我正在使用具有HAL库的STM32微控制器创建汽车CAN网络。上传的代码在STM32F446RE Nucleo板上使用。
我的目的是使用这样的空函数在程序开始时发送八个帧“ NMT”：
void cansend_NMT(uint8_t State, uint8_t NodeID)
{
frame_NMT.TxHeader.StdId = 0x000;
frame_NMT.TxHeader.RTR = CAN_RTR_DATA;
frame_NMT.TxHeader.IDE = CAN_ID_STD;
frame_NMT.TxHeader.DLC = 2;
frame_NMT.TxHeader.TransmitGlobalTime=DISABLE;
frame_NMT.TxData[0]=State;
frame_NMT.TxData[1]=NodeID;
if(HAL_CAN_AddTxMessage(&hcan1,&frame_NMT.TxHeader, frame_NMT.TxData, &TxMailbox) != HAL_OK)
{
/* Transmission request Error */
Error_Handler();
}
while(HAL_CAN_GetTxMailboxesFreeLevel(&hcan1) == 3) {}
HAL_Delay(10);
}
然后在主循环中，我每100ms使用这样的功能发送一帧“ SYNC”：
void cansend_SYNC (void)
{
frame_SYNC.TxHeader.StdId = 0x080;
frame_SYNC.TxHeader.RTR = CAN_RTR_REMOTE;
frame_SYNC.TxHeader.IDE = CAN_ID_STD;
//frame_SYNC.TxHeader.DLC = 0;
frame_SYNC.TxHeader.TransmitGlobalTime=DISABLE;
if(HAL_CAN_AddTxMessage(&hcan1,&frame_SYNC.TxHeader, frame_SYNC.TxData, &TxMailbox) != HAL_OK)
{
/* Transmission request Error */
Error_Handler();
}
while(HAL_CAN_GetTxMailboxesFreeLevel(&hcan1) == 3) {}
HAL_Delay(100);
}
输出看起来是这样的：前8个NMT帧已成功发送，然后在5个SYNC帧之后，程序退出主循环并再次发送8个NMT帧和5个SYNC帧。在调试会话期间，我注意到每次退出后程序都会返回到行int main(){。
这是可怕的主体：
/* USER CODE BEGIN Header */
/**
******************************************************************************
* @file : main.c
* @brief : Main program body
******************************************************************************
** This notice applies to any and all portions of this file
* that are not between comment pairs USER CODE BEGIN and
* USER CODE END. Other portions of this file, whether
* inserted by the user or by software development tools
* are owned by their respective copyright owners.
*
* COPYRIGHT(c) 2019 STMicroelectronics
*
* Redistribution and use in source and binary forms, with or without modification,
* are permitted provided that the following conditions are met:
* 1. Redistributions of source code must retain the above copyright notice,
* this list of conditions and the following disclaimer.
* 2. Redistributions in binary form must reproduce the above copyright notice,
* this list of conditions and the following disclaimer in the documentation
* and/or other materials provided with the distribution.
* 3. Neither the name of STMicroelectronics nor the names of its contributors
* may be used to endorse or promote products derived from this software
* without specific prior written permission.
