我正在处理CAN RX问题。我正在使用STM32F103C8T6和CubeMX代码生成器。传输没有问题但是我无法接收任何消息，如果我每次使用轮询MCU进入HardFault并且如果我使用中断模式它什么都不做。我的目标是接收消息并发送一些消息，如确认接收。这是代码：
/**
******************************************************************************
* File Name : main.c
* Description : Main program body
******************************************************************************
*
* COPYRIGHT(c) 2017 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.
*
******************************************************************************
*/
#include "main.h"
#include "stm32f1xx_hal.h"
CAN_HandleTypeDef hcan;
GPIO_InitTypeDef GPIO_InitStruct;
void SystemClock_Config(void);
void Error_Handler(void);
static void MX_GPIO_Init(void);
static void MX_CAN_Init(void);
int main(void)
{
/* Reset of all peripherals, Initializes the Flash interface and the Systick. */
HAL_Init();
/* Configure the system clock */
SystemClock_Config();
/* Initialize all configured peripherals */
MX_GPIO_Init();
MX_CAN_Init();
/* Infinite loop */
/* USER CODE BEGIN WHILE */
CanTxMsgTypeDef msg;
msg.StdId = 0x666;
msg.IDE = CAN_ID_STD;
msg.RTR = CAN_RTR_DATA;
msg.DLC = 2;
msg.Data[0] = 0xAA;
msg.Data[1] = 0xAA;
hcan.pTxMsg = &msg;
while (1)
{
HAL_CAN_Receive_IT(&hcan,CAN_FILTER_FIFO0);
msg.IDE = hcan.pRxMsg->IDE;
msg.DLC = hcan.pRxMsg->DLC;
msg.Data[0] = hcan.pRxMsg->Data[0];
msg.Data[1] = hcan.pRxMsg->Data[1];
msg.Data[2] = hcan.pRxMsg->Data[2];
msg.Data[3] = hcan.pRxMsg->Data[3];
msg.Data[4] = hcan.pRxMsg->Data[4];
msg.Data[5] = hcan.pRxMsg->Data[5];
msg.Data[6] = hcan.pRxMsg->Data[6];
msg.Data[7] = hcan.pRxMsg->Data[7];
msg.StdId = hcan.pRxMsg->StdId;
msg.RTR = hcan.pRxMsg->RTR;
HAL_CAN_Transmit(&hcan, 10);
}
}
/** System Clock Configuration
*/
void SystemClock_Config(void)
{
RCC_OscInitTypeDef RCC_OscInitStruct;
RCC_ClkInitTypeDef RCC_ClkInitStruct;
/**Initializes the CPU, AHB and APB busses clocks
*/
RCC_OscInitStruct.OscillatorType = RCC_OSCILLATORTYPE_HSI;
RCC_OscInitStruct.HSIState = RCC_HSI_ON;
RCC_OscInitStruct.HSICalibrationValue = 16;
RCC_OscInitStruct.PLL.PLLState = RCC_PLL_NONE;
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_HSI;
RCC_ClkInitStruct.AHBCLKDivider = RCC_SYSCLK_DIV1;
RCC_ClkInitStruct.APB1CLKDivider = RCC_HCLK_DIV1;
RCC_ClkInitStruct.APB2CLKDivider = RCC_HCLK_DIV1;
if (HAL_RCC_ClockConfig(&RCC_ClkInitStruct, FLASH_LATENCY_0) != HAL_OK)
{
Error_Handler();
}
/**Configure the Systick interrupt time
*/
HAL_SYSTICK_Config(HAL_RCC_GetHCLKFreq()/1000);
/**Configure the Systick
*/
HAL_SYSTICK_CLKSourceConfig(SYSTICK_CLKSOURCE_HCLK);
/* SysTick_IRQn interrupt configuration */
