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我有一个定制的 stm32F0 板连接到一个带有 CAN 屏蔽、终端电阻和所有东西的树莓派上。我可以在 STM32F0 上发起一条消息并在 RPI 端看到它，但反之则不行。将示波器放在罐头线上，我看到来自 RPI 的消息。同样，我看到了 can 收发器和 STM32F0 之间的消息，所以我知道消息正在到达引脚。做 Rx 的代码看起来很简单：

  1. 设置 CAN
  2. 禁用过滤器（通过将过滤器设置为 0x0000）
  3. 使用 HAL_CAN_ActivateNotification 设置可以 RX
  4. 为 can rx 中断设置回调函数

然而，中断永远不会被触发。我的 CAN RX 引脚坏了吗？如何继续调试过程？

这是整个 main.c：

/* USER CODE BEGIN Header */
/**
  ******************************************************************************
  * @file           : main.c
  * @brief          : Main program body
  ******************************************************************************
  * @attention
  *
  * <h2><center>&copy; Copyright (c) 2021 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"

/* 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 ---------------------------------------------------------*/
CAN_HandleTypeDef hcan;

SPI_HandleTypeDef hspi1;
DMA_HandleTypeDef hdma_spi1_rx;
DMA_HandleTypeDef hdma_spi1_tx;

TIM_HandleTypeDef htim3;
TIM_HandleTypeDef htim14;
TIM_HandleTypeDef htim16;
TIM_HandleTypeDef htim17;

UART_HandleTypeDef huart1;

/* USER CODE BEGIN PV */

/* USER CODE END PV */

/* Private function prototypes -----------------------------------------------*/
void SystemClock_Config(void);
static void MX_GPIO_Init(void);
static void MX_DMA_Init(void);
static void MX_SPI1_Init(void);
static void MX_TIM16_Init(void);
static void MX_TIM14_Init(void);
static void MX_TIM17_Init(void);
static void MX_USART1_UART_Init(void);
static void MX_TIM3_Init(void);
static void MX_CAN_Init(void);
/* USER CODE BEGIN PFP */

/* USER CODE END PFP */

/* Private user code ---------------------------------------------------------*/
/* USER CODE BEGIN 0 */
CAN_TxHeaderTypeDef TxHeader;
CAN_RxHeaderTypeDef RxHeader;

uint32_t TxMailbox;
uint8_t TxData[8];
uint8_t RxData[8];

uint8_t count = 0;
uint8_t testData;
void HAL_CAN_RxFifo0MsgPendingCallback(CAN_HandleTypeDef *hcan){
    count++;
    HAL_CAN_GetRxMessage(hcan,CAN_RX_FIFO0,&RxHeader,RxData);
    testData = RxData[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_DMA_Init();
  MX_SPI1_Init();
  MX_TIM16_Init();
  MX_TIM14_Init();
  MX_TIM17_Init();
  MX_USART1_UART_Init();
  MX_TIM3_Init();
  MX_CAN_Init();
  /* USER CODE BEGIN 2 */
HAL_CAN_Start(&hcan);
HAL_CAN_ActivateNotification(&hcan, CAN_IT_RX_FIFO0_MSG_PENDING);


TxHeader.DLC = 1;
TxHeader.ExtId = 0;
TxHeader.IDE = CAN_ID_STD;
TxHeader.RTR = CAN_RTR_DATA;
TxHeader.StdId = 0x103;
TxHeader.TransmitGlobalTime = DISABLE;

TxData[0] = 0xa7;
//HAL_CAN_AddTxMessage(&hcan, &TxHeader, TxData, &TxMailbox);
  /* USER CODE END 2 */

  /* Infinite loop */
  /* USER CODE BEGIN WHILE */
  while (1)
  {
//    HAL_CAN_AddTxMessage(&hcan, &TxHeader, TxData, &TxMailbox);
      /* Start the Transmission process */
/*      if (HAL_CAN_AddTxMessage(&hcan, &TxHeader, TxData, &TxMailbox) != HAL_OK)
      {
        Error_Handler();
      }
 */     HAL_Delay(10);
    /* USER CODE END WHILE */

