stm32 CAN口时而可以发送，时而不能发送

zfe001

stm32 CAN口时而可以发送，时而不能发送 [复制链接]

      最近在调试STM32F303 的can口，想发送数据。      但是程序写好后有的时候可以发送出来数据，用示波器可以看到高低电平的波形，但有的时候stm32中can的Tx一直是高电平。对应的是同一段程序。不知道是哪里出了问题，不知道有没有大神遇到过类似的问题？
      下面是我main.c的程序，谢谢！
/**
  ******************************************************************************
  * File Name          : main.c
  * Description        : Main program body
  ******************************************************************************
  ** This notice applies to any and all portions of this file
  * that are not between comment pairs USER CODE BEGIN and
  * USER CODE END. Other portions of this file, whether
  * inserted by the user or by software development tools
  * are owned by their respective copyright owners.
  *
  * COPYRIGHT(c) 2018 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 "main.h"
#include "stm32f3xx_hal.h"

/* USER CODE BEGIN Includes */

/* USER CODE END Includes */

/* Private variables ---------------------------------------------------------*/
CAN_HandleTypeDef hcan;

/* USER CODE BEGIN PV */
/* Private variables ---------------------------------------------------------*/
static CanTxMsgTypeDef        TxMessage;  
/* USER CODE END PV */

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

/* USER CODE BEGIN PFP */
/* Private function prototypes -----------------------------------------------*/

/* 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();

  /* 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();

  /* USER CODE BEGIN 2 */


  /* USER CODE END 2 */

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

  /* USER CODE BEGIN 3 */
  hcan.pTxMsg = &TxMessage;  
  hcan.pTxMsg->StdId = 0x00;//0x1314;  
  hcan.pTxMsg->ExtId=  0x1234;  
  hcan.pTxMsg->RTR = CAN_RTR_DATA;  
  hcan.pTxMsg->IDE = CAN_ID_EXT;  
  hcan.pTxMsg->DLC = 2;  
  hcan.pTxMsg->Data[0] = 0x3a;  
  hcan.pTxMsg->Data[1] = 0xa3;  
                //HAL_CAN_Transmit(&hcan, 100);
                HAL_CAN_Transmit(&hcan,100);
  }
  /* USER CODE END 3 */

}

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

  RCC_OscInitTypeDef RCC_OscInitStruct;
  RCC_ClkInitTypeDef RCC_ClkInitStruct;

    /**Initializes the CPU, AHB and APB busses clocks
    */
  RCC_OscInitStruct.OscillatorType = RCC_OSCILLATORTYPE_HSE;
  RCC_OscInitStruct.HSEState = RCC_HSE_ON;
  RCC_OscInitStruct.HSEPredivValue = RCC_HSE_PREDIV_DIV1;
  RCC_OscInitStruct.HSIState = RCC_HSI_ON;
  RCC_OscInitStruct.PLL.PLLState = RCC_PLL_ON;
  RCC_OscInitStruct.PLL.PLLSource = RCC_PLLSOURCE_HSE;
  RCC_OscInitStruct.PLL.PLLMUL = RCC_PLL_MUL4;
  if (HAL_RCC_OscConfig(&RCC_OscInitStruct) != HAL_OK)
  {
    _Error_Handler(__FILE__, __LINE__);
  }

    /**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_DIV16;
  RCC_ClkInitStruct.APB2CLKDivider = RCC_HCLK_DIV16;

  if (HAL_RCC_ClockConfig(&RCC_ClkInitStruct, FLASH_LATENCY_2) != HAL_OK)
  {
    _Error_Handler(__FILE__, __LINE__);
  }

    /**Configure the Systick interrupt time
    */
  HAL_SYSTICK_Config(HAL_RCC_GetHCLKFreq()/1000);

    /**Configure the Systick
    */
  HAL_SYSTICK_CLKSourceConfig(SYSTICK_CLKSOURCE_HCLK);

  /* SysTick_IRQn interrupt configuration */
  HAL_NVIC_SetPriority(SysTick_IRQn, 0, 0);
}

/* CAN init function */
static void MX_CAN_Init(void)
{

  hcan.Instance = CAN;
  hcan.Init.Prescaler = 4;
  hcan.Init.Mode = CAN_MODE_NORMAL;
  hcan.Init.SJW = CAN_SJW_2TQ;
  hcan.Init.BS1 = CAN_BS1_4TQ;
  hcan.Init.BS2 = CAN_BS2_2TQ;
  hcan.Init.TTCM = DISABLE;
  hcan.Init.ABOM = DISABLE;
  hcan.Init.AWUM = DISABLE;
  hcan.Init.NART = DISABLE;
  hcan.Init.RFLM = DISABLE;
  hcan.Init.TXFP = DISABLE;
  if (HAL_CAN_Init(&hcan) != HAL_OK)
  {
    _Error_Handler(__FILE__, __LINE__);
  }

