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driver - 在 STM32F446 中同时使用 CAN1 和 CAN2 是否正确？

问题描述

我想分别以 500kbps 和 125kbps 的速度将 CAN1 和 CAN2 用于我的应用程序。我已经根据我的要求使用 HAL 初始化了它们。其中 Tx 在轮询中实现，Rx 在中断中实现。CAN1 Tx 和 Rx 工作完美。来到 CAN2 Tx 工作正常，Rx 不工作。中断本身没有为 CAN2 Rx 触发（没有调用 HAL_CAN_RxFifo0MsgPendingCallback）。我在数据表中读到 SRAM 共享过程发生在 2 个 CAN 之间。我无法理解这一点。这是一个问题吗？

我也附上代码。请检查并帮助！
小概述 - 使用内部 HSI 以 - 16 MHz 运行的所有 MCU 时钟，CAN 配置中没有过滤器

@@@@@@@@@@@@@@@@ MAIN FILE @@@@@@@@@@@@@@@@@@@@

/* Private variables ---------------------------------------------------------*/
CAN_HandleTypeDef hcan1;
CAN_HandleTypeDef hcan2;

/* USER CODE BEGIN PV */
CAN_TxHeaderTypeDef txheader;
uint8_t txdata[8];
CAN_RxHeaderTypeDef RxHeader;
uint8_t RxData[8];
CAN_TxHeaderTypeDef txheader1;
uint8_t txdata1[8];
CAN_RxHeaderTypeDef RxHeader1;
uint8_t RxData1[8];
/* USER CODE END PV */

/* Private function prototypes -----------------------------------------------*/
void SystemClock_Config(void);
static void MX_GPIO_Init(void);
static void MX_CAN1_Init(void);
static void MX_CAN2_Init(void);

int main(void)
{
  /* USER CODE BEGIN 1 */
uint8_t fill = 0;
  /* 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_CAN1_Init();
  MX_CAN2_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 */
      
      txheader.DLC = 8;
      txheader.ExtId = 0x11111111;
      txheader.IDE = CAN_ID_EXT;
      txheader.RTR = CAN_RTR_DATA;
      for(uint8_t i = 0; i<8;i++)
      {
          txdata[i] = i;
      }
//      txdata[0] = fill;
      HAL_Delay(250);
      HAL_CAN_AddTxMessage(&hcan1,&txheader,txdata, (uint32_t *)CAN_TX_MAILBOX0);
      HAL_Delay(250);
      HAL_CAN_AddTxMessage(&hcan2,&txheader,txdata, (uint32_t *)CAN_TX_MAILBOX0);
  }
  /* USER CODE END 3 */
}


void SystemClock_Config(void)
{
  RCC_OscInitTypeDef RCC_OscInitStruct = {0};
  RCC_ClkInitTypeDef RCC_ClkInitStruct = {0};

  /** Configure the main internal regulator output voltage
  */
  __HAL_RCC_PWR_CLK_ENABLE();
  __HAL_PWR_VOLTAGESCALING_CONFIG(PWR_REGULATOR_VOLTAGE_SCALE3);
  /** Initializes the RCC Oscillators according to the specified parameters
  * in the RCC_OscInitTypeDef structure.
  */
  RCC_OscInitStruct.OscillatorType = RCC_OSCILLATORTYPE_HSI;
  RCC_OscInitStruct.HSIState = RCC_HSI_ON;
  RCC_OscInitStruct.HSICalibrationValue = RCC_HSICALIBRATION_DEFAULT;
  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_CLOCKTYPE_PCLK2;
  RCC_ClkInitStruct.SYSCLKSource = RCC_SYSCLKSOURCE_HSI;
  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_0) != HAL_OK)
  {
    Error_Handler();
  }
}

/**
  * @brief CAN1 Initialization Function
  * @param None
  * @retval None
  */
static void MX_CAN1_Init(void)
{

  /* USER CODE BEGIN CAN1_Init 0 */
CAN_FilterTypeDef  sFilterConfig;
  /* USER CODE END CAN1_Init 0 */

