CAN通信回环模式无法接收数据

lazyr

开发工具：CUBEIDE
开发板芯片：F407ZGT6
开发板：野火 霸天虎V1

问题如下：

        CAN回环模式测试，调试过程中监视寄存器发现数据已进入发送邮箱，TSR寄存器的RQCP0和TXOK0值为1，说明发送成功，但是寄存器FIFO0的RF0R寄存器值为0，数据未进入FIFO

已用KEIL下载官方回环例程，官方例程回环模式能收发数据，说明CAN设备正常，有大佬帮忙看看这个是什么问题吗？或者需要怎样调试才能发现问题根源？

求指点

工程附件已上传

  已设置筛选器为不过滤，激活FIFO0的接收寄存器，具体代码见后文代码块或附件

寄存器值如下：

原理图如下：

通过CUBEIDE设置CAN2如下：

代码如下

main.c:

1. /* USER CODE BEGIN Header */
   
2. /**
   
3. ******************************************************************************
   
4. * [url=home.php?mod=space&uid=90986]@file[/url]           : main.c
   
5. * [url=home.php?mod=space&uid=41770]@brief[/url]          : Main program body
   
6. ******************************************************************************
   
7. * @attention
   
8. *
   
9. * Copyright (c) 2025 STMicroelectronics.
   
10. * All rights reserved.
    
11. *
    
12. * This software is licensed under terms that can be found in the LICENSE file
    
13. * in the root directory of this software component.
    
14. * If no LICENSE file comes with this software, it is provided AS-IS.
    
15. *
    
16. ******************************************************************************
    
17. */
    
18. /* USER CODE END Header */
    
19. /* Includes ------------------------------------------------------------------*/
    
20. #include "main.h"
    
21. #include "can.h"
    
22. #include "usart.h"
    
23. #include "gpio.h"
    
24. 
    
25. /* Private includes ----------------------------------------------------------*/
    
26. /* USER CODE BEGIN Includes */
    
27. #include "../../BSP/LED/led.h"
    
28. #include "../../SYSTEM/delay/delay.h"
    
29. #include "../../BSP/BEEF/beef.h"
    
30. #include "../../BSP/KEY/key.h"
    
31. #include "string.h"
    
32. /* USER CODE END Includes */
    
33. 
    
34. /* Private typedef -----------------------------------------------------------*/
    
35. /* USER CODE BEGIN PTD */
    
36. 
    
37. /* USER CODE END PTD */
    
38. 
    
39. /* Private define ------------------------------------------------------------*/
    
40. /* USER CODE BEGIN PD */
    
41. 
    
42. /* USER CODE END PD */
    
43. 
    
44. /* Private macro -------------------------------------------------------------*/
    
45. /* USER CODE BEGIN PM */
    
46. 
    
47. /* USER CODE END PM */
    
48. 
    
49. /* Private variables ---------------------------------------------------------*/
    
50. 
    
51. /* USER CODE BEGIN PV */
    
52. 
    
53. /* USER CODE END PV */
    
54. 
    
55. /* Private function prototypes -----------------------------------------------*/
    
56. void SystemClock_Config(void);
    
57. /* USER CODE BEGIN PFP */
    
58. 
    
59. /* USER CODE END PFP */
    
60. 
    
61. /* Private user code ---------------------------------------------------------*/
    
62. /* USER CODE BEGIN 0 */
    
63. 
    
64. /* USER CODE END 0 */
    
65. 
    
66. /**
    
67.   * @brief  The application entry point.
    
68.   * @retval int
    
69.   */
    
70. int main(void)
    
71. {
    
72. 
    
73.   /* USER CODE BEGIN 1 */
    
74.     uint8_t key;
    
75.     uint8_t i = 0;
    
76.     uint8_t cnt = 0;
    
77.     uint8_t canbuf[8];
    
78.     uint8_t rxlen = 0;
    
79.     uint8_t res;
    
80.     uint16_t times = 0;
    
81.   /* USER CODE END 1 */
    
82. 
    
83.   /* MCU Configuration--------------------------------------------------------*/
    
84. 
    
85.   /* Reset of all peripherals, Initializes the Flash interface and the Systick. */
    
86.   HAL_Init();
    
87. 
    
88.   /* USER CODE BEGIN Init */
    
89. 
    
90.   /* USER CODE END Init */
    
91. 
    
92.   /* Configure the system clock */
    
93.   SystemClock_Config();
    
94. 
    
