cubemx配置stm32f407VET6实现can通信

背景：
项目上需要把原先的TMC5160电机驱动器替换为购买的电机控制模块（该模块采用canopen通信）
移植canopen的前提是can通信正常，现在添加一下can通信（先用标准帧，250K bit/S的波特率测试）

原理图：
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软件实现：
1.cubemx配置can通信
参考博客：https://blog.csdn.net/weixin_43362027/article/details/132716496
1）如何计算波特率？
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2）中断

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2.实际配置
can1的时钟在APB1上，APB1的时钟为84MHZ；
所以250k = (84/21)/8 = 4M/8

3.生成代码验证功能：
生成的代码不能直接用；
1）can_init要修改

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 = 21;
  hcan1.Init.Mode = CAN_MODE_NORMAL;
  hcan1.Init.SyncJumpWidth = CAN_SJW_1TQ;
  hcan1.Init.TimeSeg1 = CAN_BS1_2TQ;
  hcan1.Init.TimeSeg2 = CAN_BS2_5TQ;
  hcan1.Init.TimeTriggeredMode = DISABLE;
  hcan1.Init.AutoBusOff = DISABLE;
  hcan1.Init.AutoWakeUp = DISABLE;
  hcan1.Init.AutoRetransmission = DISABLE;
  hcan1.Init.ReceiveFifoLocked = DISABLE;
  hcan1.Init.TransmitFifoPriority = DISABLE;
  if (HAL_CAN_Init(&hcan1) != HAL_OK)
  {
    Error_Handler();
  }
  /* USER CODE BEGIN CAN1_Init 2 */
    CAN_FilterTypeDef sFilterConfig;
     sFilterConfig.FilterBank = 0;
    sFilterConfig.FilterMode = CAN_FILTERMODE_IDMASK;
    sFilterConfig.FilterScale = CAN_FILTERSCALE_32BIT;
    sFilterConfig.FilterIdHigh = 0x0000;
    sFilterConfig.FilterIdLow = 0x0000;
    sFilterConfig.FilterMaskIdHigh = 0x0000;
    sFilterConfig.FilterMaskIdLow = 0x0000;
    sFilterConfig.FilterFIFOAssignment = CAN_RX_FIFO0;
    sFilterConfig.FilterActivation = CAN_FILTER_ENABLE;
    sFilterConfig.SlaveStartFilterBank = 14;

    if (HAL_CAN_ConfigFilter(&hcan1, &sFilterConfig) != HAL_OK)
    {
        /* Filter configuration Error */
        Error_Handler();
    }

    HAL_CAN_Start(&hcan1);
    HAL_CAN_ActivateNotification(&hcan1,CAN_IT_RX_FIFO0_MSG_PENDING);
  /* USER CODE END CAN1_Init 2 */

}

``
区别在于要添加这个部分：
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2）实现can发送，我增加了报错信息用于调试

uint32_t pTxMailbox;
CAN_TxHeaderTypeDef 	TxHeader= {
    .RTR = CAN_RTR_DATA,
    .IDE = CAN_ID_STD,
    .StdId = 1,
    .TransmitGlobalTime = DISABLE,
    .DLC = 8,
};


void CanSendData(uint32_t id,uint8_t *data)
{
    //HAL_OK
    int ret=0;
    TxHeader.StdId = id;
    TxHeader.ExtId = id;
    HAL_Delay(5);

    HAL_CAN_AddTxMessage(&hcan1,&TxHeader,data,&pTxMailbox);
      if(ret == HAL_OK)
    HAL_UART_Transmit(&huart2, "\r\ncan send HAL_OK\r\n", strlen("\r\ncan send HAL_OK\r\n"), 100);
  else if(ret ==HAL_ERROR)
    HAL_UART_Transmit(&huart2, "\r\ncan send HAL_ERROR\r\n", strlen("\r\ncan send HAL_ERROR\r\n"), 100);
  else if(ret ==HAL_BUSY)
    HAL_UART_Transmit(&huart2, "\r\ncan send HAL_BUSY\r\n", strlen("\r\ncan send HAL_BUSY\r\n"), 100);
  else if(ret ==HAL_TIMEOUT)
    HAL_UART_Transmit(&huart2, "\r\ncan send HAL_TIMEOUT\r\n", strlen("\r\ncan send HAL_TIMEOUT\r\n"), 100);
    
}

3）实现can接收；我实现的业务逻辑是在can接收回调函数中串口打印接收到的can包

uint8_t User_CAN_RxData[10]=0;
uint32_t  User_CAN_Rx_ID = 0;
CAN_RxHeaderTypeDef   RxHeader;
void HAL_CAN_RxFifo0MsgPendingCallback(CAN_HandleTypeDef *hcan)
{
  if(hcan->Instance==CAN1)
  {
    HAL_CAN_GetRxMessage(hcan,CAN_FILTER_FIFO0,&RxHeader,User_CAN_RxData);
    User_CAN_Rx_ID = RxHeader.StdId;

    User_CAN_RxData[8] = '\r';
    User_CAN_RxData[9] = '\n';
    HAL_UART_Transmit(&huart2, User_CAN_RxData, strlen(User_CAN_RxData), 100);
    memset(User_CAN_RxData,0,sizeof(User_CAN_RxData));

    }
}