基于最新版CubeMx制作的bsp包，使用rt-thread 4.0.2，CAN设备不.....

发布于 2020-01-08 14:34:12 浏览：1948 订阅该版

制作过程：

1、cube配置。

![110,0](https://www.rt-thread.org/qa/forum.php?mod=image&aid=13149&size=300x300&key=6daaad7dec098e16&nocache=yes&type=fixnone)

2、menuconfig

menuconfig BSP_USING_CAN
        bool "Enable CAN"
        default n
        select RT_USING_CAN
        if BSP_USING_CAN
            config BSP_USING_CAN1
                bool "Enable CAN1"
                default n
        endif

3、使用例程（官方例程不做改动）。

#include <rtthread.h>
#include "rtdevice.h"

#define CAN_DEV_NAME       "can1"      /* CAN 设备名称 */

static struct rt_semaphore rx_sem;     /* 用于接收消息的信号量 */
static rt_device_t can_dev;            /* CAN 设备句柄 */

/* 接收数据回调函数 */
static rt_err_t can_rx_call(rt_device_t dev, rt_size_t size)
{
    /* CAN 接收到数据后产生中断，调用此回调函数，然后发送接收信号量 */
    rt_sem_release(&rx_sem);

return RT_EOK;
}

static void can_rx_thread(void *parameter)
{
    int i;
    rt_err_t res;
    struct rt_can_msg rxmsg = {0};

/* 设置接收回调函数 */
    rt_device_set_rx_indicate(can_dev, can_rx_call);

#ifdef RT_CAN_USING_HDR
    struct rt_can_filter_item items[5] =
    {
        RT_CAN_FILTER_ITEM_INIT(0x100, 0, 0, 0, 0x700, RT_NULL, RT_NULL), /* std,match ID:0x100~0x1ff，hdr为-1，设置默认过滤表 */
        RT_CAN_FILTER_ITEM_INIT(0x300, 0, 0, 0, 0x700, RT_NULL, RT_NULL), /* std,match ID:0x300~0x3ff，hdr为-1 */
        RT_CAN_FILTER_ITEM_INIT(0x211, 0, 0, 0, 0x7ff, RT_NULL, RT_NULL), /* std,match ID:0x211，hdr为-1 */
        RT_CAN_FILTER_STD_INIT(0x486, RT_NULL, RT_NULL),                  /* std,match ID:0x486，hdr为-1 */
        {0x555, 0, 0, 0, 0x7ff, 7,}                                       /* std,match ID:0x555，hdr为7，指定设置7号过滤表 */
    };
    struct rt_can_filter_config cfg = {5, 1, items}; /* 一共有5个过滤表 */
    /* 设置硬件过滤表 */
    res = rt_device_control(can_dev, RT_CAN_CMD_SET_FILTER, &cfg);
    RT_ASSERT(res == RT_EOK);
#endif

while (1)
 {
 /* hdr值为-1，表示直接从uselist链表读取数据 */
 rxmsg.hdr = -1;
 /* 阻塞等待接收信号量 */
 rt_sem_take(&rx_sem, RT_WAITING_FOREVER);
 /* 从CAN读取一帧数据 */
 rt_device_read(can_dev, 0, &rxmsg, sizeof(rxmsg));
 /* 打印数据ID及内容 */
 rt_kprintf("ID:%x ", rxmsg.id);
 for (i = 0; i < 8; i++)
 {
 rt_kprintf("%2x ", rxmsg.data*);
 }

rt_kprintf(" ");
 }
}

int can_sample(int argc, char *argv[])
{
    struct rt_can_msg msg = {0};
    rt_err_t res;
    rt_size_t  size;
    rt_thread_t thread;
    char can_name[RT_NAME_MAX];

if (argc == 2)
    {
        rt_strncpy(can_name, argv[1], RT_NAME_MAX);
    }
    else
    {
        rt_strncpy(can_name, CAN_DEV_NAME, RT_NAME_MAX);
    }

can_dev = rt_device_find(can_name);
 if (!can_dev)
 {
 rt_kprintf("find %s failed! ", can_name);
 return RT_ERROR;
 }

/* 初始化CAN接收信号量 */
    rt_sem_init(&rx_sem, "rx_sem", 0, RT_IPC_FLAG_FIFO);