  /* USER CODE BEGIN CAN1_Init 1 */

  /* USER CODE END CAN1_Init 1 */
  hcan1.Instance = CAN1;
  hcan1.Init.Prescaler = 2;
  hcan1.Init.Mode = CAN_MODE_NORMAL;
  hcan1.Init.SyncJumpWidth = CAN_SJW_1TQ;
  hcan1.Init.TimeSeg1 = CAN_BS1_13TQ;
  hcan1.Init.TimeSeg2 = CAN_BS2_2TQ;
  hcan1.Init.TimeTriggeredMode = DISABLE;
  hcan1.Init.AutoBusOff = DISABLE;
  hcan1.Init.AutoWakeUp = DISABLE;
  hcan1.Init.AutoRetransmission = DISABLE;
  hcan1.Init.ReceiveFifoLocked = DISABLE;
  hcan1.Init.TransmitFifoPriority = DISABLE;
  if (HAL_CAN_Init(&hcan1) != HAL_OK)
  {
    Error_Handler();
  }
  /* USER CODE BEGIN CAN1_Init 2 */
  sFilterConfig.FilterBank = 0;
  sFilterConfig.FilterMode = CAN_FILTERMODE_IDMASK;
  sFilterConfig.FilterScale = CAN_FILTERSCALE_32BIT;
  sFilterConfig.FilterIdHigh = 0x0000;
  sFilterConfig.FilterIdLow = 0x0000;
  sFilterConfig.FilterMaskIdHigh = 0x0000;
  sFilterConfig.FilterMaskIdLow = 0x0000;
  sFilterConfig.FilterFIFOAssignment = CAN_RX_FIFO0;
  sFilterConfig.FilterActivation = ENABLE;
  sFilterConfig.SlaveStartFilterBank = 14;

  if (HAL_CAN_ConfigFilter(&hcan1, &sFilterConfig) != HAL_OK)
  {
    /* Filter configuration Error */
    Error_Handler();
  }
  
HAL_CAN_Start(&hcan1);
  
  /*##-4- Activate CAN RX notification #######################################*/
  if (HAL_CAN_ActivateNotification(&hcan1, CAN_IT_RX_FIFO0_MSG_PENDING) != HAL_OK)
  {
    /* Notification Error */
    Error_Handler();
  }
  /* USER CODE END CAN1_Init 2 */

}

/**
  * @brief CAN1 Initialization Function
  * @param None
  * @retval None
  */
static void MX_CAN2_Init(void)
{

  /* USER CODE BEGIN CAN1_Init 0 */
CAN_FilterTypeDef  sFilterConfig;
  /* USER CODE END CAN1_Init 0 */

  /* USER CODE BEGIN CAN1_Init 1 */

  /* USER CODE END CAN1_Init 1 */
  hcan2.Instance = CAN2;
  hcan2.Init.Prescaler = 8;
  hcan2.Init.Mode = CAN_MODE_NORMAL;
  hcan2.Init.SyncJumpWidth = CAN_SJW_1TQ;
  hcan2.Init.TimeSeg1 = CAN_BS1_13TQ;
  hcan2.Init.TimeSeg2 = CAN_BS2_2TQ;
  hcan2.Init.TimeTriggeredMode = DISABLE;
  hcan2.Init.AutoBusOff = DISABLE;
  hcan2.Init.AutoWakeUp = DISABLE;
  hcan2.Init.AutoRetransmission = DISABLE;
  hcan2.Init.ReceiveFifoLocked = DISABLE;
  hcan2.Init.TransmitFifoPriority = DISABLE;
  if (HAL_CAN_Init(&hcan2) != HAL_OK)
  {
    Error_Handler();
  }
  /* USER CODE BEGIN CAN1_Init 2 */
  sFilterConfig.FilterBank = 0;
  sFilterConfig.FilterMode = CAN_FILTERMODE_IDMASK;
  sFilterConfig.FilterScale = CAN_FILTERSCALE_32BIT;
  sFilterConfig.FilterIdHigh = 0x0000;
  sFilterConfig.FilterIdLow = 0x0000;
  sFilterConfig.FilterMaskIdHigh = 0x0000;
  sFilterConfig.FilterMaskIdLow = 0x0000;
  sFilterConfig.FilterFIFOAssignment = CAN_RX_FIFO0;
  sFilterConfig.FilterActivation = ENABLE;
  sFilterConfig.SlaveStartFilterBank = 14;

  if (HAL_CAN_ConfigFilter(&hcan2, &sFilterConfig) != HAL_OK)
  {
    /* Filter configuration Error */
    Error_Handler();
  }
  

HAL_CAN_Start(&hcan2);
  
  /*##-4- Activate CAN RX notification #######################################*/
  if (HAL_CAN_ActivateNotification(&hcan2, CAN_IT_RX_FIFO0_MSG_PENDING) != HAL_OK)
  {
    /* Notification Error */
    Error_Handler();
  }
  /* USER CODE END CAN1_Init 2 */

}

/**
  * @brief GPIO Initialization Function
  * @param None
  * @retval None
  */
static void MX_GPIO_Init(void)
{

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

}

/* USER CODE BEGIN 4 */
/**
  * @brief  Rx Fifo 0 message pending callback
  * @param  hcan: pointer to a CAN_HandleTypeDef structure that contains
  *         the configuration information for the specified CAN.
  * @retval None
  */
uint8_t cflag;
void HAL_CAN_RxFifo0MsgPendingCallback(CAN_HandleTypeDef *hcan)
{
  /* Get RX message */
  if (HAL_CAN_GetRxMessage(hcan, CAN_RX_FIFO0, &RxHeader, RxData) != HAL_OK)
  {
    /* Reception Error */
    Error_Handler();
  }

