使用HAL CAN驱动中断发送，报Default_Handler，如何解决？

发布于 2020-07-26 00:44:49 浏览：2987 订阅该版

使用RTThread Studio新建基于STM32F7芯片的4.0.2工程，stm32f7xx_hal_conf.h开启HAL_CAN_MODULE_ENABLED，自己编写基于HAL库的CAN初始化并开启TX、RX中断，main中每秒发送一帧数据，当第一次发送成功后即将产生TX中断时进入Default_Handler，程序死掉。
```c
static void CAN1_IOInit(void)
{
    GPIO_InitTypeDef GPIO_InitStruct = {0};

__HAL_RCC_CAN1_CLK_ENABLE();
    __HAL_RCC_GPIOA_CLK_ENABLE();

GPIO_InitStruct.Pin = GPIO_PIN_11|GPIO_PIN_12;
    GPIO_InitStruct.Mode = GPIO_MODE_AF_OD;
    GPIO_InitStruct.Pull = GPIO_PULLUP;
    GPIO_InitStruct.Speed = GPIO_SPEED_FREQ_VERY_HIGH;
    GPIO_InitStruct.Alternate = GPIO_AF9_CAN1;
    HAL_GPIO_Init(GPIOA, &GPIO_InitStruct);

HAL_NVIC_SetPriority(CAN1_RX0_IRQn, 7, 0);
    HAL_NVIC_EnableIRQ(CAN1_RX0_IRQn);
    HAL_NVIC_SetPriority(CAN1_TX_IRQn, 5, 0);
    HAL_NVIC_EnableIRQ(CAN1_TX_IRQn);
}
static void CAN1_Init(void)
{

hcan1.Instance = CAN1;
    hcan1.Init.Prescaler = 6;
    hcan1.Init.Mode = CAN_MODE_NORMAL;
    hcan1.Init.SyncJumpWidth = CAN_SJW_2TQ;
    hcan1.Init.TimeSeg1 = CAN_BS1_10TQ;
    hcan1.Init.TimeSeg2 = CAN_BS2_7TQ;
    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();
    }

}
static void CAN1_FilterInit(void)
{
    CAN_FilterTypeDef CAN_Filter = {0};

CAN_Filter.FilterIdHigh = 0x0000;
    CAN_Filter.FilterIdLow = 0x0000;
    CAN_Filter.FilterMaskIdHigh = 0x0000;
    CAN_Filter.FilterMaskIdLow = 0x0000;
    CAN_Filter.FilterFIFOAssignment = CAN_FILTER_FIFO0;
    CAN_Filter.FilterBank = 0;
    CAN_Filter.FilterMode = CAN_FILTERMODE_IDMASK;
    CAN_Filter.FilterScale = CAN_FILTERSCALE_32BIT;
    CAN_Filter.FilterActivation = ENABLE;
    CAN_Filter.SlaveStartFilterBank = 14;

if (HAL_CAN_ConfigFilter(&hcan1, &CAN_Filter) != HAL_OK)
    {
        Error_Handler();
    }
}

static void CAN1_Start(void)
{
    if (HAL_CAN_Start(&hcan1) != HAL_OK)
    {
        Error_Handler();
    }

if (HAL_CAN_ActivateNotification(&hcan1, CAN_IT_RX_FIFO0_MSG_PENDING | CAN_IT_TX_MAILBOX_EMPTY) != HAL_OK)
    {
        Error_Handler();
    }
}
```
main中每秒执行
```c
        if (HAL_CAN_AddTxMessage(&hcan1, &CAN_TxHeader, &(aData[0]), &TxMailbox) != HAL_OK)
        {
            Error_Handler();
        }
```
总线上能收到一次发送的数据后再也收不到数据，跟踪程序进入
```
    .section  .text.Default_Handler,"ax",%progbits
Default_Handler:
Infinite_Loop:
  b  Infinite_Loop
  .size  Default_Handler, .-Default_Handler
```
请问该问题如何解决？
调用栈为：
```
WWDG_IRQHandler() at startup_stm32f767xx.S:127 0x80065d0	
<signal handler called>() at 0xfffffffd	
rt_hw_interrupt_thread_switch() at context_gcc.S:213 0x8000336	
rt_system_scheduler_start() at scheduler.c:174 0x8001c50	
rt_thread_stack() at 0x20021178
```