我无法在STM32 Nucleo板上传输CAN FD-解网

问：

我正在尝试通过 Nucleo-G431RB 的 Tx 引脚传输数据。我无法用示波器测量通过此引脚的任何信号。我知道问题不在于示波器，因为我能够测量来自值 CAN 的消息。

这是我的主要。我期望发生的是通过我的 Nucleo 的 Tx 引脚发送的信号。我希望能够在示波器上看到此消息，作为更大规模测试的第一步。我在这个引脚上唯一看到的是~3.3V电平，上面没有方波。我能够进入调试模式并查看正在写入 Tx Data 的消息

* USER CODE BEGIN Header */
/**
  ******************************************************************************
  * @file           : main.c
  * @brief          : Main program body
  ******************************************************************************
  * @attention
  *
  * Copyright (c) 2023 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 "main.h"

/* Private includes ----------------------------------------------------------*/
/* USER CODE BEGIN Includes */
#include "stdio.h"
/* USER CODE END Includes */

/* Private typedef -----------------------------------------------------------*/
/* USER CODE BEGIN PTD */

/* USER CODE END PTD */

/* Private define ------------------------------------------------------------*/
/* USER CODE BEGIN PD */

/* USER CODE END PD */

/* Private macro -------------------------------------------------------------*/
/* USER CODE BEGIN PM */

/* USER CODE END PM */

/* Private variables ---------------------------------------------------------*/
FDCAN_HandleTypeDef hfdcan1;

UART_HandleTypeDef hlpuart1;

/* USER CODE BEGIN PV */

/* USER CODE END PV */

/* Private function prototypes -----------------------------------------------*/
void SystemClock_Config(void);
static void MX_GPIO_Init(void);
static void MX_LPUART1_UART_Init(void);
static void MX_FDCAN1_Init(void);
/* USER CODE BEGIN PFP */

/* USER CODE END PFP */

/* Private user code ---------------------------------------------------------*/
/* USER CODE BEGIN 0 */

//Define variables to store the header and its data
FDCAN_TxHeaderTypeDef TxHeader;
FDCAN_RxHeaderTypeDef RxHeader;


uint8_t TxData[12];
uint8_t RxData[12];

int indx = 0;

void HAL_FDCAN_RxFifo0Callback(FDCAN_HandleTypeDef *hfdcan1, uint32_t RxFifo0ITs){
    if ((RxFifo0ITs & FDCAN_IT_RX_FIFO0_NEW_MESSAGE) != RESET){
        //Retreive Rx messages from RX FIFO0
        if (HAL_FDCAN_GetRxMessage(hfdcan1, FDCAN_RX_FIFO0, &RxHeader, RxData) !=HAL_OK){
            Error_Handler();
        }

        if (HAL_FDCAN_ActivateNotification(hfdcan1, FDCAN_IT_RX_FIFO0_NEW_MESSAGE, 0) != HAL_OK){
            Error_Handler();
        }
    }
}



/* USER CODE END 0 */

/**
  * @brief  The application entry point.
  * @retval int
  */
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_LPUART1_UART_Init();
  MX_FDCAN1_Init();
  /* USER CODE BEGIN 2 */
  if (HAL_FDCAN_Start(&hfdcan1) != HAL_OK) {
         Error_Handler();
  }
  if (HAL_FDCAN_ActivateNotification(&hfdcan1, FDCAN_IT_RX_FIFO0_NEW_MESSAGE, 0 ) != HAL_OK){
      Error_Handler();
  }

  TxHeader.BitRateSwitch = FDCAN_BRS_OFF;
  TxHeader.DataLength = FDCAN_DLC_BYTES_12;
  TxHeader.ErrorStateIndicator = FDCAN_ESI_ACTIVE;
  TxHeader.FDFormat = FDCAN_FD_CAN;
  TxHeader.IdType = FDCAN_STANDARD_ID;
  TxHeader.Identifier = 0x11;
  TxHeader.MessageMarker = 0;
  TxHeader.TxEventFifoControl = FDCAN_NO_TX_EVENTS;
  TxHeader.TxFrameType = FDCAN_DATA_FRAME;




  /* USER CODE END 2 */

  /* Infinite loop */
  /* USER CODE BEGIN WHILE */
  while (1)
  {
    /* USER CODE END WHILE */

    /* USER CODE BEGIN 3 */

      sprintf((char *)TxData, "FDCAN1TX %d", indx++);


      /* USER CODE BEGIN 3 */
     if (HAL_FDCAN_AddMessageToTxFifoQ(&hfdcan1, &TxHeader, TxData) != HAL_OK){
        Error_Handler();
     }

