STM32F072的CAN初始化失败

hechuanxi0312 · 发表于 2016-5-31 17:55:16

本帖最后由 hechuanxi0312 于 2016-5-31 21:05 编辑

STM32F072的CAN初始化失败，具体是进入到CAN_init()函数中后最后有个while循环等待硬件置为，返回CAN初始化失败，有没有人知道具体原因，求助

[mw_shl_code=c,true]uint8_t CAN_Init(CAN_TypeDef* CANx, CAN_InitTypeDef* CAN_InitStruct)
{
  uint8_t InitStatus = CAN_InitStatus_Failed;
  uint32_t wait_ack = 0x00000000;

  /* Check the parameters */
  assert_param(IS_CAN_ALL_PERIPH(CANx));
  assert_param(IS_FUNCTIONAL_STATE(CAN_InitStruct->CAN_TTCM));
  assert_param(IS_FUNCTIONAL_STATE(CAN_InitStruct->CAN_ABOM));
  assert_param(IS_FUNCTIONAL_STATE(CAN_InitStruct->CAN_AWUM));
  assert_param(IS_FUNCTIONAL_STATE(CAN_InitStruct->CAN_NART));
  assert_param(IS_FUNCTIONAL_STATE(CAN_InitStruct->CAN_RFLM));
  assert_param(IS_FUNCTIONAL_STATE(CAN_InitStruct->CAN_TXFP));
  assert_param(IS_CAN_MODE(CAN_InitStruct->CAN_Mode));
  assert_param(IS_CAN_SJW(CAN_InitStruct->CAN_SJW));
  assert_param(IS_CAN_BS1(CAN_InitStruct->CAN_BS1));
  assert_param(IS_CAN_BS2(CAN_InitStruct->CAN_BS2));
  assert_param(IS_CAN_PRESCALER(CAN_InitStruct->CAN_Prescaler));

  /* Exit from sleep mode */
  CANx->MCR &= (~(uint32_t)CAN_MCR_SLEEP);

  /* Request initialisation */
  CANx->MCR |= CAN_MCR_INRQ ;

  /* Wait the acknowledge */
  while (((CANx->MSR & CAN_MSR_INAK) != CAN_MSR_INAK) && (wait_ack != INAK_TIMEOUT))
  {
wait_ack++;
  }

  /* Check acknowledge */
  if ((CANx->MSR & CAN_MSR_INAK) != CAN_MSR_INAK)
  {
InitStatus = CAN_InitStatus_Failed;
  }
  else
  {
/* Set the time triggered communication mode */
if (CAN_InitStruct->CAN_TTCM == ENABLE)
{
   CANx->MCR |= CAN_MCR_TTCM;
}
else
{
   CANx->MCR &= ~(uint32_t)CAN_MCR_TTCM;
}

/* Set the automatic bus-off management */
if (CAN_InitStruct->CAN_ABOM == ENABLE)
{
   CANx->MCR |= CAN_MCR_ABOM;
}
else
{
   CANx->MCR &= ~(uint32_t)CAN_MCR_ABOM;
}

/* Set the automatic wake-up mode */
if (CAN_InitStruct->CAN_AWUM == ENABLE)
{
   CANx->MCR |= CAN_MCR_AWUM;
}
else
{
   CANx->MCR &= ~(uint32_t)CAN_MCR_AWUM;
}

/* Set the no automatic retransmission */
if (CAN_InitStruct->CAN_NART == ENABLE)
{
   CANx->MCR |= CAN_MCR_NART;
}
else
{
   CANx->MCR &= ~(uint32_t)CAN_MCR_NART;
}

/* Set the receive FIFO locked mode */
if (CAN_InitStruct->CAN_RFLM == ENABLE)
{
   CANx->MCR |= CAN_MCR_RFLM;
}
else
{
   CANx->MCR &= ~(uint32_t)CAN_MCR_RFLM;
}

/* Set the transmit FIFO priority */
if (CAN_InitStruct->CAN_TXFP == ENABLE)
{
   CANx->MCR |= CAN_MCR_TXFP;
}
else
{
   CANx->MCR &= ~(uint32_t)CAN_MCR_TXFP;
}

