带有 STM32f103c8t6 Bluepill 和 CAN 总线的 HAL_CAN_ERROR_PARAM

Posted 2023-02-19

【中文标题】带有 STM32f103c8t6 Bluepill 和 CAN 总线的 HAL_CAN_ERROR_PARAM

【英文标题】：HAL_CAN_ERROR_PARAM with STM32f103c8t6 Bluepill and can bus

【发布时间】：2020-08-17 17:38:22

【问题描述】：

我正在努力通过带有 stm32f103 bluepill 板和 SN65HVD230 收发器（端接）的 CAN 总线发送消息。 在另一端，我使用终止的 USB 可以适配器，工作正常。 CAN 总线速度为 500kbit/s。

SN65HVD230的连接：

PA11 -> RX
PA12 -> TX
GND -> GND
3.3V -> 3.3V

CubeMX 中的配置

RCC -> High Speed Clock = Crystal/Ceramic resonator
CAN -> Master mode
    Prescaler = 4
    Time Quanta in Bit Segment 1 = 13
    Time Quanta in Bit Segment 2 = 2
    Resyncronization jump width = 1
SYSCLK = 32 MHz
HCLK = 32 MHz
APB2 = 32 Mhz
APB1 = 32 Mhz
FCLK = 32 MHZ

固件版本 1.8.0。这是main.c

/* USER CODE BEGIN Header */
/**
  ******************************************************************************
  * @file           : main.c
  * @brief          : Main program body
  ******************************************************************************
  * @attention
  *
  * <h2><center>&copy; Copyright (c) 2020 STMicroelectronics.
  * All rights reserved.</center></h2>
  *
  * This software component is licensed by ST under BSD 3-Clause license,
  * the "License"; You may not use this file except in compliance with the
  * License. You may obtain a copy of the License at:
  *                        opensource.org/licenses/BSD-3-Clause
  *
  ******************************************************************************
  */
/* USER CODE END Header */

/* Includes ------------------------------------------------------------------*/
#include "main.h"
#include "can.h"
#include "i2c.h"
#include "gpio.h"

/* Private includes ----------------------------------------------------------*/
/* USER CODE BEGIN Includes */

/* USER CODE END Includes */

/* Private typedef -----------------------------------------------------------*/
/* USER CODE BEGIN PTD */

/* USER CODE END PTD */

/* Private define ------------------------------------------------------------*/
/* USER CODE BEGIN PD */
/* USER CODE END PD */

/* Private macro -------------------------------------------------------------*/
/* USER CODE BEGIN PM */

/* USER CODE END PM */

/* Private variables ---------------------------------------------------------*/

/* USER CODE BEGIN PV */
CAN_TxHeaderTypeDef   TxHeader;
uint32_t              TxMailbox;
uint8_t TxData[8];
/* USER CODE END PV */

/* Private function prototypes -----------------------------------------------*/
void SystemClock_Config(void);
/* USER CODE BEGIN PFP */
void blink(int count, int duration);
/* USER CODE END PFP */

/* Private user code ---------------------------------------------------------*/
/* USER CODE BEGIN 0 */

/* USER CODE END 0 */

/**
  * @brief  The application entry point.
  * @retval int
  */
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();

  /* USER CODE BEGIN Init */

  /* USER CODE END Init */

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

  /* USER CODE BEGIN SysInit */

  /* USER CODE END SysInit */

  /* Initialize all configured peripherals */
  MX_GPIO_Init();
  MX_CAN_Init();
  MX_I2C1_Init();
  /* USER CODE BEGIN 2 */
  blink(3, 100);
  HAL_Delay(1000);

  /* USER CODE END 2 */

  /* Infinite loop */
  /* USER CODE BEGIN WHILE */
  while (1)
  
