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主要解释：
我用的stm32cube
nucleo f103 rb
现在开了两个任务一个拿来点灯一个拿来向外canbus发送报文
loopback模式
但是报文总是发不出，总是返回发送错误
求指导，或者有例子就更好了，先谢谢能读到这里的各位
关键代码如下：
/* Includes ------------------------------------------------------------------*/
#include "main.h"
#include "stm32f1xx_hal.h"
#include "cmsis_os.h"
/* Private variables ---------------------------------------------------------*/
CAN_HandleTypeDef hcan;
UART_HandleTypeDef huart1;
UART_HandleTypeDef huart2;
osThreadId defaultTaskHandle;
osThreadId ID1;
/* USER CODE BEGIN PV */
/* Private variables ---------------------------------------------------------*/
/* USER CODE END PV */
/* Private function prototypes -----------------------------------------------*/
void SystemClock_Config(void);
static void MX_GPIO_Init(void);
static void MX_USART2_UART_Init(void);
static void MX_CAN_Init(void);
static void MX_USART1_UART_Init(void);
void StartDefaultTask(void const * argument);
void CANPUSH1(void const * argument);
int __io_putchar(int ch);
int _write(int file,char *ptr, int len);
int main(void)
{
/* USER CODE BEGIN 1 */
int i;
/* 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_USART2_UART_Init();
MX_CAN_Init();
MX_USART1_UART_Init();
/* USER CODE BEGIN 2 */
/* USER CODE END 2 */
/* USER CODE BEGIN RTOS_MUTEX */
/* add mutexes, ... */
/* USER CODE END RTOS_MUTEX */
/* USER CODE BEGIN RTOS_SEMAPHORES */
/* add semaphores, ... */
/* USER CODE END RTOS_SEMAPHORES */
/* USER CODE BEGIN RTOS_TIMERS */
/* start timers, add new ones, ... */
/* USER CODE END RTOS_TIMERS */
/* Create the thread(s) */
/* definition and creation of defaultTask */
osThreadDef(defaultTask, StartDefaultTask, osPriorityNormal, 0, 128); //默认default task 拿来点灯
defaultTaskHandle = osThreadCreate(osThread(defaultTask), NULL);
printf("defaultTaskHandle = %d \n\r", defaultTaskHandle);
osThreadDef(ID_1, CANPUSH1, osPriorityNormal, 0, 128); //CAN 发送报文
ID1 = osThreadCreate(osThread(ID_1), NULL);
printf("ID1 = %d \n\r", ID1);
/* Start scheduler */
printf("Start scheduler");
osKernelStart();
/* We should never get here as control is now taken by the scheduler */
/* Infinite loop */
/* USER CODE BEGIN WHILE */
while (1)
{
/* USER CODE END WHILE */
/* USER CODE BEGIN 3 */
}
/* USER CODE END 3 */
}
int __io_putchar(int ch)
{
uint8_t c[1];
c[0] = ch & 0x00FF;
HAL_UART_Transmit(&huart2, &*c, 1, 10);
return ch;
}
int _write(int file,char *ptr, int len)
{
int DataIdx;
for(DataIdx= 0; DataIdx< len; DataIdx++)
{
__io_putchar(*ptr++);
}
return len;
}
/**
* @brief System Clock Configuration
* @retval None
*/
void SystemClock_Config(void)
{
RCC_OscInitTypeDef RCC_OscInitStruct;
RCC_ClkInitTypeDef RCC_ClkInitStruct;
/**Initializes the CPU, AHB and APB busses clocks
*/
RCC_OscInitStruct.OscillatorType = RCC_OSCILLATORTYPE_HSI;
RCC_OscInitStruct.HSIState = RCC_HSI_ON;
RCC_OscInitStruct.HSICalibrationValue = 16;
RCC_OscInitStruct.PLL.PLLState = RCC_PLL_ON;
RCC_OscInitStruct.PLL.PLLSource = RCC_PLLSOURCE_HSI_DIV2;
RCC_OscInitStruct.PLL.PLLMUL = RCC_PLL_MUL16;
if (HAL_RCC_OscConfig(&RCC_OscInitStruct) != HAL_OK)
{
_Error_Handler(__FILE__, __LINE__);
}
/**Initializes the CPU, AHB and APB busses 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_DIV2;
RCC_ClkInitStruct.APB2CLKDivider = RCC_HCLK_DIV1;
if (HAL_RCC_ClockConfig(&RCC_ClkInitStruct, FLASH_LATENCY_2) != HAL_OK)
{
_Error_Handler(__FILE__, __LINE__);
}
/**Configure the Systick interrupt time
*/
HAL_SYSTICK_Config(HAL_RCC_GetHCLKFreq()/1000);
/**Configure the Systick
*/
HAL_SYSTICK_CLKSourceConfig(SYSTICK_CLKSOURCE_HCLK);
/* SysTick_IRQn interrupt configuration */
