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使用 STM32F767ZIT6 NUCLEO BOARD + CANALYST -II USB CAN 分析儀 (創芯科技) 波特率設定: 1Mbit/s 传送OK,但無法接收中斷 相關程式碼如下:
/**
******************************************************************************
* File Name : main.c
* Description : Main program body
******************************************************************************
*
* COPYRIGHT(c) 2016 STMicroelectronics
*
* Redistribution and use in source and binary forms, with or without modification,
* are permitted provided that the following conditions are met:
* 1. Redistributions of source code must retain the above copyright notice,
* this list of conditions and the following disclaimer.
* 2. Redistributions in binary form must reproduce the above copyright notice,
* this list of conditions and the following disclaimer in the documentation
* and/or other materials provided with the distribution.
* 3. Neither the name of STMicroelectronics nor the names of its contributors
* may be used to endorse or promote products derived from this software
* without specific prior written permission.
*
* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
* AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
* IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE
* DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE LIABLE
* FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL
* DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR
* SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER
* CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY,
* OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE
* OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
*
******************************************************************************
*/
/* Includes ------------------------------------------------------------------*/
#include "stm32f7xx_hal.h"
/* USER CODE BEGIN Includes */
/* USER CODE END Includes */
/* Private variables ---------------------------------------------------------*/
CAN_HandleTypeDef Can1_Handle;
/* USER CODE BEGIN 1 */
CAN_TxHeaderTypeDef TxHeader;
CAN_RxHeaderTypeDef RxHeader;
CAN_FilterConfTypeDef sFilterConfig;
uint8_t TxData[8]={0};
uint8_t RxData[8]={0};
uint8_t rxflag=0;
uint8_t flag=0;
uint32_t TxMailbox;
/* USER CODE BEGIN PV */
/* Private variables ---------------------------------------------------------*/
/* USER CODE END PV */
/* Private function prototypes -----------------------------------------------*/
void SystemClock_Config(void);
void Error_Handler(void);
static void MX_GPIO_Init(void);
static void MX_CAN1_Init(void);
void HSI_SetSysClock(uint32_t m, uint32_t n, uint32_t p, uint32_t q)
{
RCC_ClkInitTypeDef RCC_ClkInitStruct= {0};
RCC_OscInitTypeDef RCC_OscInitStruct= {0};
HAL_StatusTypeDef ret = HAL_OK;
//HAL_RCC_DeInit(); //把 RCC 外设初始化成复位状态，这句是必须的
/** Configure the main internal regulator output voltage
