芯耀
700
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：
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14-27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14-27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("rn 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("rn 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("rn 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("rn 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 successrn");}
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