        HAL_Delay (1000);

        HAL_GPIO_TogglePin(GPIOA, GPIO_PIN_5);
  }
  /* USER CODE END 3 */
}

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

  /** Configure the main internal regulator output voltage
  */
  HAL_PWREx_ControlVoltageScaling(PWR_REGULATOR_VOLTAGE_SCALE1);

  /** Initializes the RCC Oscillators according to the specified parameters
  * in the RCC_OscInitTypeDef structure.
  */
  RCC_OscInitStruct.OscillatorType = RCC_OSCILLATORTYPE_HSI;
  RCC_OscInitStruct.HSIState = RCC_HSI_ON;
  RCC_OscInitStruct.HSICalibrationValue = RCC_HSICALIBRATION_DEFAULT;
  RCC_OscInitStruct.PLL.PLLState = RCC_PLL_ON;
  RCC_OscInitStruct.PLL.PLLSource = RCC_PLLSOURCE_HSI;
  RCC_OscInitStruct.PLL.PLLM = RCC_PLLM_DIV1;
  RCC_OscInitStruct.PLL.PLLN = 18;
  RCC_OscInitStruct.PLL.PLLP = RCC_PLLP_DIV2;
  RCC_OscInitStruct.PLL.PLLQ = RCC_PLLQ_DIV2;
  RCC_OscInitStruct.PLL.PLLR = RCC_PLLR_DIV2;
  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_DIV1;
  RCC_ClkInitStruct.APB2CLKDivider = RCC_HCLK_DIV1;

  if (HAL_RCC_ClockConfig(&RCC_ClkInitStruct, FLASH_LATENCY_4) != HAL_OK)
  {
    Error_Handler();
  }
}

/**
  * @brief FDCAN1 Initialization Function
  * @param None
  * @retval None
  */
static void MX_FDCAN1_Init(void)
{

  /* USER CODE BEGIN FDCAN1_Init 0 */

  /* USER CODE END FDCAN1_Init 0 */

  /* USER CODE BEGIN FDCAN1_Init 1 */

  /* USER CODE END FDCAN1_Init 1 */
  hfdcan1.Instance = FDCAN1;
  hfdcan1.Init.ClockDivider = FDCAN_CLOCK_DIV1;
  hfdcan1.Init.FrameFormat = FDCAN_FRAME_FD_NO_BRS;
  hfdcan1.Init.Mode = FDCAN_MODE_NORMAL;
  hfdcan1.Init.AutoRetransmission = ENABLE;
  hfdcan1.Init.TransmitPause = DISABLE;
  hfdcan1.Init.ProtocolException = DISABLE;
  hfdcan1.Init.NominalPrescaler = 1;
  hfdcan1.Init.NominalSyncJumpWidth = 56;
  hfdcan1.Init.NominalTimeSeg1 = 231;
  hfdcan1.Init.NominalTimeSeg2 = 56;
  hfdcan1.Init.DataPrescaler = 8;
  hfdcan1.Init.DataSyncJumpWidth = 15;
  hfdcan1.Init.DataTimeSeg1 = 20;
  hfdcan1.Init.DataTimeSeg2 = 15;
  hfdcan1.Init.StdFiltersNbr = 1;
  hfdcan1.Init.ExtFiltersNbr = 0;
  hfdcan1.Init.TxFifoQueueMode = FDCAN_TX_FIFO_OPERATION;
  if (HAL_FDCAN_Init(&hfdcan1) != HAL_OK)
  {
    Error_Handler();
  }
  /* USER CODE BEGIN FDCAN1_Init 2 */
ee
  /* USER CODE END FDCAN1_Init 2 */

}

/**
  * @brief LPUART1 Initialization Function
  * @param None
  * @retval None
  */
static void MX_LPUART1_UART_Init(void)
{

