GD32双路CAN踩坑记录

柒壹漆

于 2024-08-21 21:00:43 发布

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分类专栏：单片机相关经验分享文章标签：单片机嵌入式硬件 gd32 CAN

本文链接：https://blog.csdn.net/ShenZhen_zixian/article/details/141052725

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GD32双路CAN踩坑记录

1 问题描述

GD32的CAN1无法进入接收中断，收不到数据。
注：MCU使用的是GD32E50x，其他型号不确定是否一样，本文只以GD32E50x举例说明。

2 原因分析

GD32的CAN过滤器总共有28个，通过过滤器控制寄存器（CAN_FCTL）打开或关闭，具体如下：

在这里插入图片描述

其中问题就出现在上图的HBC1F上面，CAN0使用的是过滤器编号0到编号(HBC1F-1)，CAN1使用的是过滤器编号(HBC1F)到27，而这个默认值是0xE(14)，也就是说CAN0默认使用的是编号为0-13的过滤器，CAN1默认使用的是编号为0-27的过滤器，因此，在初始化CAN1的时候，过滤器编号要在这个范围内才能被正确使用，否则是接收不到CAN数据的。

3 解决办法

1、使用编号为15-28的过滤器
2、通过修改CAN_FCTL寄存器的HBC1F，调整过滤器编号的分配
其中GD32固件库有封装函数可以修改HBC1F，函数原形如下：

/*!
    \brief      set CAN1 fliter start bank number
    \param[in]  start_bank: CAN1 start bank number
                only one parameter can be selected which is shown as below:
      \arg        (1..27)
    \param[out] none
    \retval     none
*/
void can1_filter_start_bank(uint8_t start_bank)
{
    /* filter lock disable */
    CAN_FCTL(CAN0) |= CAN_FCTL_FLD;
    /* set CAN1 filter start number */
    CAN_FCTL(CAN0) &= ~(uint32_t)CAN_FCTL_HBC1F;
    CAN_FCTL(CAN0) |= FCTL_HBC1F(start_bank);
    /* filter lock enable */
    CAN_FCTL(CAN0) &= ~CAN_FCTL_FLD;
}

4 CAN配置参考代码

#include "main.h"
#include "stdio.h"

can_trasnmit_message_struct can0_tx_message;
can_trasnmit_message_struct can1_tx_message;
can_receive_message_struct can0_rx_message;
can_receive_message_struct can1_rx_message;

void can0_gpio_config(void)
{
    /* enable CAN0 clock */
    rcu_periph_clock_enable(RCU_CAN0);
    rcu_periph_clock_enable(RCU_GPIOB);
    rcu_periph_clock_enable(RCU_AF);
    /* 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);
    gpio_pin_remap_config(GPIO_CAN0_PARTIAL_REMAP, ENABLE);
}

void can0_config(void)
{
    can_parameter_struct can_parameter;
    can_fdframe_struct can_fd_parameter;
    can_fd_tdc_struct can_fd_tdc_parameter;
    can_filter_parameter_struct can_filter;

    can_struct_para_init(CAN_INIT_STRUCT, &can_parameter);
    /* initialize CAN register */
    can_deinit(CAN0);

#if 1  // CAN配置
    /* initialize CAN parameters */
    can_parameter.time_triggered = DISABLE;
    can_parameter.auto_bus_off_recovery = DISABLE;
    can_parameter.auto_wake_up = DISABLE;
    can_parameter.auto_retrans = DISABLE;
    can_parameter.rec_fifo_overwrite = DISABLE;
    can_parameter.trans_fifo_order = DISABLE;
    can_parameter.working_mode = CAN_NORMAL_MODE;
    /* CAN波特率 = 时钟频率 / 分频系数 / (1 + TSG1 + TSG2) */
    /* 仲裁段波特率 = 90M / 9 / (1 + 7 + 2) = 1M */
    /* configure CAN baud rate 1MBps, sample point at 80% */
    can_parameter.resync_jump_width = CAN_BT_SJW_1TQ;
    can_parameter.time_segment_1 = CAN_BT_BS1_7TQ;  // TSG1
    can_parameter.time_segment_2 = CAN_BT_BS2_2TQ;  // TSG2
    can_parameter.prescaler = 9U;                   // 分频系数
    /* initialize CAN */
    can_init(CAN0, &can_parameter);
#else  // CANFD配置
    /* initialize CAN parameters */
    can_parameter.time_triggered = DISABLE;
    can_parameter.auto_bus_off_recovery = DISABLE;
    can_parameter.auto_wake_up = DISABLE;
    can_parameter.auto_retrans = ENABLE;
    can_parameter.rec_fifo_overwrite = ENABLE;
    can_parameter.trans_fifo_order = ENABLE;
    can_parameter.working_mode = CAN_NORMAL_MODE;
    /* baudrate 1Mbps, sample piont at 80% */
    can_parameter.resync_jump_width = CAN_BT_SJW_1TQ;
    can_parameter.time_segment_1 = CAN_BT_BS1_7TQ;
    can_parameter.time_segment_2 = CAN_BT_BS2_2TQ;
    can_parameter.prescaler = 9U;
    /* initialize CAN */
    can_init(CAN0, &can_parameter);