  /* Display LEDx */
  if ((RxHeader.StdId == 0x321) && (RxHeader.IDE == CAN_ID_STD) && (RxHeader.DLC == 2))
  {
    
  }
  /* Display LEDx */
  if ((RxHeader.ExtId == 0x11111111) && (RxHeader.IDE == CAN_ID_EXT) && (RxHeader.DLC == 8))
  {
      cflag = 1;
  }
  else
      cflag = 0;
}
/* USER CODE END 4 */

@@@@@@@@@@@@@@@@@@@@@ MSP FILE @@@@@@@@@@@@@@@@@@@@@@


/**
  * Initializes the Global MSP.
  */
void HAL_MspInit(void)
{
  /* USER CODE BEGIN MspInit 0 */

  /* USER CODE END MspInit 0 */

  __HAL_RCC_SYSCFG_CLK_ENABLE();
  __HAL_RCC_PWR_CLK_ENABLE();

  /* System interrupt init*/

  /* USER CODE BEGIN MspInit 1 */

  /* USER CODE END MspInit 1 */
}

static uint32_t HAL_RCC_CAN1_CLK_ENABLED=0;

/**
* @brief CAN MSP Initialization
* This function configures the hardware resources used in this example
* @param hcan: CAN handle pointer
* @retval None
*/
void HAL_CAN_MspInit(CAN_HandleTypeDef* hcan)
{
  GPIO_InitTypeDef GPIO_InitStruct = {0};
  if(hcan->Instance==CAN1)
  {
  /* USER CODE BEGIN CAN1_MspInit 0 */

  /* USER CODE END CAN1_MspInit 0 */
    /* Peripheral clock enable */
    HAL_RCC_CAN1_CLK_ENABLED++;
    if(HAL_RCC_CAN1_CLK_ENABLED==1){
      __HAL_RCC_CAN1_CLK_ENABLE();
    }

    __HAL_RCC_GPIOA_CLK_ENABLE();
    /**CAN1 GPIO Configuration
    PA11     ------> CAN1_RX
    PA12     ------> CAN1_TX
    */
    GPIO_InitStruct.Pin = GPIO_PIN_11|GPIO_PIN_12;
    GPIO_InitStruct.Mode = GPIO_MODE_AF_PP;
    GPIO_InitStruct.Pull = GPIO_NOPULL;
    GPIO_InitStruct.Speed = GPIO_SPEED_FREQ_VERY_HIGH;
    GPIO_InitStruct.Alternate = GPIO_AF9_CAN1;
    HAL_GPIO_Init(GPIOA, &GPIO_InitStruct);

  /* USER CODE BEGIN CAN1_MspInit 1 */
HAL_NVIC_SetPriority(CAN1_RX0_IRQn, 1, 0);
  HAL_NVIC_EnableIRQ(CAN1_RX0_IRQn);
  /* USER CODE END CAN1_MspInit 1 */
  }
  else if(hcan->Instance==CAN2)
  {
  /* USER CODE BEGIN CAN2_MspInit 0 */

  /* USER CODE END CAN2_MspInit 0 */
    /* Peripheral clock enable */
    __HAL_RCC_CAN2_CLK_ENABLE();
    HAL_RCC_CAN1_CLK_ENABLED++;
    if(HAL_RCC_CAN1_CLK_ENABLED==1){
      __HAL_RCC_CAN1_CLK_ENABLE();
    }

    __HAL_RCC_GPIOB_CLK_ENABLE();
    /**CAN2 GPIO Configuration
    PB12     ------> CAN2_RX
    PB13     ------> CAN2_TX
    */
    GPIO_InitStruct.Pin = GPIO_PIN_12|GPIO_PIN_13;
    GPIO_InitStruct.Mode = GPIO_MODE_AF_PP;
    GPIO_InitStruct.Pull = GPIO_NOPULL;
    GPIO_InitStruct.Speed = GPIO_SPEED_FREQ_VERY_HIGH;
    GPIO_InitStruct.Alternate = GPIO_AF9_CAN2;
    HAL_GPIO_Init(GPIOB, &GPIO_InitStruct);

    /* CAN2 interrupt Init */
    HAL_NVIC_SetPriority(CAN2_RX0_IRQn, 0, 0);
    HAL_NVIC_EnableIRQ(CAN2_RX0_IRQn);
  /* USER CODE BEGIN CAN2_MspInit 1 */

  /* USER CODE END CAN2_MspInit 1 */
  }

}

/**
* @brief CAN MSP De-Initialization
* This function freeze the hardware resources used in this example
* @param hcan: CAN handle pointer
* @retval None
*/
void HAL_CAN_MspDeInit(CAN_HandleTypeDef* hcan)
{
  if(hcan->Instance==CAN1)
  {
  /* USER CODE BEGIN CAN1_MspDeInit 0 */

