STM32

关于使用STM32F103ZET6单片机CAN通讯无法正常发送问题

2019-07-14 13:10发布

站内问答 / STM32/STM8
20598 2 904
通过STLINK硬件调试，程序每次运行到HAL_CAN_AddTxMessage(&hcan,&TxMessage,TData,(uint32_t*)CAN_TX_MAILBOX0);这个函数的
if (pHeader->IDE == CAN_ID_STD)
这一行的时候就会跳转到HardFault_Handler()中。

哪位大神知道为什么啊？


下面是我的代码
  1. int main(void)
  2. {
  3.   /* USER CODE BEGIN 1 */

  5.   /* USER CODE END 1 */

  7.   /* MCU Configuration--------------------------------------------------------*/

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

  12.   /* USER CODE BEGIN Init */

  14.   /* USER CODE END Init */

  16.   /* Configure the system clock */
  17.   SystemClock_Config();

  19.   /* USER CODE BEGIN SysInit */

  21.   /* USER CODE END SysInit */

  23.   /* Initialize all configured peripherals */
  24.   MX_GPIO_Init();
  25.   MX_CAN_Init();
  26.   MX_USART1_UART_Init();
  27.   /* USER CODE BEGIN 2 */
  28.         Init_CANFilter();
  29.         CAN_SetTxMsg();
  30.         HAL_CAN_Start(&hcan);
  31.         HAL_CAN_ActivateNotification(&hcan,CAN_IT_RX_FIFO0_MSG_PENDING);
  32.   /* USER CODE END 2 */

  34.   /* Infinite loop */
  35.   /* USER CODE BEGIN WHILE */
  36.   while (1)
  37.   {
  38.                 HAL_CAN_AddTxMessage(&hcan,&TxMessage,TData,(uint32_t*)CAN_TX_MAILBOX0);
  39.                 HAL_Delay(1000);
  40.                 HAL_GPIO_WritePin(GPIOC,GPIO_PIN_13,GPIO_PIN_RESET);
  41.                 HAL_Delay(1000);
  42.                 HAL_GPIO_WritePin(GPIOC,GPIO_PIN_13,GPIO_PIN_SET);
  43.     /* USER CODE END WHILE */

  45.     /* USER CODE BEGIN 3 */
  46.   }
  47.   /* USER CODE END 3 */
  48. }

  50. CAN_HandleTypeDef hcan;

  52. /* CAN init function */
  53. void MX_CAN_Init(void)
  54. {

  56.   hcan.Instance = CAN1;
  57.   hcan.Init.Prescaler = 9;
  58.   hcan.Init.Mode = CAN_MODE_NORMAL;
  59.   hcan.Init.SyncJumpWidth = CAN_SJW_1TQ;
  60.   hcan.Init.TimeSeg1 = CAN_BS1_5TQ;
  61.   hcan.Init.TimeSeg2 = CAN_BS2_2TQ;
  62.   hcan.Init.TimeTriggeredMode = DISABLE;
  63.   hcan.Init.AutoBusOff = DISABLE;
  64.   hcan.Init.AutoWakeUp = DISABLE;
  65.   hcan.Init.AutoRetransmission = DISABLE;
  66.   hcan.Init.ReceiveFifoLocked = DISABLE;
  67.   hcan.Init.TransmitFifoPriority = DISABLE;
  68.   if (HAL_CAN_Init(&hcan) != HAL_OK)
  69.   {
  70.     Error_Handler();
  71.   }

  73. }

  75. void Init_CANFilter(void)
  76. {
  77.         CAN_FilterTypeDef hFilterConfig;
  78.         hFilterConfig.FilterBank = 0;
  79.         hFilterConfig.FilterMode = CAN_FILTERMODE_IDMASK; //工作在标识符屏蔽位模式
  80.         hFilterConfig.FilterScale = CAN_FILTERSCALE_32BIT;//过滤器位宽为单个32位。
  81.         hFilterConfig.FilterIdHigh = (((uint32_t)0x1314<<3)&0xFFFF0000)>>16; //要过滤的ID高位
  82.         hFilterConfig.FilterIdLow = (((uint32_t)0x1314<<3)|CAN_ID_EXT|CAN_RTR_DATA)&0xFFFF; //要过滤的ID低位
  83.         hFilterConfig.FilterMaskIdHigh = 0x0; //过滤器高16位每位必须匹配
  84.         hFilterConfig.FilterMaskIdLow = 0x0; //过滤器低16位每位必须匹配
  85.         hFilterConfig.FilterFIFOAssignment = CAN_FILTER_FIFO0; //过滤器被关联到FIFO 0
  86.         hFilterConfig.SlaveStartFilterBank = 14;
  87.         hFilterConfig.FilterActivation = ENABLE; //使能过滤器
  88.         
  89.         HAL_CAN_ConfigFilter(&hcan, &hFilterConfig);
  90.         //HAL_CAN_Start(&hcan);
  91. }

  93. void CAN_SetTxMsg(void)
  94. {
  95.         TxMessage.StdId = 0;
  96.         TxMessage.ExtId = 0X1314;
  97.         TxMessage.DLC = 2;
  98.         TxMessage.IDE = CAN_ID_EXT;
  99.         TxMessage.RTR = CAN_RTR_DATA;
  100.         TData[0] = 0xAA;
  101.         TData[1] = 0xAA;
  102. }
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2条回答
ZiiDo_K
1楼-- · 2019-07-14 18:14
 精彩回答 2  元偷偷看……
♂落葉歸根
2楼-- · 2019-07-14 19:45
用ST的HAL库，吃不透很苦恼的，还是喜欢原来的库

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