萌新求教！STM32F427IIH6,can口无法初始化

NPU湫潍 · 发表于 2018-10-29 17:38:11

求求各位帮帮忙，在下新人，用HAL库在can初始化的时候，调试发现在

while ((hcan->Instance->MSR & CAN_MSR_SLAK) != RESET)  {
if ((HAL_GetTick() - tickstart) > CAN_TIMEOUT_VALUE)
{
   /* Update error code */
   hcan->ErrorCode |= HAL_CAN_ERROR_TIMEOUT;

   /* Change CAN state */
   hcan->State = HAL_CAN_STATE_ERROR;

   return HAL_ERROR;
}
  }

这里最后报错，好几天了一直弄不好，各位帮忙看一下[mw_shl_code=applescript,true]初始化参数如下，时钟42MHZ
void CAN_Init(CAN_TypeDef *CANx, FilterUnit unit[], uint16_t num)
{
CAN_HandleTypeDef *phandle;
if(CANx == CAN1)
{
      phandle = &CAN1Handle;
}
else
{
      phandle = &CAN2Handle;
}
phandle->Instance                   = CANx;
phandle->Init.Prescaler             = 3;             //APB1总线时钟为42MHz，3分频后为14MHz
phandle->Init.Mode                   = CAN_MODE_NORMAL;
phandle->Init.SyncJumpWidth          = CAN_SJW_4TQ;
phandle->Init.TimeSeg1             = CAN_BS1_7TQ;
phandle->Init.TimeSeg2             = CAN_BS2_6TQ;    //CAN波特率为 14MHz / (7 + 6 + 1) = 1MHz
phandle->Init.TimeTriggeredMode    = DISABLE;
phandle->Init.AutoBusOff             = DISABLE;
phandle->Init.AutoWakeUp             = DISABLE;
phandle->Init.AutoRetransmission    = DISABLE;
phandle->Init.ReceiveFifoLocked    = DISABLE;
phandle->Init.TransmitFifoPriority = DISABLE;

if(HAL_CAN_Init(phandle)!=HAL_OK)
            {
                     while(1);//停在这个地方
            }
CAN_FilterInit(CANx, unit, num);

HAL_CAN_ActivateNotification(phandle, CAN_IT_RX_FIFO0_MSG_PENDING
                                    | CAN_IT_RX_FIFO1_MSG_PENDING    );
HAL_CAN_Start(phandle);
}

void HAL_CAN_MspInit(CAN_HandleTypeDef* hcan)
{
GPIO_InitTypeDef GPIO_InitStruct;

GPIO_InitStruct.Mode = GPIO_MODE_AF_PP;
GPIO_InitStruct.Pull = GPIO_NOPULL;
GPIO_InitStruct.Speed = GPIO_SPEED_FREQ_VERY_HIGH;

if(hcan->Instance == CAN1)
{
      __HAL_RCC_CAN1_CLK_ENABLE();

      CAN1_TX_PORT_CLK_ENABLE();
      CAN1_RX_PORT_CLK_ENABLE();

      GPIO_InitStruct.Alternate =  GPIO_AF9_CAN1;
      GPIO_InitStruct.Pin = CAN1_TX_PIN;
      HAL_GPIO_Init(CAN1_TX_PORT, &GPIO_InitStruct);

      GPIO_InitStruct.Alternate =  GPIO_AF9_CAN1;
      GPIO_InitStruct.Pin = CAN1_RX_PIN;
      HAL_GPIO_Init(CAN1_RX_PORT, &GPIO_InitStruct);

      HAL_NVIC_SetPriority(CAN1_RX0_IRQn, 1, 0);
      HAL_NVIC_SetPriority(CAN1_RX1_IRQn, 1, 0);
      HAL_NVIC_EnableIRQ(CAN1_RX0_IRQn);
      HAL_NVIC_EnableIRQ(CAN1_RX1_IRQn);
}
else if(hcan->Instance == CAN2)
{
      __HAL_RCC_CAN2_CLK_ENABLE();

      CAN2_TX_PORT_CLK_ENABLE();
      CAN2_RX_PORT_CLK_ENABLE();

      GPIO_InitStruct.Alternate =  GPIO_AF9_CAN2;
      GPIO_InitStruct.Pin = CAN2_TX_PIN;
      HAL_GPIO_Init(CAN2_TX_PORT, &GPIO_InitStruct);

      GPIO_InitStruct.Alternate =  GPIO_AF9_CAN2;
      GPIO_InitStruct.Pin = CAN2_RX_PIN;
      HAL_GPIO_Init(CAN2_RX_PORT, &GPIO_InitStruct);

      HAL_NVIC_SetPriority(CAN2_RX0_IRQn, 1, 0);
      HAL_NVIC_SetPriority(CAN2_RX1_IRQn, 1, 0);
      HAL_NVIC_EnableIRQ(CAN2_RX0_IRQn);
      HAL_NVIC_EnableIRQ(CAN2_RX1_IRQn);
}
}

void HAL_CAN_MspDeInit(CAN_HandleTypeDef *hcan)
{
if(hcan->Instance==CAN1)
{
      __HAL_RCC_CAN1_FORCE_RESET();
      __HAL_RCC_CAN1_RELEASE_RESET();
      HAL_GPIO_DeInit(CAN1_TX_PORT, CAN1_TX_PIN);
      HAL_GPIO_DeInit(CAN1_RX_PORT, CAN1_RX_PIN);
}
else if(hcan->Instance == CAN2)
{
      __HAL_RCC_CAN2_FORCE_RESET();
      __HAL_RCC_CAN2_RELEASE_RESET();
      HAL_GPIO_DeInit(CAN2_TX_PORT, CAN2_TX_PIN);
      HAL_GPIO_DeInit(CAN2_RX_PORT, CAN2_RX_PIN);
}
}[/mw_shl_code]