大家好,
我一直在尝试重新编程一些模块,这些模块用于在插入 OBD 插座时将一些 CAN 数据帧传输到汽车。基本上 MCU 被编程为发送一些帧,我想用其他帧替换这些帧。
这是设备的图片以及我制作的原理图:
MCU是 STM32F103C8T6,CAN收发器上面写着“NXP A1040/C DBA000 D64.1”。当我在 Google 中输入它时,它会返回 TJA1040 高速 CAN 收发器: https ://www.nxp.com/docs/en/data-sheet/TJA1040.pdf 。
所以我做了一些研究并开始了我的项目。这是我在 MX 中使用的配置:
我首先尝试使用蜂鸣器来测试基础知识并且它有效。然后我的下一步是使用 CAN 环回模式来尝试看看我是否可以发送/接收消息。这就是我挣扎的地方。
我加入了下面的整个代码。它编译并运行(我使用ST链接进行调试)。它只是永远不会进入应该激活蜂鸣器的中断功能。请注意,在我的测试期间,收发器由来自 ST 链路的 5V 正确供电(我用万用表检查过)。我真的不知道我的问题是什么,任何帮助将不胜感激。提前致谢 !
- /* USER CODE BEGIN Header */
- /**
- ******************************************************************************
- * @file : main.c
- * @brief : Main program body
- ******************************************************************************
- * @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"
- /* Private includes ----------------------------------------------------------*/
- /* USER CODE BEGIN Includes */
- /* USER CODE END Includes */
- /* Private typedef -----------------------------------------------------------*/
- /* USER CODE BEGIN PTD */
- /* USER CODE END PTD */
- /* Private define ------------------------------------------------------------*/
- /* USER CODE BEGIN PD */
- /* USER CODE END PD */
- /* Private macro -------------------------------------------------------------*/
- /* USER CODE BEGIN PM */
- /* USER CODE END PM */
- /* Private variables ---------------------------------------------------------*/
- CAN_HandleTypeDef hcan;
- /* USER CODE BEGIN PV */
- /* USER CODE END PV */
- /* Private function prototypes -----------------------------------------------*/
- void SystemClock_Config(void);
- static void MX_GPIO_Init(void);
- static void MX_CAN_Init(void);
- /* USER CODE BEGIN PFP */
- /* USER CODE END PFP */
- /* Private user code ---------------------------------------------------------*/
- /* USER CODE BEGIN 0 */
- CAN_TxHeaderTypeDef TxHeader;
- CAN_RxHeaderTypeDef RxHeader;
- uint32_t Mailbox;
- uint8_t TxData[8];
- uint8_t RxData[8];
- uint8_t count = 0;
- void HAL_CAN_RxFifo0MsgPendingCallback(CAN_HandleTypeDef *hcan)
- {
- HAL_CAN_GetRxMessage(hcan, CAN_RX_FIFO0, &RxHeader, RxData);
- HAL_GPIO_WritePin(GPIOA, GPIO_PIN_5, 1);
- HAL_Delay(100);
- HAL_GPIO_WritePin(GPIOA, GPIO_PIN_5, 0);
- }
- /* USER CODE END 0 */
- /**
- * @brief The application entry point.
- * @retval int
- */
- int main(void)
- {
- /* USER CODE BEGIN 1 */
- /* USER CODE END 1 */
- /* MCU Configuration--------------------------------------------------------*/
- /* Reset of all peripherals, Initializes the Flash interface and the Systick. */
- HAL_Init();
- /* USER CODE BEGIN Init */
- /* USER CODE END Init */
- /* Configure the system clock */
- SystemClock_Config();
- /* USER CODE BEGIN SysInit */
- /* USER CODE END SysInit */
- /* Initialize all configured peripherals */
- MX_GPIO_Init();
- MX_CAN_Init();
- /* USER CODE BEGIN 2 */
- HAL_CAN_Start(&hcan);
- HAL_CAN_ActivateNotification(&hcan, CAN_IT_RX_FIFO0_MSG_PENDING);
- TxHeader.DLC = 1;
- TxHeader.ExtId = 0;
- TxHeader.IDE = CAN_ID_STD;
- TxHeader.RTR = CAN_RTR_DATA;
- TxHeader.StdId = 0x103;
- TxHeader.TransmitGlobalTime = DISABLE;
- TxData[0] = 0xf3;
- HAL_CAN_AddTxMessage(&hcan, &TxHeader, TxData, &Mailbox);
- /* USER CODE END 2 */
- /* Infinite loop */
- /* USER CODE BEGIN WHILE */
- while (1)
- {
- HAL_CAN_AddTxMessage(&hcan, &TxHeader, TxData, &Mailbox);
- HAL_Delay(5000);
- /* USER CODE END WHILE */
- /* USER CODE BEGIN 3 */
- }
- /* USER CODE END 3 */
- }
- /**
- * @brief System Clock Configuration
- * @retval None
- */
- void SystemClock_Config(void)
- {
- RCC_OscInitTypeDef RCC_OscInitStruct = {0};
- RCC_ClkInitTypeDef RCC_ClkInitStruct = {0};
- /** Initializes the RCC Oscillators according to the specified parameters
- * in the RCC_OscInitTypeDef structure.
