用的CubeMx配置的CAN模块，自动生存的代码。发现代码在如下位置，过不去，求助。
HAL_StatusTypeDef HAL_CAN_Init(CAN_HandleTypeDef* hcan)
{
uint32_t status = CAN_INITSTATUS_FAILED; /* Default init status */
uint32_t tickstart = 0U;
/* Check CAN handle */
if(hcan == NULL)
{
return HAL_ERROR;
}
/* Check the parameters */
assert_param(IS_CAN_ALL_INSTANCE(hcan->Instance));
assert_param(IS_FUNCTIONAL_STATE(hcan->Init.TTCM));
assert_param(IS_FUNCTIONAL_STATE(hcan->Init.ABOM));
assert_param(IS_FUNCTIONAL_STATE(hcan->Init.AWUM));
assert_param(IS_FUNCTIONAL_STATE(hcan->Init.NART));
assert_param(IS_FUNCTIONAL_STATE(hcan->Init.RFLM));
assert_param(IS_FUNCTIONAL_STATE(hcan->Init.TXFP));
assert_param(IS_CAN_MODE(hcan->Init.Mode));
assert_param(IS_CAN_SJW(hcan->Init.SJW));
assert_param(IS_CAN_BS1(hcan->Init.BS1));
assert_param(IS_CAN_BS2(hcan->Init.BS2));
assert_param(IS_CAN_PRESCALER(hcan->Init.Prescaler));
if(hcan->State == HAL_CAN_STATE_RESET)
{
/* Allocate lock resource and initialize it */
hcan->Lock = HAL_UNLOCKED;
/* Init the low level hardware */
HAL_CAN_MspInit(hcan);
}
/* Initialize the CAN state*/
hcan->State = HAL_CAN_STATE_BUSY;
/* Exit from sleep mode */
CLEAR_BIT(hcan->Instance->MCR, CAN_MCR_SLEEP);
/* Request initialisation */
SET_BIT(hcan->Instance->MCR, CAN_MCR_INRQ);
/* Get tick */
tickstart = HAL_GetTick();
/* Wait the acknowledge */
while(HAL_IS_BIT_CLR(hcan->Instance->MSR, CAN_MSR_INAK))
{代码一直在这里执行，跳不出去。感觉是硬件没应答，在其他帖子中有看到说是电源不稳，会造成这种情况，我测了电源，确认电源没问题。不知道还有其他什么情况会导致这样。。。
if((HAL_GetTick()-tickstart) > CAN_TIMEOUT_VALUE)
{
hcan->State= HAL_CAN_STATE_TIMEOUT;
/* Process unlocked */
__HAL_UNLOCK(hcan);
return HAL_TIMEOUT;
}
}
/* Check acknowledge */
if (HAL_IS_BIT_SET(hcan->Instance->MSR, CAN_MSR_INAK))
{
/* Set the time triggered communication mode */
if (hcan->Init.TTCM == ENABLE)
{
SET_BIT(hcan->Instance->MCR, CAN_MCR_TTCM);
}
else
{
CLEAR_BIT(hcan->Instance->MCR, CAN_MCR_TTCM);
}
/* Set the automatic bus-off management */
if (hcan->Init.ABOM == ENABLE)
{
SET_BIT(hcan->Instance->MCR, CAN_MCR_ABOM);
}
else
{
CLEAR_BIT(hcan->Instance->MCR, CAN_MCR_ABOM);
}
/* Set the automatic wake-up mode */
if (hcan->Init.AWUM == ENABLE)
{
SET_BIT(hcan->Instance->MCR, CAN_MCR_AWUM);
}
else
{
CLEAR_BIT(hcan->Instance->MCR, CAN_MCR_AWUM);
}
/* Set the no automatic retransmission */
if (hcan->Init.NART == ENABLE)
{
SET_BIT(hcan->Instance->MCR, CAN_MCR_NART);
}
else
{
CLEAR_BIT(hcan->Instance->MCR, CAN_MCR_NART);
}
/* Set the receive FIFO locked mode */
if (hcan->Init.RFLM == ENABLE)
{
SET_BIT(hcan->Instance->MCR, CAN_MCR_RFLM);
}
else
{
CLEAR_BIT(hcan->Instance->MCR, CAN_MCR_RFLM);
}
/* Set the transmit FIFO priority */
if (hcan->Init.TXFP == ENABLE)
{
SET_BIT(hcan->Instance->MCR, CAN_MCR_TXFP);
}
else
{
CLEAR_BIT(hcan->Instance->MCR, CAN_MCR_TXFP);
}
/* Set the bit timing register */
WRITE_REG(hcan->Instance->BTR, (uint32_t)(hcan->Init.Mode |
hcan->Init.SJW |
hcan->Init.BS1 |
hcan->Init.BS2 |
(hcan->Init.Prescaler - 1U) ));
/* Request leave initialisation */
CLEAR_BIT(hcan->Instance->MCR, CAN_MCR_INRQ);
/* Get tick */
tickstart = HAL_GetTick();
/* Wait the acknowledge */
while(HAL_IS_BIT_SET(hcan->Instance->MSR, CAN_MSR_INAK))
{
if((HAL_GetTick()-tickstart) > CAN_TIMEOUT_VALUE)
{
hcan->State= HAL_CAN_STATE_TIMEOUT;
/* Process unlocked */
__HAL_UNLOCK(hcan);
return HAL_TIMEOUT;
}
}
/* Check acknowledged */
if(HAL_IS_BIT_CLR(hcan->Instance->MSR, CAN_MSR_INAK))
{
status = CAN_INITSTATUS_SUCCESS;
}
}
if(status == CAN_INITSTATUS_SUCCESS)
{
/* Set CAN error code to none */
hcan->ErrorCode = HAL_CAN_ERROR_NONE;
/* Initialize the CAN state */
hcan->State = HAL_CAN_STATE_READY;
/* Return function status */
return HAL_OK;
}
else
{
/* Initialize the CAN state */
hcan->State = HAL_CAN_STATE_ERROR;
/* Return function status */
return HAL_ERROR;
}
} |
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