STM32H743ZI Nucleo 似乎无法通过 FDCAN 2 传输？

Posted 2023-02-19

【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。