/* Set the bit timing register */
CANx->BTR = (uint32_t)((uint32_t)CAN_InitStruct->CAN_Mode << 30) | \
            ((uint32_t)CAN_InitStruct->CAN_SJW << 24) | \
            ((uint32_t)CAN_InitStruct->CAN_BS1 << 16) | \
            ((uint32_t)CAN_InitStruct->CAN_BS2 << 20) | \
            ((uint32_t)CAN_InitStruct->CAN_Prescaler - 1);

/* Request leave initialisation */
CANx->MCR &= ~(uint32_t)CAN_MCR_INRQ;

/* Wait the acknowledge */
wait_ack = 0;

while (((CANx->MSR & CAN_MSR_INAK) == (uint16_t)CAN_MSR_INAK) && (wait_ack != INAK_TIMEOUT))//程序就死在这里，一直循环直到跳出，然后进入下面的if判断，can初始化失败
{
   wait_ack++;
}

/* ...and check acknowledged */
if ((CANx->MSR & CAN_MSR_INAK) == CAN_MSR_INAK)
{
   InitStatus = CAN_InitStatus_Failed;
}
else
{
   InitStatus = CAN_InitStatus_Success ;
}
  }

  /* At this step, return the status of initialization */
  return InitStatus;
}[/mw_shl_code]

[mw_shl_code=c,true]u8 CAN_Mode_Init(u8 tsjw,u8 tbs2,u8 tbs1,u16 brp,u8 mode)
{
      GPIO_InitTypeDef GPIO_InitStructure;
      CAN_InitTypeDef CAN_InitStructure;
      CAN_FilterInitTypeDef CAN_FilterInitStructure;
      #if CAN_RX_INT_ENABLE //êÇ·ñê1ÄüCAN½óêÕÖD¶Ï
            NVIC_InitTypeDef NVIC_InitStructure;
      #endif

      RCC_AHBPeriphClockCmd(RCC_AHBPeriph_GPIOB,ENABLE);//ê1ÄüCAN¶Ôó|μÄ1ü½ÅμÄê±Öó
      RCC_APB1PeriphClockCmd(RCC_APB1Periph_CAN,ENABLE);//ê1ÄüCANê±Öó

      GPIO_PinAFConfig(GPIOB,GPIO_PinSource8,GPIO_AF_4);//Ñ¡ÔñCAN1ü½ÅμÄ¸′óÃ1|Äü￡&#172

B8->RX
GPIO_PinAFConfig(GPIOB,GPIO_PinSource9,GPIO_AF_4);//Ñ¡ÔôCAN1ü½»μÄ¸′óÃ1|Äü￡&#172

B9->TX
//
// /*3õê¼»ˉCANμÄ1ü½Å￡&#172

B8->RX*/
//       GPIO_InitStructure.GPIO_Pin = GPIO_Pin_8;
//       GPIO_InitStructure.GPIO_Mode = GPIO_Mode_AF;//Ñ¡Ôñ¸′óÃÄ￡ê½
//       GPIO_InitStructure.GPIO_PuPd = GPIO_PuPd_UP;
//       GPIO_Init(GPIOB,&GPIO_InitStructure);
//       /*3õê¼»ˉCANμÄ1ü½Å￡&#172

B9->TX*/
//       GPIO_InitStructure.GPIO_Pin = GPIO_Pin_9;
//       GPIO_InitStructure.GPIO_Mode = GPIO_Mode_AF;//Ñ¡Ôñ¸′óÃÄ￡ê½
//       GPIO_InitStructure.GPIO_OType = GPIO_OType_PP;//íÆíì
//       GPIO_InitStructure.GPIO_PuPd = GPIO_PuPd_UP;
//       GPIO_InitStructure.GPIO_Speed = GPIO_Speed_50MHz;
//       GPIO_Init(GPIOB,&GPIO_InitStructure);

