STM32F107 CAN2 BUG

发布于 2020-06-20 19:21:05 浏览：1668 订阅该版

原驱动使用CAN2时可以发送无法接收，需修改配置里面如下两片，有说F4只修改上面一处的，但测试不可以

static rt_err_t drv_configure(struct rt_can_device *dev_can,
                              struct can_configure *cfg)
{
    struct stm32_drv_can *drv_can;
    rt_uint32_t baud_index;
    CAN_InitTypeDef *drv_init;
    CAN_FilterConfTypeDef *filterConf;

RT_ASSERT(dev_can);
    RT_ASSERT(cfg);

drv_can = (struct stm32_drv_can *)dev_can->parent.user_data;
    drv_init = &drv_can->CanHandle.Init;

drv_init->TTCM = DISABLE;
    drv_init->ABOM = ENABLE;
    drv_init->AWUM = DISABLE;
    drv_init->NART = DISABLE;
    drv_init->RFLM = DISABLE;
    drv_init->TXFP = DISABLE;

switch (cfg->mode)
    {
    case RT_CAN_MODE_NORMAL:
        drv_init->Mode = CAN_MODE_NORMAL;
        break;
    case RT_CAN_MODE_LISEN:
        drv_init->Mode = CAN_MODE_SILENT;
        break;
    case RT_CAN_MODE_LOOPBACK:
        drv_init->Mode = CAN_MODE_LOOPBACK;
        break;
    case RT_CAN_MODE_LOOPBACKANLISEN:
        drv_init->Mode = CAN_MODE_SILENT_LOOPBACK;
        break;
    }

baud_index = get_can_baud_index(cfg->baud_rate);
    drv_init->SJW = BAUD_DATA(SJW, baud_index);
    drv_init->BS1 = BAUD_DATA(BS1, baud_index);
    drv_init->BS2 = BAUD_DATA(BS2, baud_index);
    drv_init->Prescaler = BAUD_DATA(RRESCL, baud_index);
    if (HAL_CAN_Init(&drv_can->CanHandle) != HAL_OK)
    {
        return RT_ERROR;
    }

/* Filter conf */
    filterConf = &drv_can->FilterConfig;
    filterConf->FilterNumber = 0;
		if(drv_can->CanHandle.Instance==CAN2)
        filterConf->FilterNumber = 14;
    else
        filterConf->FilterNumber = 0;
    filterConf->FilterMode = CAN_FILTERMODE_IDMASK;
    filterConf->FilterScale = CAN_FILTERSCALE_32BIT;
    filterConf->FilterIdHigh = 0x0000;
    filterConf->FilterIdLow = 0x0000;
    filterConf->FilterMaskIdHigh = 0x0000;
    filterConf->FilterMaskIdLow = 0x0000;
    filterConf->FilterFIFOAssignment = CAN_FIFO0;
    filterConf->FilterActivation = ENABLE;
		filterConf->BankNumber = 14;
		if(drv_can->CanHandle.Instance==CAN2)
        filterConf->BankNumber = 14;
    else
        filterConf->BankNumber = 0;
    HAL_CAN_ConfigFilter(&drv_can->CanHandle, filterConf);
    return RT_EOK;
}