/* USER CODE BEGIN Header */ /** ****************************************************************************** * @file can.c * @brief This file provides code for the configuration * of the CAN 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 "can.h" /* USER CODE BEGIN 0 */ #include "UDS.h" CAN_TxHeaderTypeDef TxHeader; //发送 CAN_RxHeaderTypeDef RxHeader; //接收 /* USER CODE END 0 */ CAN_HandleTypeDef hcan1; /* CAN1 init function */ void MX_CAN1_Init(void) { /* USER CODE BEGIN CAN1_Init 0 */ /* USER CODE END CAN1_Init 0 */ /* USER CODE BEGIN CAN1_Init 1 */ /* USER CODE END CAN1_Init 1 */ hcan1.Instance = CAN1; // hcan1.Init.Prescaler = 12;//250k hcan1.Init.Prescaler = 6;//500k // hcan1.Init.Prescaler = 3;//1000k hcan1.Init.Mode = CAN_MODE_NORMAL; hcan1.Init.SyncJumpWidth = CAN_SJW_1TQ; hcan1.Init.TimeSeg1 = CAN_BS1_11TQ; hcan1.Init.TimeSeg2 = CAN_BS2_2TQ; hcan1.Init.TimeTriggeredMode = DISABLE; hcan1.Init.AutoBusOff = ENABLE; hcan1.Init.AutoWakeUp = ENABLE; hcan1.Init.AutoRetransmission = ENABLE; hcan1.Init.ReceiveFifoLocked = DISABLE; hcan1.Init.TransmitFifoPriority = DISABLE; if (HAL_CAN_Init(&hcan1) != HAL_OK) { Error_Handler(); } /* USER CODE BEGIN CAN1_Init 2 */ /* USER CODE END CAN1_Init 2 */ } void HAL_CAN_MspInit(CAN_HandleTypeDef* canHandle) { GPIO_InitTypeDef GPIO_InitStruct = {0}; if(canHandle->Instance==CAN1) { /* USER CODE BEGIN CAN1_MspInit 0 */ /* USER CODE END CAN1_MspInit 0 */ /* CAN1 clock enable */ __HAL_RCC_CAN1_CLK_ENABLE(); __HAL_RCC_GPIOB_CLK_ENABLE(); /**CAN1 GPIO Configuration PB8 ------> CAN1_RX PB9 ------> CAN1_TX */ GPIO_InitStruct.Pin = GPIO_PIN_8|GPIO_PIN_9; GPIO_InitStruct.Mode = GPIO_MODE_AF_PP; GPIO_InitStruct.Pull = GPIO_NOPULL; GPIO_InitStruct.Speed = GPIO_SPEED_FREQ_VERY_HIGH; GPIO_InitStruct.Alternate = GPIO_AF9_CAN1; HAL_GPIO_Init(GPIOB, &GPIO_InitStruct); /* CAN1 interrupt Init */ HAL_NVIC_SetPriority(CAN1_RX0_IRQn, 0, 0); HAL_NVIC_EnableIRQ(CAN1_RX0_IRQn); /* USER CODE BEGIN CAN1_MspInit 1 */ /* USER CODE END CAN1_MspInit 1 */ } } void HAL_CAN_MspDeInit(CAN_HandleTypeDef* canHandle) { if(canHandle->Instance==CAN1) { /* USER CODE BEGIN CAN1_MspDeInit 0 */ /* USER CODE END CAN1_MspDeInit 0 */ /* Peripheral clock disable */ __HAL_RCC_CAN1_CLK_DISABLE(); /**CAN1 GPIO Configuration PB8 ------> CAN1_RX PB9 ------> CAN1_TX */ HAL_GPIO_DeInit(GPIOB, GPIO_PIN_8|GPIO_PIN_9); /* CAN1 interrupt Deinit */ HAL_NVIC_DisableIRQ(CAN1_RX0_IRQn); /* USER CODE BEGIN CAN1_MspDeInit 1 */ /* USER CODE END CAN1_MspDeInit 1 */ } } /* USER CODE BEGIN 1 */ extern uint8_t app2_crc_flag;//crc校验成功标志位，成功后应答版本号位新的。 