STM32F4使用HAL库双CAN通信出现错误Wait initialisation acknowledge解决办法

eric2013

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：

[C] 纯文本查看 复制代码

  /* 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：

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/*
*********************************************************************************************************
*	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);
}