STM32F429 没有收到 CAN 报文

Posted 2023-02-19

技术标签:

【中文标题】STM32F429 没有收到 CAN 报文【英文标题】：STM32F429 is not receiving the CAN Message 【发布时间】：2015-02-03 14:36:58 【问题描述】：

我正在使用 STM32F429 微控制器，需要在 CAN2 和 PCAN View 之间实现 CAN 总线通信。我能够从 CAN2 传输消息，但我无法接收任何消息。我在微控制器中使用 TJA1041A CAN 收发器。问题是在调试过程中，我的 CAN 总线已正确初始化，但尽管我已初始化 FIFO0，但它并没有进入接收命令。特此附上程序以供进一步参考。我使用 STM32 HAL Cube 进行编程。

/**
  ******************************************************************************
  * File Name          : main.c
  * Date               : 05/12/2014 09:43:55
  * Description        : Main program body
  ******************************************************************************
  *
  * COPYRIGHT(c) 2014 STMicroelectronics
  *
  * Redistribution and use in source and binary forms, with or without modification,
  * are permitted provided that the following conditions are met:
  *   1. Redistributions of source code must retain the above copyright notice,
  *      this list of conditions and the following disclaimer.
  *   2. Redistributions in binary form must reproduce the above copyright notice,
  *      this list of conditions and the following disclaimer in the documentation
  *      and/or other materials provided with the distribution.
  *   3. Neither the name of STMicroelectronics nor the names of its contributors
  *      may be used to endorse or promote products derived from this software
  *      without specific prior written permission.
  *
  * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
  * AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
  * IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE
  * DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE LIABLE
  * FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL
  * DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR
  * SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER
  * CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY,
  * OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE
  * OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
  *
  ******************************************************************************
  */

/* Includes ------------------------------------------------------------------*/
#include "stm32f4xx_hal.h"

/* USER CODE BEGIN Includes */

/* USER CODE END Includes */

/* Private variables ---------------------------------------------------------*/
CAN_HandleTypeDef hcan1;
CAN_HandleTypeDef hcan2;

/* USER CODE BEGIN PV */

/* USER CODE END PV */

/* Private function prototypes -----------------------------------------------*/
void SystemClock_Config(void);
static void MX_GPIO_Init(void);
static void MX_CAN1_Init(void);
static void MX_CAN2_Init(void);

/* USER CODE BEGIN PFP */

/* USER CODE END PFP */

/* USER CODE BEGIN 0 */

/* USER CODE END 0 */

int main(void)


  /* USER CODE BEGIN 1 */

  /* USER CODE END 1 */

  /* MCU Configuration----------------------------------------------------------*/

  /* Reset of all peripherals, Initializes the Flash interface and the Systick. */
  HAL_Init();

  /* Configure the system clock */
  SystemClock_Config();

  /* Initialize all configured peripherals */
  MX_GPIO_Init();
  MX_CAN1_Init();
  MX_CAN2_Init();

  /* USER CODE BEGIN 2 */
 __GPIOD_CLK_ENABLE();

 GPIO_InitTypeDef  GPIO_Initpins;
 
 GPIO_Initpins.Mode = GPIO_MODE_OUTPUT_PP ;
 GPIO_Initpins.Pin = GPIO_PIN_5|GPIO_PIN_7;
 GPIO_Initpins.Pull = GPIO_NOPULL  ;
 HAL_GPIO_Init(GPIOD, &GPIO_Initpins);
 
 HAL_GPIO_WritePin(GPIOD, GPIO_PIN_5|GPIO_PIN_7, GPIO_PIN_SET);
  /* USER CODE END 2 */

  /* USER CODE BEGIN 3 */
  /* Infinite loop */
  CanTxMsgTypeDef TxMess;
  
  TxMess.StdId = 0x123;
  TxMess.DLC = 0x0;
  TxMess.Data[0] = 0x12;
  TxMess.IDE = 0;
  TxMess.RTR = 0;
 
    hcan2.pTxMsg = &TxMess;
    HAL_CAN_Transmit(&hcan2,50);
    HAL_Delay(500);
  
 /* USER CODE END 2 */

  

 CanRxMsgTypeDef RMess;
 
  RMess.FIFONumber = CAN_FIFO1;
  RMess.FMI = 14;
  RMess.StdId = 0x541;
  RMess.DLC = 0;
  RMess.RTR = 0;
  RMess.IDE = CAN_ID_STD;
  hcan2.pRxMsg = &RMess;
  
