F105 的can1 can2 只能发送数据，不能接收数据 cubex产生的代码

prestonxi

代码如下main的代码
int main(void)
{
  /* USER CODE BEGIN 1 */

  /* USER CODE END 1 */

  /* MCU Configuration--------------------------------------------------------*/

  /* Reset of all peripherals, Initializes the Flash interface and the Systick. */
  HAL_Init();

  /* USER CODE BEGIN Init */

  /* USER CODE END Init */

  /* Configure the system clock */
  SystemClock_Config();

  /* USER CODE BEGIN SysInit */

  /* USER CODE END SysInit */

  /* Initialize all configured peripherals */
  MX_GPIO_Init();
  MX_CAN1_Init();
       
        MX_CAN2_Init();

  /* USER CODE BEGIN 2 */
       
        can_filter(&hcan1);
  can_filter(&hcan2);
       
        HAL_CAN_Start(&hcan1);
        HAL_CAN_Start(&hcan2);


        HAL_CAN_ActivateNotification(&hcan2,CAN_IT_RX_FIFO0_MSG_PENDING); // Enable interrupt
       
        HAL_CAN_ActivateNotification(&hcan1,CAN_IT_RX_FIFO0_MSG_PENDING); // Enable interrupt
  /* USER CODE END 2 */

  /* Infinite loop */
  /* USER CODE BEGIN WHILE */
  while (1)
  {
                        Can_SendData(s_data1,sizeof(s_data1),0x123456);
               
                        HAL_Delay(500);

                        //HAL_GPIO_WritePin(GPIOC,GPIO_PIN_5,GPIO_PIN_SET);
               
    /* USER CODE END WHILE */

    /* USER CODE BEGIN 3 */
  }
  /* USER CODE END 3 */
}

/**
  * @brief System Clock Configuration
  * @retval None
  */
void SystemClock_Config(void)
{
  RCC_OscInitTypeDef RCC_OscInitStruct = {0};
  RCC_ClkInitTypeDef RCC_ClkInitStruct = {0};

  /** Initializes the RCC Oscillators according to the specified parameters
  * in the RCC_OscInitTypeDef structure.
  */
  RCC_OscInitStruct.OscillatorType = RCC_OSCILLATORTYPE_HSE;
  RCC_OscInitStruct.HSEState = RCC_HSE_ON;
  RCC_OscInitStruct.HSEPredivValue = RCC_HSE_PREDIV_DIV1;
  RCC_OscInitStruct.HSIState = RCC_HSI_ON;
  RCC_OscInitStruct.Prediv1Source = RCC_PREDIV1_SOURCE_HSE;
  RCC_OscInitStruct.PLL.PLLState = RCC_PLL_ON;
  RCC_OscInitStruct.PLL.PLLSource = RCC_PLLSOURCE_HSE;
  RCC_OscInitStruct.PLL.PLLMUL = RCC_PLL_MUL9;
  RCC_OscInitStruct.PLL2.PLL2State = RCC_PLL_NONE;
  if (HAL_RCC_OscConfig(&RCC_OscInitStruct) != HAL_OK)
  {
    Error_Handler();
  }
  /** Initializes the CPU, AHB and APB buses clocks
  */
  RCC_ClkInitStruct.ClockType = RCC_CLOCKTYPE_HCLK|RCC_CLOCKTYPE_SYSCLK
                              |RCC_CLOCKTYPE_PCLK1|RCC_CLOCKTYPE_PCLK2;
  RCC_ClkInitStruct.SYSCLKSource = RCC_SYSCLKSOURCE_PLLCLK;
  RCC_ClkInitStruct.AHBCLKDivider = RCC_SYSCLK_DIV1;
  RCC_ClkInitStruct.APB1CLKDivider = RCC_HCLK_DIV2;
  RCC_ClkInitStruct.APB2CLKDivider = RCC_HCLK_DIV1;

  if (HAL_RCC_ClockConfig(&RCC_ClkInitStruct, FLASH_LATENCY_2) != HAL_OK)
  {
    Error_Handler();
  }
  /** Configure the Systick interrupt time
  */
  __HAL_RCC_PLLI2S_ENABLE();
}