*
* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
* AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
* IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE
* DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE LIABLE
* FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL
* DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR
* SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER
* CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY,
* OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE
* OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
*
******************************************************************************
*/
/* USER CODE END Header */
/* Includes ------------------------------------------------------------------*/
#include "main.h"
#include "can.h"
#include "gpio.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 ---------------------------------------------------------*/
/* USER CODE BEGIN PV */
/*## Definicje zmiennych ##*/
extern CAN_FilterTypeDef filter_0;
CAN_RxHeaderTypeDef RxHeader;
uint8_t RxData[8];
uint32_t TxMailbox;
int counter = 0;
/* USER CODE END PV */
/* Private function prototypes -----------------------------------------------*/
void SystemClock_Config(void);
/* USER CODE BEGIN PFP */
/* USER CODE END PFP */
/* Private user code ---------------------------------------------------------*/
/* USER CODE BEGIN 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_CAN1_Init();
/* USER CODE BEGIN 2 */
CANopen_OD();
config_filter_0();
HAL_CAN_WakeUp(&hcan1);
if (HAL_CAN_ConfigFilter(&hcan1, &filter_0)!= HAL_OK){
Error_Handler();}
if (HAL_CAN_Start(&hcan1)!=HAL_OK){
Error_Handler();}
if (HAL_CAN_ActivateNotification(&hcan1,CAN_IT_TX_MAILBOX_EMPTY) != HAL_OK){
Error_Handler();}
/*******************************************************************************
Initialization
*******************************************************************************/
cansend_NMT(OPERATIONAL_STATE, BMS.NodeID);
cansend_NMT(OPERATIONAL_STATE, Inverter_1.NodeID);
cansend_NMT(OPERATIONAL_STATE, Inverter_2.NodeID);
cansend_NMT(OPERATIONAL_STATE, MPPT_1.NodeID);
cansend_NMT(OPERATIONAL_STATE, MPPT_2.NodeID);
cansend_NMT(OPERATIONAL_STATE, MPPT_3.NodeID);
cansend_NMT(OPERATIONAL_STATE, Lights_Controller.NodeID);
cansend_NMT(OPERATIONAL_STATE, Dashboard.NodeID);
/* USER CODE END 2 */
/* Infinite loop */
/* USER CODE BEGIN WHILE */
while (1)
{
/*******************************************************************************
Start the transmission
//*******************************************************************************/
cansend_SYNC();
/* 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};
/** Configure the main internal regulator output voltage
*/
__HAL_RCC_PWR_CLK_ENABLE();
__HAL_PWR_VOLTAGESCALING_CONFIG(PWR_REGULATOR_VOLTAGE_SCALE3);
/** Initializes the CPU, AHB and APB busses clocks
*/
RCC_OscInitStruct.OscillatorType = RCC_OSCILLATORTYPE_HSE;
RCC_OscInitStruct.HSEState = RCC_HSE_ON;
RCC_OscInitStruct.PLL.PLLState = RCC_PLL_ON;
RCC_OscInitStruct.PLL.PLLSource = RCC_PLLSOURCE_HSE;
RCC_OscInitStruct.PLL.PLLM = 4;
RCC_OscInitStruct.PLL.PLLN = 72;
RCC_OscInitStruct.PLL.PLLP = RCC_PLLP_DIV2;
RCC_OscInitStruct.PLL.PLLQ = 2;
RCC_OscInitStruct.PLL.PLLR = 2;
if (HAL_RCC_OscConfig(&RCC_OscInitStruct) != HAL_OK)
{
Error_Handler();
}
/** Initializes the CPU, AHB and APB busses 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();
}
}
/* USER CODE BEGIN 4 */
void HAL_CAN_TxMailbox0CompleteCallback(CAN_HandleTypeDef *hcan)
{
}
void HAL_CAN_RxFifo0MsgPendingCallback(CAN_HandleTypeDef *hcan)
{
}
/* 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 */
/* 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,
tex: printf("Wrong parameters value: file %s on line %d\r\n", file, line) */
/* USER CODE END 6 */
}
#endif /* USE_FULL_ASSERT */
/************************ (C) COPYRIGHT STMicroelectronics *****END OF FILE****/
什么可能导致问题？看起来像经过一定数量的发送消息后，整个MCU都会重置。同样，当我禁用HAL_Delay（）时，我的CAN分析仪将读取1600-2000成功发送的帧，然后MCU复位。
董事会工作不正确，以某种方式被破坏。当我尝试另一块板时，一切都很好。
甚至很简单
while(1){
i++;
}
没有工作。测试了Nucleo F103RBT6上的代码，没有问题。线程可以关闭。