  HAL_CAN_Receive_IT(&hcan2,CAN_FIFO1);
  /* USER CODE BEGIN 3 */
  /* Infinite loop */
  while (1)
  
  
   HAL_CAN_Receive(&hcan2,CAN_FIFO1,0);
   
  
  /* USER CODE END 3 */



/** System Clock Configuration
*/
void SystemClock_Config(void)


  RCC_OscInitTypeDef RCC_OscInitStruct;
  RCC_ClkInitTypeDef RCC_ClkInitStruct;

  __PWR_CLK_ENABLE();

  __HAL_PWR_VOLTAGESCALING_CONFIG(PWR_REGULATOR_VOLTAGE_SCALE3);

  RCC_OscInitStruct.OscillatorType = RCC_OSCILLATORTYPE_HSE;
  RCC_OscInitStruct.HSEState = RCC_HSE_ON;
  RCC_OscInitStruct.PLL.PLLState = RCC_PLL_NONE;
  HAL_RCC_OscConfig(&RCC_OscInitStruct);

  RCC_ClkInitStruct.ClockType = RCC_CLOCKTYPE_SYSCLK;
  RCC_ClkInitStruct.SYSCLKSource = RCC_SYSCLKSOURCE_HSE;
  RCC_ClkInitStruct.AHBCLKDivider = RCC_SYSCLK_DIV1;
  RCC_ClkInitStruct.APB1CLKDivider = RCC_HCLK_DIV1;
  RCC_ClkInitStruct.APB2CLKDivider = RCC_HCLK_DIV1;
  HAL_RCC_ClockConfig(&RCC_ClkInitStruct, FLASH_LATENCY_0);



/* CAN1 init function */
void MX_CAN1_Init(void)


  hcan1.Instance = CAN1;
  hcan1.Init.Prescaler = 16;
  hcan1.Init.Mode = CAN_MODE_NORMAL;
  hcan1.Init.SJW = CAN_SJW_1TQ;
  hcan1.Init.BS1 = CAN_BS1_1TQ;
  hcan1.Init.BS2 = CAN_BS2_1TQ;
  hcan1.Init.TTCM = DISABLE;
  hcan1.Init.ABOM = DISABLE;
  hcan1.Init.AWUM = DISABLE;
  hcan1.Init.NART = DISABLE;
  hcan1.Init.RFLM = DISABLE;
  hcan1.Init.TXFP = DISABLE;
  HAL_CAN_Init(&hcan1);

  /*CAN_FilterConfTypeDef CAN_Filters;
  
     CAN_Filters.BankNumber = 0;
     CAN_Filters.FilterActivation = ENABLE;
     CAN_Filters.FilterFIFOAssignment = CAN_FILTER_FIFO0 ;
     CAN_Filters.FilterIdHigh = 0x00;
     CAN_Filters.FilterIdLow = 0x00;
     CAN_Filters.FilterMaskIdHigh = 0x00;
     CAN_Filters.FilterMaskIdLow = 0x00;
     CAN_Filters.FilterMode = CAN_FILTERMODE_IDMASK;
     CAN_Filters.FilterNumber = 0;
     CAN_Filters.FilterScale = CAN_FILTERSCALE_32BIT;
   
     HAL_CAN_ConfigFilter(&hcan1, &CAN_Filters);*/ 



/* CAN2 init function */
void MX_CAN2_Init(void)

  hcan2.Instance = CAN2;
  hcan2.Init.Prescaler = 2;
  hcan2.Init.Mode = CAN_MODE_NORMAL;
  hcan2.Init.SJW = CAN_SJW_1TQ;
  hcan2.Init.BS1 = CAN_BS1_5TQ;
  hcan2.Init.BS2 = CAN_BS2_2TQ;
  hcan2.Init.TTCM = DISABLE;
  hcan2.Init.ABOM = DISABLE;
  hcan2.Init.AWUM = DISABLE;
  hcan2.Init.NART = DISABLE;
  hcan2.Init.RFLM = DISABLE;
  hcan2.Init.TXFP = DISABLE;
  HAL_CAN_Init(&hcan2);
  
 

/** Configure pins as 
        * Analog 
        * Input 
        * Output
        * EVENT_OUT
        * EXTI
*/
void MX_GPIO_Init(void)


