STM32CubeMX开发stm32f103rbt6 CAN例程（二）

1、STM32CubeMX配置

2、生成代码查看

3、编写代码

程序下载：http://download.csdn.net/download/white_loong/10137468

4、使用CAN分析仪测试（波特率125K）

问题：

程序CAN收发同时打开例如：

1、main() {HAL_CAN_Receive_IT();HAL_CAN_Transmit_IT();}HAL_CAN_RxCpltCallback() {HAL_CAN_Receive_IT(); // Rearm receive}HAL_CAN_TxCpltCallback() {HAL_CAN_Transmit_IT(); // Rearm transmit}

例2：main() {

    HAL_CAN_Receive_IT();while（1）{HAL_CAN_Transmit();}}

  HAL_CAN_RxCpltCallback() {HAL_CAN_Receive_IT(); // Rearm receive}现象：调用HAL_CAN_Receive_IT/HAL_CAN_Transmit_IT函数失败，返回值为HAL_BUSY，之后无法再次接收/发送。

原因分析：

分析HAL库程序会发现：

HAL库在操作CAN总线时会进行上锁 __HAL_LOCK(hcan)/解锁 __HAL_LOCK(hcan)的操作，类似于进程线程操作中的互斥锁。

对例2进行分析：

主程序中HAL_CAN_Transmit()进行发送时CAN总线在上锁后解锁前，接收中断触发，进入中断回调函数。但是在再次开接收中断时CAN总线上锁导致，开中断失败。

具体程序如下：

HAL_StatusTypeDef HAL_CAN_Transmit(CAN_HandleTypeDef* hcan, uint32_t Timeout)
{uint32_t transmitmailbox = CAN_TXSTATUS_NOMAILBOX;uint32_t tickstart = 0;/* Check the parameters */assert_param(IS_CAN_IDTYPE(hcan->pTxMsg->IDE));assert_param(IS_CAN_RTR(hcan->pTxMsg->RTR));assert_param(IS_CAN_DLC(hcan->pTxMsg->DLC));/* Process locked */__HAL_LOCK(hcan);if(hcan->State == HAL_CAN_STATE_BUSY_RX){/* Change CAN state */hcan->State = HAL_CAN_STATE_BUSY_TX_RX;}else{/* Change CAN state */hcan->State = HAL_CAN_STATE_BUSY_TX;}/* Select one empty transmit mailbox */if (HAL_IS_BIT_SET(hcan->Instance->TSR, CAN_TSR_TME0)){transmitmailbox = 0;}else if (HAL_IS_BIT_SET(hcan->Instance->TSR, CAN_TSR_TME1)){transmitmailbox = 1;}else if (HAL_IS_BIT_SET(hcan->Instance->TSR, CAN_TSR_TME2)){transmitmailbox = 2;}else{transmitmailbox = CAN_TXSTATUS_NOMAILBOX;}if (transmitmailbox != CAN_TXSTATUS_NOMAILBOX){/* Set up the Id */hcan->Instance->sTxMailBox[transmitmailbox].TIR &= CAN_TI0R_TXRQ;if (hcan->pTxMsg->IDE == CAN_ID_STD){assert_param(IS_CAN_STDID(hcan->pTxMsg->StdId));  hcan->Instance->sTxMailBox[transmitmailbox].TIR |= ((hcan->pTxMsg->StdId << CAN_TI0R_STID_BIT_POSITION) |hcan->pTxMsg->RTR);}else{assert_param(IS_CAN_EXTID(hcan->pTxMsg->ExtId));hcan->Instance->sTxMailBox[transmitmailbox].TIR |= ((hcan->pTxMsg->ExtId << CAN_TI0R_EXID_BIT_POSITION) |hcan->pTxMsg->IDE |hcan->pTxMsg->RTR);}/* Set up the DLC */hcan->pTxMsg->DLC &= (uint8_t)0x0000000F;hcan->Instance->sTxMailBox[transmitmailbox].TDTR &= (uint32_t)0xFFFFFFF0;hcan->Instance->sTxMailBox[transmitmailbox].TDTR |= hcan->pTxMsg->DLC;/* Set up the data field */WRITE_REG(hcan->Instance->sTxMailBox[transmitmailbox].TDLR, ((uint32_t)hcan->pTxMsg->Data[3] << CAN_TDL0R_DATA3_BIT_POSITION) |((uint32_t)hcan->pTxMsg->Data[2] << CAN_TDL0R_DATA2_BIT_POSITION) |((uint32_t)hcan->pTxMsg->Data[1] << CAN_TDL0R_DATA1_BIT_POSITION) |((uint32_t)hcan->pTxMsg->Data[0] << CAN_TDL0R_DATA0_BIT_POSITION)  );WRITE_REG(hcan->Instance->sTxMailBox[transmitmailbox].TDHR, ((uint32_t)hcan->pTxMsg->Data[7] << CAN_TDL0R_DATA3_BIT_POSITION) |((uint32_t)hcan->pTxMsg->Data[6] << CAN_TDL0R_DATA2_BIT_POSITION) |((uint32_t)hcan->pTxMsg->Data[5] << CAN_TDL0R_DATA1_BIT_POSITION) |((uint32_t)hcan->pTxMsg->Data[4] << CAN_TDL0R_DATA0_BIT_POSITION)  );/* Request transmission */SET_BIT(hcan->Instance->sTxMailBox[transmitmailbox].TIR, CAN_TI0R_TXRQ);/* Get timeout */tickstart = HAL_GetTick();   /* Check End of transmission flag */while(!(__HAL_CAN_TRANSMIT_STATUS(hcan, transmitmailbox))){/* Check for the Timeout */if(Timeout != HAL_MAX_DELAY){if((Timeout == 0) || ((HAL_GetTick()-tickstart) > Timeout)){hcan->State = HAL_CAN_STATE_TIMEOUT;/* Process unlocked */__HAL_UNLOCK(hcan);return HAL_TIMEOUT;}}}if(hcan->State == HAL_CAN_STATE_BUSY_TX_RX){/* Change CAN state */hcan->State = HAL_CAN_STATE_BUSY_RX;/* Process unlocked */__HAL_UNLOCK(hcan);}else{/* Change CAN state */hcan->State = HAL_CAN_STATE_READY;}/* Process unlocked */__HAL_UNLOCK(hcan);/* Return function status */return HAL_OK;}else{/* Change CAN state */hcan->State = HAL_CAN_STATE_ERROR;/* Process unlocked */__HAL_UNLOCK(hcan);/* Return function status */return HAL_ERROR;}
}