    /* USER CODE BEGIN 3 */
  }
  /* USER CODE END 3 */
}

/**
  * @brief System Clock Configuration
  * @retval None
  */
void SystemClock_Config(void)
{
  RCC_OscInitTypeDef RCC_OscInitStruct = {0};
  RCC_ClkInitTypeDef RCC_ClkInitStruct = {0};
  RCC_PeriphCLKInitTypeDef PeriphClkInit = {0};

  /** Initializes the RCC Oscillators according to the specified parameters
  * in the RCC_OscInitTypeDef structure.
  */
  RCC_OscInitStruct.OscillatorType = RCC_OSCILLATORTYPE_HSI48;
  RCC_OscInitStruct.HSI48State = RCC_HSI48_ON;
  RCC_OscInitStruct.PLL.PLLState = RCC_PLL_NONE;
  if (HAL_RCC_OscConfig(&RCC_OscInitStruct) != HAL_OK)
  {
    Error_Handler();
  }
  /** Initializes the CPU, AHB and APB buses clocks
  */
  RCC_ClkInitStruct.ClockType = RCC_CLOCKTYPE_HCLK|RCC_CLOCKTYPE_SYSCLK
                              |RCC_CLOCKTYPE_PCLK1;
  RCC_ClkInitStruct.SYSCLKSource = RCC_SYSCLKSOURCE_HSI48;
  RCC_ClkInitStruct.AHBCLKDivider = RCC_SYSCLK_DIV1;
  RCC_ClkInitStruct.APB1CLKDivider = RCC_HCLK_DIV1;

  if (HAL_RCC_ClockConfig(&RCC_ClkInitStruct, FLASH_LATENCY_1) != HAL_OK)
  {
    Error_Handler();
  }
  PeriphClkInit.PeriphClockSelection = RCC_PERIPHCLK_USART1;
  PeriphClkInit.Usart1ClockSelection = RCC_USART1CLKSOURCE_PCLK1;
  if (HAL_RCCEx_PeriphCLKConfig(&PeriphClkInit) != HAL_OK)
  {
    Error_Handler();
  }
}

/**
  * @brief CAN Initialization Function
  * @param None
  * @retval None
  */
static void MX_CAN_Init(void)
{

  /* USER CODE BEGIN CAN_Init 0 */

  /* USER CODE END CAN_Init 0 */

  /* USER CODE BEGIN CAN_Init 1 */

  /* USER CODE END CAN_Init 1 */
  hcan.Instance = CAN;
  hcan.Init.Prescaler = 6;
  hcan.Init.Mode = CAN_MODE_NORMAL;
  hcan.Init.SyncJumpWidth = CAN_SJW_1TQ;
  hcan.Init.TimeSeg1 = CAN_BS1_13TQ;
  hcan.Init.TimeSeg2 = CAN_BS2_2TQ;
  hcan.Init.TimeTriggeredMode = DISABLE;
  hcan.Init.AutoBusOff = DISABLE;
  hcan.Init.AutoWakeUp = DISABLE;
  hcan.Init.AutoRetransmission = DISABLE;
  hcan.Init.ReceiveFifoLocked = DISABLE;
  hcan.Init.TransmitFifoPriority = DISABLE;
  if (HAL_CAN_Init(&hcan) != HAL_OK)
  {
    Error_Handler();
  }
  /* USER CODE BEGIN CAN_Init 2 */
CAN_FilterTypeDef filterConfig;
        filterConfig.FilterActivation = ENABLE;
        filterConfig.FilterBank = 0;
        filterConfig.FilterFIFOAssignment = CAN_RX_FIFO0;
        filterConfig.FilterIdHigh = 0x0000;
        filterConfig.FilterIdLow = 0x0000;
        filterConfig.FilterMaskIdHigh = 0x0000;
        filterConfig.FilterMaskIdLow = 0x0000;
        filterConfig.FilterMode = CAN_FILTERMODE_IDMASK;
        filterConfig.FilterScale = CAN_FILTERSCALE_32BIT;
        filterConfig.SlaveStartFilterBank = 14;
  /* USER CODE END CAN_Init 2 */