*/
__HAL_RCC_PWR_CLK_ENABLE(); //使能PWR时钟
__HAL_PWR_VOLTAGESCALING_CONFIG(PWR_REGULATOR_VOLTAGE_SCALE1); //设置调压器输出电压级别，以便在器件未以最大频率工作
/*
使能HSE，配置HSE为PLL的时钟源，配置PLL的各种分频因
子M N P Q
* PLLCLK = HSE/M*N/P = 25M / 25 *432 / 2 = 216M
*/
RCC_OscInitStruct.OscillatorType = RCC_OSCILLATORTYPE_HSI;
RCC_OscInitStruct.HSIState = RCC_HSI_ON;
RCC_OscInitStruct.PLL.PLLState = RCC_PLL_ON; //打开PLL
RCC_OscInitStruct.PLL.PLLSource = RCC_PLLSOURCE_HSI;
RCC_OscInitStruct.PLL.PLLM = m; //主PLL和音讯PLL分频系数(PLL之前的分频)
RCC_OscInitStruct.PLL.PLLN = n; //主PLL倍频系数(PLL倍频)
RCC_OscInitStruct.PLL.PLLP = p; //系统时钟的主PLL分频系数(PLL之后的分频)
RCC_OscInitStruct.PLL.PLLQ = q; //USB/SDIO/随机数生成器等的主PLL分频系数(PLL之后的分频)
ret = HAL_RCC_OscConfig(&RCC_OscInitStruct);
if (ret != HAL_OK) {
while (1) {
;
}
}
/* 启动 OverDrive 模式以达到216M频率 */
ret = HAL_PWREx_EnableOverDrive(); //开启Over-Driver功能
if (ret != HAL_OK) {
while (1) {
;
}
}
/* 选择PLLCLK作为SYSCLK，并配置 HCLK, PCLK1 and PCLK2
的时钟分频因子
* SYSCLK = PLLCLK = 216M
* HCLK = SYSCLK / 1 = 216M
* PCLK2 = SYSCLK / 2 = 108M
* PCLK1 = SYSCLK / 4 = 54M
*/
//选中PLL作为系统时钟源并且配置HCLK,PCLK1和PCLK2
RCC_ClkInitStruct.ClockType = (RCC_CLOCKTYPE_SYSCLK |
RCC_CLOCKTYPE_HCLK |
RCC_CLOCKTYPE_PCLK1 |
RCC_CLOCKTYPE_PCLK2);
RCC_ClkInitStruct.SYSCLKSource = RCC_SYSCLKSOURCE_PLLCLK;
RCC_ClkInitStruct.AHBCLKDivider = RCC_SYSCLK_DIV1;
RCC_ClkInitStruct.APB1CLKDivider = RCC_HCLK_DIV4;
RCC_ClkInitStruct.APB2CLKDivider = RCC_HCLK_DIV2;
/* 此函数会更新SystemCoreClock，并重新配置HAL_InitTick */
ret = HAL_RCC_ClockConfig(&RCC_ClkInitStruct, FLASH_LATENCY_7);//同时设置FLASH延时周期为7WS，也就是8个CPU周期
if (ret != HAL_OK) {
while (1) {
;
}
}
}
void HAL_CAN_RxFifo0MsgPendingCallback(CAN_HandleTypeDef *hcan)
{
if (HAL_CAN_GetRxMessage(hcan, CAN_RX_FIFO0, &RxHeader, RxData) != HAL_OK)
{
/* Reception Error */
Error_Handler();
rxflag=0;
}
else
{
rxflag=1;
}
}
/*----------------------------------------------------------------------------
check if transmit mailbox is empty
*----------------------------------------------------------------------------*/
uint8_t CAN_waitReady (void) {
uint8_t flag=0;
while (!(CAN1->TSR & CAN_TSR_TME0)); // Transmit mailbox 0 is empty
flag= 1;
return flag;
}
/*
/* USER CODE BEGIN PFP */
/* Private function prototypes -----------------------------------------------*/
/* USER CODE END PFP */
/* USER CODE BEGIN 0 */
/* USER CODE END 0 */
int main(void)
{
uint8_t CAN_TxRd=0;
/* USER CODE END 1 */
/* MCU Configuration----------------------------------------------------------*/
/* Reset of all peripherals, Initializes the Flash interface and the Systick. */
HAL_Init();
/* Configure the system clock */
SystemClock_Config();
/* Initialize all configured peripherals */
MX_GPIO_Init();
MX_CAN1_Init();
TxHeader.StdId = 0X321;
TxHeader.ExtId = 0x0;
TxHeader.IDE = CAN_ID_STD;
TxHeader.RTR = CAN_RTR_DATA;
TxHeader.DLC = 2;
TxHeader.TransmitGlobalTime = DISABLE;