/* USER CODE BEGIN 4 */

/* USER CODE END 4 */

/**
  * @brief  This function is executed in case of error occurrence.
  * @retval None
  */
void Error_Handler(void)
{
  /* USER CODE BEGIN Error_Handler_Debug */
  /* User can add his own implementation to report the HAL error return state */
  __disable_irq();
  while (1)
  {
  }
  /* USER CODE END Error_Handler_Debug */
}

#ifdef  USE_FULL_ASSERT
/**
  * @brief  Reports the name of the source file and the source line number
  *         where the assert_param error has occurred.
  * @param  file: pointer to the source file name
  * @param  line: assert_param error line source number
  * @retval None
  */
void assert_failed(uint8_t *file, uint32_t line)
{
  /* USER CODE BEGIN 6 */
  /* User can add his own implementation to report the file name and line number,
     ex: printf("Wrong parameters value: file %s on line %d\r\n", file, line) */
  /* USER CODE END 6 */
}
#endif /* USE_FULL_ASSERT */



下面是can的代码
/* USER CODE BEGIN Header */
/**
  ******************************************************************************
  * @file    can.c
  * @brief   This file provides code for the configuration
  *          of the CAN instances.
  ******************************************************************************
  * @attention
  *
  * Copyright (c) 2022 STMicroelectronics.
  * All rights reserved.
  *
  * This software is licensed under terms that can be found in the LICENSE file
  * in the root directory of this software component.
  * If no LICENSE file comes with this software, it is provided AS-IS.
  *
  ******************************************************************************
  */
/* USER CODE END Header */
/* Includes ------------------------------------------------------------------*/
#include "can.h"

/* USER CODE BEGIN 0 */

/* USER CODE END 0 */

CAN_HandleTypeDef hcan1;
CAN_HandleTypeDef hcan2;

/* CAN1 init function */
void MX_CAN1_Init(void)
{

  /* USER CODE BEGIN CAN1_Init 0 */

  /* USER CODE END CAN1_Init 0 */

  /* USER CODE BEGIN CAN1_Init 1 */

  /* USER CODE END CAN1_Init 1 */
  hcan1.Instance = CAN1;
  hcan1.Init.Prescaler = 4;
  hcan1.Init.Mode = CAN_MODE_LOOPBACK;
  hcan1.Init.SyncJumpWidth = CAN_SJW_1TQ;
  hcan1.Init.TimeSeg1 = CAN_BS1_9TQ;
  hcan1.Init.TimeSeg2 = CAN_BS2_8TQ;
  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();
  }
  /* USER CODE BEGIN CAN1_Init 2 */

  /* USER CODE END CAN1_Init 2 */

}
/* CAN2 init function */
void MX_CAN2_Init(void)
{

  /* USER CODE BEGIN CAN2_Init 0 */

  /* USER CODE END CAN2_Init 0 */

  /* USER CODE BEGIN CAN2_Init 1 */

  /* USER CODE END CAN2_Init 1 */
  hcan2.Instance = CAN2;
  hcan2.Init.Prescaler = 4;
  hcan2.Init.Mode = CAN_MODE_LOOPBACK;
  hcan2.Init.SyncJumpWidth = CAN_SJW_1TQ;
  hcan2.Init.TimeSeg1 = CAN_BS1_9TQ;
  hcan2.Init.TimeSeg2 = CAN_BS2_8TQ;
  hcan2.Init.TimeTriggeredMode = DISABLE;
  hcan2.Init.AutoBusOff = DISABLE;
  hcan2.Init.AutoWakeUp = DISABLE;
  hcan2.Init.AutoRetransmission = DISABLE;
  hcan2.Init.ReceiveFifoLocked = DISABLE;
  hcan2.Init.TransmitFifoPriority = DISABLE;
  if (HAL_CAN_Init(&hcan2) != HAL_OK)
  {
    Error_Handler();
  }
  /* USER CODE BEGIN CAN2_Init 2 */

  /* USER CODE END CAN2_Init 2 */

}

static uint32_t HAL_RCC_CAN1_CLK_ENABLED=0;

void HAL_CAN_MspInit(CAN_HandleTypeDef* canHandle)
{

  GPIO_InitTypeDef GPIO_InitStruct = {0};
  if(canHandle->Instance==CAN1)
  {
  /* USER CODE BEGIN CAN1_MspInit 0 */