95.   /* USER CODE BEGIN SysInit */
    
96.     delay_init(84);
    
97.   /* USER CODE END SysInit */
    
98. 
    
99.   /* Initialize all configured peripherals */
    
100.   MX_GPIO_Init();
     
101.   MX_USART1_UART_Init();
     
102.   MX_CAN2_Init();
     
103.   /* USER CODE BEGIN 2 */
     
104. 
     
105.   /* USER CODE END 2 */
     
106. 
     
107.   /* Infinite loop */
     
108.   /* USER CODE BEGIN WHILE */
     
109.   while (1)
     
110.   {
     
111.       key = key_scan(0);
     
112. 
     
113.       if(key == KEY2_PRESS)
     
114.       {
     
115.           printf("Send: ");
     
116.           for(i = 0;  i<8;  i++)
     
117.           {
     
118.               canbuf[i] = cnt+i;
     
119.               printf("%d ", canbuf[i]);
     
120.           }
     
121.           printf("\r\n");
     
122. 
     
123.           res = can_send_msg(0x12, canbuf, 8);
     
124. 
     
125.           if(res)
     
126.           {
     
127.               printf("Send Failed!\r\n");
     
128.           }
     
129.           else
     
130.           {
     
131.               printf("Send Successful!\r\n");
     
132.           }
     
133.       }
     
134. 
     
135.       rxlen = can_receive_msg(0x12, canbuf);
     
136.       if(rxlen)
     
137.       {
     
138.           printf("Receive:");
     
139.           for(i = 0;  i<rxlen;  i++)
     
140.           {
     
141.               printf("%d ", canbuf[i]);
     
142.           }
     
143.           printf("\r\n");
     
144.       }
     
145. 
     
146.       times++;
     
147.       if(times %200 == 0)
     
148.           printf("Please Press KEY2 To Send Message!\r\n");
     
149. 
     
150. 
     
151.       if(times % 30 == 0)
     
152.       {
     
153.           cnt++;
     
154.           LED_R_TOGGLE();
     
155.       }
     
156. 
     
157.       delay_ms(10);
     
158. 
     
159. 
     
160.     /* USER CODE END WHILE */
     
161. 
     
162.     /* USER CODE BEGIN 3 */
     
163.   }
     
164.   /* USER CODE END 3 */
     
165. }
     
166. 
     
167. /**
     
168.   * @brief System Clock Configuration
     
169.   * @retval None
     
170.   */
     
171. void SystemClock_Config(void)
     
172. {
     
173.   RCC_OscInitTypeDef RCC_OscInitStruct = {0};
     
174.   RCC_ClkInitTypeDef RCC_ClkInitStruct = {0};
     
175. 
     
176.   /** Configure the main internal regulator output voltage
     
177.   */
     
178.   __HAL_RCC_PWR_CLK_ENABLE();
     
179.   __HAL_PWR_VOLTAGESCALING_CONFIG(PWR_REGULATOR_VOLTAGE_SCALE1);
     
180. 
     
181.   /** Initializes the RCC Oscillators according to the specified parameters
     
182.   * in the RCC_OscInitTypeDef structure.
     
183.   */
     
184.   RCC_OscInitStruct.OscillatorType = RCC_OSCILLATORTYPE_HSE;
     
185.   RCC_OscInitStruct.HSEState = RCC_HSE_ON;
     
186.   RCC_OscInitStruct.PLL.PLLState = RCC_PLL_ON;
     
187.   RCC_OscInitStruct.PLL.PLLSource = RCC_PLLSOURCE_HSE;
     
188.   RCC_OscInitStruct.PLL.PLLM = 25;
     
189.   RCC_OscInitStruct.PLL.PLLN = 336;
     
190.   RCC_OscInitStruct.PLL.PLLP = RCC_PLLP_DIV2;
     
191.   RCC_OscInitStruct.PLL.PLLQ = 4;
     
192.   if (HAL_RCC_OscConfig(&RCC_OscInitStruct) != HAL_OK)
     
193.   {
     
194.     Error_Handler();
     
195.   }
     
196. 
     
197.   /** Initializes the CPU, AHB and APB buses clocks
     
198.   */
     
199.   RCC_ClkInitStruct.ClockType = RCC_CLOCKTYPE_HCLK|RCC_CLOCKTYPE_SYSCLK
     
200.                               |RCC_CLOCKTYPE_PCLK1|RCC_CLOCKTYPE_PCLK2;
     
201.   RCC_ClkInitStruct.SYSCLKSource = RCC_SYSCLKSOURCE_PLLCLK;
     
202.   RCC_ClkInitStruct.AHBCLKDivider = RCC_SYSCLK_DIV1;
     
203.   RCC_ClkInitStruct.APB1CLKDivider = RCC_HCLK_DIV4;
     
204.   RCC_ClkInitStruct.APB2CLKDivider = RCC_HCLK_DIV2;
     
205. 
     