  /* USER CODE BEGIN LPUART1_Init 0 */

  /* USER CODE END LPUART1_Init 0 */

  /* USER CODE BEGIN LPUART1_Init 1 */

  /* USER CODE END LPUART1_Init 1 */
  hlpuart1.Instance = LPUART1;
  hlpuart1.Init.BaudRate = 115200;
  hlpuart1.Init.WordLength = UART_WORDLENGTH_8B;
  hlpuart1.Init.StopBits = UART_STOPBITS_1;
  hlpuart1.Init.Parity = UART_PARITY_NONE;
  hlpuart1.Init.Mode = UART_MODE_TX_RX;
  hlpuart1.Init.HwFlowCtl = UART_HWCONTROL_NONE;
  hlpuart1.Init.OneBitSampling = UART_ONE_BIT_SAMPLE_DISABLE;
  hlpuart1.Init.ClockPrescaler = UART_PRESCALER_DIV1;
  hlpuart1.AdvancedInit.AdvFeatureInit = UART_ADVFEATURE_NO_INIT;
  if (HAL_UART_Init(&hlpuart1) != HAL_OK)
  {
    Error_Handler();
  }
  if (HAL_UARTEx_SetTxFifoThreshold(&hlpuart1, UART_TXFIFO_THRESHOLD_1_8) != HAL_OK)
  {
    Error_Handler();
  }
  if (HAL_UARTEx_SetRxFifoThreshold(&hlpuart1, UART_RXFIFO_THRESHOLD_1_8) != HAL_OK)
  {
    Error_Handler();
  }
  if (HAL_UARTEx_DisableFifoMode(&hlpuart1) != HAL_OK)
  {
    Error_Handler();
  }
  /* USER CODE BEGIN LPUART1_Init 2 */

  /* USER CODE END LPUART1_Init 2 */

}

/**
  * @brief GPIO Initialization Function
  * @param None
  * @retval None
  */
static void MX_GPIO_Init(void)
{
  GPIO_InitTypeDef GPIO_InitStruct = {0};
/* USER CODE BEGIN MX_GPIO_Init_1 */
/* USER CODE END MX_GPIO_Init_1 */

  /* GPIO Ports Clock Enable */
  __HAL_RCC_GPIOC_CLK_ENABLE();
  __HAL_RCC_GPIOF_CLK_ENABLE();
  __HAL_RCC_GPIOA_CLK_ENABLE();
  __HAL_RCC_GPIOB_CLK_ENABLE();

  /*Configure GPIO pin Output Level */
  HAL_GPIO_WritePin(LD2_GPIO_Port, LD2_Pin, GPIO_PIN_RESET);

  /*Configure GPIO pin : B1_Pin */
  GPIO_InitStruct.Pin = B1_Pin;
  GPIO_InitStruct.Mode = GPIO_MODE_IT_RISING;
  GPIO_InitStruct.Pull = GPIO_NOPULL;
  HAL_GPIO_Init(B1_GPIO_Port, &GPIO_InitStruct);

  /*Configure GPIO pin : LD2_Pin */
  GPIO_InitStruct.Pin = LD2_Pin;
  GPIO_InitStruct.Mode = GPIO_MODE_OUTPUT_PP;
  GPIO_InitStruct.Pull = GPIO_NOPULL;
  GPIO_InitStruct.Speed = GPIO_SPEED_FREQ_LOW;
  HAL_GPIO_Init(LD2_GPIO_Port, &GPIO_InitStruct);

/* USER CODE BEGIN MX_GPIO_Init_2 */
/* USER CODE END MX_GPIO_Init_2 */
}

/* 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 */

C 嵌入式 CAN 总线 STM32Cubide Nucleo

0赞 Lundin 8/25/2023

故障排除清单：（ 0）最明显的 - 您是否启用了 CAN 外设，是否发送了消息？1）是否有任何其他外设或GPIO映射到此引脚？如果是这样，是否必须设置路由寄存器？如今，情况几乎总是如此。2） CAN外设是否获得正确的时钟（或任何时钟）？3） CAN收发器引脚排列是否正确？4）是否有任何已知的STM32 HAL错误可能适用？5）检查此部件的硅勘误表。让这成为您使用的任何 MCU 的习惯。

0赞 96FUZZ 8/25/2023

@Lundin 0 - 我确实启用了FDCAN外围设备。我发了一条消息......sprintf（（char ）TxData， “FDCAN1TX %d”， indx++）; / 用户代码开始 3 */ if （HAL_FDCAN_AddMessageToTxFifoQ（&hfdcan1， &TxHeader， TxData）！= HAL_OK）{ Error_Handler（）; }HAL_Delay （1000）;

0赞 96FUZZ 8/25/2023

@Lundin 1 - 还有其他外围设备可以映射到此外围设备，我不确定您的意思。在STM32 Cube中，我将这些引脚声明为FDCAN。我对这个问题有点困惑。

0赞 96FUZZ 8/25/2023

@Lundin 2 - CAN信号获得正确的时钟，并且位时序已详尽设置。

0赞 96FUZZ 8/25/2023

@Lunidn 3 - CAN收发器引脚正确。

答： 暂无答案

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我无法在STM32 Nucleo板上传输CAN FD

I am unable to transmit a CAN FD on STM32 Nucleo boards

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