HAL_NVIC_SetPriority(SysTick_IRQn, 0, 0);
}
/* CAN init function */
static void MX_CAN_Init(void)
{
CAN_FilterConfTypeDef sFilterConfig;
hcan.Instance = CAN1;
hcan.Init.Prescaler = 2;
hcan.Init.Mode = CAN_MODE_NORMAL;
hcan.Init.SJW = CAN_SJW_1TQ;
hcan.Init.BS1 = CAN_BS1_5TQ;
hcan.Init.BS2 = CAN_BS2_2TQ;
hcan.Init.TTCM = DISABLE;
hcan.Init.ABOM = DISABLE;
hcan.Init.AWUM = DISABLE;
hcan.Init.NART = DISABLE;
hcan.Init.RFLM = DISABLE;
hcan.Init.TXFP = DISABLE;
if (HAL_CAN_Init(&hcan) != HAL_OK)
{
Error_Handler();
}
sFilterConfig.FilterNumber = 0;
sFilterConfig.FilterMode = CAN_FILTERMODE_IDMASK;
sFilterConfig.FilterScale = CAN_FILTERSCALE_32BIT;
sFilterConfig.FilterIdHigh = 0x0000;
sFilterConfig.FilterIdLow = 0x0000;
sFilterConfig.FilterMaskIdHigh = 0x0000;
sFilterConfig.FilterMaskIdLow = 0x0000;
sFilterConfig.FilterFIFOAssignment = 0;
sFilterConfig.FilterActivation = ENABLE;
sFilterConfig.BankNumber = 0;
if(HAL_CAN_ConfigFilter(&hcan, &sFilterConfig) != HAL_OK)
{
/* Filter configuration Error */
Error_Handler();
}
HAL_NVIC_SetPriority(CAN1_RX1_IRQn,0,0);
HAL_NVIC_EnableIRQ(CAN1_RX1_IRQn);
}
/** Configure pins as
* Analog
* Input
* Output
* EVENT_OUT
* EXTI
*/
static void MX_GPIO_Init(void)
{
/* GPIO Ports Clock Enable */
__HAL_RCC_GPIOA_CLK_ENABLE();
__HAL_RCC_CAN1_CLK_ENABLE();
/**CAN GPIO Configuration
PA11 ------> CAN_RX
PA12 ------> CAN_TX
*/
GPIO_InitStruct.Pin = GPIO_PIN_11;
GPIO_InitStruct.Mode = GPIO_MODE_INPUT;
GPIO_InitStruct.Pull = GPIO_NOPULL;
HAL_GPIO_Init(GPIOA, &GPIO_InitStruct);
GPIO_InitStruct.Pin = GPIO_PIN_12;
GPIO_InitStruct.Mode = GPIO_MODE_AF_PP;
GPIO_InitStruct.Speed = GPIO_SPEED_FREQ_HIGH;
HAL_GPIO_Init(GPIOA, &GPIO_InitStruct);
}
/**
* @brief This function is executed in case of error occurrence.
* @param None
* @retval None
*/
void Error_Handler(void)
{
/* USER CODE BEGIN Error_Handler */
/* User can add his own implementation to report the HAL error return state */
while(1)
{
}
/* USER CODE END Error_Handler */
}
#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,
ex: printf("Wrong parameters value: file %s on line %d\r\n", file, line) */
/* USER CODE END 6 */
}
#endif
/************************ (C) COPYRIGHT STMicroelectronics *****END OF FILE****/
编辑：
现在我可以使用中断了，但是我还有问题 - 从中断句柄开始调用HAL_CAN_Receive_IT（）并在这里从这一行跳转到Hard fault：
if (hcan->pRxMsg->IDE == CAN_ID_STD)
EDIT2：
这是HAL_CAN_Receive_IT（）函数：
static HAL_StatusTypeDef CAN_Receive_IT(CAN_HandleTypeDef* hcan, uint8_t FIFONumber)
{
/* Get the Id */
hcan->pRxMsg->IDE = (uint8_t)0x04 & hcan->Instance->sFIFOMailBox[FIFONumber].RIR;
if (hcan->pRxMsg->IDE == CAN_ID_STD)
{