HAL_StatusTypeDef HAL_CAN_Receive_IT(CAN_HandleTypeDef* hcan, uint8_t FIFONumber)
{/* Check the parameters */assert_param(IS_CAN_FIFO(FIFONumber));if((hcan->State == HAL_CAN_STATE_READY) || (hcan->State == HAL_CAN_STATE_BUSY_TX)){/* Process locked */__HAL_LOCK(hcan);if(hcan->State == HAL_CAN_STATE_BUSY_TX){/* Change CAN state */hcan->State = HAL_CAN_STATE_BUSY_TX_RX;}else{/* Change CAN state */hcan->State = HAL_CAN_STATE_BUSY_RX;}/* Set CAN error code to none */hcan->ErrorCode = HAL_CAN_ERROR_NONE;/* Enable interrupts: *//*  - Enable Error warning Interrupt *//*  - Enable Error passive Interrupt *//*  - Enable Bus-off Interrupt *//*  - Enable Last error code Interrupt *//*  - Enable Error Interrupt *//*  - Enable Transmit mailbox empty Interrupt */__HAL_CAN_ENABLE_IT(hcan, CAN_IT_EWG |CAN_IT_EPV |CAN_IT_BOF |CAN_IT_LEC |CAN_IT_ERR |CAN_IT_TME  );/* Process unlocked */__HAL_UNLOCK(hcan);if(FIFONumber == CAN_FIFO0){/* Enable FIFO 0 message pending Interrupt */__HAL_CAN_ENABLE_IT(hcan, CAN_IT_FMP0);}else{/* Enable FIFO 1 message pending Interrupt */__HAL_CAN_ENABLE_IT(hcan, CAN_IT_FMP1);}}else{return HAL_BUSY;}/* Return function status */return HAL_OK;
}

相关定义：

typedef struct
{CAN_TypeDef                 *Instance;  /*!< Register base address          */CAN_InitTypeDef             Init;       /*!< CAN required parameters        */CanTxMsgTypeDef*            pTxMsg;     /*!< Pointer to transmit structure  */CanRxMsgTypeDef*            pRxMsg;     /*!< Pointer to reception structure */HAL_LockTypeDef             Lock;       /*!< CAN locking object             */__IO HAL_CAN_StateTypeDef   State;      /*!< CAN communication state        */__IO uint32_t               ErrorCode;  /*!< CAN Error code                 */
}CAN_HandleTypeDef;

