6 + 1) = 1Mbps, exactly corresponding to FIG 1000ns Time for one Bit in. Use FIFO0 receive interrupt, so the USB low priority or CAN RX0 interrupts the hook.

The main code is added main.c follows:

/* USER CODE BEGIN PV */
/* Private variables ---------------------------------------------------------*/
CanRxMsgTypeDef RxMessage;
/* USER CODE END PV */

/* USER CODE BEGIN PFP */
/* Private function prototypes -----------------------------------------------*/
uint8_t CAN_Init() {
    hcan.pRxMsg = &RxMessage;

    CAN_FilterConfTypeDef filterConfig;

    filterConfig.FilterNumber = 0;
    filterConfig.FilterMode = CAN_FILTERMODE_IDMASK;
    filterConfig.FilterScale = CAN_FILTERSCALE_32BIT;
    filterConfig.FilterIdHigh = 0x0000;
    filterConfig.FilterIdLow = 0x0000;
    filterConfig.FilterMaskIdHigh = 0x0000;
    filterConfig.FilterMaskIdLow = 0x0000;
    filterConfig.FilterFIFOAssignment = CAN_FILTER_FIFO0;
    filterConfig.FilterActivation = ENABLE;
    filterConfig.BankNumber = 14;

    if(HAL_CAN_ConfigFilter(&hcan,&filterConfig) != HAL_OK) return 1;
    return 0;
}

void HAL_CAN_RxCpltCallback(CAN_HandleTypeDef* hcan1) {
    __HAL_CAN_ENABLE_IT(&hcan, CAN_IT_FMP0);
    printf("(0x%08x, %d,", hcan.pRxMsg->ExtId, hcan.pRxMsg->DLC);
    for(int i = 0; i < hcan.pRxMsg->DLC; i++) {
        printf(" %02x", hcan.pRxMsg->Data[i]);
    }
    if(hcan.pRxMsg->DLC >= 2) {
        printf(", %d", (hcan.pRxMsg->Data[0]<<8) + hcan.pRxMsg->Data[1]);   //distance
    }
    printf(")\r\n");
}
/* USER CODE END PFP */

    //main函数中
    /* USER CODE BEGIN 2 */
    printf("Hello, world!\r\n");
    CAN_Init();
    __HAL_CAN_ENABLE_IT(&hcan, CAN_IT_FMP0);
    /* USER CODE END 2 */

After the program is finished open the serial debugging assistant can see the information sent is:

Data line (extended frame ID, Number of bytes, the raw hexadecimal data, the calculated distance value TF02).