STM32H743ZI Nucleo 似乎无法通过 FDCAN 2 传输?
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【中文标题】STM32H743ZI Nucleo 似乎无法通过 FDCAN 2 传输?【英文标题】:STM32H743ZI Nucleo seems unable to transmit via FDCAN 2? 【发布时间】:2021-03-26 02:44:46 【问题描述】:我目前正在尝试通过 Nucleo 上的两个 FDCAN 发射器发送消息。但我只能通过 FDCAN1(经典主机)传输,而不能通过 FDCAN 2(经典从机)。
配置设置相同,只有 FDCAN1 开始发送,而 FDCAN 2 在短时间内出现缓冲区溢出,从不发送任何内容。我正在使用 CANoe 进行监控,我只能看到通过 FDCAN1 发送的消息。
我也知道这不是硬件问题,因为我更换了电缆和电路板,但问题仍然存在。我的电缆也正确端接...
我有什么明显的遗漏吗?
这是我的代码,我使用 CubeMx 进行第一次初始化。
fdcan.c 文件: `
FDCAN_HandleTypeDef hfdcan1;
FDCAN_HandleTypeDef hfdcan2;
/* FDCAN1 init function */
void MX_FDCAN1_Init(void)
hfdcan1.Instance = FDCAN1;
hfdcan1.Init.FrameFormat = FDCAN_FRAME_CLASSIC;
hfdcan1.Init.Mode = FDCAN_MODE_NORMAL;
hfdcan1.Init.AutoRetransmission = DISABLE;
hfdcan1.Init.TransmitPause = DISABLE;
hfdcan1.Init.NominalPrescaler = 5;
hfdcan1.Init.NominalSyncJumpWidth = 1;
hfdcan1.Init.NominalTimeSeg1 = 11;
hfdcan1.Init.NominalTimeSeg2 = 4;
hfdcan1.Init.DataPrescaler = 1;
hfdcan1.Init.DataSyncJumpWidth = 1;
hfdcan1.Init.DataTimeSeg1 = 1;
hfdcan1.Init.DataTimeSeg2 = 1;
hfdcan1.Init.MessageRAMOffset = 0;
hfdcan1.Init.StdFiltersNbr = 0;
hfdcan1.Init.ExtFiltersNbr = 0;
hfdcan1.Init.RxFifo0ElmtsNbr = 8;
hfdcan1.Init.RxFifo0ElmtSize = FDCAN_DATA_BYTES_8;
hfdcan1.Init.RxFifo1ElmtsNbr = 0;
hfdcan1.Init.RxFifo1ElmtSize = FDCAN_DATA_BYTES_8;
hfdcan1.Init.RxBuffersNbr = 0;
hfdcan1.Init.RxBufferSize = FDCAN_DATA_BYTES_8;
hfdcan1.Init.TxEventsNbr = 0;
hfdcan1.Init.TxBuffersNbr = 0;
hfdcan1.Init.TxFifoQueueElmtsNbr = 8;
hfdcan1.Init.TxFifoQueueMode = FDCAN_TX_FIFO_OPERATION;
hfdcan1.Init.TxElmtSize = FDCAN_DATA_BYTES_8;
hfdcan1.msgRam.StandardFilterSA = 0;
hfdcan1.msgRam.ExtendedFilterSA = 0;
hfdcan1.msgRam.RxFIFO0SA = 0;
hfdcan1.msgRam.RxFIFO1SA = 0;
hfdcan1.msgRam.RxBufferSA = 0;
hfdcan1.msgRam.TxEventFIFOSA = 0;
hfdcan1.msgRam.TxBufferSA = 0;
hfdcan1.msgRam.TxFIFOQSA = 0;
hfdcan1.msgRam.TTMemorySA = 0;
hfdcan1.msgRam.EndAddress = 0;
hfdcan1.ErrorCode = 0;
if (HAL_FDCAN_Init(&hfdcan1) != HAL_OK)
_Error_Handler(__FILE__, __LINE__);
/* FDCAN2 init function */
void MX_FDCAN2_Init(void)
hfdcan2.Instance = FDCAN2;
hfdcan2.Init.FrameFormat = FDCAN_FRAME_CLASSIC;
hfdcan2.Init.Mode = FDCAN_MODE_NORMAL;
hfdcan2.Init.AutoRetransmission = DISABLE;
hfdcan2.Init.TransmitPause = DISABLE;
hfdcan2.Init.NominalPrescaler = 5;
hfdcan2.Init.NominalSyncJumpWidth = 1;
hfdcan2.Init.NominalTimeSeg1 = 11;
hfdcan2.Init.NominalTimeSeg2 = 4;
hfdcan2.Init.DataPrescaler = 1;
hfdcan2.Init.DataSyncJumpWidth = 1;
hfdcan2.Init.DataTimeSeg1 = 1;
hfdcan2.Init.DataTimeSeg2 = 1;
