关于stm32F4 BSP中CAN2驱动的BUG

发布于 2019-12-24 12:51:25 浏览：1924 订阅该版

* 本帖最后由 漫漫慢～ 于 2019-12-24 13:02 编辑 *

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_FilterTypeDef *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->TimeTriggeredMode = DISABLE;
    drv_init->AutoBusOff = ENABLE;
    drv_init->AutoWakeUp = DISABLE;
    drv_init->AutoRetransmission = ENABLE;
    drv_init->ReceiveFifoLocked = DISABLE;
    drv_init->TransmitFifoPriority = 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->SyncJumpWidth = BAUD_DATA(SJW, baud_index);
    drv_init->TimeSeg1 = BAUD_DATA(BS1, baud_index);
    drv_init->TimeSeg2 = 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;
    }
    if (HAL_CAN_Start(&drv_can->CanHandle) != HAL_OK)
    {
        return RT_ERROR;
    }

/* Filter conf */
    filterConf = &drv_can->FilterConfig;
    filterConf->FilterBank = 0;
    if(drv_can->CanHandle.Instance==CAN2)
        filterConf->FilterBank = 14;
    else
        filterConf->FilterBank = 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_FILTER_FIFO0;
    filterConf->FilterActivation = ENABLE;
    filterConf->SlaveStartFilterBank = 14;
    HAL_CAN_ConfigFilter(&drv_can->CanHandle, filterConf);
    return RT_EOK;
}
蓝色字体部分是驱动源码，红色字体为我修改过后的部分，亲测源码针对CAN1是没有问题的，但要单独使用CAN2就没法收到数据了， 需将filterConf->FilterBank改为14才可正常工作