206.   if (HAL_RCC_ClockConfig(&RCC_ClkInitStruct, FLASH_LATENCY_5) != HAL_OK)
     
207.   {
     
208.     Error_Handler();
     
209.   }
     
210. }
     
211. 
     
212. /* USER CODE BEGIN 4 */
     
213. 
     
214. /* USER CODE END 4 */
     
215. 
     
216. /**
     
217.   * @brief  This function is executed in case of error occurrence.
     
218.   * @retval None
     
219.   */
     
220. void Error_Handler(void)
     
221. {
     
222.   /* USER CODE BEGIN Error_Handler_Debug */
     
223.     /* User can add his own implementation to report the HAL error return state */
     
224.     __disable_irq();
     
225.     while (1)
     
226.     {
     
227.     }
     
228.   /* USER CODE END Error_Handler_Debug */
     
229. }
     
230. 
     
231. #ifdef  USE_FULL_ASSERT
     
232. /**
     
233.   * @brief  Reports the name of the source file and the source line number
     
234.   *         where the assert_param error has occurred.
     
235.   * @param  file: pointer to the source file name
     
236.   * @param  line: assert_param error line source number
     
237.   * @retval None
     
238.   */
     
239. void assert_failed(uint8_t *file, uint32_t line)
     
240. {
     
241.   /* USER CODE BEGIN 6 */
     
242.     /* User can add his own implementation to report the file name and line number,
     
243.      ex: printf("Wrong parameters value: file %s on line %d\r\n", file, line) */
     
244.   /* USER CODE END 6 */
     
245. }
     
246. #endif /* USE_FULL_ASSERT */

复制代码

can.c

1. /* USER CODE BEGIN Header */
   
2. /**
   
3.   ******************************************************************************
   
4.   * @file    can.c
   
5.   * @brief   This file provides code for the configuration
   
6.   *          of the CAN instances.
   
7.   ******************************************************************************
   
8.   * @attention
   
9.   *
   
10.   * Copyright (c) 2025 STMicroelectronics.
    
11.   * All rights reserved.
    
12.   *
    
13.   * This software is licensed under terms that can be found in the LICENSE file
    
14.   * in the root directory of this software component.
    
15.   * If no LICENSE file comes with this software, it is provided AS-IS.
    
16.   *
    
17.   ******************************************************************************
    
18.   */
    
19. /* USER CODE END Header */
    
20. /* Includes ------------------------------------------------------------------*/
    
21. #include "can.h"
    
22. 
    
23. /* USER CODE BEGIN 0 */
    
24. CAN_TxHeaderTypeDef g_canx_txheader;    /* 发送参数句柄 */
    
25. CAN_RxHeaderTypeDef g_canx_rxheader;    /* 接收参数句柄 */
    
26. CAN_FilterTypeDef sFilterConfig;
    
27. /* USER CODE END 0 */
    
28. 
    
29. CAN_HandleTypeDef hcan2;
    
30. 
    
31. /* CAN2 init function */
    
32. void MX_CAN2_Init(void)
    
33. {
    
34. 
    
35.   /* USER CODE BEGIN CAN2_Init 0 */
    
36.     CAN_FilterTypeDef sFilterConfig;    /*配置 CAN 过滤器*/
    
37.   /* USER CODE END CAN2_Init 0 */
    
38. 
    
39.   /* USER CODE BEGIN CAN2_Init 1 */
    
40. 
    
41.   /* USER CODE END CAN2_Init 1 */
    
42.   hcan2.Instance = CAN2;
    
43.   hcan2.Init.Prescaler = 4;
    
44.   hcan2.Init.Mode = CAN_MODE_LOOPBACK;
    
45.   hcan2.Init.SyncJumpWidth = CAN_SJW_1TQ;
    
46.   hcan2.Init.TimeSeg1 = CAN_BS1_12TQ;
    
47.   hcan2.Init.TimeSeg2 = CAN_BS2_8TQ;
    
48.   hcan2.Init.TimeTriggeredMode = DISABLE;
    
49.   hcan2.Init.AutoBusOff = DISABLE;
    
50.   hcan2.Init.AutoWakeUp = DISABLE;
    