}

/**
  * @brief SPI1 Initialization Function
  * @param None
  * @retval None
  */
static void MX_SPI1_Init(void)
{

  /* USER CODE BEGIN SPI1_Init 0 */

  /* USER CODE END SPI1_Init 0 */

  /* USER CODE BEGIN SPI1_Init 1 */

  /* USER CODE END SPI1_Init 1 */
  /* SPI1 parameter configuration*/
  hspi1.Instance = SPI1;
  hspi1.Init.Mode = SPI_MODE_MASTER;
  hspi1.Init.Direction = SPI_DIRECTION_2LINES;
  hspi1.Init.DataSize = SPI_DATASIZE_8BIT;
  hspi1.Init.CLKPolarity = SPI_POLARITY_LOW;
  hspi1.Init.CLKPhase = SPI_PHASE_1EDGE;
  hspi1.Init.NSS = SPI_NSS_SOFT;
  hspi1.Init.BaudRatePrescaler = SPI_BAUDRATEPRESCALER_64;
  hspi1.Init.FirstBit = SPI_FIRSTBIT_MSB;
  hspi1.Init.TIMode = SPI_TIMODE_DISABLE;
  hspi1.Init.CRCCalculation = SPI_CRCCALCULATION_DISABLE;
  hspi1.Init.CRCPolynomial = 7;
  hspi1.Init.CRCLength = SPI_CRC_LENGTH_DATASIZE;
  hspi1.Init.NSSPMode = SPI_NSS_PULSE_ENABLE;
  if (HAL_SPI_Init(&hspi1) != HAL_OK)
  {
    Error_Handler();
  }
  /* USER CODE BEGIN SPI1_Init 2 */

  /* USER CODE END SPI1_Init 2 */

}

/**
  * @brief TIM3 Initialization Function
  * @param None
  * @retval None
  */
static void MX_TIM3_Init(void)
{

  /* USER CODE BEGIN TIM3_Init 0 */

  /* USER CODE END TIM3_Init 0 */

  TIM_ClockConfigTypeDef sClockSourceConfig = {0};
  TIM_MasterConfigTypeDef sMasterConfig = {0};

  /* USER CODE BEGIN TIM3_Init 1 */

  /* USER CODE END TIM3_Init 1 */
  htim3.Instance = TIM3;
  htim3.Init.Prescaler = 480-1;
  htim3.Init.CounterMode = TIM_COUNTERMODE_UP;
  htim3.Init.Period = 65535;
  htim3.Init.ClockDivision = TIM_CLOCKDIVISION_DIV1;
  htim3.Init.AutoReloadPreload = TIM_AUTORELOAD_PRELOAD_DISABLE;
  if (HAL_TIM_Base_Init(&htim3) != HAL_OK)
  {
    Error_Handler();
  }
  sClockSourceConfig.ClockSource = TIM_CLOCKSOURCE_INTERNAL;
  if (HAL_TIM_ConfigClockSource(&htim3, &sClockSourceConfig) != HAL_OK)
  {
    Error_Handler();
  }
  sMasterConfig.MasterOutputTrigger = TIM_TRGO_RESET;
  sMasterConfig.MasterSlaveMode = TIM_MASTERSLAVEMODE_DISABLE;
  if (HAL_TIMEx_MasterConfigSynchronization(&htim3, &sMasterConfig) != HAL_OK)
  {
    Error_Handler();
  }
  /* USER CODE BEGIN TIM3_Init 2 */

