关于STM32F407的can总线的驱动调试总结

发布于 2020-06-03 15:31:57 浏览：3738 订阅该版

调试期间遇到以下问题：
1、波特率的问题，rt thread bsp 3.1.4中的drv_can.c的波特率有问题，默认是
```c
/* APB1 45Mhz(max)*/
```
而407一般都是42Mhz，调整如下：

```c
#elif defined (SOC_SERIES_STM32F4)/* APB1 42MHz(max) */
static const struct stm32_baud_rate_tab can_baud_rate_tab[] =
{
    {CAN1MBaud, (CAN_SJW_2TQ | CAN_BS1_9TQ  | CAN_BS2_4TQ | 3)},
    {CAN800kBaud, (CAN_SJW_2TQ | CAN_BS1_8TQ  | CAN_BS2_4TQ | 4)},
    {CAN500kBaud, (CAN_SJW_2TQ | CAN_BS1_9TQ  | CAN_BS2_4TQ | 6)},
    {CAN250kBaud, (CAN_SJW_2TQ | CAN_BS1_9TQ  | CAN_BS2_4TQ | 12)},
    {CAN125kBaud, (CAN_SJW_2TQ | CAN_BS1_9TQ  | CAN_BS2_4TQ | 24)},
    {CAN100kBaud, (CAN_SJW_2TQ | CAN_BS1_9TQ  | CAN_BS2_4TQ | 30)},
    {CAN50kBaud, (CAN_SJW_2TQ | CAN_BS1_9TQ  | CAN_BS2_4TQ | 60)},
    {CAN20kBaud, (CAN_SJW_2TQ | CAN_BS1_9TQ  | CAN_BS2_4TQ | 150)},
    {CAN10kBaud, (CAN_SJW_2TQ | CAN_BS1_9TQ  | CAN_BS2_4TQ | 300)}
};
```

如果你是这个，那恭喜你，无此坑；

2、关于短路H和L造成MSH卡死或永远都无法发送的问题，因为之前做过103的CAN，有过研究，修改如下即可：
```c
drv_can->CanHandle.Init.AutoRetransmission = ENABLE;
```
如果你有这个，那也恭喜你，你无此烦恼；

关于hrd，还在调试；

4 个回答

andychen 2020-06-04

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调试一下滤波功能(不用RT_CAN_USING_HDR),可用，供参考：
drv_can.c
```
CAN_FilterTypeDef filterConf = {0};
    filterConf.FilterIdHigh = 0x0000;
    filterConf.FilterIdLow = 0x0004;
    filterConf.FilterMaskIdHigh = 0x0000;
    filterConf.FilterMaskIdLow = 0x0006;
    filterConf.FilterFIFOAssignment = CAN_FILTER_FIFO0;
    filterConf.FilterBank = 0;
    filterConf.FilterMode = CAN_FILTERMODE_IDMASK;
    filterConf.FilterScale = CAN_FILTERSCALE_32BIT;
    filterConf.FilterActivation = ENABLE;
    filterConf.SlaveStartFilterBank = 14;

#ifdef BSP_USING_CAN1
    filterConf.FilterBank = 0;

drv_can1.FilterConfig = filterConf;
    drv_can1.device.config = config;
    /* register CAN1 device */
    rt_hw_can_register(&drv_can1.device,
                       drv_can1.name,
                       &_can_ops,
                       &drv_can1);
```
app_can.c

```
static rt_err_t can_open()
{
	  struct rt_can_filter_item filterConfig[2] = 
		{
			{
				.id = 0x00000000,
				.ide = 1,
				.rtr = 0,
				.mode = 0x00000000U,
				.mask = 0x80000006,
				.hdr = 0				
			},
			{
				.id = 0x10000000,
				.ide = 1,
				.rtr = 0,
				.mode = 0x00000000U,
				.mask = 0x80000006,
				.hdr = 1
			}
		};
		
		struct rt_can_filter_config config =
    {
        .count = 2,
        .actived = 1,
        .items = filterConfig
    };
    can_device = rt_device_find("bxcan1");
    if (RT_NULL == can_device)
    {
        rt_kprintf("can1 device not found!\n");
        return -RT_ERROR;
    }

/* 初始化事件对象 */
    rt_event_init(&can_event, "can_rx_event", RT_IPC_FLAG_FIFO);
    /* 设置回调函数发送事件 */
    rt_device_set_rx_indicate(can_device, can_rx_ind);
		
		rt_device_control(can_device,RT_CAN_CMD_SET_FILTER,&config);
		
		
    return rt_device_open(can_device, RT_DEVICE_OFLAG_RDWR | RT_DEVICE_FLAG_INT_RX | RT_DEVICE_FLAG_INT_TX);
}
```