  /* GPIO Ports Clock Enable */
  __GPIOH_CLK_ENABLE();
  __GPIOB_CLK_ENABLE();
  __GPIOA_CLK_ENABLE();



/* USER CODE BEGIN 4 */

/* USER CODE END 4 */

#ifdef USE_FULL_ASSERT

/**
   * @brief Reports the name of the source file and the source line number
   * where the assert_param error has occurred.
   * @param file: pointer to the source file name
   * @param line: assert_param error line source number
   * @retval None
   */
void assert_failed(uint8_t* file, uint32_t line)

  /* USER CODE BEGIN 6 */
  /* User can add his own implementation to report the file name and line number,
    ex: printf("Wrong parameters value: file %s on line %d\r\n", file, line) */
  /* USER CODE END 6 */



#endif

/**
  * @
  */ 

/**
  * @
*/ 

/************************ (C) COPYRIGHT STMicroelectronics *****END OF FILE****/

谢谢

【问题讨论】：

有人找到解决上述问题的方法了吗？ 【参考方案1】：

如果CAN2可以发送报文，那么CAN1（主）和CAN2（从）之间的时钟和主从配置都可以。

如果有接收问题，这些应该与 FIFO 配置或验收过滤器配置有关。

您配置了 FIFO，但您似乎没有配置“CAN2StartBank”。 CAN1 和 CAN2 也共享滤波器组，默认情况下，滤波器组被分成两半，因此前半部分用于 CAN1，后半部分用于 CAN2。

来自参考手册章节“CAN过滤器寄存器”：

CAN 过滤器主寄存器 (CAN_FMR)

地址偏移：0x200 复位值：0x2A1C 0E01 这个所有位

寄存器由软件设置和清除。 ... CAN2SB[5:0]: CAN2 start bank 这些位由
设置和清除
软件。它们在
中定义了 CAN2 接口（Slave）的起始组
范围 0 到 27。注意：当 CAN2SB[5:0] = 28d 时，所有的过滤器到

可以使用CAN1。当 CAN2SB[5:0] 设置为 0 时，不分配滤波器到 CAN1。

你设置了

CAN_Filters.BankNumber = 0;

但你应该从后半部分选择一个默认设置的银行，或者如果你不需要 CAN1，请将 CAN2StartBank 值更改为 0。

您还必须确保在过滤器配置期间过滤器处于初始化模式。

CAN 过滤器主寄存器 (CAN_FMR)

Bit 0 FINIT：滤波器初始化模式滤波器组的初始化模式

0：主动过滤器模式。

1：过滤器的初始化模式

遗憾的是，我现在没有硬件可以自行测试。

【讨论】：

感谢您的回复...即使更改了我的 BankNumber = 14，我也无法从 PCAN 设备收到任何消息。 CAN1->FMR &= ~((uint32_t)CAN_FMR_CAN2SB); CAN1->FMR |= (uint32_t)(sFilterConfig->BankNumber 以上是 Slave Bank 的声明，我只使用 CAn2，因为我不需要 CAn1 连接【参考方案2】：

您应该为 CAN2 接口取一个 FilterNumber 14；默认情况下，RESET 位 CAN2SB[5:0] 初始化为 01110 = dec 14 - 因此 CAN1 接口应该使用过滤器 0..13 和 CAN2 14..27。您可以通过 CAN_SlaveStartBank(uint_8) 方法将起始 bank 从 14 更改为 1..27 内的任何值。

【讨论】：

【参考方案3】：

尝试将CAN2接口的Filterbank设置为14以上，似乎bank设置有问题。我们也有同样的问题，但是设置15后就可以了。

【讨论】：

【参考方案4】：

检查CAN FMR 注册。 CAN2SB 在CAN1 和CAN2 外设寄存器中的默认值是0x0E。您应该将CAN1FMR->CANS2B 设置为0x00，并将CAN2FMR->CANS2B 设置为0x0E（任意但不相同的数字）。因此，您将过滤器组分成两半，它可以正常工作

【讨论】：

以上是关于STM32F429 没有收到 CAN 报文的主要内容，如果未能解决你的问题，请参考以下文章

stm32f429isp下载无法收到回应

无法使用 HAL 驱动程序在 STM32F429 上写入双字

STM32F429时钟不正确导致串口无法正确收发

CAN过滤

SDRAM 与 STM32F429BI 接口存在闪烁问题

STM32F429第3章 ThreadX USBX协议栈移植到STM32F429