}

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

  /* GPIO Ports Clock Enable */
  __HAL_RCC_GPIOF_CLK_ENABLE();
  __HAL_RCC_GPIOA_CLK_ENABLE();

}

/* USER CODE BEGIN 4 */

/* USER CODE END 4 */

/**
  * @brief  This function is executed in case of error occurrence.
  * @param  None
  * @retval None
  */
void _Error_Handler(char * file, int line)
{
  /* USER CODE BEGIN Error_Handler_Debug */
  /* User can add his own implementation to report the HAL error return state */
  while(1)
  {
  }
  /* 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,
    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****/

huo_hu

cube生成的采样边沿调整一下

zfe001

huo_hu 发表于 2018-4-10 21:06
cube生成的采样边沿调整一下

感谢回复！我找到了您之前调试can修改边沿的帖子。我这边修改后，Tx口还是一直输出高电平。请问您当时是如何发现是边沿出的问题呢？我想用您的方法试试。下图是我修改后的边沿设置

huo_hu

zfe001 发表于 2018-4-11 09:17
感谢回复！我找到了您之前调试can修改边沿的帖子。我这边修改后，Tx口还是一直输出高电平。请问您当时是 ...

你再查查硬件,软件这样就可以的

wudayongnb

HAL_CAN_Transmit(&hcan,100);
这个函数内部是如何实现的

碧霄长博

增减硬件上的120欧电阻，一般接一两个就够了

zfe001

huo_hu 发表于 2018-4-11 13:15
你再查查硬件,软件这样就可以的

谢谢！

zfe001

wudayongnb 发表于 2018-4-13 18:44
HAL_CAN_Transmit(&hcan,100);
这个函数内部是如何实现的

下面是HAL_CAN_Transmit函数的定义。
我现在已经可以使用Loopback模式发送了，但是normal模式还是不能发送。
HAL_StatusTypeDef HAL_CAN_Transmit(CAN_HandleTypeDef* hcan, uint32_t Timeout)
{
  uint32_t transmitmailbox = CAN_TXSTATUS_NOMAILBOX;
  uint32_t tickstart = 0U;

  /* Check the parameters */
  assert_param(IS_CAN_IDTYPE(hcan->pTxMsg->IDE));
  assert_param(IS_CAN_RTR(hcan->pTxMsg->RTR));
  assert_param(IS_CAN_DLC(hcan->pTxMsg->DLC));

  if(((hcan->Instance->TSR&CAN_TSR_TME0) == CAN_TSR_TME0) || \
     ((hcan->Instance->TSR&CAN_TSR_TME1) == CAN_TSR_TME1) || \
     ((hcan->Instance->TSR&CAN_TSR_TME2) == CAN_TSR_TME2))
  {
    /* Process locked */
    __HAL_LOCK(hcan);

    /* Change CAN state */
    switch(hcan->State)
    {
      case(HAL_CAN_STATE_BUSY_RX0):
          hcan->State = HAL_CAN_STATE_BUSY_TX_RX0;
          break;
      case(HAL_CAN_STATE_BUSY_RX1):
          hcan->State = HAL_CAN_STATE_BUSY_TX_RX1;
          break;
      case(HAL_CAN_STATE_BUSY_RX0_RX1):
          hcan->State = HAL_CAN_STATE_BUSY_TX_RX0_RX1;
          break;
      default: /* HAL_CAN_STATE_READY */
          hcan->State = HAL_CAN_STATE_BUSY_TX;
          break;
    }

    /* Select one empty transmit mailbox */
    if (HAL_IS_BIT_SET(hcan->Instance->TSR, CAN_TSR_TME0))
    {
      transmitmailbox = CAN_TXMAILBOX_0;
    }
    else if (HAL_IS_BIT_SET(hcan->Instance->TSR, CAN_TSR_TME1))
    {
      transmitmailbox = CAN_TXMAILBOX_1;
    }
    else
    {
      transmitmailbox = CAN_TXMAILBOX_2;
    }