HAL_NVIC_SetPriority(SysTick_IRQn, 15, 0);
}
/* CAN init function */
static void MX_CAN_Init(void) //can 初始化
{
CAN_FilterConfTypeDef sFilterConfig;
hcan.Instance = CAN1;
hcan.Init.Prescaler = 16;
hcan.Init.Mode = CAN_MODE_LOOPBACK;
hcan.Init.SJW = CAN_SJW_1TQ;
hcan.Init.BS1 = CAN_BS1_1TQ;
hcan.Init.BS2 = CAN_BS2_1TQ;
hcan.Init.TTCM = DISABLE;
hcan.Init.ABOM = DISABLE;
hcan.Init.AWUM = DISABLE;
hcan.Init.NART = DISABLE;
hcan.Init.RFLM = DISABLE;
hcan.Init.TXFP = DISABLE;
if (HAL_CAN_Init(&hcan) != HAL_OK)
{
_Error_Handler(__FILE__, __LINE__);
}
sFilterConfig.FilterNumber = 0;
sFilterConfig.FilterMode = CAN_FILTERMODE_IDLIST;
sFilterConfig.FilterScale = CAN_FILTERSCALE_32BIT;
sFilterConfig.FilterIdHigh = 0x0000;
sFilterConfig.FilterIdLow = 0x0000;
sFilterConfig.FilterMaskIdHigh = 0x0000;
sFilterConfig.FilterMaskIdLow = 0x0000;
sFilterConfig.FilterFIFOAssignment = CAN_FILTER_FIFO0;
sFilterConfig.FilterActivation = ENABLE;
sFilterConfig.BankNumber = 14;
if(HAL_CAN_ConfigFilter(&hcan, &sFilterConfig) != HAL_OK)
{
printf("HAL_CAN_ConfigFilter ERR\r\n");
}
}
/* USART1 init function */
static void MX_USART1_UART_Init(void)
{
huart1.Instance = USART1;
huart1.Init.BaudRate = 115200;
huart1.Init.WordLength = UART_WORDLENGTH_8B;
huart1.Init.StopBits = UART_STOPBITS_1;
huart1.Init.Parity = UART_PARITY_NONE;
huart1.Init.Mode = UART_MODE_TX_RX;
huart1.Init.HwFlowCtl = UART_HWCONTROL_NONE;
huart1.Init.OverSampling = UART_OVERSAMPLING_16;
if (HAL_UART_Init(&huart1) != HAL_OK)
{
_Error_Handler(__FILE__, __LINE__);
}
}
/* USART2 init function */
static void MX_USART2_UART_Init(void)
{
huart2.Instance = USART2;
huart2.Init.BaudRate = 115200;
huart2.Init.WordLength = UART_WORDLENGTH_8B;
huart2.Init.StopBits = UART_STOPBITS_1;
huart2.Init.Parity = UART_PARITY_NONE;
huart2.Init.Mode = UART_MODE_TX_RX;
huart2.Init.HwFlowCtl = UART_HWCONTROL_NONE;
huart2.Init.OverSampling = UART_OVERSAMPLING_16;
if (HAL_UART_Init(&huart2) != HAL_OK)
{
_Error_Handler(__FILE__, __LINE__);
printf("can init error \n\r");
}
}
/** Configure pins as
* Analog
* Input
* Output
* EVENT_OUT
* EXTI
*/
static void MX_GPIO_Init(void)
{
GPIO_InitTypeDef GPIO_InitStruct;
/* GPIO Ports Clock Enable */
__HAL_RCC_GPIOC_CLK_ENABLE();
__HAL_RCC_GPIOD_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);
/* EXTI interrupt init*/
HAL_NVIC_SetPriority(EXTI15_10_IRQn, 5, 0);
HAL_NVIC_EnableIRQ(EXTI15_10_IRQn);
}
/* USER CODE BEGIN 4 */
/* USER CODE END 4 */
/* USER CODE BEGIN Header_StartDefaultTask */
/**
* @brief Function implementing the defaultTask thread.
* @param argument: Not used
* @retval None
*/
/* USER CODE END Header_StartDefaultTask */
void StartDefaultTask(void const * argument) //默认点灯loop
{
printf("default loop");
int nLoop = 0 ;
for(;;)
{
//nLoop++;
//printf("nLoop == %d \n\r", nLoop);
HAL_GPIO_TogglePin(LD2_GPIO_Port, LD2_Pin);
osDelay(200);
}
/* USER CODE END 5 */
}
void CANPUSH1(void const * argument) //发送can loop 问题就在这里
{
/* USER CODE BEGIN 5 */
printf("can test loop");
int nLoop = 0 ;
CanTxMsgTypeDef TxMessage;
hcan.pTxMsg = &TxMessage;
hcan.pTxMsg->StdId=0x11;
hcan.pTxMsg->RTR=CAN_RTR_DATA;
hcan.pTxMsg->IDE=CAN_ID_STD;
hcan.pTxMsg->DLC=2;
hcan.pTxMsg->Data[0]=0xCA;
hcan.pTxMsg->Data[1]=0xFE;
/* Infinite loop */
for(;;)
{
nLoop++;
printf("CAN_Loop == %d \n\r", nLoop);
if(HAL_CAN_Transmit(&TxMessage, CAN_FIFO0) != HAL_OK) //这里总是返回“can trans error” 以至于报文发不出来，不知道为什么
{
/* Transmition Error */
printf("can trans error \n\r");
}
osDelay(3000);
}
/* USER CODE END 5 */
}
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发表于 2018-10-22 04:33:33
楼主
