STM32F4使用HAL库双CAN通信出现错误Wait initialisation acknowledge解决办法
准备给V5和V6板子板载的双CAN移植CANopen协议栈，发现板载的CAN1和CAN2连接后，CAN的初始化都过不去，直接卡死在这个里面了：
/* Request initialisation */
SET_BIT(hcan->Instance->MCR, CAN_MCR_INRQ);
/* Get tick */
tickstart = HAL_GetTick();
/* Wait initialisation acknowledge */
while ((hcan->Instance->MSR & CAN_MSR_INAK) == 0U)
{
if ((HAL_GetTick() - tickstart) > CAN_TIMEOUT_VALUE)
{
/* Update error code */
hcan->ErrorCode |= HAL_CAN_ERROR_TIMEOUT;
/* Change CAN state */
hcan->State = HAL_CAN_STATE_ERROR;
return HAL_ERROR;
}
}
经过不断测试，发现要提前将CAN1和CAN2的引脚状态配置好才可以正常初始化：
/*
*********************************************************************************************************
* 函 数 名: HAL_CAN_MspInit
* 功能说明: 配置CAN gpio
* 形 参: hcan
* 返 回 值: 无
*********************************************************************************************************
*/
void HAL_CAN_MspInit(CAN_HandleTypeDef *hcan)
{
GPIO_InitTypeDef GPIO_InitStruct;
/*##-1- Enable peripherals and GPIO Clocks #################################*/
/* CAN1 Periph clock enable */
__HAL_RCC_CAN1_CLK_ENABLE();
__HAL_RCC_CAN2_CLK_ENABLE();
/* Enable GPIO clock ****************************************/
CAN1_TX_GPIO_CLK_ENABLE();
CAN1_RX_GPIO_CLK_ENABLE();
/*##-2- Configure peripheral GPIO ##########################################*/
/* CAN1 TX GPIO pin configuration */
GPIO_InitStruct.Pin = CAN1_TX_PIN;
GPIO_InitStruct.Mode = GPIO_MODE_AF_PP;
GPIO_InitStruct.Speed = GPIO_SPEED_FREQ_HIGH;
GPIO_InitStruct.Pull = GPIO_PULLUP;
GPIO_InitStruct.Alternate =CAN1_TX_AF;
HAL_GPIO_Init(CAN1_TX_GPIO_PORT, &GPIO_InitStruct);
/* CAN1 RX GPIO pin configuration */
GPIO_InitStruct.Pin = CAN1_RX_PIN;
GPIO_InitStruct.Mode = GPIO_MODE_AF_PP;
GPIO_InitStruct.Speed = GPIO_SPEED_FREQ_HIGH;
GPIO_InitStruct.Pull = GPIO_PULLUP;
GPIO_InitStruct.Alternate =CAN1_RX_AF;
HAL_GPIO_Init(CAN1_RX_GPIO_PORT, &GPIO_InitStruct);
/*##-3- Configure the NVIC #################################################*/
/* NVIC configuration for CAN1 Reception complete interrupt */
HAL_NVIC_SetPriority(CAN1_RX0_IRQn, 1, 0);
HAL_NVIC_EnableIRQ(CAN1_RX0_IRQn);
HAL_NVIC_SetPriority(CAN1_TX_IRQn, 1, 0);
HAL_NVIC_EnableIRQ(CAN1_TX_IRQn);
/*##-1- Enable peripherals and GPIO Clocks #################################*/
/* CAN1 Periph clock enable */
__HAL_RCC_CAN1_CLK_ENABLE();
__HAL_RCC_CAN2_CLK_ENABLE();
/* Enable GPIO clock ****************************************/
CAN2_TX_GPIO_CLK_ENABLE();
CAN2_RX_GPIO_CLK_ENABLE();
/*##-2- Configure peripheral GPIO ##########################################*/
/* CAN1 TX GPIO pin configuration */
GPIO_InitStruct.Pin = CAN2_TX_PIN;
GPIO_InitStruct.Mode = GPIO_MODE_AF_PP;
GPIO_InitStruct.Speed = GPIO_SPEED_FREQ_HIGH;
GPIO_InitStruct.Pull = GPIO_PULLUP;
GPIO_InitStruct.Alternate =CAN2_TX_AF;
HAL_GPIO_Init(CAN2_TX_GPIO_PORT, &GPIO_InitStruct);
/* CAN1 RX GPIO pin configuration */
GPIO_InitStruct.Pin = CAN2_RX_PIN;
GPIO_InitStruct.Mode = GPIO_MODE_AF_PP;
GPIO_InitStruct.Speed = GPIO_SPEED_FREQ_HIGH;
GPIO_InitStruct.Pull = GPIO_PULLUP;
GPIO_InitStruct.Alternate =CAN2_RX_AF;
HAL_GPIO_Init(CAN2_RX_GPIO_PORT, &GPIO_InitStruct);
/*##-3- Configure the NVIC #################################################*/
/* NVIC configuration for CAN1 Reception complete interrupt */
HAL_NVIC_SetPriority(CAN2_RX1_IRQn, 1, 0);
HAL_NVIC_EnableIRQ(CAN2_RX1_IRQn);
HAL_NVIC_SetPriority(CAN2_TX_IRQn, 1, 0);
HAL_NVIC_EnableIRQ(CAN2_TX_IRQn);
}
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