 #define __HAL_LOCK(__HANDLE__)                                           \do{                                        \if((__HANDLE__)->Lock == HAL_LOCKED)  \{                                      \return HAL_BUSY;                    \}                                      \else                                   \{                                      \(__HANDLE__)->Lock = HAL_LOCKED;    \}                                      \}while (0)#define __HAL_UNLOCK(__HANDLE__)                                          \do{                                       \(__HANDLE__)->Lock = HAL_UNLOCKED;   \}while (0)

对例2解决（例1可参照）：

1、对CAN状态进行判断（推荐使用）

若已经加锁，先解锁，操作，再加锁

if((CanHandle)->Lock == HAL_LOCKED){                                     __HAL_UNLOCK(CanHandle);        HAL_CAN_Receive_IT(); // Rearm receive(CanHandle )->Lock = HAL_LOCKED}   else{       HAL_CAN_Receive_IT(); // Rearm receive}}

2、直接对寄存器进行操作

 HAL_CAN_RxCpltCallback() {__HAL_CAN_ENABLE_IT();}

STM32CubeMX开发stm32f103rbt6 CAN例程（二）相关推荐

STM32CUBEMX开发GD32F303（16）----移植兆易创新SPI Nor Flash之GD25Q64Flash
spi概述 SPI是串行外设接口(Serial Peripheral Interface)的缩写,是一种高速的,全双工,同步的通信总线,并且在芯片的管脚上只占用四根线,节约了芯片的管脚,同时为PCB的 ...
STM32CubeMx开发之路—使用SysTick实现微妙延时函数delay_us()
运行环境 Windows10 STM32CubeMX Version 5.4.0 Keil5(MDK5) Version 5.28.0.0 硬件开发板 F103RB-NUCLEO 简介本例程主要讲解 ...
LabVIEW编程LabVIEW开发Andor CCD例程与相关资料
LabVIEW编程LabVIEW开发Andor CCD例程与相关资料 Andor提供一系列深度制冷.背照式CCD相机,可满足各种视野要求,该CCD具备制冷功能,在这个行业算是比较专业的了.厂家提供自己 ...
STM32CUBEMX开发GD32F303（12）----输出PWM及修改PWM频率与占空比
概述本章STM32CUBEMX配置STM32F103,并且在GD32F303中进行开发,同时通过开发板内进行验证. 本章主要配置定时器输出PWM,同时演示PWM频率与占空比. 需要GD样片的可以加Q ...
【HAL库】STM32CubeMX开发----STM32F103/F207/F407----时钟配置
STM32CubeMX 下载和安装详细教程 [HAL库]STM32CubeMX开发----STM32F103/F207/F407----目录一.STM32F103----时钟配置外部时钟源 = ...
【HAL库】STM32CubeMX开发----STM32F407----LED灯实验
STM32CubeMX 下载和安装详细教程 [HAL库]STM32CubeMX开发----STM32F407----目录 [HAL库]STM32F407----LED灯实验程序源码----点击下载 ...
STM32CubeMx开发之路—在线升级OTA
文章目录运行环境简介基础知识(1/4) STM32中的程序在哪儿? 进行分区总体流程图 BootLoader程序流程图分析程序编写和分析 App程序流程图分析程序编写和分析 Ymode ...
keil + STM32CubeMX 开发stm32L0 踩坑
keil + STM32CubeMX 开发stm32L0 踩坑我个人喜欢下载东西全部走官网不喜欢去下别人给的乱七八糟的资源. 原因有二,一.找到头疼,版本说不定还旧.二.病毒,和各种奇奇怪怪的网盘 ...
STM32CUBEMX开发GD32F303（14）----IIC之配置OLED
STM32CUBEMX开发GD32F303.14----IIC之配置OLED 概述视频教学 csdn课程样品申请生成例程配置时钟树 IIC配置 OLED 参考程序 HAL_I2C_Mem_Wr ...

STM32CubeMX开发stm32f103rbt6 CAN例程（二）

STM32CubeMX开发stm32f103rbt6 CAN例程（二）相关推荐

最新文章

热门文章