    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 = 0x04U;
    can_fd_tdc_parameter.tdc_mode = CAN_TDCMOD_CALC_AND_OFFSET;
    can_fd_tdc_parameter.tdc_offset = 0x04U;
    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波特率 = 时钟频率 / 分频系数 / (1 + TSG1 + TSG2) */
    /* 数据段波特率 = 90M / 3 / (1 + 4 + 1) = 5M */
    can_fd_parameter.data_resync_jump_width = CAN_BT_SJW_1TQ;
    can_fd_parameter.data_time_segment_1 = CAN_BT_BS1_4TQ;  // TSG1
    can_fd_parameter.data_time_segment_2 = CAN_BT_BS2_1TQ;  // TSG2
    /* CAN-FD data segement prescaler should be the same as non-data segement prescaler */
    can_fd_parameter.data_prescaler = 3;                    // 分频系数
    /* initialize CAN-FD */
    can_fd_init(CAN0, &can_fd_parameter);
#endif

    /* initialize filter */
    /* configure filter mode */
    can_filter.filter_mode = CAN_FILTERMODE_MASK;
    can_filter.filter_bits = CAN_FILTERBITS_32BIT;
    /* configure filter ID */
    can_filter.filter_list_high = 0x0000U;
    can_filter.filter_list_low = 0x0000U;
    /* configure filter mask */
    can_filter.filter_mask_high = 0x0000U;
    can_filter.filter_mask_low = 0x0000U;
    /* select receiver fifo */
    can_filter.filter_fifo_number = CAN_FIFO0;
    can_filter.filter_number = 0U;
    can_filter.filter_enable = ENABLE;
    can_filter_init(CAN0, &can_filter);
    /* configure CAN0 NVIC */
    nvic_irq_enable(CAN0_RX0_IRQn, 0U, 0U);

    /* enable can receive FIFO0 not empty interrupt */
    can_interrupt_enable(CAN0, CAN_INTEN_RFNEIE0);
}

int can0_send_message(void)
{
    uint8_t i;
    uint16_t id = 1;

    can0_tx_message.tx_sfid = id;
    can0_tx_message.fd_flag = 0;
    can0_tx_message.fd_brs = 0;
    can0_tx_message.fd_esi = 0;
    can0_tx_message.tx_dlen = 8;
    for(i = 0; i < 8; i++) 
    {
        can0_tx_message.tx_data[i] = i;
    }
#if 0
    printf("\r\n can0 transmit data(id: 0x%x): ", can0_tx_message.tx_sfid);
    for(i = 0U; i < can0_tx_message.tx_dlen; i++) 
    {
        printf(" %02x", can0_tx_message.tx_data[i]);
    }
#endif
    /* transmit message */
    if(can_message_transmit(CAN0, &can0_tx_message) != CAN_NOMAILBOX)
    {
        return 1;
    }

    return 0;
}

void CAN0_RX0_IRQHandler(void)
{
    /* check the receive message */
    can_message_receive(CAN0, CAN_FIFO0, &can0_rx_message);
    LOG("\r\n can0 receive(id=0x%X) data: ", can0_rx_message.rx_sfid);
    for(int i = 0U; i < can0_rx_message.rx_dlen; i++) 
    {
        LOG(" %02x", can0_rx_message.rx_data[i]);
    }
}

void can1_gpio_config(void)
{
    /* enable CAN1 clock */
    rcu_periph_clock_enable(RCU_CAN1);
    rcu_periph_clock_enable(RCU_GPIOB);
    rcu_periph_clock_enable(RCU_AF);
    /* configure CAN1 GPIO */
    gpio_init(GPIOB, GPIO_MODE_IPU, GPIO_OSPEED_50MHZ, GPIO_PIN_5);
    gpio_init(GPIOB, GPIO_MODE_AF_PP, GPIO_OSPEED_50MHZ, GPIO_PIN_6);
    gpio_pin_remap_config(GPIO_CAN1_REMAP, ENABLE);
}

void can1_config(void)
{
    can_parameter_struct can_parameter;
    can_fdframe_struct can_fd_parameter;
    can_fd_tdc_struct can_fd_tdc_parameter;
    can_filter_parameter_struct can_filter;

    can_struct_para_init(CAN_INIT_STRUCT, &can_parameter);
    /* initialize CAN register */
    can_deinit(CAN1);

