STM32F407 CAN 总线发送失败

发布于 2021-05-28 09:38:49 浏览：2055 订阅该版

![ebcb19c00ae3c2af678e71cae6f8214.png](https://oss-club.rt-thread.org/uploads/20210528/dbd71b4d8b20464a808e3fe118f2aa91.png.webp)
1、官方的407CAN驱动波特率配置有问题
2、407 CAN总线一直报报文填充错误
配置 和发送代码如下：
```c
static void CAN_Config(void)
{
  CAN_FilterTypeDef  sFilterConfig;

/*##-1- Configure the CAN peripheral #######################################*/
  CanHandle.Instance = CAN1;

CanHandle.Init.TimeTriggeredMode = DISABLE;
  CanHandle.Init.AutoBusOff = DISABLE;
  CanHandle.Init.AutoWakeUp = DISABLE;
  CanHandle.Init.AutoRetransmission = DISABLE;
  CanHandle.Init.ReceiveFifoLocked = DISABLE;
  CanHandle.Init.TransmitFifoPriority = DISABLE;
  CanHandle.Init.Mode = CAN_MODE_NORMAL;
  CanHandle.Init.SyncJumpWidth = CAN_SJW_1TQ;
  CanHandle.Init.TimeSeg1 = CAN_BS1_9TQ;
  CanHandle.Init.TimeSeg2 = CAN_BS2_4TQ;
  CanHandle.Init.Prescaler = 12;

if (HAL_CAN_Init(&CanHandle) != HAL_OK)
  {
    /* Initialization Error */
    Error_Handler();
  }

/*##-2- Configure the CAN Filter ###########################################*/
  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(&CanHandle, &sFilterConfig) != HAL_OK)
  {
    /* Filter configuration Error */
    Error_Handler();
  }

/*##-3- Start the CAN peripheral ###########################################*/
  if (HAL_CAN_Start(&CanHandle) != HAL_OK)
  {
    /* Start Error */
    Error_Handler();
  }

/*##-4- Activate CAN RX notification #######################################*/
  if (HAL_CAN_ActivateNotification(&CanHandle, CAN_IT_RX_FIFO0_MSG_PENDING) != HAL_OK)
  {
    /* Notification Error */
    Error_Handler();
  }

/*##-5- Configure Transmission process #####################################*/
  TxHeader.StdId = 0x321;
  TxHeader.ExtId = 0x01;
  TxHeader.RTR = CAN_RTR_DATA;
  TxHeader.IDE = CAN_ID_STD;
  TxHeader.DLC = 2;
  TxHeader.TransmitGlobalTime = DISABLE;
}
   
    CAN_Config();
    /* 发送一帧CAN数据 */
    while(1)
    {
//        size = rt_device_write(can_dev1, 0, &msg1, sizeof(msg1));
//        if (size == 0)
//        {
//            rt_kprintf("can dev1 write data failed!\n");
//        }
//        rt_thread_delay(1000);
//        size = rt_device_write(can_dev2, 0, &msg2, sizeof(msg2));
//        if (size == 0)
//        {
//            rt_kprintf("can dev2 write data failed!\n");
//        }
        
         
        TxData[0] = 123;
        TxData[1] = 0xAD;

/* Start the Transmission process */
//        if(HAL_CAN_AddTxMessage(&drv_can->CanHandle,&TxHeader, TxData, &TxMailbox) != HAL_OK)
//        {
//          /* Transmission request Error */
//          Error_Handler();
//        }
// 
        if(HAL_CAN_AddTxMessage(&CanHandle,&TxHeader, TxData, &TxMailbox) != HAL_OK)
        {
          /* Transmission request Error */
          Error_Handler();
        }
        rt_thread_delay(1000);
    }
```