/* 以中断接收及发送方式打开CAN设备 */
    res = rt_device_open(can_dev, RT_DEVICE_FLAG_INT_TX | RT_DEVICE_FLAG_INT_RX);
    RT_ASSERT(res == RT_EOK);

thread = rt_thread_create("can_rx", can_rx_thread, RT_NULL, 1024, 25, 10);
 if (thread != RT_NULL)
 {
 rt_thread_startup(thread);
 }
 else
 {
 rt_kprintf("create can_rx thread failed! ");
 }

msg.id = 0x78; /* ID为0x78 */
 msg.ide = RT_CAN_STDID; /* 标准格式 */
 msg.rtr = RT_CAN_DTR; /* 数据帧 */
 msg.len = 8; /* 数据长度为8 */
 /* 待发送的8字节数据 */
 msg.data[0] = 0x00;
 msg.data[1] = 0x11;
 msg.data[2] = 0x22;
 msg.data[3] = 0x33;
 msg.data[4] = 0x44;
 msg.data[5] = 0x55;
 msg.data[6] = 0x66;
 msg.data[7] = 0x77;
 /* 发送一帧CAN数据 */
 size = rt_device_write(can_dev, 0, &msg, sizeof(msg));
 if (size == 0)
 {
 rt_kprintf("can dev write data failed! ");
 }

return res;
}
/* 导出到 msh 命令列表中 */
MSH_CMD_EXPORT(can_sample, can device sample);

结果：
CAN读写
写：can dev write data failed!
读：没有数据

4、使用裸机代码对比

#include <rtthread.h>
#include "rtdevice.h"
#include <stm32f4xx.h>
CAN_HandleTypeDef hcan1;

CAN_TxHeaderTypeDef   TxHeader;
CAN_RxHeaderTypeDef   RxHeader;
uint8_t               TxData[8];
uint8_t               RxData[8];
uint8_t rx_flag = 0;

/* 接收数据回调函数 */
void HAL_CAN_RxFifo0MsgPendingCallback ( CAN_HandleTypeDef* hcan )
{
	if ( hcan ==&hcan1 )
	{
		/* Get RX message */
		if ( HAL_CAN_GetRxMessage ( hcan, CAN_RX_FIFO0, &RxHeader, RxData ) != HAL_OK )
		{
			/* Reception Error */
			//Error_Handler();
		}

/* Display LEDx */
		if ( ( RxHeader.StdId == 0x321 ) && ( RxHeader.IDE == CAN_ID_STD ) && ( RxHeader.DLC == 8 ) )
		{
			rt_kprintf ( "rev " );
		}
		rx_flag = 1;
	}
	rt_kprintf ( "rev " );
}

static void can_rx_thread ( void* parameter )
{
	uint8_t i=0;
	uint32_t TxMailbox;
	uint8_t message[8];

while ( 1 )
	{
		/* 阻塞等待接收信号量 */
		if ( rx_flag == 1 )
		{
			/* 打印数据ID及内容 */
			rt_kprintf ( "ID:%x ",RxHeader.StdId );
			for ( i = 0; i < 8; i++ )
			{
				rt_kprintf ( "%2x ",RxData* );
			}

rt_kprintf ( " " );
			rx_flag = 0;
		}
		else
		{
			TxHeader.StdId=0X12; //标准标识符
			TxHeader.ExtId=0x12; //扩展标识符(29位)
			TxHeader.IDE=CAN_ID_STD; //使用标准帧
			TxHeader.RTR=CAN_RTR_DATA; //数据帧
			TxHeader.DLC=8;
			for ( i=0; i<8; i++ )
			{
				message*=i;
			}
			if ( HAL_CAN_AddTxMessage ( &hcan1, &TxHeader, message, &TxMailbox ) != HAL_OK ) //发送
			{
				rt_kprintf ( "send fail! " );;
			}
			while ( HAL_CAN_GetTxMailboxesFreeLevel ( &hcan1 ) != 3 )
			{