  /* USER CODE END TIM3_Init 2 */

}

/**
  * @brief TIM14 Initialization Function
  * @param None
  * @retval None
  */
static void MX_TIM14_Init(void)
{

  /* USER CODE BEGIN TIM14_Init 0 */

  /* USER CODE END TIM14_Init 0 */

  /* USER CODE BEGIN TIM14_Init 1 */

  /* USER CODE END TIM14_Init 1 */
  htim14.Instance = TIM14;
  htim14.Init.Prescaler = 48000 - 1;
  htim14.Init.CounterMode = TIM_COUNTERMODE_UP;
  htim14.Init.Period = 10- 1;
  htim14.Init.ClockDivision = TIM_CLOCKDIVISION_DIV1;
  htim14.Init.AutoReloadPreload = TIM_AUTORELOAD_PRELOAD_DISABLE;
  if (HAL_TIM_Base_Init(&htim14) != HAL_OK)
  {
    Error_Handler();
  }
  /* USER CODE BEGIN TIM14_Init 2 */

  /* USER CODE END TIM14_Init 2 */

}

/**
  * @brief TIM16 Initialization Function
  * @param None
  * @retval None
  */
static void MX_TIM16_Init(void)
{

  /* USER CODE BEGIN TIM16_Init 0 */

  /* USER CODE END TIM16_Init 0 */

  /* USER CODE BEGIN TIM16_Init 1 */

  /* USER CODE END TIM16_Init 1 */
  htim16.Instance = TIM16;
  htim16.Init.Prescaler = 48000 - 1;
  htim16.Init.CounterMode = TIM_COUNTERMODE_UP;
  htim16.Init.Period = 10000 - 1;
  htim16.Init.ClockDivision = TIM_CLOCKDIVISION_DIV1;
  htim16.Init.RepetitionCounter = 0;
  htim16.Init.AutoReloadPreload = TIM_AUTORELOAD_PRELOAD_DISABLE;
  if (HAL_TIM_Base_Init(&htim16) != HAL_OK)
  {
    Error_Handler();
  }
  /* USER CODE BEGIN TIM16_Init 2 */

  /* USER CODE END TIM16_Init 2 */

}

/**
  * @brief TIM17 Initialization Function
  * @param None
  * @retval None
  */
static void MX_TIM17_Init(void)
{

  /* USER CODE BEGIN TIM17_Init 0 */

  /* USER CODE END TIM17_Init 0 */

  /* USER CODE BEGIN TIM17_Init 1 */

  /* USER CODE END TIM17_Init 1 */
  htim17.Instance = TIM17;
  htim17.Init.Prescaler = 48000 - 1;
  htim17.Init.CounterMode = TIM_COUNTERMODE_UP;
  htim17.Init.Period = 4 - 1;
  htim17.Init.ClockDivision = TIM_CLOCKDIVISION_DIV1;
  htim17.Init.RepetitionCounter = 0;
  htim17.Init.AutoReloadPreload = TIM_AUTORELOAD_PRELOAD_DISABLE;
  if (HAL_TIM_Base_Init(&htim17) != HAL_OK)
  {
    Error_Handler();
  }
  /* USER CODE BEGIN TIM17_Init 2 */

  /* USER CODE END TIM17_Init 2 */

}

/**
  * @brief USART1 Initialization Function
  * @param None
  * @retval None
  */
static void MX_USART1_UART_Init(void)
{