      /*3õê¼»ˉCAN1ü½Å*/
      GPIO_InitStructure.GPIO_Pin = GPIO_Pin_8 | GPIO_Pin_9;
      GPIO_InitStructure.GPIO_Mode = GPIO_Mode_AF;
      GPIO_InitStructure.GPIO_Speed = GPIO_Speed_50MHz;
      GPIO_InitStructure.GPIO_OType = GPIO_OType_PP;
      GPIO_InitStructure.GPIO_PuPd  = GPIO_PuPd_UP;
      GPIO_Init(GPIOB, &GPIO_InitStructure);
      /*CANÏà1ØéèÖÃ*/
      /* CAN register init */
      CAN_DeInit(CAN);
      CAN_StructInit(&CAN_InitStructure);
      /*CANμ￥ÔaéèÖÃ*/
      CAN_InitStructure.CAN_TTCM = DISABLE; /* ê±¼ä′￥·￠½ûÖ1, ê±¼ä′￥·￠￡oCANó2¼tμÄÄú2¿¶¨ê±Æ÷±»¼¤»î￡¬2￠Çò±»óÃóú2úéúê±¼ä′á */
      CAN_InitStructure.CAN_ABOM = DISABLE; /* ×Ô¶ˉàëÏß½ûÖ1￡¬×Ô¶ˉàëÏß￡oò»μ©ó2¼t¼à¿Øμ½128′Î11¸öòtDÔÎ»￡¬¾í×Ô¶ˉíË3öàëÏß×′ì¬¡￡ÔúÕaàïòaèí¼téè¶¨oó2ÅÄüíË3ö */
      CAN_InitStructure.CAN_AWUM = DISABLE; /* ×Ô¶ˉ»½DÑ½ûÖ1￡¬óD±¨ÎÄà′μÄê±oò×Ô¶ˉíË3öDYÃß       */
      CAN_InitStructure.CAN_NART = DISABLE; /* ±¨ÎÄÖØ′«, èç1û′íÎóò»Ö±′«μ½3é1|Ö1￡¬·ñÔòÖ»′«ò»′Î */
      CAN_InitStructure.CAN_RFLM = DISABLE; /* ½óêÕFIFOËø¶¨, 1--Ëø¶¨oó½óêÕμ½DÂμÄ±¨ÎÄÕa2»òa￡¬0--½óêÕμ½DÂμÄ±¨ÎÄÔò¸2¸ÇÇ°ò»±¨ÎÄ       */
      CAN_InitStructure.CAN_TXFP = ENABLE;  /* ·￠ËíóÅÏè¼¶  0---óé±êê¶·û¾ö¶¨  1---óé·￠ËíÇëÇóË3Dò¾ö¶¨       */
      CAN_InitStructure.CAN_Mode = mode;//Ä￡ê½éèÖÃ￡o mode:0,ÆÕí¨Ä￡ê½;1,»Ø»·Ä￡ê½;
      CAN_InitStructure.CAN_SJW = tsjw;//ÖØDÂí¬2½ìøÔ¾¿í¶è(Tsjw)Îatsjw+1¸öê±¼äμ￥Î»  CAN_SJW_1tq~CAN_SJW_4tq
      CAN_InitStructure.CAN_BS1 = tbs1;//Tbs1=tbs1+1¸öê±¼äμ￥Î»CAN_BS1_1tq ~CAN_BS1_16tq
      CAN_InitStructure.CAN_BS2 = tbs2;//Tbs2=tbs2+1¸öê±¼äμ￥Î»CAN_BS2_1tq ~CAN_BS2_8tq
      CAN_InitStructure.CAN_Prescaler = brp;//·ÖÆμÏμêy(Fdiv)Îabrp+1
      //CAN_StructInit(&CAN_InitStructure);
      CAN_Init(CAN,&CAN_InitStructure);
      /*CANÂË2¨éèÖÃ*/
      CAN_FilterInitStructure.CAN_FilterNumber=0;    /* 1yÂËÆ÷0 */
      CAN_FilterInitStructure.CAN_FilterMode=CAN_FilterMode_IdMask;  /* Æá±ÖÄ￡ê½ */
      CAN_FilterInitStructure.CAN_FilterScale=CAN_FilterScale_32bit; /* 32Î» */
      CAN_FilterInitStructure.CAN_FilterIdHigh=0x0000;  /* òÔÏÂËÄ¸ö¶¼Îa0, ±íÃ÷2»1yÂËèÎoÎid */
      CAN_FilterInitStructure.CAN_FilterIdLow=0x0000;//32Î»ID
      CAN_FilterInitStructure.CAN_FilterMaskIdHigh=0x0000;
      CAN_FilterInitStructure.CAN_FilterMaskIdLow=0x0000;//32Î»MASK
      CAN_FilterInitStructure.CAN_FilterFIFOAssignment=CAN_Filter_FIFO0;  /* Äü1»í¨1y¸Ã1yÂËÆ÷μÄ±¨ÎÄ′æμ½fifo0ÖD */
      CAN_FilterInitStructure.CAN_FilterActivation=ENABLE;//¼¤»î1yÂËÆ÷0
      CAN_FilterInit(&CAN_FilterInitStructure);