- */
- RCC_OscInitStruct.OscillatorType = RCC_OSCILLATORTYPE_HSE;
- RCC_OscInitStruct.HSEState = RCC_HSE_ON;
- RCC_OscInitStruct.HSEPredivValue = RCC_HSE_PREDIV_DIV1;
- RCC_OscInitStruct.HSIState = RCC_HSI_ON;
- RCC_OscInitStruct.PLL.PLLState = RCC_PLL_ON;
- RCC_OscInitStruct.PLL.PLLSource = RCC_PLLSOURCE_HSE;
- RCC_OscInitStruct.PLL.PLLMUL = RCC_PLL_MUL9;
- if (HAL_RCC_OscConfig(&RCC_OscInitStruct) != HAL_OK)
- {
- Error_Handler();
- }
- /** Initializes the CPU, AHB and APB buses clocks
- */
- RCC_ClkInitStruct.ClockType = RCC_CLOCKTYPE_HCLK|RCC_CLOCKTYPE_SYSCLK
- |RCC_CLOCKTYPE_PCLK1|RCC_CLOCKTYPE_PCLK2;
- RCC_ClkInitStruct.SYSCLKSource = RCC_SYSCLKSOURCE_PLLCLK;
- RCC_ClkInitStruct.AHBCLKDivider = RCC_SYSCLK_DIV1;
- RCC_ClkInitStruct.APB1CLKDivider = RCC_HCLK_DIV2;
- RCC_ClkInitStruct.APB2CLKDivider = RCC_HCLK_DIV1;
- if (HAL_RCC_ClockConfig(&RCC_ClkInitStruct, FLASH_LATENCY_2) != HAL_OK)
- {
- Error_Handler();
- }
- }
- /**
- * @brief CAN Initialization Function
- * @param None
- * @retval None
- */
- static void MX_CAN_Init(void)
- {
- /* USER CODE BEGIN CAN_Init 0 */
- /* USER CODE END CAN_Init 0 */
- /* USER CODE BEGIN CAN_Init 1 */
- /* USER CODE END CAN_Init 1 */
- hcan.Instance = CAN1;
- hcan.Init.Prescaler = 18;
- hcan.Init.Mode = CAN_MODE_LOOPBACK;
- hcan.Init.SyncJumpWidth = CAN_SJW_1TQ;
- hcan.Init.TimeSeg1 = CAN_BS1_1TQ;
- hcan.Init.TimeSeg2 = CAN_BS2_2TQ;
- hcan.Init.TimeTriggeredMode = DISABLE;
- hcan.Init.AutoBusOff = DISABLE;
- hcan.Init.AutoWakeUp = DISABLE;
- hcan.Init.AutoRetransmission = DISABLE;
- hcan.Init.ReceiveFifoLocked = DISABLE;
- hcan.Init.TransmitFifoPriority = DISABLE;
- if (HAL_CAN_Init(&hcan) != HAL_OK)
- {
- Error_Handler();
- }
- /* USER CODE BEGIN CAN_Init 2 */
- CAN_FilterTypeDef canfilterconfig;
- canfilterconfig.FilterActivation = CAN_FILTER_DISABLE;
- canfilterconfig.FilterBank = 10;
- canfilterconfig.FilterFIFOAssignment = CAN_RX_FIFO0;
- canfilterconfig.FilterIdHigh = 0;
- canfilterconfig.FilterIdLow = 0x0000;
- canfilterconfig.FilterMaskIdHigh = 0;
- canfilterconfig.FilterMaskIdLow = 0x0000;
- canfilterconfig.FilterMode = CAN_FILTERMODE_IDMASK;
- canfilterconfig.FilterScale = CAN_FILTERSCALE_32BIT;
- canfilterconfig.SlaveStartFilterBank = 12;
- HAL_CAN_ConfigFilter(&hcan, &canfilterconfig);
- /* USER CODE END CAN_Init 2 */
- }
- /**
- * @brief GPIO Initialization Function
- * @param None
- * @retval None
- */
- static void MX_GPIO_Init(void)
- {
- GPIO_InitTypeDef GPIO_InitStruct = {0};
- /* GPIO Ports Clock Enable */
- __HAL_RCC_GPIOD_CLK_ENABLE();
- __HAL_RCC_GPIOA_CLK_ENABLE();
- /*Configure GPIO pin Output Level */
- HAL_GPIO_WritePin(GPIOA, GPIO_PIN_5, GPIO_PIN_RESET);
- /*Configure GPIO pin : PA5 */
- GPIO_InitStruct.Pin = GPIO_PIN_5;
- GPIO_InitStruct.Mode = GPIO_MODE_OUTPUT_PP;
- GPIO_InitStruct.Pull = GPIO_NOPULL;
- GPIO_InitStruct.Speed = GPIO_SPEED_FREQ_LOW;
- HAL_GPIO_Init(GPIOA, &GPIO_InitStruct);
- }
- /* USER CODE BEGIN 4 */
- /* USER CODE END 4 */
- /**
- * @brief This function is executed in case of error occurrence.
- * @retval None
- */
- void Error_Handler(void)
- {
- /* USER CODE BEGIN Error_Handler_Debug */
- /* User can add his own implementation to report the HAL error return state */
- __disable_irq();
- while (1)
- {
- }
- /* USER CODE END Error_Handler_Debug */
- }
- #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
", file, line) */ - /* USER CODE END 6 */
- }
- #endif /* USE_FULL_ASSERT */
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