  /* USER CODE END CAN1_MspInit 0 */
    /* CAN1 clock enable */
    HAL_RCC_CAN1_CLK_ENABLED++;
    if(HAL_RCC_CAN1_CLK_ENABLED==1){
      __HAL_RCC_CAN1_CLK_ENABLE();
    }

    __HAL_RCC_GPIOA_CLK_ENABLE();
    /**CAN1 GPIO Configuration
    PA11     ------> CAN1_RX
    PA12     ------> CAN1_TX
    */
    GPIO_InitStruct.Pin = GPIO_PIN_11;
    GPIO_InitStruct.Mode = GPIO_MODE_INPUT;
    GPIO_InitStruct.Pull = GPIO_NOPULL;
    HAL_GPIO_Init(GPIOA, &GPIO_InitStruct);

    GPIO_InitStruct.Pin = GPIO_PIN_12;
    GPIO_InitStruct.Mode = GPIO_MODE_AF_PP;
    GPIO_InitStruct.Speed = GPIO_SPEED_FREQ_HIGH;
    HAL_GPIO_Init(GPIOA, &GPIO_InitStruct);

    /* CAN1 interrupt Init */
    HAL_NVIC_SetPriority(CAN1_RX0_IRQn, 0, 0);
    HAL_NVIC_EnableIRQ(CAN1_RX0_IRQn);
  /* USER CODE BEGIN CAN1_MspInit 1 */

  /* USER CODE END CAN1_MspInit 1 */
  }
  else if(canHandle->Instance==CAN2)
  {
  /* USER CODE BEGIN CAN2_MspInit 0 */

  /* USER CODE END CAN2_MspInit 0 */
    /* CAN2 clock enable */
    __HAL_RCC_CAN2_CLK_ENABLE();
    HAL_RCC_CAN1_CLK_ENABLED++;
    if(HAL_RCC_CAN1_CLK_ENABLED==1){
      __HAL_RCC_CAN1_CLK_ENABLE();
    }

    __HAL_RCC_GPIOB_CLK_ENABLE();
    /**CAN2 GPIO Configuration
    PB12     ------> CAN2_RX
    PB13     ------> CAN2_TX
    */
    GPIO_InitStruct.Pin = GPIO_PIN_12;
    GPIO_InitStruct.Mode = GPIO_MODE_INPUT;
    GPIO_InitStruct.Pull = GPIO_NOPULL;
    HAL_GPIO_Init(GPIOB, &GPIO_InitStruct);

    GPIO_InitStruct.Pin = GPIO_PIN_13;
    GPIO_InitStruct.Mode = GPIO_MODE_AF_PP;
    GPIO_InitStruct.Speed = GPIO_SPEED_FREQ_HIGH;
    HAL_GPIO_Init(GPIOB, &GPIO_InitStruct);

    /* CAN2 interrupt Init */
    HAL_NVIC_SetPriority(CAN2_RX0_IRQn, 0, 0);
    HAL_NVIC_EnableIRQ(CAN2_RX0_IRQn);
  /* USER CODE BEGIN CAN2_MspInit 1 */

  /* USER CODE END CAN2_MspInit 1 */
  }
}

void HAL_CAN_MspDeInit(CAN_HandleTypeDef* canHandle)
{

  if(canHandle->Instance==CAN1)
  {
  /* USER CODE BEGIN CAN1_MspDeInit 0 */

  /* USER CODE END CAN1_MspDeInit 0 */
    /* Peripheral clock disable */
    HAL_RCC_CAN1_CLK_ENABLED--;
    if(HAL_RCC_CAN1_CLK_ENABLED==0){
      __HAL_RCC_CAN1_CLK_DISABLE();
    }

    /**CAN1 GPIO Configuration
    PA11     ------> CAN1_RX
    PA12     ------> CAN1_TX
    */
    HAL_GPIO_DeInit(GPIOA, GPIO_PIN_11|GPIO_PIN_12);

    /* CAN1 interrupt Deinit */
    HAL_NVIC_DisableIRQ(CAN1_RX0_IRQn);
  /* USER CODE BEGIN CAN1_MspDeInit 1 */