TxData[0] = 0xCA;
TxData[1] = 0xFE;
/* Infinite loop */
/* USER CODE BEGIN WHILE */
while (1)
{
/* USER CODE END WHILE */
if (flag==0)
{
CAN_TxRdy=CAN_waitReady();
if ( CAN_TxRdy !=0)
{
CAN_TxRdy=0;
/* USER CODE BEGIN 3 */
if (HAL_CAN_AddTxMessage(&Can1_Handle, &TxHeader, TxData, &TxMailbox) != HAL_OK)
{
/* Transmission request Error */
Error_Handler();
}
else
{
flag=1;
}
}
}
else if (flag==1 && rxflag==1)
{
flag=rxflag=0;
}
}
/* USER CODE END 3 */
}
/** System Clock Configuration
*/
void SystemClock_Config(void)
{
HSI_SetSysClock(16, 432, 2, 9);
}
/* CAN2 init function */
static void MX_CAN1_Init(void)
{
__CAN1_CLK_ENABLE();
Can1_Handle.Instance = CAN1;
Can1_Handle.Init.Prescaler = 6;
Can1_Handle.Init.Mode = CAN_MODE_NORMAL;
Can1_Handle.Init.SyncJumpWidth = CAN_SJW_1TQ;
Can1_Handle.Init.TimeSeg1 = CAN_BS1_5TQ;
Can1_Handle.Init.TimeSeg2 = CAN_BS2_3TQ;
Can1_Handle.Init.TimeTriggeredMode = DISABLE;
Can1_Handle.Init.AutoBusOff = ENABLE;
Can1_Handle.Init.AutoWakeUp = ENABLE;
Can1_Handle.Init.AutoRetransmission = DISABLE;
Can1_Handle.Init.ReceiveFifoLocked = DISABLE;
Can1_Handle.Init.TransmitFifoPriority = DISABLE;
if (HAL_CAN_Init(&Can1_Handle) != HAL_OK)
{
Error_Handler();
}
HAL_NVIC_SetPriorityGrouping(NVIC_PRIORITYGROUP_1);
/* CAN1 interrupt Init */
HAL_NVIC_SetPriority(CAN1_TX_IRQn, 1, 0);
HAL_NVIC_EnableIRQ(CAN1_TX_IRQn);
HAL_NVIC_SetPriority(CAN1_RX0_IRQn, 1, 0);
HAL_NVIC_EnableIRQ(CAN1_RX0_IRQn);
HAL_NVIC_SetPriority(CAN1_RX1_IRQn, 1, 0);
HAL_NVIC_EnableIRQ(CAN1_RX1_IRQn);
HAL_NVIC_SetPriority(CAN1_SCE_IRQn, 1, 0);
HAL_NVIC_EnableIRQ(CAN1_SCE_IRQn);
sFilterConfig.FilterBank = 0;
sFilterConfig.FilterMode = CAN_FILTERMODE_IDMASK;
sFilterConfig.FilterScale = CAN_FILTERSCALE_32BIT;
sFilterConfig.FilterIdHigh = 0;
sFilterConfig.FilterIdLow = 0;
sFilterConfig.FilterMaskIdHigh = 0;
sFilterConfig.FilterMaskIdLow = 0;
sFilterConfig.FilterFIFOAssignment = CAN_FILTER_FIFO0;
sFilterConfig.FilterActivation = ENABLE;
// sFilterConfig.SlaveStartFilterBank=14;
HAL_CAN_ConfigFilter(&Can1_Handle, &sFilterConfig);
{
/* Filter configuration Error */
Error_Handler();
}
if (HAL_CAN_Start(&Can1_Handle) != HAL_OK)
{
/* Start Error */
Error_Handler();
}
if (HAL_CAN_ActivateNotification(&Can1_Handle, CAN_IT_RX_FIFO0_MSG_PENDING) != HAL_OK)
{
/* Notification Error */
Error_Handler();
}
}
static void MX_GPIO_Init(void)
{
GPIO_InitTypeDef GPIO_InitStruct = {0};
/* Peripheral clock enable */
__GPIOB_CLK_ENABLE();
/**CAN1 GPIO Configuration
PB8 ------> CAN1_RX
PB9 ------> CAN1_TX
*/
GPIO_InitStruct.Pin = GPIO_PIN_8|GPIO_PIN_9;
GPIO_InitStruct.Mode = GPIO_MODE_AF_PP;
GPIO_InitStruct.Pull = GPIO_NOPULL;
GPIO_InitStruct.Speed = GPIO_SPEED_FREQ_VERY_HIGH;
GPIO_InitStruct.Alternate = GPIO_AF9_CAN1;
HAL_GPIO_Init(GPIOB, &GPIO_InitStruct);
}
/* USER CODE BEGIN 4 */
/* USER CODE END 4 */
/**
* @brief This function is executed in case of error occurrence.