      #if CAN_RX_INT_ENABLE//êÇ·ñê1ÄüCAN½óêÕÖD¶Ï
            NVIC_InitStructure.NVIC_IRQChannel = CEC_CAN_IRQn;//éè¶¨CANÖD¶ÏμÄí¨μà
            NVIC_InitStructure.NVIC_IRQChannelPriority = 0;//CANÖD¶ÏóÅÏè¼¶
            NVIC_InitStructure.NVIC_IRQChannelCmd = ENABLE;//ê1ÄüÖD¶Ï
            NVIC_Init(&NVIC_InitStructure);//3õê¼»ˉ
            CAN_ITConfig(CAN,CAN_IT_FMP0, ENABLE);//FIFO0ÏûÏ￠1òoÅÖD¶Ïê1Äü
      #endif
      return 0;
}[/mw_shl_code]

hechuanxi0312 · 发表于 2016-5-31 17:55:17

yklstudent 发表于 2016-5-31 21:23
也检测硬件是否存在问题

今天折腾了一天，发现之前的原理图上CAN的RX，TX均接了上拉电阻，将上拉电阻去掉后，初始化就能成功了，这个有什么说法么？
附上原理图，收发器用的TAJ1041，不知道这个电路图CAN部分还有没有其他问题？

hechuanxi0312 · 发表于 2016-5-31 20:36:20

本帖最后由 hechuanxi0312 于 2016-5-31 21:02 编辑

yklstudent 发表于 2016-5-31 20:20
[mw_shl_code=applescript,true]void sCAN_Configuration(void)
{
GPIO_InitTypeDef ...

我们两个差不多，但是我设置完CAN_InitStructure之后调用CAN_Init(CAN, &CAN_InitStructure)的时候，断点进去看，发现CAN_Init()函数中第二个while (((CANx->MSR & CAN_MSR_INAK) == (uint16_t)CAN_MSR_INAK) && (wait_ack != INAK_TIMEOUT))这个循环会执行完毕，结果就是返回的InitStatus是CAN初始化失败，但是我换了一块板子初始化就是成功的，现在完全不知道原因在什么地方

正点原子 · 发表于 2016-6-1 20:28:30

hechuanxi0312 发表于 2016-5-31 17:55
今天折腾了一天，发现之前的原理图上CAN的RX，TX均接了上拉电阻，将上拉电阻去掉后，初始化就能成功了， ...

CAN的TX,RX是不需要接上下拉电阻的。

STM32Follwer · 发表于 2023-5-30 20:01:36

我现在的问题是只有一个STM32F303RET6的最小系统板子，没有tranciver收发器，程序已让停留在while (((CANx->MSR & CAN_MSR_INAK) == (uint16_t)CAN_MSR_INAK) && (wait_ack != INAK_TIMEOUT))不能初始化成功，不知道为什么

帐号		自动登录	找回密码
密码			立即注册

STM32F072的CAN初始化失败

最佳答案

原子哥极力推荐 /2