uint16_t get_hardware_version(void) { return *(volatile uint16_t*)(0x08000188); } // 获取版本信息的函数 uint32_t get_software_version(void) { if(*(volatile uint32_t*)0x0800C188 == 0xFFFFFFFF) { return *(volatile uint32_t*)0x08060188; } else { return *(volatile uint32_t*)0x0800C188; } } uint32_t get_publish_data(void) { if(*(volatile uint32_t*)(0x0800C188+4) == 0xFFFFFFFF) { return *(volatile uint32_t*)(0x08060188+4); } else { return *(volatile uint32_t*)(0x0800C188+4); } } void CAN_Filter_config(void) { CAN_FilterTypeDef sFilterConfig; /* 配置CAN过滤器 */ sFilterConfig.FilterBank = 0; /* 过滤器0 */ sFilterConfig.FilterMode = CAN_FILTERMODE_IDMASK; sFilterConfig.FilterScale = CAN_FILTERSCALE_32BIT; sFilterConfig.FilterIdHigh = 0x0000; /* 32位ID */ sFilterConfig.FilterIdLow = 0x0000; sFilterConfig.FilterMaskIdHigh = 0x0000; /* 32位MASK */ sFilterConfig.FilterMaskIdLow = 0x0000; sFilterConfig.FilterFIFOAssignment = CAN_FILTER_FIFO0; /* 过滤器0关联到FIFO0 */ sFilterConfig.FilterActivation = CAN_FILTER_ENABLE; /* 激活滤波器0 */ sFilterConfig.SlaveStartFilterBank = 14; /* 过滤器配置 */ if (HAL_CAN_ConfigFilter(&hcan1, &sFilterConfig) != HAL_OK) { Error_Handler(); } HAL_CAN_Start(&hcan1);//开启CAN HAL_CAN_ActivateNotification(&hcan1 ,CAN_IT_RX_FIFO0_MSG_PENDING);//开启CAN的中断 } void CAN_SendData(uint8_t canCom, uint32_t mailbox, uint32_t messageId, uint8_t * data, uint32_t len) { uint32_t start_time = HAL_GetTick(); // 使用系统时间戳，更精确 uint32_t TxMailbox = CAN_TX_MAILBOX0; TxHeader.StdId = messageId; /* 标准标识符 */ TxHeader.ExtId = messageId; /* 扩展标识符(29位) */ TxHeader.IDE = CAN_ID_EXT; /* 使用标准帧 or 扩展帧 */ TxHeader.RTR = CAN_RTR_DATA; /* 数据帧 */ if(len > 8) { len=8; } TxHeader.DLC = len; if (HAL_CAN_AddTxMessage(&hcan1 , &TxHeader, data, &TxMailbox) != HAL_OK) /* 发送消息 */ { //return 1; } // 超时时间：100ms while (HAL_CAN_IsTxMessagePending(&hcan1, TxMailbox)) { if (HAL_GetTick() - start_time > 100) // 100ms超时 { HAL_CAN_AbortTxRequest(&hcan1, TxMailbox); /* 超时，直接中止邮箱的发送请求 */ //return 1; } } //return 0; } /*CAN接收中断函数*/ void HAL_CAN_RxFifo0MsgPendingCallback(CAN_HandleTypeDef *hcan){ uint8_t RxData[8]; if(hcan->Instance == CAN1){ HAL_CAN_GetRxMessage(&hcan1, CAN_RX_FIFO0, &RxHeader, RxData); if (RxHeader.ExtId == 0x701 && RxHeader.IDE == CAN_ID_EXT) { can_rx_isr_i(0,RxHeader.ExtId,RxData, RxHeader.DLC); //can_rx_isr_i(0,,id,data,len); } //读取版本号 if (RxHeader.ExtId == 0x21D && RxHeader.IDE == CAN_ID_EXT) { uint16_t hardware_version = get_hardware_version(); uint16_t software_version; if(app2_crc_flag == 1)//crc校验成功标志位，成功后应答版本号位新的。 { software_version = *(volatile uint32_t*)0x08060188; } else { software_version = *(volatile uint32_t*)0x0800C188; } uint32_t publish_data = get_publish_data(); uint8_t version[8]; version[0] = hardware_version >> 8; version[1] = hardware_version & 0xFF; version[2] = software_version >> 8; version[3] = software_version & 0xFF; version[4] = publish_data >> 24; version[5] = publish_data >> 16; version[6] = publish_data >> 8; version[7] = publish_data & 0xFF; CAN_SendData(1, 2, 0x21D, version,8); } } } /* USER CODE END 1 */