* @param None
* @retval None
*/
void Error_Handler(void)
{
/* USER CODE BEGIN Error_Handler */
/* User can add his own implementation to report the HAL error return state */
while(1)
{
}
/* USER CODE END Error_Handler */
}
#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
/**
* @}
*/
/**
* @}
*/
/************************ (C) COPYRIGHT STMicroelectronics *****END OF FILE****/
/* USER CODE BEGIN Header */
/**
******************************************************************************
* @file stm32f7xx_it.c
* @brief Interrupt Service Routines.
******************************************************************************
* @attention
*
* Copyright (c) 2022 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"
#include "stm32f7xx_it.h"
/* Private includes ----------------------------------------------------------*/
/* USER CODE BEGIN Includes */
/* USER CODE END Includes */
/* Private typedef -----------------------------------------------------------*/
/* USER CODE BEGIN TD */
/* USER CODE END TD */
/* Private define ------------------------------------------------------------*/
/* USER CODE BEGIN PD */
/* USER CODE END PD */
/* Private macro -------------------------------------------------------------*/
/* USER CODE BEGIN PM */
/* USER CODE END PM */
/* Private variables ---------------------------------------------------------*/
/* USER CODE BEGIN PV */
/* USER CODE END PV */
/* Private function prototypes -----------------------------------------------*/
/* USER CODE BEGIN PFP */
/* USER CODE END PFP */
/* Private user code ---------------------------------------------------------*/
/* USER CODE BEGIN 0 */
/* USER CODE END 0 */
/* External variables --------------------------------------------------------*/
extern CAN_HandleTypeDef Can1_Handle;
/* USER CODE BEGIN EV */
/* USER CODE END EV */
/******************************************************************************/
/* Cortex-M7 Processor Interruption and Exception Handlers */
/******************************************************************************/
/**
* @brief This function handles Non maskable interrupt.
*/
void NMI_Handler(void)
{
/* USER CODE BEGIN NonMaskableInt_IRQn 0 */
/* USER CODE END NonMaskableInt_IRQn 0 */
/* USER CODE BEGIN NonMaskableInt_IRQn 1 */
while (1)
{
}
/* USER CODE END NonMaskableInt_IRQn 1 */
}
/**
* @brief This function handles Hard fault interrupt.
*/
void HardFault_Handler(void)
{
/* USER CODE BEGIN HardFault_IRQn 0 */
/* USER CODE END HardFault_IRQn 0 */
while (1)
{
/* USER CODE BEGIN W1_HardFault_IRQn 0 */
/* USER CODE END W1_HardFault_IRQn 0 */
}
}
/**
* @brief This function handles Memory management fault.
*/
void MemManage_Handler(void)
{
/* USER CODE BEGIN MemoryManagement_IRQn 0 */
/* USER CODE END MemoryManagement_IRQn 0 */
while (1)
{
/* USER CODE BEGIN W1_MemoryManagement_IRQn 0 */
/* USER CODE END W1_MemoryManagement_IRQn 0 */
}
}
/**
* @brief This function handles Pre-fetch fault, memory access fault.
*/
void BusFault_Handler(void)
{
/* USER CODE BEGIN BusFault_IRQn 0 */
/* USER CODE END BusFault_IRQn 0 */
while (1)
{
/* USER CODE BEGIN W1_BusFault_IRQn 0 */
/* USER CODE END W1_BusFault_IRQn 0 */
}
}
/**
* @brief This function handles Undefined instruction or illegal state.