    /* initialize CAN parameters */
    can_parameter.time_triggered = DISABLE;
    can_parameter.auto_bus_off_recovery = DISABLE;
    can_parameter.auto_wake_up = DISABLE;
    can_parameter.auto_retrans = ENABLE;                 // TODO 自动重传是否需要使能
    can_parameter.rec_fifo_overwrite = ENABLE;   
    can_parameter.trans_fifo_order = ENABLE;
    can_parameter.working_mode = CAN_NORMAL_MODE;
    /* CAN波特率 = 时钟频率 / 分频系数 / (1 + TSG1 + TSG2) */
    /* 仲裁段波特率 = 90M / 9 / (1 + 7 + 2) = 1M */
    /* baudrate 1Mbps, sample piont at 80% */
    can_parameter.resync_jump_width = CAN_BT_SJW_1TQ;
    can_parameter.time_segment_1 = CAN_BT_BS1_7TQ;  // TSG1
    can_parameter.time_segment_2 = CAN_BT_BS2_2TQ;  // TSG2
    can_parameter.prescaler = 9U;                   // 分频系数
    /* initialize CAN */
    can_init(CAN1, &can_parameter);

    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 = 0x04U;
    can_fd_tdc_parameter.tdc_mode = CAN_TDCMOD_CALC_AND_OFFSET;
    can_fd_tdc_parameter.tdc_offset = 0x04U;
    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波特率 = 时钟频率 / 分频系数 / (1 + TSG1 + TSG2) */
    /* 数据段波特率 = 90M / 3 / (1 + 4 + 1) = 5M */
    can_fd_parameter.data_resync_jump_width = CAN_BT_SJW_1TQ;
    can_fd_parameter.data_time_segment_1 = CAN_BT_BS1_4TQ;  // TSG1
    can_fd_parameter.data_time_segment_2 = CAN_BT_BS2_1TQ;  // TSG2
    /* CAN-FD data segement prescaler should be the same as non-data segement prescaler */
    can_fd_parameter.data_prescaler = 3;                    // 分频系数
    /* initialize CAN-FD */
    can_fd_init(CAN1, &can_fd_parameter);

    /* initialize filter */
    /* configure filter mode */
    can_filter.filter_mode = CAN_FILTERMODE_MASK;
    can_filter.filter_bits = CAN_FILTERBITS_32BIT;
    /* configure filter ID */
    can_filter.filter_list_high = 0x0000U;
    can_filter.filter_list_low = 0x0000U;
    /* configure filter mask */
    can_filter.filter_mask_high = 0x0000U;
    can_filter.filter_mask_low = 0x0000U;
    /* select receiver fifo */
    can_filter.filter_fifo_number = CAN_FIFO1;  
    can_filter.filter_number = 15U;  // CAN_FCTL默认定义了CAN0和CAN1过滤器序号的分配数量，CAN0使用0-13序号，CAN1使用14-27，可以通过can1_filter_start_bank()修改
    can_filter.filter_enable = ENABLE;
    can_filter_init(CAN1, &can_filter);

    /* configure CAN1 NVIC */
    nvic_irq_enable(CAN1_RX1_IRQn, 1U, 1U);

    /* enable can receive FIFO0 not empty interrupt */
    can_interrupt_enable(CAN1, CAN_INTEN_RFNEIE1);
}

int can1_send_message(void)
{
    uint8_t i;
    uint16_t id = 2;

    can1_tx_message.tx_sfid = id;
    can1_tx_message.fd_flag = 1;
    can1_tx_message.fd_brs = 1;
    can1_tx_message.fd_esi = 0;
    can1_tx_message.tx_dlen = 8;
    for(i = 0; i < 8; i++) 
    {
        can1_tx_message.tx_data[i] = i;
    }
#if 0
    printf("\r\n can1 transmit data(id: 0x%x): ", can1_tx_message.tx_sfid);
    for(i = 0U; i < can1_tx_message.tx_dlen; i++) 
    {
        printf(" %02x", can1_tx_message.tx_data[i]);
    }
#endif
    /* transmit message */
    if(can_message_transmit(CAN1, &can1_tx_message) != CAN_NOMAILBOX)
    {
        return 1;
    }
    return 0;
}

void CAN1_RX1_IRQHandler(void)
{
    /* check the receive message */
    can_message_receive(CAN1, CAN_FIFO1, &can1_rx_message);
    printf("\r\n can1 receive(id=0x%X) data: ", can1_rx_message.rx_sfid);
    for(int i = 0U; i < can1_rx_message.rx_dlen; i++) 
    {
        printf(" %02x", can1_rx_message.rx_data[i]);
    }
}

void can_user_init(void)
{
    // CAN0 init
    can0_gpio_config();
    can0_config();
    /* initialize can0 transmit message */
    can_struct_para_init(CAN_TX_MESSAGE_STRUCT, &can0_tx_message);
    /* initialize can0 receive message */
    can_struct_para_init(CAN_RX_MESSAGE_STRUCT, &can0_rx_message);

    // CAN1 init
    can1_gpio_config();
    can1_config();
    /* initialize can1 transmit message */
    can_struct_para_init(CAN_TX_MESSAGE_STRUCT, &can1_tx_message);
    /* initialize can1 receive message */
    can_struct_para_init(CAN_RX_MESSAGE_STRUCT, &can1_rx_message);

    printf("can init success\r\n");
}