STM32H753的FDCAN1不能正常手法数据

zsy3830 · 发表于 2022-4-18 16:57:45

RCC时钟配置：
  /* STM32H7xx HAL library initialization:
   - Systick timer is configured by default as source of time base, but user
      can eventually implement his proper time base source (a general purpose
      timer for example or other time source), keeping in mind that Time base
      duration should be kept 1ms since PPP_TIMEOUT_VALUEs are defined and
      handled in milliseconds basis.
   - Set NVIC Group Priority to 4
   - Low Level Initialization
   */
HAL_Init();

/*!< Supply configuration update enable */
HAL_PWREx_ConfigSupply(PWR_LDO_SUPPLY);

/* The voltage scaling allows optimizing the power consumption when the device is
clocked below the maximum system frequency, to update the voltage scaling value
regarding system frequency refer to product datasheet.  */
__HAL_PWR_VOLTAGESCALING_CONFIG(PWR_REGULATOR_VOLTAGE_SCALE1);

while(!__HAL_PWR_GET_FLAG(PWR_FLAG_VOSRDY)) {}

/* Enable HSE Oscillator and activate PLL with HSE as source */
RCC_OscInitStruct.OscillatorType = RCC_OSCILLATORTYPE_HSE;
RCC_OscInitStruct.HSEState = RCC_HSE_ON;
RCC_OscInitStruct.HSIState = RCC_HSI_OFF;
RCC_OscInitStruct.CSIState = RCC_CSI_OFF;
RCC_OscInitStruct.PLL.PLLState = RCC_PLL_ON;
RCC_OscInitStruct.PLL.PLLSource = RCC_PLLSOURCE_HSE;

RCC_OscInitStruct.PLL.PLLM = 2;
RCC_OscInitStruct.PLL.PLLN = 100;
RCC_OscInitStruct.PLL.PLLFRACN = 0;
RCC_OscInitStruct.PLL.PLLP = 2;
RCC_OscInitStruct.PLL.PLLR = 2;
RCC_OscInitStruct.PLL.PLLQ = 20;

RCC_OscInitStruct.PLL.PLLVCOSEL = RCC_PLL1VCOWIDE;
RCC_OscInitStruct.PLL.PLLRGE = RCC_PLL1VCIRANGE_3;
ret = HAL_RCC_OscConfig(&RCC_OscInitStruct);
if(ret != HAL_OK)
{
      while(1) { ; }
}

/* Select PLL as system clock source and configure  bus clocks dividers */
RCC_ClkInitStruct.ClockType = (RCC_CLOCKTYPE_SYSCLK | RCC_CLOCKTYPE_HCLK | RCC_CLOCKTYPE_D1PCLK1 | RCC_CLOCKTYPE_PCLK1 | \
                     RCC_CLOCKTYPE_PCLK2  | RCC_CLOCKTYPE_D3PCLK1);
RCC_ClkInitStruct.SYSCLKSource = RCC_SYSCLKSOURCE_PLLCLK;
RCC_ClkInitStruct.SYSCLKDivider = RCC_SYSCLK_DIV1;
RCC_ClkInitStruct.AHBCLKDivider = RCC_HCLK_DIV2;
RCC_ClkInitStruct.APB3CLKDivider = RCC_APB3_DIV2;
RCC_ClkInitStruct.APB1CLKDivider = RCC_APB1_DIV2;
RCC_ClkInitStruct.APB2CLKDivider = RCC_APB2_DIV2;
RCC_ClkInitStruct.APB4CLKDivider = RCC_APB4_DIV2;
ret = HAL_RCC_ClockConfig(&RCC_ClkInitStruct, FLASH_LATENCY_4);
if(ret != HAL_OK)
{
      while(1) { ; }
}

/*
Note : The activation of the I/O Compensation Cell is recommended with communication  interfaces
(GPIO, SPI, FMC, QSPI ...)  when  operating at  high frequencies(please refer to product datasheet)
The I/O Compensation Cell activation  procedure requires :
- The activation of the CSI clock
- The activation of the SYSCFG clock
- Enabling the I/O Compensation Cell : setting bit[0] of register SYSCFG_CCCSR
*/