51.   hcan2.Init.AutoRetransmission = ENABLE;
    
52.   hcan2.Init.ReceiveFifoLocked = DISABLE;
    
53.   hcan2.Init.TransmitFifoPriority = DISABLE;
    
54.   if (HAL_CAN_Init(&hcan2) != HAL_OK)
    
55.   {
    
56.     Error_Handler();
    
57.   }
    
58.   /* USER CODE BEGIN CAN2_Init 2 */
    
59.   //配置过滤器
    
60.   sFilterConfig.FilterBank = 0; // 过滤器组编号
    
61.   sFilterConfig.FilterMode = CAN_FILTERMODE_IDMASK; // 过滤器模式
    
62.   sFilterConfig.FilterScale = CAN_FILTERSCALE_32BIT; // 过滤器尺度
    
63.   sFilterConfig.FilterIdHigh = 0x0000; // 过滤器 ID 高 16 位
    
64.   sFilterConfig.FilterIdLow = 0x0000; // 过滤器 ID 低 16 位
    
65.   sFilterConfig.FilterMaskIdHigh = 0x0000; // 过滤器掩码高 16 位
    
66.   sFilterConfig.FilterMaskIdLow = 0x0000; // 过滤器掩码低 16 位
    
67.   sFilterConfig.FilterFIFOAssignment = CAN_RX_FIFO0; // 过滤器分配给 FIFO 0
    
68.   sFilterConfig.FilterActivation = ENABLE; // 使能过滤器
    
69.   sFilterConfig.SlaveStartFilterBank = 14; // CAN2 的过滤器起始位置
    
70. 
    
71.   if(HAL_CAN_ConfigFilter(&hcan2, &sFilterConfig) != HAL_OK)
    
72.   {     /*过滤器配置*/
    
73.       Error_Handler();
    
74.   }
    
75. 
    
76.   if(HAL_CAN_Start(&hcan2) != HAL_OK)
    
77.   {     /*启动CAN外围设备*/
    
78.       Error_Handler();
    
79.   }
    
80. 
    
81. /*使能中断接收,FIFO0消息挂号中断允许，选则CAN外设中断源为“ CAN 接收 FIFO 0 消息挂起中断”，
    
82. * 同时需要使能打开CAN的中断响应，此处未写是因在可视化界面已配置，
    
83. * 会在HAL_CAN_Init初始化时调用的HAL_CAN_MspInit函数中进行使能*/
    
84.   //__HAL_CAN_ENABLE_IT(&hcan2, CAN_IT_RX_FIFO0_MSG_PENDING);
    
85.   HAL_CAN_ActivateNotification(&hcan2, CAN_IT_RX_FIFO0_MSG_PENDING);
    
86. 
    
87. 
    
88. 
    
89. 
    
90.   /* USER CODE END CAN2_Init 2 */
    
91. 
    
92. }
    
93. 
    
94. void HAL_CAN_MspInit(CAN_HandleTypeDef* canHandle)
    
95. {
    
96. 
    
97.   GPIO_InitTypeDef GPIO_InitStruct = {0};
    
98.   if(canHandle->Instance==CAN2)
    
99.   {
    
100.   /* USER CODE BEGIN CAN2_MspInit 0 */
     
101. 
     
102.   /* USER CODE END CAN2_MspInit 0 */
     
103.     /* CAN2 clock enable */
     
104.     __HAL_RCC_CAN2_CLK_ENABLE();
     
105.     __HAL_RCC_CAN1_CLK_ENABLE();
     
106. 
     
107.     __HAL_RCC_GPIOB_CLK_ENABLE();
     
108.     /**CAN2 GPIO Configuration
     
109.     PB12     ------> CAN2_RX
     
110.     PB13     ------> CAN2_TX
     
111.     */
     
112.     GPIO_InitStruct.Pin = GPIO_PIN_12|GPIO_PIN_13;
     
113.     GPIO_InitStruct.Mode = GPIO_MODE_AF_PP;
     
114.     GPIO_InitStruct.Pull = GPIO_NOPULL;
     
115.     GPIO_InitStruct.Speed = GPIO_SPEED_FREQ_VERY_HIGH;
     
116.     GPIO_InitStruct.Alternate = GPIO_AF9_CAN2;
     
117.     HAL_GPIO_Init(GPIOB, &GPIO_InitStruct);
     
118. 
     
119.     /* CAN2 interrupt Init */
     
120.     HAL_NVIC_SetPriority(CAN2_RX0_IRQn, 1, 0);
     
121.     HAL_NVIC_EnableIRQ(CAN2_RX0_IRQn);
     
122.   /* USER CODE BEGIN CAN2_MspInit 1 */
     
123. 
     