  /* USER CODE END CAN1_MspDeInit 1 */
  }
  else if(canHandle->Instance==CAN2)
  {
  /* USER CODE BEGIN CAN2_MspDeInit 0 */

  /* USER CODE END CAN2_MspDeInit 0 */
    /* Peripheral clock disable */
    __HAL_RCC_CAN2_CLK_DISABLE();
    HAL_RCC_CAN1_CLK_ENABLED--;
    if(HAL_RCC_CAN1_CLK_ENABLED==0){
      __HAL_RCC_CAN1_CLK_DISABLE();
    }

    /**CAN2 GPIO Configuration
    PB12     ------> CAN2_RX
    PB13     ------> CAN2_TX
    */
    HAL_GPIO_DeInit(GPIOB, GPIO_PIN_12|GPIO_PIN_13);

    /* CAN2 interrupt Deinit */
    HAL_NVIC_DisableIRQ(CAN2_RX0_IRQn);
  /* USER CODE BEGIN CAN2_MspDeInit 1 */

  /* USER CODE END CAN2_MspDeInit 1 */
  }
}

/* USER CODE BEGIN 1 */
void can_filter(CAN_HandleTypeDef* hcan)
{
        CAN_FilterTypeDef                CAN_FilterConfigStructure;
        if (hcan == &hcan2)
        {
            CAN_FilterConfigStructure.FilterBank = 14;//***********************!!
        }
        if (hcan == &hcan1)
        {
                CAN_FilterConfigStructure.FilterBank = 0;
        }
        CAN_FilterConfigStructure.FilterMode = CAN_FILTERMODE_IDMASK;
        CAN_FilterConfigStructure.FilterScale = CAN_FILTERSCALE_32BIT;
        CAN_FilterConfigStructure.FilterIdHigh = 0x0000;
        CAN_FilterConfigStructure.FilterIdLow = 0x0000;
        CAN_FilterConfigStructure.FilterMaskIdHigh = 0x0000;
        CAN_FilterConfigStructure.FilterMaskIdLow = 0x0000;

        CAN_FilterConfigStructure.FilterFIFOAssignment = CAN_RX_FIFO0;
        CAN_FilterConfigStructure.SlaveStartFilterBank = 14;
        CAN_FilterConfigStructure.FilterActivation = ENABLE;
    HAL_CAN_ConfigFilter(hcan, &CAN_FilterConfigStructure);      
}




void HAL_CAN_RxFifo0MsgPendingCallback(CAN_HandleTypeDef *hcan)
{
                CAN_RxHeaderTypeDef Header;
                uint8_t Data[8];
                HAL_GPIO_WritePin(GPIOC,GPIO_PIN_5,GPIO_PIN_RESET);
       
                HAL_CAN_GetRxMessage(hcan,CAN_FilterFIFO0,&Header,Data);
       
        //        uint8_t s_data22[6]={0X03,0X03,0X00,0X04b,0Xbf,0X73}        ;
               
               



       
}

void Can_SendData(uint8_t *buf,int len,uint32_t id)
{
        CAN_TxHeaderTypeDef txHeader;
        uint32_t mailBoxId = 0;
       
        if(len> 8)
                len = 8;
       
        txHeader.ExtId = id;
        txHeader.IDE = CAN_ID_EXT;
        txHeader.RTR = CAN_RTR_DATA;
        txHeader.DLC = len;
        txHeader.TransmitGlobalTime = DISABLE;
       
        HAL_CAN_AddTxMessage(&hcan1,&txHeader,buf,&mailBoxId);
HAL_Delay(20);
        HAL_CAN_AddTxMessage(&hcan2,&txHeader,buf,&mailBoxId);

       
//                                HAL_GPIO_WritePin(GPIOC,GPIO_PIN_7,GPIO_PIN_SET);

//                        HAL_Delay(500);
//                        HAL_GPIO_WritePin(GPIOC,GPIO_PIN_7,GPIO_PIN_RESET);
//                        HAL_Delay(500);
       
       
}


/* USER CODE END 1 */

adadaxwx

请问楼主解决了吗？我也遇到了类似的问题

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