  /* USER CODE BEGIN USART1_Init 0 */

  /* USER CODE END USART1_Init 0 */

  /* USER CODE BEGIN USART1_Init 1 */

  /* USER CODE END USART1_Init 1 */
  huart1.Instance = USART1;
  huart1.Init.BaudRate = 9600;
  huart1.Init.WordLength = UART_WORDLENGTH_8B;
  huart1.Init.StopBits = UART_STOPBITS_1;
  huart1.Init.Parity = UART_PARITY_NONE;
  huart1.Init.Mode = UART_MODE_TX_RX;
  huart1.Init.HwFlowCtl = UART_HWCONTROL_NONE;
  huart1.Init.OverSampling = UART_OVERSAMPLING_16;
  huart1.Init.OneBitSampling = UART_ONE_BIT_SAMPLE_DISABLE;
  huart1.AdvancedInit.AdvFeatureInit = UART_ADVFEATURE_NO_INIT;
  if (HAL_UART_Init(&huart1) != HAL_OK)
  {
    Error_Handler();
  }
  /* USER CODE BEGIN USART1_Init 2 */

  /* USER CODE END USART1_Init 2 */

}

/**
  * Enable DMA controller clock
  */
static void MX_DMA_Init(void)
{

  /* DMA controller clock enable */
  __HAL_RCC_DMA1_CLK_ENABLE();

  /* DMA interrupt init */
  /* DMA1_Channel2_3_IRQn interrupt configuration */
  HAL_NVIC_SetPriority(DMA1_Channel2_3_IRQn, 0, 0);
  HAL_NVIC_EnableIRQ(DMA1_Channel2_3_IRQn);

}

/**
  * @brief GPIO Initialization Function
  * @param None
  * @retval None
  */
static void MX_GPIO_Init(void)
{
  GPIO_InitTypeDef GPIO_InitStruct = {0};

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

  /*Configure GPIO pin Output Level */
  HAL_GPIO_WritePin(GPIOA, GPIO_PIN_15, GPIO_PIN_RESET);

  /*Configure GPIO pin Output Level */
  HAL_GPIO_WritePin(GPIOB, cs1_gpio_Pin|cs2_gpio_Pin, GPIO_PIN_RESET);

  /*Configure GPIO pin : VCP_TX_Pin */
  GPIO_InitStruct.Pin = VCP_TX_Pin;
  GPIO_InitStruct.Mode = GPIO_MODE_AF_PP;
  GPIO_InitStruct.Pull = GPIO_NOPULL;
  GPIO_InitStruct.Speed = GPIO_SPEED_FREQ_HIGH;
  GPIO_InitStruct.Alternate = GPIO_AF1_USART2;
  HAL_GPIO_Init(VCP_TX_GPIO_Port, &GPIO_InitStruct);

  /*Configure GPIO pin : PA15 */
  GPIO_InitStruct.Pin = GPIO_PIN_15;
  GPIO_InitStruct.Mode = GPIO_MODE_OUTPUT_PP;
  GPIO_InitStruct.Pull = GPIO_NOPULL;
  GPIO_InitStruct.Speed = GPIO_SPEED_FREQ_LOW;
  HAL_GPIO_Init(GPIOA, &GPIO_InitStruct);

  /*Configure GPIO pins : cs1_gpio_Pin cs2_gpio_Pin */
  GPIO_InitStruct.Pin = cs1_gpio_Pin|cs2_gpio_Pin;
  GPIO_InitStruct.Mode = GPIO_MODE_OUTPUT_PP;
  GPIO_InitStruct.Pull = GPIO_NOPULL;
  GPIO_InitStruct.Speed = GPIO_SPEED_FREQ_LOW;
  HAL_GPIO_Init(GPIOB, &GPIO_InitStruct);

}

/* USER CODE BEGIN 4 */


/* 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 */
      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,
     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****/
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1 回答 1

0

原来问题实际上是罐头收发器。它有一个备用引脚，需要明确接地，而不是悬空。这允许我通过 CAN 从我的 stm32f0 发送消息。不幸的是，接收消息并不那么容易。但这是另一个帖子的问题。

一件奇怪的事情是，即使收发器是有问题的收发器，它处于待机状态的事实影响了从 stm32f0 到 can tx 的输出。几乎就像它可能导致“上游”问题一样。这使得调试变得更加困难。

于 2021-09-20T12:56:56.223 回答