  /* USER CODE END CAN1_MspDeInit 0 */
    /* Peripheral clock disable */
    HAL_RCC_CAN1_CLK_ENABLED--;
    if(HAL_RCC_CAN1_CLK_ENABLED==0){
      __HAL_RCC_CAN1_CLK_DISABLE();
    }

    /**CAN1 GPIO Configuration
    PA11     ------> CAN1_RX
    PA12     ------> CAN1_TX
    */
    HAL_GPIO_DeInit(GPIOA, GPIO_PIN_11|GPIO_PIN_12);

  /* USER CODE BEGIN CAN1_MspDeInit 1 */

  /* USER CODE END CAN1_MspDeInit 1 */
  }
  else if(hcan->Instance==CAN2)
  {
  /* USER CODE BEGIN CAN2_MspDeInit 0 */

  /* USER CODE END CAN2_MspDeInit 0 */
    /* Peripheral clock disable */
    __HAL_RCC_CAN2_CLK_DISABLE();
    HAL_RCC_CAN1_CLK_ENABLED--;
    if(HAL_RCC_CAN1_CLK_ENABLED==0){
      __HAL_RCC_CAN1_CLK_DISABLE();
    }

    /**CAN2 GPIO Configuration
    PB12     ------> CAN2_RX
    PB13     ------> CAN2_TX
    */
    HAL_GPIO_DeInit(GPIOB, GPIO_PIN_12|GPIO_PIN_13);

    /* CAN2 interrupt DeInit */
    HAL_NVIC_DisableIRQ(CAN2_RX0_IRQn);
  /* USER CODE BEGIN CAN2_MspDeInit 1 */

  /* USER CODE END CAN2_MspDeInit 1 */
  }

}

/* USER CODE BEGIN 1 */

/* USER CODE END 1 */

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

@@@@@@@@@@@@@@@@@@@@@@@@@ IT FILE @@@@@@@@@@@@@@@@@@@@@@@@@@@@@
/* Includes ------------------------------------------------------------------*/
#include "main.h"
#include "stm32f4xx_it.h"
/* External variables --------------------------------------------------------*/
extern CAN_HandleTypeDef hcan2;
/**
  * @brief This function handles System tick timer.
  */
void SysTick_Handler(void)
{
  /* USER CODE BEGIN SysTick_IRQn 0 */

  /* USER CODE END SysTick_IRQn 0 */
  HAL_IncTick();
  /* USER CODE BEGIN SysTick_IRQn 1 */

  /* USER CODE END SysTick_IRQn 1 */
}

/******************************************************************************/
/* STM32F4xx Peripheral Interrupt Handlers                                    */
/* Add here the Interrupt Handlers for the used peripherals.                  */
/* For the available peripheral interrupt handler names,                      */
/* please refer to the startup file (startup_stm32f4xx.s).                    */
/******************************************************************************/

/**
  * @brief This function handles CAN2 RX0 interrupt.
  */
void CAN2_RX0_IRQHandler(void)
{
  /* USER CODE BEGIN CAN2_RX0_IRQn 0 */

  /* USER CODE END CAN2_RX0_IRQn 0 */
  HAL_CAN_IRQHandler(&hcan2);
  /* USER CODE BEGIN CAN2_RX0_IRQn 1 */

  /* USER CODE END CAN2_RX0_IRQn 1 */
}

/* USER CODE BEGIN 1 */
/**
* @brief  This function handles CAN1 RX0 interrupt request.
* @param  None
* @retval None
*/
extern CAN_HandleTypeDef hcan1;
void CAN1_RX0_IRQHandler(void)
{
  HAL_CAN_IRQHandler(&hcan1);
}

/* USER CODE END 1 */
/************************ (C) COPYRIGHT STMicroelectronics *****END OF FILE****/

标签： driverstm32interruptcan-busstm32f4

解决方案

我解决了我的问题。得到了 ST 社区的帮助。请参考以下链接。

https://community.st.com/s/feed/0D53W00000RQCwgSAH?t=1608012202888

问题是 CAN1 和 CAN2 的过滤器配置。CAN1 和 CAN2 共有 28 个滤波器组 (0-27)。CAN1 的上半场 (0-13) 和 CAN2 的其余部分。因此，只需对上面发布的代码进行一些更改 -

可以 1：

sFilterConfig.FilterBank = 0;

：

sFilterConfig.SlaveStartFilterBank = 14;

CAN2：

sFilterConfig.FilterBank = 14; // 以前为 0

：

sFilterConfig.SlaveStartFilterBank = 14; // 以前 27

感谢Lundin建议同步点。使用此网站计算各种芯片的 CAN 位时间 -

http://www.bittiming.can-wiki.info/

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