My code:
#include "sys_include.h"
void CAN_Init(void){
CAN_Filter_Init();
HAL_CAN_Start(&hcan);
HAL_CAN_ActivateNotification(&hcan,CAN_IT_RX_FIFO0_MSG_PENDING);
HAL_CAN_ActivateNotification(&hcan,CAN_IT_TX_MAILBOX_EMPTY);
}
void CAN_Filter_Init(void){
CAN_FilterTypeDef sFilterConfig;
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;
sFilterConfig.FilterActivation = ENABLE;
sFilterConfig.FilterBank = 14;
HAL_CAN_ConfigFilter(&hcan, &sFilterConfig);
}
void HAL_CAN_RxFifo0MsgPendingCallback(CAN_HandleTypeDef *can)
{
CAN_Message rxdata;
CAN_RxHeaderTypeDef rx_message;
if(can->Instance == hcan.Instance)
{
HAL_CAN_GetRxMessage(can,CAN_RX_FIFO0,&rx_message,rxdata.data);
if(rx_message.StdId == 0x201){
// can_test.backposition = rxdata.data[0] << 24 | rxdata.data[1] << 16 | rxdata.data[2] << 8 | rxdata.data[3];
// can_test.backposition = rxdata.data[4] << 8 | rxdata.data[5];
}
}
HAL_CAN_ActivateNotification(&hcan,CAN_IT_RX_FIFO0_MSG_PENDING);
}
void Send_Message(int32_t distance,int16_t speed,int16_t pwm3){
CAN_Message txdata;
CAN_TxHeaderTypeDef tx_message;
tx_message.StdId = 0x201;
tx_message.IDE = CAN_ID_STD;
tx_message.RTR = CAN_RTR_DATA;
tx_message.DLC = 0x08;
txdata.data[0] = 0;
txdata.data[1] = 0;
txdata.data[2] = 0;
txdata.data[3] = 0;
txdata.data[4] = 0;
txdata.data[5] = 0;
txdata.data[6] = 0;
txdata.data[7] = 0;
// txdata.data[0] = (unsigned char)(distance >> 24);
// txdata.data[1] = (unsigned char)(distance >> 16);
// txdata.data[2] = (unsigned char)(distance >> 8);
// txdata.data[3] = (unsigned char)distance;
// txdata.data[4] = (unsigned char)(speed >> 8);
// txdata.data[5] = (unsigned char)speed;
// txdata.data[6] = (unsigned char)(pwm3 >> 8);
// txdata.data[7] = (unsigned char)pwm3;
HAL_CAN_AddTxMessage(&hcan,&tx_message,txdata.data,(uint32_t*)CAN_TX_MAILBOX0);
}