hcan->pRxMsg->StdId = (uint32_t)0x000007FF & (hcan->Instance->sFIFOMailBox[FIFONumber].RIR >> 21);
}
else
{
hcan->pRxMsg->ExtId = (uint32_t)0x1FFFFFFF & (hcan->Instance->sFIFOMailBox[FIFONumber].RIR >> 3);
}
hcan->pRxMsg->RTR = (uint8_t)0x02 & hcan->Instance->sFIFOMailBox[FIFONumber].RIR;
/* Get the DLC */
hcan->pRxMsg->DLC = (uint8_t)0x0F & hcan->Instance->sFIFOMailBox[FIFONumber].RDTR;
/* Get the FMI */
hcan->pRxMsg->FMI = (uint8_t)0xFF & (hcan->Instance->sFIFOMailBox[FIFONumber].RDTR >> 8);
/* Get the data field */
hcan->pRxMsg->Data[0] = (uint8_t)0xFF & hcan->Instance->sFIFOMailBox[FIFONumber].RDLR;
hcan->pRxMsg->Data[1] = (uint8_t)0xFF & (hcan->Instance->sFIFOMailBox[FIFONumber].RDLR >> 8);
hcan->pRxMsg->Data[2] = (uint8_t)0xFF & (hcan->Instance->sFIFOMailBox[FIFONumber].RDLR >> 16);
hcan->pRxMsg->Data[3] = (uint8_t)0xFF & (hcan->Instance->sFIFOMailBox[FIFONumber].RDLR >> 24);
hcan->pRxMsg->Data[4] = (uint8_t)0xFF & hcan->Instance->sFIFOMailBox[FIFONumber].RDHR;
hcan->pRxMsg->Data[5] = (uint8_t)0xFF & (hcan->Instance->sFIFOMailBox[FIFONumber].RDHR >> 8);
hcan->pRxMsg->Data[6] = (uint8_t)0xFF & (hcan->Instance->sFIFOMailBox[FIFONumber].RDHR >> 16);
hcan->pRxMsg->Data[7] = (uint8_t)0xFF & (hcan->Instance->sFIFOMailBox[FIFONumber].RDHR >> 24);
/* Release the FIFO */
/* Release FIFO0 */
if (FIFONumber == CAN_FIFO0)
{
__HAL_CAN_FIFO_RELEASE(hcan, CAN_FIFO0);
/* Disable FIFO 0 message pending Interrupt */
__HAL_CAN_DISABLE_IT(hcan, CAN_IT_FMP0);
}
/* Release FIFO1 */
else /* FIFONumber == CAN_FIFO1 */
{
__HAL_CAN_FIFO_RELEASE(hcan, CAN_FIFO1);
/* Disable FIFO 1 message pending Interrupt */
__HAL_CAN_DISABLE_IT(hcan, CAN_IT_FMP1);
}
if(hcan->State == HAL_CAN_STATE_BUSY_RX)
{
/* Disable interrupts: */
/* - Disable Error warning Interrupt */
/* - Disable Error passive Interrupt */
/* - Disable Bus-off Interrupt */
/* - Disable Last error code Interrupt */
/* - Disable Error Interrupt */
__HAL_CAN_DISABLE_IT(hcan, CAN_IT_EWG |
CAN_IT_EPV |
CAN_IT_BOF |
CAN_IT_LEC |
CAN_IT_ERR );
}
if(hcan->State == HAL_CAN_STATE_BUSY_TX_RX)
{
/* Disable CAN state */
hcan->State = HAL_CAN_STATE_BUSY_TX;
}
else
{
/* Change CAN state */
hcan->State = HAL_CAN_STATE_READY;
}
/* Receive complete callback */
HAL_CAN_RxCpltCallback(hcan);
/* Return function status */
return HAL_OK;
}
答案 0 :(得分：1)
你有一个硬错误，因为hcan->pRxMsg是一个NULL指针。你应该在这里指定一个有效的指针：
/* Infinite loop */
/* USER CODE BEGIN WHILE */
CanTxMsgTypeDef msg;
CanRxMsgTypeDef rxMem;
msg.StdId = 0x666;
msg.IDE = CAN_ID_STD;
msg.RTR = CAN_RTR_DATA;
msg.DLC = 2;
msg.Data[0] = 0xAA;
msg.Data[1] = 0xAA;
hcan.pTxMsg = &msg;
hcan.pRxMsg = &rxMem;