/*activate CSI clock mondatory for I/O Compensation Cell*/
__HAL_RCC_CSI_ENABLE() ;

/* Enable SYSCFG clock mondatory for I/O Compensation Cell */
__HAL_RCC_SYSCFG_CLK_ENABLE() ;

/* Enables the I/O Compensation Cell */
HAL_EnableCompensationCell();

CAN初始化：
            __HAL_RCC_FDCAN_CLK_ENABLE(); //使能 FDCAN 时钟
            __HAL_RCC_GPIOB_CLK_ENABLE(); //开启 GPIOB 时钟

         //FDCAN1 时钟源配置为 PLL1Q
         FDCAN1_PeriphClk.PeriphClockSelection = RCC_PERIPHCLK_FDCAN;
         FDCAN1_PeriphClk.FdcanClockSelection = RCC_FDCANCLKSOURCE_PLL;
         HAL_RCCEx_PeriphCLKConfig(&FDCAN1_PeriphClk);

         GPIO_Initure.Pin       = GPIO_PIN_8|GPIO_PIN_9; //PB8,9
         GPIO_Initure.Mode    = GPIO_MODE_AF_PP;       //推挽复用
         GPIO_Initure.Pull    = GPIO_PULLUP;             //上拉
         GPIO_Initure.Speed    = GPIO_SPEED_FREQ_HIGH;    //高速
         GPIO_Initure.Alternate  = GPIO_AF9_FDCAN1;       //复用为 CAN1
         HAL_GPIO_Init(GPIOB, &GPIO_Initure);             //初始化

         HAL_FDCAN_DeInit(&FDCAN1_Handler);                //先清除以前的设置

         FDCAN1_Handler.Instance = FDCAN1;
         FDCAN1_Handler.Init.FrameFormat       = FDCAN_FRAME_CLASSIC;  //传统模式
         FDCAN1_Handler.Init.Mode             = FDCAN_MODE_NORMAL; //正常模式
         FDCAN1_Handler.Init.AutoRetransmission  = DISABLE;             //关闭自动重传！
         FDCAN1_Handler.Init.TransmitPause    = DISABLE;             //关闭传输暂停
         FDCAN1_Handler.Init.ProtocolException = DISABLE;             //关闭协议异常处理
         FDCAN1_Handler.Init.NominalPrescaler = 0x01;    //分频系数

         FDCAN1_Handler.Init.NominalSyncJumpWidth= 0x08;             //重新同步跳跃宽度
         FDCAN1_Handler.Init.NominalTimeSeg1    = 0x1f;             //tsg1 范围:2~256
         FDCAN1_Handler.Init.NominalTimeSeg2    = 0x08;             //tsg2 范围:2~128

         FDCAN1_Handler.Init.MessageRAMOffset = 0;                   //信息 RAM 偏移
         FDCAN1_Handler.Init.StdFiltersNbr    = 1;                   //标准信息 ID 滤波器编号
         FDCAN1_Handler.Init.ExtFiltersNbr    = 2;                   //扩展信息 ID 滤波器编号
         FDCAN1_Handler.Init.RxFifo0ElmtsNbr    = 1;                //接收 FIFO0 元素编号
         FDCAN1_Handler.Init.RxFifo0ElmtSize    = FDCAN_DATA_BYTES_8; //接收 FIFO0 8 字节
         FDCAN1_Handler.Init.RxBuffersNbr       = 0;                //接收缓冲编号

         FDCAN1_Handler.Init.TxEventsNbr       = 0;                   //发送事件编号
         FDCAN1_Handler.Init.TxBuffersNbr       = 1;                //发送缓冲编号
         FDCAN1_Handler.Init.TxFifoQueueElmtsNbr = 0;                   //发送 FIFO 序列元素编号
         FDCAN1_Handler.Init.TxFifoQueueMode    = FDCAN_TX_FIFO_OPERATION;
         FDCAN1_Handler.Init.TxElmtSize       = FDCAN_DATA_BYTES_8; //发送大小:8 字节

         if(HAL_FDCAN_Init(&FDCAN1_Handler) != HAL_OK)                //初始化 FDCAN
         {
            while(1);
         }