124. 
     
125.   /* USER CODE END CAN2_MspInit 1 */
     
126.   }
     
127. }
     
128. 
     
129. void HAL_CAN_MspDeInit(CAN_HandleTypeDef* canHandle)
     
130. {
     
131. 
     
132.   if(canHandle->Instance==CAN2)
     
133.   {
     
134.   /* USER CODE BEGIN CAN2_MspDeInit 0 */
     
135. 
     
136.   /* USER CODE END CAN2_MspDeInit 0 */
     
137.     /* Peripheral clock disable */
     
138.     __HAL_RCC_CAN2_CLK_DISABLE();
     
139.     __HAL_RCC_CAN1_CLK_DISABLE();
     
140. 
     
141.     /**CAN2 GPIO Configuration
     
142.     PB12     ------> CAN2_RX
     
143.     PB13     ------> CAN2_TX
     
144.     */
     
145.     HAL_GPIO_DeInit(GPIOB, GPIO_PIN_12|GPIO_PIN_13);
     
146. 
     
147.     /* CAN2 interrupt Deinit */
     
148.     HAL_NVIC_DisableIRQ(CAN2_RX0_IRQn);
     
149.   /* USER CODE BEGIN CAN2_MspDeInit 1 */
     
150. 
     
151.   /* USER CODE END CAN2_MspDeInit 1 */
     
152.   }
     
153. }
     
154. 
     
155. /* USER CODE BEGIN 1 */
     
156. /**
     
157. * * @brief CAN 发送一组数据
     
158. * * [url=home.php?mod=space&uid=87825]@note[/url] 发送格式固定为: 标准 ID, 数据帧
     
159. * * @param id : 标准 ID(11 位)
     
160. * * @retval 发送状态 0, 成功; 1, 失败;
     
161. * */
     
162. uint8_t can_send_msg(uint32_t id, uint8_t *msg, uint8_t len)
     
163. {
     
164.     uint32_t TxMailBox = CAN_TX_MAILBOX0;
     
165. 
     
166.     g_canx_txheader.StdId = id;         /*标准标识符*/
     
167.     g_canx_txheader.ExtId = id;         /*扩展标识符(29位)*/
     
168.     g_canx_txheader.IDE = CAN_ID_STD;           /* 使用标准帧 */
     
169.     g_canx_txheader.RTR = CAN_RTR_DATA;     /* 数据帧 */
     
170.     g_canx_txheader.DLC = len;
     
171. 
     
172.     if(HAL_CAN_AddTxMessage(&hcan2, &g_canx_txheader, msg, &TxMailBox) != HAL_OK)
     
173.     {
     
174.         return 1;
     
175.     }
     
176. 
     
177.     /*等待发送完成,所有邮箱为空(3个邮箱)*/
     
178.     while(HAL_CAN_GetTxMailboxesFreeLevel(&hcan2) !=3);
     
179. 
     
180.     return 0;
     
181. 
     
182. }
     
183. 
     
184. /** * @brief CAN 接收数据查询
     
185. * * @note 接收数据格式固定为: 标准 ID, 数据帧
     
186. * * @param id : 要查询的 标准 ID(11 位)
     
187. * * @param buf : 数据缓存区
     
188. * * @retval 接收结果
     
189. * * @arg 0 , 无数据被接收到;
     
190. * * @arg 其他, 接收的数据长度
     
191. * */
     
192. uint8_t can_receive_msg(uint32_t id, uint8_t *buf)
     
193. {
     
194.     if(HAL_CAN_GetRxFifoFillLevel(&hcan2, CAN_RX_FIFO0) == 0)
     
195.     {
     
196.         return 0;
     
197.     }
     
198.     if(HAL_CAN_GetRxMessage(&hcan2, CAN_RX_FIFO0, &g_canx_rxheader, buf) != HAL_OK)
     
199.     {
     
200.         return 0;
     
201.     }
     
202. 
     
203.     /*接收到的ID不对/不是标准帧/不是数据帧*/
     
204.     if(g_canx_rxheader.StdId != id || g_canx_rxheader.IDE != CAN_ID_STD || g_canx_rxheader.RTR != CAN_RTR_DATA)
     
205.     {
     
206.         return 0;
     
207.     }
     
208. 
     
209.     return g_canx_rxheader.DLC;
     
210. }
     
211. /* USER CODE END 1 */

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