    /* Set up the Id */
    hcan->Instance->sTxMailBox[transmitmailbox].TIR &= CAN_TI0R_TXRQ;
    if (hcan->pTxMsg->IDE == CAN_ID_STD)
    {
      assert_param(IS_CAN_STDID(hcan->pTxMsg->StdId));  
      hcan->Instance->sTxMailBox[transmitmailbox].TIR |= ((hcan->pTxMsg->StdId << CAN_TI0R_STID_Pos) | \
                                                           hcan->pTxMsg->RTR);
    }
    else
    {
      assert_param(IS_CAN_EXTID(hcan->pTxMsg->ExtId));
      hcan->Instance->sTxMailBox[transmitmailbox].TIR |= ((hcan->pTxMsg->ExtId << CAN_TI0R_EXID_Pos) | \
                                                           hcan->pTxMsg->IDE | \
                                                           hcan->pTxMsg->RTR);
    }
   
    /* Set up the DLC */
    hcan->pTxMsg->DLC &= (uint8_t)0x0000000FU;
    hcan->Instance->sTxMailBox[transmitmailbox].TDTR &= 0xFFFFFFF0U;
    hcan->Instance->sTxMailBox[transmitmailbox].TDTR |= hcan->pTxMsg->DLC;

    /* Set up the data field */
    WRITE_REG(hcan->Instance->sTxMailBox[transmitmailbox].TDLR, ((uint32_t)hcan->pTxMsg->Data[3] << CAN_TDL0R_DATA3_Pos) |
                                                                ((uint32_t)hcan->pTxMsg->Data[2] << CAN_TDL0R_DATA2_Pos) |
                                                                ((uint32_t)hcan->pTxMsg->Data[1] << CAN_TDL0R_DATA1_Pos) |
                                                                ((uint32_t)hcan->pTxMsg->Data[0] << CAN_TDL0R_DATA0_Pos));
    WRITE_REG(hcan->Instance->sTxMailBox[transmitmailbox].TDHR, ((uint32_t)hcan->pTxMsg->Data[7] << CAN_TDL0R_DATA3_Pos) |
                                                                ((uint32_t)hcan->pTxMsg->Data[6] << CAN_TDL0R_DATA2_Pos) |
                                                                ((uint32_t)hcan->pTxMsg->Data[5] << CAN_TDL0R_DATA1_Pos) |
                                                                ((uint32_t)hcan->pTxMsg->Data[4] << CAN_TDL0R_DATA0_Pos));

    /* Request transmission */
    SET_BIT(hcan->Instance->sTxMailBox[transmitmailbox].TIR, CAN_TI0R_TXRQ);
  
    /* Get tick */
    tickstart = HAL_GetTick();   
  
    /* Check End of transmission flag */
    while(!(__HAL_CAN_TRANSMIT_STATUS(hcan, transmitmailbox)))
    {
      /* Check for the Timeout */
      if(Timeout != HAL_MAX_DELAY)
      {
        if((Timeout == 0U) || ((HAL_GetTick()-tickstart) > Timeout))
        {
          hcan->State = HAL_CAN_STATE_TIMEOUT;

          /* Cancel transmission */
          __HAL_CAN_CANCEL_TRANSMIT(hcan, transmitmailbox);

          /* Process unlocked */
          __HAL_UNLOCK(hcan);
          return HAL_TIMEOUT;
        }
      }
    }

    /* Change CAN state */
    switch(hcan->State)
    {
      case(HAL_CAN_STATE_BUSY_TX_RX0):
          hcan->State = HAL_CAN_STATE_BUSY_RX0;
          break;
      case(HAL_CAN_STATE_BUSY_TX_RX1):
          hcan->State = HAL_CAN_STATE_BUSY_RX1;
          break;
      case(HAL_CAN_STATE_BUSY_TX_RX0_RX1):
          hcan->State = HAL_CAN_STATE_BUSY_RX0_RX1;
          break;
      default: /* HAL_CAN_STATE_BUSY_TX */
          hcan->State = HAL_CAN_STATE_READY;
          break;
    }

    /* Process unlocked */
    __HAL_UNLOCK(hcan);
   
    /* Return function status */
    return HAL_OK;
  }
  else
  {
    /* Change CAN state */
    hcan->State = HAL_CAN_STATE_ERROR;

    /* Return function status */
    return HAL_ERROR;
  }
}

zfe001

碧霄长博 发表于 2018-4-18 19:36
增减硬件上的120欧电阻，一般接一两个就够了

我用的两个63欧电阻串联，目前loopback模式下已经可以发送了，但是normal模式下还是不能发送，目前在找解决方案

huo_hu

zfe001 发表于 2018-4-28 10:25
我用的两个63欧电阻串联，目前loopback模式下已经可以发送了，但是normal模式下还是不能发送，目前在找解 ...

那可能是波特率或硬件的原因了