         //设置滤波器
         FDCAN1_RXFilter.IdType    = FDCAN_EXTENDED_ID;       //扩展 ID
         FDCAN1_RXFilter.FilterIndex = 0;                      //滤波器索引
         FDCAN1_RXFilter.FilterType  = FDCAN_FILTER_MASK;       //滤波器类型
         FDCAN1_RXFilter.FilterConfig= FDCAN_FILTER_TO_RXFIFO0;  //过滤器 0 关联到 FIFO0
         FDCAN1_RXFilter.FilterID1 = 0x0000;                //32 位 ID
         FDCAN1_RXFilter.FilterID2 = 0x0000;                //传统模式的话，这里是 32 位掩码
         HAL_FDCAN_ConfigFilter(&FDCAN1_Handler,&FDCAN1_RXFilter); //滤波器初始化

         //HAL_FDCAN_ActivateNotification(&FDCAN1_Handler,FDCAN_IT_RX_FIFO0_NEW_MESSAGE,0);
         HAL_FDCAN_Start(&FDCAN1_Handler);                      //开启 FDCAN
         HAL_NVIC_SetPriority(FDCAN1_IT0_IRQn,1,2);
         HAL_NVIC_EnableIRQ(FDCAN1_IT0_IRQn);

发送函数：

FDCAN_TxHeader.Identifier       = 0x000123;             //32 位 ID
FDCAN_TxHeader.IdType             = FDCAN_EXTENDED_ID; //扩展 ID
FDCAN_TxHeader.TxFrameType       = FDCAN_DATA_FRAME;    //数据帧
FDCAN_TxHeader.DataLength       = FDCAN_DLC_BYTES_8;          //数据长度
FDCAN_TxHeader.ErrorStateIndicator = FDCAN_ESI_ACTIVE;
FDCAN_TxHeader.BitRateSwitch    = FDCAN_BRS_OFF;       //关闭速率切换
FDCAN_TxHeader.FDFormat          = FDCAN_CLASSIC_CAN; //传统的 CAN 模式
FDCAN_TxHeader.TxEventFifoControl  = FDCAN_NO_TX_EVENTS; //无发送事件
FDCAN_TxHeader.MessageMarker    = 0;

HAL_FDCAN_AddMessageToTxFifoQ(&FDCAN1_Handler, &FDCAN_TxHeader, TxData);

问题：
程序跑起来之后，CAN发送接口连续发送16帧数据就不再发送，一直处于the Tx FIFO/Queue is full 状态
，那位大神指点一下，谢谢

  if (hfdcan->State == HAL_FDCAN_STATE_BUSY)
  {
/* Check that the Tx FIFO/Queue has an allocated area into the RAM */
if ((hfdcan->Instance->TXBC & FDCAN_TXBC_TFQS) == 0U)
{
   /* Update error code */
   hfdcan->ErrorCode |= HAL_FDCAN_ERROR_PARAM;

   return HAL_ERROR;
}

/* Check that the Tx FIFO/Queue is not full */
if ((hfdcan->Instance->TXFQS & FDCAN_TXFQS_TFQF) != 0U)
{
   /* Update error code */
   hfdcan->ErrorCode |= HAL_FDCAN_ERROR_FIFO_FULL;
   wathfdcan = hfdcan;
   return HAL_ERROR;                                                          /*程序一直在这里反复执行*/
}
else
{
   /* Retrieve the Tx FIFO PutIndex */
   PutIndex = ((hfdcan->Instance->TXFQS & FDCAN_TXFQS_TFQPI) >> FDCAN_TXFQS_TFQPI_Pos);

   /* Add the message to the Tx FIFO/Queue */
   FDCAN_CopyMessageToRAM(hfdcan, pTxHeader, pTxData, PutIndex);

   /* Activate the corresponding transmission request */
   hfdcan->Instance->TXBAR = ((uint32_t)1 << PutIndex);

   /* Store the Latest Tx FIFO/Queue Request Buffer Index */
   hfdcan->LatestTxFifoQRequest = ((uint32_t)1 << PutIndex);
}

/* Return function status */
return HAL_OK;
  }