GD32F450只用一路can无法收发，这个 怎么解决

Question

GD32F450只用一路can无法收发，这个 怎么解决

mcu_can.c

#include <stdio.h>
#include <stdint.h>
#include <string.h>

#include "gd32f4xx.h"
#include "mcu_dev/mcu_can.h"
#include "emqueue.h"

#define CAN_MSG_MAX            4000

typedef can_trasnmit_message_struct can0_send_msg_t;

QUEUE_DECLARE(can0_send_msg_t, CAN_MSG_MAX);
QUEUE_DEFINE(can0_send_msg_t);
QUEUE_TYPE(can0_send_msg_t) can0_txq;

static can0_send_msg_t can0_send_msg;
static uint8_t can0_wait_fifo_to_send;

void CAN0_RX0_IRQHandler(void)
{
    // CAN0 连接输入卡槽
    // 输入卡槽接收ID列表： 0x002 ~ 0x0FF
    // 输出卡槽接收ID列表： 0x102 ~ 0x1FF
    can_receive_message_struct rx_msg;
    can0_send_msg_t    can0_tx_msg;

    can_message_receive(CAN0, CAN_FIFO0, &rx_msg);

    if(rx_msg.rx_sfid >= 0x102 && rx_msg.rx_sfid <= 0x1FF)
    {
        can0_tx_msg.tx_sfid        = rx_msg.rx_sfid;
        can0_tx_msg.tx_efid        = rx_msg.rx_efid;
        can0_tx_msg.tx_ff        = rx_msg.rx_ff;
        can0_tx_msg.tx_ft        = rx_msg.rx_ft;
        can0_tx_msg.tx_dlen        = rx_msg.rx_dlen;
        memcpy(can0_tx_msg.tx_data, rx_msg.rx_data, 8);
        QUEUE_PUSH(can0_send_msg_t, &can0_txq, can0_tx_msg);
    }
}

void mcu_can_init(void)
{
    QUEUE_INIT(can0_send_msg_t, &can0_txq);

    can0_wait_fifo_to_send = 0;

    rcu_periph_clock_enable(RCU_CAN0);
    
    rcu_periph_clock_enable(RCU_GPIOA);
    

    // CAN0
    gpio_af_set(GPIOA, GPIO_AF_9, GPIO_PIN_11);
    gpio_af_set(GPIOA, GPIO_AF_9, GPIO_PIN_12);

    gpio_output_options_set(GPIOA, GPIO_OTYPE_PP, GPIO_OSPEED_50MHZ, GPIO_PIN_11);
    gpio_mode_set(GPIOA, GPIO_MODE_AF, GPIO_PUPD_NONE, GPIO_PIN_11);
    gpio_output_options_set(GPIOA, GPIO_OTYPE_PP, GPIO_OSPEED_50MHZ, GPIO_PIN_12);
    gpio_mode_set(GPIOA, GPIO_MODE_AF, GPIO_PUPD_NONE, GPIO_PIN_12);

    

    nvic_irq_enable(CAN0_RX0_IRQn,0,0);
    

    /*
    **    .prescaler变量，代表产生CAN总线波特率的时钟分频值
    **    CAN模块总线时钟50MHz
    **  采样点 = (1+SEG1)/(1+SEG1+SEG2)，要求在75%~80%之间
    **      1MBps - 5；        500KBps - 10；    250KBps - 20；
    **        100KBps - 50；  50KBps - 100
    **/
    can_parameter_struct        canParameter = {
        .working_mode            = CAN_NORMAL_MODE,
        .resync_jump_width        = CAN_BT_SJW_1TQ,
        .time_segment_1            = CAN_BT_BS1_7TQ,
        .time_segment_2            = CAN_BT_BS2_2TQ,
        .time_triggered         = DISABLE,
        .auto_bus_off_recovery     = DISABLE,
        .auto_wake_up             = DISABLE,
        .auto_retrans             = ENABLE,
        .rec_fifo_overwrite        = DISABLE,
        .trans_fifo_order        = ENABLE,
        .prescaler                = 5,

    };
    can_deinit(CAN0);
    

    can_init(CAN0, &canParameter);
    

    // CAN0 连接输入卡槽，即需实现：输出卡槽（CAN1）--> 输入卡槽（CAN0） ==> CAN1接收0x002 ~ 0x0FF
    // CAN1 连接输出卡槽，即需实现：输入卡槽（CAN0）--> 输出卡槽（CAN0） ==> CAN0接收0x102 ~ 0x1FF
    // 输入卡槽接收ID列表： 0x002 ~ 0x0FF
    // 输出卡槽接收ID列表： 0x102 ~ 0x1FF
    can_filter_parameter_struct can_filter;
    can_filter.filter_number=0;
    can_filter.filter_mode = CAN_FILTERMODE_MASK;
    can_filter.filter_bits = CAN_FILTERBITS_32BIT;
    can_filter.filter_list_high = 0x0000;
    can_filter.filter_list_low = 0x0000;
    can_filter.filter_mask_high = 0x0000;
    can_filter.filter_mask_low = 0x0000;
    can_filter.filter_fifo_number = CAN_FIFO0;
    can_filter.filter_enable = ENABLE;
    can_filter_init(&can_filter);


    can_interrupt_enable(CAN0, CAN_INT_RFNE0);
}

void mcu_can_proc(void)
{
    int ret;
    int can0_msg_tx_flag = 0;

    if(can0_wait_fifo_to_send)
    {
        printf("111\r\n");
        can0_msg_tx_flag = 1;
    }
    else if(QUEUE_LENGTH(can0_send_msg_t, &can0_txq))
    {
                printf("2\r\n");

        can0_send_msg = QUEUE_POP(can0_send_msg_t, &can0_txq);
        can0_msg_tx_flag = 1;
    }

    if(can0_msg_tx_flag)
    {
                printf("3\r\n");

        ret = can_message_transmit(CAN0, &can0_send_msg);
        can0_wait_fifo_to_send = (ret == CAN_NOMAILBOX) ? 1 : 0;
    }
}

mcu_can.h

#ifndef _MCU_CAN_H_
#define _MCU_CAN_H_


void mcu_can_init(void);
void mcu_can_proc(void);



#endif // !_MCU_CAN_H_

Answer 1

stm32f407 双CAN通信 cubemx 使用yz_aim电机作为历程_jianqiang.xue的博客-CSDN博客_stm32f407 双can can是一种异步通信，具有CAN—HIGH和CAN—LOW两条信号线，其差分输出的信号模式，提高了其传递的抗干扰性能。CAN通信的显性和隐形，还有逻辑电平的1和0很容易混淆，可以这样理解，CAN是通过CAN-HIGH和CAH-LOW的电压差来实现逻辑转换的，二者都为2.5v时，电压差是0，称之为隐性，对应为逻辑1. HIGH3.5v，LOW为1.5v,压差是2，称之为显性，对应逻辑0.CAN是半双工异步通信方式，can的协议层can的位时序和同步：位时序的组成：包含4段，ss, pts, https://blog.csdn.net/qq_29246181/article/details/122141403