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CAN_HandleTypeDef hcan1; CAN_HandleTypeDef hcan2; /* 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 = 9; hcan1.Init.Mode = CAN_MODE_NORMAL; hcan1.Init.SyncJumpWidth = CAN_SJW_1TQ; hcan1.Init.TimeSeg1 = CAN_BS1_13TQ; hcan1.Init.TimeSeg2 = CAN_BS2_2TQ; hcan1.Init.TimeTriggeredMode = DISABLE; hcan1.Init.AutoBusOff = ENABLE; hcan1.Init.AutoWakeUp = ENABLE; 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 */ /* USER CODE END CAN1_Init 2 */ } /* CAN2 init function */ void MX_CAN2_Init(void) { /* USER CODE BEGIN CAN2_Init 0 */ /* USER CODE END CAN2_Init 0 */ /* USER CODE BEGIN CAN2_Init 1 */ /* USER CODE END CAN2_Init 1 */ hcan2.Instance = CAN2; hcan2.Init.Prescaler = 9; hcan2.Init.Mode = CAN_MODE_NORMAL; hcan2.Init.SyncJumpWidth = CAN_SJW_1TQ; hcan2.Init.TimeSeg1 = CAN_BS1_13TQ; hcan2.Init.TimeSeg2 = CAN_BS2_2TQ; hcan2.Init.TimeTriggeredMode = DISABLE; hcan2.Init.AutoBusOff = ENABLE; hcan2.Init.AutoWakeUp = ENABLE; hcan2.Init.AutoRetransmission = DISABLE; hcan2.Init.ReceiveFifoLocked = DISABLE; hcan2.Init.TransmitFifoPriority = DISABLE; if (HAL_CAN_Init(&hcan2) != HAL_OK) { Error_Handler(); } /* USER CODE BEGIN CAN2_Init 2 */ /* USER CODE END CAN2_Init 2 */ } static uint32_t HAL_RCC_CAN1_CLK_ENABLED=0; 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_ENABLED++; if(HAL_RCC_CAN1_CLK_ENABLED==1){ __HAL_RCC_CAN1_CLK_ENABLE(); } __HAL_RCC_GPIOD_CLK_ENABLE(); /**CAN1 GPIO Configuration PD0 ------> CAN1_RX PD1 ------> CAN1_TX */ GPIO_InitStruct.Pin = GPIO_PIN_0; GPIO_InitStruct.Mode = GPIO_MODE_INPUT; GPIO_InitStruct.Pull = GPIO_NOPULL; HAL_GPIO_Init(GPIOD, &GPIO_InitStruct); GPIO_InitStruct.Pin = GPIO_PIN_1; GPIO_InitStruct.Mode = GPIO_MODE_AF_PP; GPIO_InitStruct.Speed = GPIO_SPEED_FREQ_HIGH; HAL_GPIO_Init(GPIOD, &GPIO_InitStruct); __HAL_AFIO_REMAP_CAN1_3(); /* CAN1 interrupt Init */ HAL_NVIC_SetPriority(CAN1_RX0_IRQn, 6, 0); HAL_NVIC_EnableIRQ(CAN1_RX0_IRQn); /* USER CODE BEGIN CAN1_MspInit 1 */ /* USER CODE END CAN1_MspInit 1 */ } else if(canHandle->Instance==CAN2) { /* USER CODE BEGIN CAN2_MspInit 0 */ /* USER CODE END CAN2_MspInit 0 */ /* CAN2 clock enable */ __HAL_RCC_CAN2_CLK_ENABLE(); HAL_RCC_CAN1_CLK_ENABLED++; if(HAL_RCC_CAN1_CLK_ENABLED==1){ __HAL_RCC_CAN1_CLK_ENABLE(); } __HAL_RCC_GPIOB_CLK_ENABLE(); /**CAN2 GPIO Configuration PB5 ------> CAN2_RX PB6 ------> CAN2_TX */ GPIO_InitStruct.Pin = GPIO_PIN_5; GPIO_InitStruct.Mode = GPIO_MODE_INPUT; GPIO_InitStruct.Pull = GPIO_NOPULL; HAL_GPIO_Init(GPIOB, &GPIO_InitStruct); GPIO_InitStruct.Pin = GPIO_PIN_6; GPIO_InitStruct.Mode = GPIO_MODE_AF_PP; GPIO_InitStruct.Speed = GPIO_SPEED_FREQ_HIGH; HAL_GPIO_Init(GPIOB, &GPIO_InitStruct); __HAL_AFIO_REMAP_CAN2_ENABLE(); /* CAN2 interrupt Init */ HAL_NVIC_SetPriority(CAN2_RX1_IRQn, 6, 