hfdcan2.Init.MessageRAMOffset = 0;
hfdcan2.Init.StdFiltersNbr = 0;
hfdcan2.Init.ExtFiltersNbr = 0;
hfdcan2.Init.RxFifo0ElmtsNbr = 8;
hfdcan2.Init.RxFifo0ElmtSize = FDCAN_DATA_BYTES_8;
hfdcan2.Init.RxFifo1ElmtsNbr = 0;
hfdcan2.Init.RxFifo1ElmtSize = FDCAN_DATA_BYTES_8;
hfdcan2.Init.RxBuffersNbr = 0;
hfdcan2.Init.RxBufferSize = FDCAN_DATA_BYTES_8;
hfdcan2.Init.TxEventsNbr = 0;
hfdcan2.Init.TxBuffersNbr = 0;
hfdcan2.Init.TxFifoQueueElmtsNbr = 16;
hfdcan2.Init.TxFifoQueueMode = FDCAN_TX_FIFO_OPERATION;
hfdcan2.Init.TxElmtSize = FDCAN_DATA_BYTES_8;
hfdcan2.msgRam.StandardFilterSA = 0;
hfdcan2.msgRam.ExtendedFilterSA = 0;
hfdcan2.msgRam.RxFIFO0SA = 0;
hfdcan2.msgRam.RxFIFO1SA = 0;
hfdcan2.msgRam.RxBufferSA = 0;
hfdcan2.msgRam.TxEventFIFOSA = 0;
hfdcan2.msgRam.TxBufferSA = 0;
hfdcan2.msgRam.TxFIFOQSA = 0;
hfdcan2.msgRam.TTMemorySA = 0;
hfdcan2.msgRam.EndAddress = 0;
hfdcan2.ErrorCode = 0;
if (HAL_FDCAN_Init(&hfdcan2) != HAL_OK)
_Error_Handler(__FILE__, __LINE__);
`
以及main.c的相关部分:
uint8_t TxData[8] = 0xAA, 0xAA, 0xAA, 0xAA, 0xAA, 0xAA, 0xAA, 0xAA;
uint8_t TxData2[8] = 0xAA, 0xAA, 0xAA, 0xAA, 0xAA, 0xAA, 0xAA, 0xAB;
uint32_t msgerror=0;
uint32_t msgerror1=0;
/* USER CODE END PV */
/* Private function prototypes -----------------------------------------------*/
void SystemClock_Config(void);
static void MX_NVIC_Init(void);
/**
* @brief The application entry point.
*
* @retval None
*/
int main(void)
/* 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_FDCAN1_Init();
MX_FDCAN2_Init();
/* Initialize interrupts */
MX_NVIC_Init();
/* USER CODE BEGIN 2 */
TxHeader.Identifier = 0x120;
TxHeader.IdType = FDCAN_STANDARD_ID;
TxHeader.TxFrameType = FDCAN_DATA_FRAME;
TxHeader.DataLength = FDCAN_DLC_BYTES_8;
TxHeader.ErrorStateIndicator = FDCAN_ESI_ACTIVE;
TxHeader.BitRateSwitch = FDCAN_BRS_OFF;
TxHeader.FDFormat = FDCAN_CLASSIC_CAN;
TxHeader.TxEventFifoControl = FDCAN_NO_TX_EVENTS;
TxHeader.MessageMarker = 0;
HAL_FDCAN_Start(&hfdcan1);
HAL_FDCAN_Start(&hfdcan2);
/* USER CODE END 2 */
/* Infinite loop */
/* USER CODE BEGIN WHILE */
while (1)
if (HAL_FDCAN_AddMessageToTxFifoQ(&hfdcan2, &TxHeader, TxData) != HAL_OK)
/* Transmission request Error */
msgerror++;
if (HAL_FDCAN_AddMessageToTxFifoQ(&hfdcan1, &TxHeader, TxData2) != HAL_OK)
/* Transmission request Error */
msgerror1++;
HAL_Delay(100);
【问题讨论】:
总线上是否每个节点都有其他人可以交谈? 是的,正如我所写,我正在使用 CANoe 进行监控,并且 CANoe 会发送一个确认。我解决了,稍后会添加答案 【参考方案1】:找到正确的数据表后,我找到了解决方案。在 FDCAN2 的配置中,我需要实现一个偏移量:
hfdcan2.Init.MessageRAMOffset = sizeof(hfdcan1);
实施此更改后,发送和接收工作正常。
【讨论】:
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