}
			rt_kprintf ( "test can " );
		}
		rt_thread_mdelay ( 1000 );
	}
}

int can_test_sample ( void )
{
	CAN_FilterTypeDef  sFilterConfig;
	rt_err_t res;
	rt_thread_t thread;

hcan1.Instance = CAN1;
	hcan1.Init.Prescaler = 6;
	hcan1.Init.Mode = CAN_MODE_NORMAL;
	hcan1.Init.SyncJumpWidth = CAN_SJW_1TQ;
	hcan1.Init.TimeSeg1 = CAN_BS1_7TQ;
	hcan1.Init.TimeSeg2 = CAN_BS2_6TQ;
	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 )
	{
		while ( 1 )
		{
		}
	}
	/*##-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 ( &hcan1, &sFilterConfig ) != HAL_OK )
	{
		/* Filter configuration Error */
		while ( 1 )
		{
		}
	}

/*##-3- Start the CAN peripheral ###########################################*/
	if ( HAL_CAN_Start ( &hcan1 ) != HAL_OK )
	{
		/* Start Error */
		while ( 1 )
		{
		}
	}

/*##-4- Activate CAN RX notification #######################################*/
	if ( HAL_CAN_ActivateNotification ( &hcan1, CAN_IT_RX_FIFO0_MSG_PENDING ) != HAL_OK )
	{
		/* Notification Error */
		while ( 1 )
		{
		}
	}
	thread = rt_thread_create ( "can_test_rx", can_rx_thread, RT_NULL, 1024, 25, 10 );
	if ( thread != RT_NULL )
	{
		rt_thread_startup ( thread );
	}
	else
	{
		rt_kprintf ( "create can_rx thread failed! " );
	}

return res;
}

结果：
CAN设备收发
发：能发出数据并且·能收到

![110,0](https://www.rt-thread.org/qa/forum.php?mod=image&aid=13150&size=300x300&key=4ec5b13878fecc20&nocache=yes&type=fixnone)

收：导致程序死机

5、遇到的问题
硬件：stm32f407VE
cubemx：5.4.0
按照配置出来的can设备能注册能配置，但是并不能进行收发。但是用裸机代码直接用在系统上也是可以发送的，只在使用103的设备上用过
can设备，但是用在407上所做出来的can不能使用，各位有遇到过这一类的问题吗，请大家指点一下。

![cube.png](https://oss-club.rt-thread.org/uploads/202001/08/141954ilyxl8313dzekplx.png)

![cannet.png](https://oss-club.rt-thread.org/uploads/202001/08/142813vq7oxzvhbxb69hvq.png)

3 个回答

小白白又白 2020-01-08

这家伙很懒，什么也没写！

小白白又白 2020-01-08

这家伙很懒，什么也没写！

billylv 2020-02-22

这家伙很懒，什么也没写！

[i=s] 本帖最后由 billylv 于 2020-2-22 20:50 编辑 [/i]

你可以看一下
波特率设置的部分

```
#if defined (SOC_SERIES_STM32F1)
static const struct stm_baud_rate_tab can_baud_rate_tab[] =
{
    {CAN1MBaud, (CAN_SJW_2TQ | CAN_BS1_8TQ  | CAN_BS2_3TQ | 3)},
    {CAN800kBaud, (CAN_SJW_2TQ | CAN_BS1_5TQ  | CAN_BS2_3TQ | 5)},
    {CAN500kBaud, (CAN_SJW_2TQ | CAN_BS1_8TQ  | CAN_BS2_3TQ | 6)},
    {CAN250kBaud, (CAN_SJW_2TQ | CAN_BS1_8TQ  | CAN_BS2_3TQ | 12)},
    {CAN125kBaud, (CAN_SJW_2TQ | CAN_BS1_8TQ  | CAN_BS2_3TQ | 24)},
    {CAN100kBaud, (CAN_SJW_2TQ | CAN_BS1_8TQ  | CAN_BS2_3TQ | 30)},
    {CAN50kBaud, (CAN_SJW_2TQ | CAN_BS1_8TQ  | CAN_BS2_3TQ | 60)},
    {CAN20kBaud, (CAN_SJW_2TQ | CAN_BS1_8TQ  | CAN_BS2_3TQ | 150)},
    {CAN10kBaud, (CAN_SJW_2TQ | CAN_BS1_8TQ  | CAN_BS2_3TQ | 300)}
};
#elif defined (SOC_SERIES_STM32F4)
static const struct stm_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)}
};
#endif
```