0); HAL_NVIC_EnableIRQ(CAN2_RX1_IRQn); /* USER CODE BEGIN CAN2_MspInit 1 */ /* USER CODE END CAN2_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_ENABLED--; if(HAL_RCC_CAN1_CLK_ENABLED==0){ __HAL_RCC_CAN1_CLK_DISABLE(); } /**CAN1 GPIO Configuration PD0 ------> CAN1_RX PD1 ------> CAN1_TX */ HAL_GPIO_DeInit(GPIOD, GPIO_PIN_0|GPIO_PIN_1); /* CAN1 interrupt Deinit */ HAL_NVIC_DisableIRQ(CAN1_RX0_IRQn); /* USER CODE BEGIN CAN1_MspDeInit 1 */ /* USER CODE END CAN1_MspDeInit 1 */ } else if(canHandle->Instance==CAN2) { /* USER CODE BEGIN CAN2_MspDeInit 0 */ /* USER CODE END CAN2_MspDeInit 0 */ /* Peripheral clock disable */ __HAL_RCC_CAN2_CLK_DISABLE(); HAL_RCC_CAN1_CLK_ENABLED--; if(HAL_RCC_CAN1_CLK_ENABLED==0){ __HAL_RCC_CAN1_CLK_DISABLE(); } /**CAN2 GPIO Configuration PB5 ------> CAN2_RX PB6 ------> CAN2_TX */ HAL_GPIO_DeInit(GPIOB, GPIO_PIN_5|GPIO_PIN_6); /* CAN2 interrupt Deinit */ HAL_NVIC_DisableIRQ(CAN2_RX1_IRQn); /* USER CODE BEGIN CAN2_MspDeInit 1 */ /* USER CODE END CAN2_MspDeInit 1 */ } } //CAN1 初始化 void bsp_can1_init(void) { /*过滤器 CAN1过滤器范围0-13 ，CAN2过滤器范围14-27*/ 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 = ENABLE; sFilterConfig.SlaveStartFilterBank = 14; if (HAL_CAN_ConfigFilter(&hcan1, &sFilterConfig) != HAL_OK) { /* Filter configuration Error */ Error_Handler(); } // FilterConfig_Scale32_Null(&hcan1,0);//不过滤 // FilterConfig_Scale32_IdMask_StandardIdOnly(&hcan1,1,(uint16_t *)StdIdArray);//单标准ID // Filter_Scale32_IdMask_ExtendIdOnly(&hcan1,2,(uint32_t *)ExtIdArray);//单扩展ID // Filter_Scale32_IdMask_StandardId_ExtendId_Mix(&hcan1,3,(uint16_t *)StdIdArray,(uint32_t *)ExtIdArray);//标准ID + 扩展ID /*波特率重新调整*/ CAN_Baud_Process(250,&hcan1); /* Start the CAN peripheral */ if (HAL_CAN_Start(&hcan1) != HAL_OK) { /* Start Error */ Error_Handler(); } /* Activate CAN RX notification */ if (HAL_CAN_ActivateNotification(&hcan1, CAN_IT_RX_FIFO0_MSG_PENDING) != HAL_OK) { /* Notification Error */ Error_Handler(); } // /* Activate CAN BUSOFF notification ###################################*/ // if (HAL_CAN_ActivateNotification(&hcan1, CAN_IT_BUSOFF) != HAL_OK) // { // /* Notification Error */ // Error_Handler(); // } // /* Activate CAN TX notification */ // if (HAL_CAN_ActivateNotification(&hcan1, CAN_IT_TX_MAILBOX_EMPTY) != HAL_OK) // { // /* Notification Error */ // Error_Handler(); // } } //CAN2 初始化 void bsp_can2_init(void) { /*过滤器 CAN1过滤器范围0-13 ，CAN2过滤器范围14-27*/ CAN_FilterTypeDef sFilterConfig; sFilterConfig.FilterBank = 14; 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_FIFO1; sFilterConfig.FilterActivation = ENABLE; sFilterConfig.SlaveStartFilterBank = 14; if (HAL_CAN_ConfigFilter(&hcan1, &sFilterConfig) != HAL_OK) { /* Filter configuration Error */ Error_Handler(); } // FilterConfig_Scale32_Null(&hcan2,14);//不过滤 // FilterConfig_Scale32_IdMask_StandardIdOnly(&hcan1,15,(uint16_t *)StdIdArray);//单标准ID // Filter_Scale32_IdMask_ExtendIdOnly(&hcan1,16,(uint32_t *)ExtIdArray);//单扩展ID // Filter_Scale32_IdMask_StandardId_ExtendId_Mix(&hcan1,17,(uint16_t *)StdIdArray,(uint32_t *)ExtIdArray);//标准ID + 扩展ID /*波特率重新调整*/ CAN_Baud_Process(250,&hcan2); /* Start the CAN peripheral */ if (HAL_CAN_Start(&hcan2) != HAL_OK) { /* Start Error */ Error_Handler(); } /* Activate CAN RX notification */ if (HAL_CAN_ActivateNotification(&hcan2, CAN_IT_RX_FIFO1_MSG_PENDING) != HAL_OK) { /* Notification Error */ Error_Handler(); } // /* Activate CAN BUSOFF notification ###################################*/ // if (HAL_CAN_ActivateNotification(&hcan2, CAN_IT_BUSOFF) != HAL_OK) // { // /* Notification Error */ // Error_Handler(); // } // /* Activate CAN TX notification */ // if (HAL_CAN_ActivateNotification(&hcan2, CAN_IT_TX_MAILBOX_EMPTY) != HAL_OK) // { // /* Notification Error */ // Error_Handler(); // } } /** * @brief Rx FIFO 0 full callback. * @param hcan pointer to a CAN_HandleTypeDef structure that contains * the configuration information for the specified CAN. * @retval None */ void HAL_CAN_RxFifo0MsgPendingCallback(CAN_HandleTypeDef *hcan) { //CAN1 -FIFO0 接收处理 if (HAL_CAN_GetRxMessage(hcan, CAN_RX_FIFO0, &bsp_can1.RxMessage, bsp_can1.RxData) != HAL_OK) { Error_Handler(); } uint32_t r_std_id = bsp_can1.RxMessage.StdId; uint32_t r_ext_id = bsp_can1.RxMessage.ExtId; printf("CAN1->0x%03X, 0x%08X, %02X, %02X, %02X, %02X, %02X, %02X, %02X, %02X\r\n", r_std_id, r_ext_id, bsp_can1.RxData[0], bsp_can1.RxData[1], bsp_can1.RxData[2], bsp_can1.RxData[3], bsp_can1.RxData[4], bsp_can1.RxData[5], bsp_can1.RxData[6], bsp_can1.RxData[7]); bsp_can1.RxMessage.StdId = 0; bsp_can1.RxMessage.ExtId = 0; } /** * @brief Rx FIFO 1 message pending callback. * @param hcan pointer to a CAN_HandleTypeDef structure that contains * the configuration information for the specified CAN. * @retval None */ void HAL_CAN_RxFifo1MsgPendingCallback(CAN_HandleTypeDef *hcan) { //CAN2 -FIFO1 接收处理 if (HAL_CAN_GetRxMessage(hcan, CAN_RX_FIFO1, &bsp_can2.RxMessage, bsp_can2.RxData) != HAL_OK) { Error_Handler(); } uint32_t r_std_id = bsp_can2.RxMessage.StdId; uint32_t r_ext_id = bsp_can2.RxMessage.ExtId; printf("CAN2->0x%03X, 0x%08X, %02X, %02X, %02X, %02X, %02X, %02X, %02X, %02X\r\n", r_std_id, r_ext_id, bsp_can2.RxData[0], bsp_can2.RxData[1], bsp_can2.RxData[2], bsp_can2.RxData[3], bsp_can2.RxData[4], bsp_can2.RxData[5], bsp_can2.RxData[6], bsp_can2.RxData[7]); bsp_can2.RxMessage.StdId = 0; bsp_can2.RxMessage.ExtId = 0; /* NOTE : This function Should not be modified, when the callback is needed, the HAL_CAN_RxFifo1MsgPendingCallback could be implemented in the user file */ } /** * @brief CAN1 发送数据 * @param StdId 标准ID，不使用则传0 * @param ExtId 扩展ID，不使用则传0 * @param pData 发送数据 * @param Len 发送长度 */ uint8_t CAN1_SendNormalData(uint16_t StdId,uint32_t ExtId, uint16_t Len) { HAL_StatusTypeDef HAL_RetVal; uint8_t FreeTxNum = 0; bsp_can1.TxMessage.StdId = StdId; bsp_can1.TxMessage.ExtId = ExtId; if(ExtId)bsp_can1.TxMessage.IDE = CAN_ID_EXT; else bsp_can1.TxMessage.IDE = CAN_ID_STD; bsp_can1.TxMessage.TransmitGlobalTime = DISABLE; bsp_can1.TxMessage.RTR = CAN_RTR_DATA;//使用标准帧 if(Len > 8 || !Len)return 1; bsp_can1.TxMessage.DLC = Len; FreeTxNum = HAL_CAN_GetTxMailboxesFreeLevel(&hcan1); while(0 == FreeTxNum) { osDelay(1); FreeTxNum = HAL_CAN_GetTxMailboxesFreeLevel(&hcan1); if(0 == FreeTxNum) { return 2; } } HAL_RetVal = HAL_CAN_AddTxMessage(&hcan1, &bsp_can1.TxMessage, bsp_can1.TxData, &bsp_can1.TxMailbox); if(HAL_RetVal != HAL_OK) { return 2; } return 0; } /*** @brief CAN2 发送数据 * @param StdId 标准ID，不使用则传0 * @param ExtId 扩展ID，不使用则传0 * @param pData 发送数据 * @param Len 发送长度 */ uint8_t CAN2_SendNormalData(uint16_t StdId,uint32_t ExtId, uint16_t Len) { HAL_StatusTypeDef HAL_RetVal; uint8_t FreeTxNum = 0; bsp_can2.TxMessage.StdId = StdId; bsp_can2.TxMessage.ExtId = ExtId; if(ExtId)bsp_can2.TxMessage.IDE = CAN_ID_EXT; else bsp_can2.TxMessage.IDE = CAN_ID_STD; bsp_can2.TxMessage.TransmitGlobalTime = DISABLE; bsp_can2.TxMessage.RTR = CAN_RTR_DATA;//使用标准帧 if(Len > 8 || !Len)return 1; bsp_can2.TxMessage.DLC = Len; FreeTxNum = HAL_CAN_GetTxMailboxesFreeLevel(&hcan2); while(0 == FreeTxNum) { osDelay(1); FreeTxNum = HAL_CAN_GetTxMailboxesFreeLevel(&hcan2); if(0 == FreeTxNum) { return 2; } } HAL_RetVal = HAL_CAN_AddTxMessage(&hcan2, &bsp_can2.TxMessage, bsp_can2.TxData, &bsp_can2.TxMailbox); if(HAL_RetVal != HAL_OK) { return 2; } return 0; } 主函数： void myTask02_Fun(void *argument) { /* USER CODE BEGIN myTask02_Fun */ /* Infinite loop */ for(;;) { //printf("test...\r\n"); FAN_PR_4_Toggle(); ++bsp_can1.TxData[0]; CAN1_SendNormalData(0x11,0x0,4); ++bsp_can2.TxData[0]; CAN2_SendNormalData(0x22,0x0,8); osDelay(1000); } /* USER CODE END myTask02_Fun */ } /******************************************/ /* 经过调试发现CAN2发送的数据都卡在发送邮箱里面； 配置过滤器的时候，使用CAN1句柄，也是接收不到数据。 通过查看寄存器，发送错误寄存器ESR的LEC值一直是101 （显性位错），在发送是TEC的值是变化的，接收数据时REC的值也是变化的。 现在不知道如何处理，就只有CAN2有这问题，CAN1的收发是完全没问题的。 */ |
软件下载速度太慢了
求助：PMSM电机编码器线数（分辨率）为80000线，超过MCSDK5.4.8软件所能设置的最大线数65535，请问如何解决
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[md]调试到最好发现是硬件问题。换了块TJA1050就正常啦
void bsp_can2_init(void){CAN_FilterTypeDef sFilterConfig;sFilterConfig.FilterBank = 14;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_FIFO1;sFilterConfig.FilterActivation = ENABLE;sFilterConfig.SlaveStartFilterBank = 14;if (HAL_CAN_ConfigFilter(&hcan1, &sFilterConfig) != HAL_OK)
。。。。。。
使用CAN1句柄去配置CAN2的过滤器也是不行。。还是发不了数据 和 接收不到数据
CAN1 can2用法是一样的。
干脆就只对CAN2进行验证测试，先基于回环模式进行测试，这样可以先排除硬件方面的原因。注意滤波器设置那里照样使用CAN1.
OK,
谢谢反馈！