本帖最后由 zhangyh89 于 2021-11-20 15:54 编辑
最近在使用GD32C103的CAN功能，发现用一般的USB转CAN给GD32发指令的话USB转can的上位机经常提示有总线错误，如果发送数据过快还会出现USB转CAN离线的状态，USB转CAN需要重新启动才能继续发数据，但是两个不同类型的USB转CAN护发数据的就不会有问题，试过降低波特率加终端电阻都是会出现这些现象，不知道是不是GD32代码了CAN初始化的问题，还是硬件电路有问题。是否与SJW，BS1，BS2的设置有关，我设置波特率使用的GD32C103库函数自动计算的。
最终解决了，就是采样点的问题，用波特率计算器计算得出的结果进行配置后，can接收完全没有问题了，不过can-fd相关部分还是用的官方库函数的自动计算，can-fd模式下接收还是会偶尔会出现接收错误，这个错误不知道是不是由于使用的can接口芯片不支持超过1M波特率导致，暂时还没验证。附件内为波特兰率计算器
- typedef enum
- {
- CAN_BDR_100K = 0,
- CAN_BDR_125K ,
- CAN_BDR_250K ,
- CAN_BDR_500K ,
- CAN_BDR_1000K
- }can_bdr_enum;
- void can0_gpio_config(void)
- {
- /* enable CAN clock */
- rcu_periph_clock_enable(RCU_CAN0);
- rcu_periph_clock_enable(RCU_GPIOA);
- rcu_periph_clock_enable(RCU_GPIOB);
- rcu_periph_clock_enable(RCU_AF);
-
- gpio_pin_remap_config(GPIO_CAN0_PARTIAL_REMAP,ENABLE);
- //gpio_pin_remap_config(GPIO_CAN0_FULL_REMAP,ENABLE);
-
- /* configure CAN0 GPIO */
- gpio_init(GPIOB,GPIO_MODE_IPU,GPIO_OSPEED_50MHZ,GPIO_PIN_8);
- gpio_init(GPIOB,GPIO_MODE_AF_PP,GPIO_OSPEED_50MHZ,GPIO_PIN_9);
- /* 终端电阻控制引脚*/
- gpio_init(GPIOB,GPIO_MODE_OUT_PP,GPIO_OSPEED_50MHZ,GPIO_PIN_10);
- }
- void can0_init(can_bdr_enum bdr,int baudrate_fd)
- {
- can_parameter_struct CAN_InitStructure;
- can_fd_tdc_struct can_fd_tdc_parameter;
- can_fdframe_struct can_fd_parameter;
- rcu_periph_clock_enable(RCU_CAN0);
- can_deinit(CAN0);
-
- can_struct_para_init(CAN_TX_MESSAGE_STRUCT, &g_transmit_message);
- can_struct_para_init(CAN_RX_MESSAGE_STRUCT, &g_receive_message);
-
- can0_gpio_config();
-
- if(bdr >= CAN_BDR_1000K)
- bdr = CAN_BDR_1000K;
-
- CAN_InitStructure.working_mode= CAN_NORMAL_MODE;
- CAN_InitStructure.resync_jump_width= CAN_BT_SJW_1TQ;
- CAN_InitStructure.time_segment_1= CAN_BAUDRATE_LIST[bdr].time_segment_1;//CAN_BT_BS1_12TQ;
- CAN_InitStructure.time_segment_2= CAN_BAUDRATE_LIST[bdr].time_segment_2;//CAN_BT_BS2_7TQ;
- CAN_InitStructure.time_triggered= DISABLE;
- CAN_InitStructure.auto_bus_off_recovery= ENABLE;
- CAN_InitStructure.auto_wake_up= ENABLE;
- CAN_InitStructure.auto_retrans= ENABLE;
- CAN_InitStructure.rec_fifo_overwrite= DISABLE;
- CAN_InitStructure.trans_fifo_order= ENABLE;
- CAN_InitStructure.prescaler= CAN_BAUDRATE_LIST[bdr].prescaler;//3;//CAN0总线的时钟 60M/((1+12+7)*3) = 1000k
- can_init(CAN0, &CAN_InitStructure);
- if(baudrate_fd != 0)
- {
- g_canfd_open = 1;
- can_struct_para_init(CAN_FD_FRAME_STRUCT, &can_fd_parameter);
- can_fd_parameter.fd_frame = ENABLE;
- can_fd_parameter.excp_event_detect = ENABLE;
- can_fd_parameter.delay_compensation = ENABLE;
- can_fd_tdc_parameter.tdc_filter = 0x04;
- can_fd_tdc_parameter.tdc_mode = CAN_TDCMOD_CALC_AND_OFFSET;
- can_fd_tdc_parameter.tdc_offset = 0x04;
- can_fd_parameter.p_delay_compensation = &can_fd_tdc_parameter;
- can_fd_parameter.iso_bosch = CAN_FDMOD_ISO;
- can_fd_parameter.esi_mode = CAN_ESIMOD_HARDWARE;
- can_fd_init(CAN0, &can_fd_parameter);
- can_fd_frequency_set(CAN0, baudrate_fd);
- }
-
- //can1_filter_start_bank(14);
- can_filter_mask_mode_init(0x001, 0x7FF, CAN_STANDARD_FIFO0, 0);
- can_filter_mask_mode_init(0x0FF, 0x7FF, CAN_STANDARD_FIFO0, 1);
- /* configure CAN0 NVIC */
- nvic_irq_enable(CAN0_RX0_IRQn, 0, 0);
- nvic_irq_enable(CAN0_TX_IRQn, 0, 0);
- /* enable can receive FIFO0 not empty interrupt */
- can_interrupt_enable(CAN0, CAN_INTEN_RFNEIE0);
- can_interrupt_enable(CAN0, CAN_INT_TME);
- }
| 
楼主
