请问STM32G431的CANOPEN协议函数怎么写

Question

请问STM32G431的CANOPEN协议函数怎么写，手写部分，包括时间定时器和CAN收发的配置

Answer 1

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编写STM32G431的CANopen协议函数涉及到多个方面，包括CAN模块的初始化、CANopen协议的实现等。下面是一个简化的示例，展示如何编写基本的CANopen协议函数。这个示例包括CAN模块的初始化、时间定时器的配置以及CAN收发的配置。

1. 包含必要的头文件

#include "stm32g4xx_hal.h"
#include "canopen.h" // 假设你有一个定义CANopen协议的头文件

2. 定义CANopen相关的宏和结构体

#define CAN_TIMEOUT 1000 // CAN操作的超时时间（单位：ms）

typedef struct {
    CAN_HandleTypeDef hcan; // CAN句柄
    uint8_t nodeId; // CANopen节点ID
    uint8_t *txBuffer; // 发送缓冲区
    uint8_t *rxBuffer; // 接收缓冲区
} CANopen_HandleTypeDef;

extern CAN_HandleTypeDef hcan1; // 假设你已经定义了CAN句柄

3. 初始化CANopen协议

void CANopen_Init(CANopen_HandleTypeDef *can, uint8_t nodeId) {
    can->nodeId = nodeId;
    can->txBuffer = (uint8_t *)malloc(8); // 分配发送缓冲区
    can->rxBuffer = (uint8_t *)malloc(8); // 分配接收缓冲区

    // 初始化CAN句柄
    can->hcan.Instance = CAN1;
    can->hcan.Init.Prescaler = 6; // 时钟分频器
    can->hcan.Init.Mode = CAN_MODE_NORMAL;
    can->hcan.Init.SyncJumpWidth = CAN_SJW_1TQ;
    can->hcan.Init.TimeSeg1 = CAN_BS1_9TQ;
    can->hcan.Init.TimeSeg2 = CAN_BS2_8TQ;
    can->hcan.Init.AutoBusOff = ENABLE;
    can->hcan.Init.AutoWakeUp = ENABLE;
    can->hcan.Init.AutoRetransmission = ENABLE;
    can->hcan.Init.ReceiveFifoLocked = ENABLE;
    can->hcan.Init.TransmitFifoPriority = ENABLE;

    if (HAL_CAN_Init(&can->hcan) != HAL_OK) {
        Error_Handler();
    }

    // 配置CAN过滤器（根据需要）
    CAN_FilterTypeDef sFilterConfig;
    sFilterConfig.FilterIdHigh = CAN_ID_STD_MASK;
    sFilterConfig.FilterIdLow = 0x00;
    sFilterConfig.FilterMaskIdHigh = CAN_ID_STD_MASK;
    sFilterConfig.FilterMaskIdLow = 0x00;
    sFilterConfig.FilterFIFOAssignment = CAN_RX_FIFO0;
    sFilterConfig.FilterActivation = ENABLE;
    sFilterConfig.SlaveStartFilterBank = 14;

    if (HAL_CAN_ConfigFilter(&can->hcan, &sFilterConfig) != HAL_OK) {
        Error_Handler();
    }
}

4. 发送CANopen消息

HAL_StatusTypeDef CANopen_Send(CANopen_HandleTypeDef *can, uint16_t msgId, uint8_t *data, uint8_t dataSize) {
    CAN_TxHeaderTypeDef txHeader;
    txHeader.StdId = msgId;
    txHeader.IDE = CAN_ID_STD;
    txHeader.RTR = CAN_RTR_DATA;
    txHeader.DLC = dataSize;

    if (HAL_CAN_AddTxMessage(&can->hcan, &txHeader, data, CAN_TIMEOUT) != HAL_OK) {
        return HAL_ERROR;
    }

    while (HAL_CAN_IsTxMessagePending(&can->hcan, CAN_TX_MAILBOX0) != 0) {
        // 等待消息发送完成
    }

    return HAL_OK;
}

5. 接收CANopen消息

HAL_StatusTypeDef CANopen_Receive(CANopen_HandleTypeDef *can, uint16_t *msgId, uint8_t *data, uint8_t *dataSize) {
    CAN_RxHeaderTypeDef rxHeader;
    if (HAL_CAN_GetRxMessage(&can->hcan, CAN_RX_FIFO0, &rxHeader, data) != HAL_OK) {
        return HAL_ERROR;
    }

    *msgId = rxHeader.StdId;
    *dataSize = rxHeader.DLC;

    return HAL_OK;
}

6. 定时器中断处理

void HAL_TIM_PeriodElapsedCallback(TIM_HandleTypeDef *htim) {
    if (htim->Instance == TIM3) {
        // 定时器中断处理，例如发送心跳消息
        CANopen_Send(&canHandle, CANOPEN_HEARTBEAT_ID, NULL, 0);
    }
}