*/
void UsageFault_Handler(void)
{
/* USER CODE BEGIN UsageFault_IRQn 0 */
/* USER CODE END UsageFault_IRQn 0 */
while (1)
{
/* USER CODE BEGIN W1_UsageFault_IRQn 0 */
/* USER CODE END W1_UsageFault_IRQn 0 */
}
}
/**
* @brief This function handles System service call via SWI instruction.
*/
void SVC_Handler(void)
{
/* USER CODE BEGIN SVCall_IRQn 0 */
/* USER CODE END SVCall_IRQn 0 */
/* USER CODE BEGIN SVCall_IRQn 1 */
/* USER CODE END SVCall_IRQn 1 */
}
/**
* @brief This function handles Debug monitor.
*/
void DebugMon_Handler(void)
{
/* USER CODE BEGIN DebugMonitor_IRQn 0 */
/* USER CODE END DebugMonitor_IRQn 0 */
/* USER CODE BEGIN DebugMonitor_IRQn 1 */
/* USER CODE END DebugMonitor_IRQn 1 */
}
/**
* @brief This function handles Pendable request for system service.
*/
void PendSV_Handler(void)
{
/* USER CODE BEGIN PendSV_IRQn 0 */
/* USER CODE END PendSV_IRQn 0 */
/* USER CODE BEGIN PendSV_IRQn 1 */
/* USER CODE END PendSV_IRQn 1 */
}
/**
* @brief This function handles System tick timer.
*/
void SysTick_Handler(void)
{
/* USER CODE BEGIN SysTick_IRQn 0 */
/* USER CODE END SysTick_IRQn 0 */
HAL_IncTick();
/* USER CODE BEGIN SysTick_IRQn 1 */
/* USER CODE END SysTick_IRQn 1 */
}
/******************************************************************************/
/* STM32F7xx Peripheral Interrupt Handlers */
/* Add here the Interrupt Handlers for the used peripherals. */
/* For the available peripheral interrupt handler names, */
/* please refer to the startup file (startup_stm32f7xx.s). */
/******************************************************************************/
/**
* @brief This function handles CAN1 TX interrupts.
*/
void CAN1_TX_IRQHandler(void)
{
/* USER CODE BEGIN CAN1_TX_IRQn 0 */
/* USER CODE END CAN1_TX_IRQn 0 */
HAL_CAN_IRQHandler(&Can1_Handle);
/* USER CODE BEGIN CAN1_TX_IRQn 1 */
/* USER CODE END CAN1_TX_IRQn 1 */
}
/**
* @brief This function handles CAN1 RX0 interrupts.
*/
void CAN1_RX0_IRQHandler(void)
{
/* USER CODE BEGIN CAN1_RX0_IRQn 0 */
/* USER CODE END CAN1_RX0_IRQn 0 */
HAL_CAN_IRQHandler(&Can1_Handle);
/* USER CODE BEGIN CAN1_RX0_IRQn 1 */
/* USER CODE END CAN1_RX0_IRQn 1 */
}
/**
* @brief This function handles CAN1 RX1 interrupt.
*/
void CAN1_RX1_IRQHandler(void)
{
/* USER CODE BEGIN CAN1_RX1_IRQn 0 */
/* USER CODE END CAN1_RX1_IRQn 0 */
HAL_CAN_IRQHandler(&Can1_Handle);
/* USER CODE BEGIN CAN1_RX1_IRQn 1 */
/* USER CODE END CAN1_RX1_IRQn 1 */
}
/**
* @brief This function handles CAN1 SCE interrupt.
*/
void CAN1_SCE_IRQHandler(void)
{
/* USER CODE BEGIN CAN1_SCE_IRQn 0 */
/* USER CODE END CAN1_SCE_IRQn 0 */
HAL_CAN_IRQHandler(&Can1_Handle);
/* USER CODE BEGIN CAN1_SCE_IRQn 1 */
/* USER CODE END CAN1_SCE_IRQn 1 */
}
/* USER CODE BEGIN 1 */
/* USER CODE END 1 */
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