    /* USER CODE END WHILE */

    /* USER CODE BEGIN 3 */
    TxHeader.StdId = 0x321;
    TxHeader.RTR = CAN_RTR_DATA;
    TxHeader.IDE = CAN_ID_STD;
    TxHeader.DLC = 4;
    TxHeader.TransmitGlobalTime = DISABLE;
    TxData[0] = 0;
    TxData[1] = 1;
    TxData[2] = 2;
    TxData[3] = 3;

    if (HAL_CAN_AddTxMessage(&hcan, &TxHeader, TxData, &TxMailbox) == HAL_OK) 
      blink(1, 500);
     else 
      blink(2, 100);
    

    HAL_Delay(1000);
  
  /* USER CODE END 3 */


/**
  * @brief System Clock Configuration
  * @retval None
  */
void SystemClock_Config(void)

  RCC_OscInitTypeDef RCC_OscInitStruct = 0;
  RCC_ClkInitTypeDef RCC_ClkInitStruct = 0;

  /** Initializes the CPU, AHB and APB busses clocks 
  */
  RCC_OscInitStruct.OscillatorType = RCC_OSCILLATORTYPE_HSI;
  RCC_OscInitStruct.HSIState = RCC_HSI_ON;
  RCC_OscInitStruct.HSICalibrationValue = RCC_HSICALIBRATION_DEFAULT;
  RCC_OscInitStruct.PLL.PLLState = RCC_PLL_ON;
  RCC_OscInitStruct.PLL.PLLSource = RCC_PLLSOURCE_HSI_DIV2;
  RCC_OscInitStruct.PLL.PLLMUL = RCC_PLL_MUL8;
  if (HAL_RCC_OscConfig(&RCC_OscInitStruct) != HAL_OK)
  
    Error_Handler();
  
  /** Initializes the CPU, AHB and APB busses clocks 
  */
  RCC_ClkInitStruct.ClockType = RCC_CLOCKTYPE_HCLK|RCC_CLOCKTYPE_SYSCLK
                              |RCC_CLOCKTYPE_PCLK1|RCC_CLOCKTYPE_PCLK2;
  RCC_ClkInitStruct.SYSCLKSource = RCC_SYSCLKSOURCE_PLLCLK;
  RCC_ClkInitStruct.AHBCLKDivider = RCC_SYSCLK_DIV1;
  RCC_ClkInitStruct.APB1CLKDivider = RCC_HCLK_DIV1;
  RCC_ClkInitStruct.APB2CLKDivider = RCC_HCLK_DIV1;

  if (HAL_RCC_ClockConfig(&RCC_ClkInitStruct, FLASH_LATENCY_1) != HAL_OK)
  
    Error_Handler();
  


/* USER CODE BEGIN 4 */
void blink(int count, int duration) 
  for (int i = 0; i < count; i++) 
      HAL_GPIO_WritePin(GPIOC, GPIO_PIN_13, GPIO_PIN_RESET);
      HAL_Delay(duration / 2);
      HAL_GPIO_WritePin(GPIOC, GPIO_PIN_13, GPIO_PIN_SET);
      HAL_Delay(duration / 2);
  

/* USER CODE END 4 */

/**
  * @brief  This function is executed in case of error occurrence.
  * @retval None
  */
void Error_Handler(void)

  /* USER CODE BEGIN Error_Handler_Debug */
  /* User can add his own implementation to report the HAL error return state */

  /* USER CODE END Error_Handler_Debug */


#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,
     tex: printf("Wrong parameters value: file %s on line %d\r\n", file, line) */
  /* USER CODE END 6 */

#endif /* USE_FULL_ASSERT */

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

在调试器中调用 HAL_CAN_AddTxMessage 3 次（3 个邮箱？）后，在 hcan.ErrorCode 中显示 0x200 错误，即定义为 HAL_CAN_ERROR_PARAM。好像所有邮箱都满了，没有消息发送到总线。

任何想法如何调试此问题并使其正常工作？

【参考方案1】：

问题似乎是 CAN TX 缓冲区繁忙状态，您可以在 CAN TX 消息之间实现时间偏移，以便让驱动程序完成传输。

【参考方案2】：

我听说 SN65HVD230 不适用于 bluepill