if (hcan->State == HAL_CAN_STATE_READY) { /* Change CAN peripheral state */ hcan->State = HAL_CAN_STATE_LISTENING; /* Request leave initialisation */ CLEAR_BIT(hcan->Instance->MCR, CAN_MCR_INRQ); /* Get tick */ tickstart = HAL_GetTick(); /* Wait the acknowledge */ while ((hcan->Instance->MSR & CAN_MSR_INAK) != 0U) { /* Check for the Timeout */ 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; } } /* Reset the CAN ErrorCode */ hcan->ErrorCode = HAL_CAN_ERROR_NONE; /* Return function status */ return HAL_OK; } else { /* Update error code */ hcan->ErrorCode |= HAL_CAN_ERROR_NOT_READY; return HAL_ERROR; 什么作用

这段代码是用于等待CAN总线进入"Listening"状态的函数，函数名可能是`HAL_CAN_WaitForListning()`或者类似的。首先，它检查CAN总线是否处于"Ready"状态，如果不是，则返回错误代码。如果总线已经准备好，则将其状态更改为"Listening"，并且请求CAN控制器离开初始化模式。然后等待CAN控制器进入"Active"模式，以便可以开始发送和接收CAN帧。如果在规定时间内CAN控制器未能成功进入"Active"模式，则返回一个超时错误码和错误状态。如果成功进入"Active"模式，则重置错误代码并返回成功状态。

相关问题

基于stm32f103的can数据解析

CAN（Controller Area Network）是一种高速、鲁棒性强的串行通信协议，广泛应用于汽车、工业控制等领域。在STM32F103芯片中，有两个CAN控制器，可以通过CAN总线进行通信。

CAN数据解析过程包括：接收CAN数据、解析CAN数据、处理CAN数据。其中，接收CAN数据是通过CAN总线接收到的数据，解析CAN数据是将CAN数据转换为可读的数据格式，处理CAN数据是根据解析出的数据进行相应的操作。

以下是基于STM32F103的CAN数据解析的步骤：

1. 初始化CAN控制器

首先需要初始化CAN控制器，设置好CAN的时序、波特率等参数。可以使用STM32CubeMX进行配置，也可以手动编写代码进行配置。以下是使用STM32CubeMX进行配置的代码：

/* Configure the CAN peripheral */
hcan.Instance = CAN1;
hcan.Init.Prescaler = 5;
hcan.Init.Mode = CAN_MODE_NORMAL;
hcan.Init.SyncJumpWidth = CAN_SJW_1TQ;
hcan.Init.TimeSeg1 = CAN_BS1_13TQ;
hcan.Init.TimeSeg2 = CAN_BS2_2TQ;
hcan.Init.TimeTriggeredMode = DISABLE;
hcan.Init.AutoBusOff = DISABLE;
hcan.Init.AutoWakeUp = DISABLE;
hcan.Init.AutoRetransmission = ENABLE;
hcan.Init.ReceiveFifoLocked = DISABLE;
hcan.Init.TransmitFifoPriority = DISABLE;

if (HAL_CAN_Init(&hcan) != HAL_OK)
{
  Error_Handler();
}

/* Configure the CAN filters */
CAN_FilterTypeDef can_filter;
can_filter.FilterMode = CAN_FILTERMODE_IDMASK;
can_filter.FilterScale = CAN_FILTERSCALE_32BIT;
can_filter.FilterIdHigh = 0x0000;
can_filter.FilterIdLow = 0x0000;
can_filter.FilterMaskIdHigh = 0x0000;
can_filter.FilterMaskIdLow = 0x0000;
can_filter.FilterFIFOAssignment = CAN_FILTER_FIFO0;
can_filter.FilterActivation = ENABLE;
can_filter.SlaveStartFilterBank = 14;

if (HAL_CAN_ConfigFilter(&hcan, &can_filter) != HAL_OK)
{
  Error_Handler();
}

2. 接收CAN数据

在CAN控制器初始化完成后，就可以开始接收CAN数据了。可以使用HAL_CAN_Receive函数进行数据接收。

CAN_RxHeaderTypeDef rx_header;
uint8_t rx_data[8];

if (HAL_CAN_GetRxFifoFillLevel(&hcan, CAN_RX_FIFO0) > 0)
{
  if (HAL_CAN_Receive(&hcan, CAN_RX_FIFO0, &rx_header, rx_data) == HAL_OK)
  {
    // 数据接收成功，进行数据解析
  }
}

3. 解析CAN数据

在接收到CAN数据后，需要对数据进行解析，将CAN数据转换为可读的数据格式。解析CAN数据的方法与具体的CAN协议有关，需要根据实际情况进行调整。

以CANopen协议为例，解析CAN数据的方法如下：

uint16_t cob_id;
uint8_t data[8];
uint8_t data_len;

// 解析COB-ID
cob_id = (rx_header.StdId & 0x7FF);

// 解析数据长度
data_len = rx_header.DLC;

// 解析数据
for (int i = 0; i < data_len; i++)
{
  data[i] = rx_data[i];
}

// 进行数据处理
// ...

4. 处理CAN数据

在解析出CAN数据后，需要根据具体的需求进行相应的处理。处理方式可以是将数据显示在LCD屏幕上、将数据上传到服务器、将数据存储到SD卡中等。

例如，在使用CANopen协议进行通信时，可以根据解析出的数据进行相应的控制操作：

uint16_t cob_id;
uint8_t data[8];
uint8_t data_len;

// 解析COB-ID
cob_id = (rx_header.StdId & 0x7FF);

// 解析数据长度
data_len = rx_header.DLC;

// 解析数据
for (int i = 0; i < data_len; i++)
{
  data[i] = rx_data[i];
}

// 进行数据处理
switch (cob_id)
{
  case 0x200:
    // 处理接收到的数据
    break;
  case 0x201:
    // 处理接收到的数据
    break;
  // ...
  default:
    break;
}

以上就是基于STM32F103的CAN数据解析的步骤。具体的实现方法可以根据实际情况进行修改。

stm32f7777 以太网代码

以下是基于STM32F7777的以太网代码示例：

#include "stm32f7xx_hal.h"
#include "stm32746g_discovery.h"
#include "lwip/opt.h"
#include "lwip/init.h"
#include "lwip/netif.h"
#include "lwip/timeouts.h"
#include "netif/etharp.h"
#include "ethernetif.h"

/* Private variables ---------------------------------------------------------*/
ETH_HandleTypeDef heth;
ETH_TxPacketConfig TxConfig;

/* Private function prototypes -----------------------------------------------*/
void SystemClock_Config(void);
static void MX_GPIO_Init(void);
static void MX_ETH_Init(void);

/* Private functions ---------------------------------------------------------*/

int main(void)
{
  /* MCU Configuration--------------------------------------------------------*/

  /* 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_ETH_Init();

  /* Initilialize the LwIP stack */
  lwip_init();

  /* Add the network interface (IPv4/IPv6) with default settings */
  netif_add(&gnetif, NULL, NULL, NULL, NULL, &ethernetif_init, &ethernet_input);

  /* Registers the default network interface */
  netif_set_default(&gnetif);

  /* When the netif is fully configured this function must be called */
  netif_set_up(&gnetif);

  /* Infinite loop */
  for (;;)
  {
    /* Handle LwIP timeouts */
    sys_check_timeouts();

    /* Poll for received packets and process them */
    ethernetif_input(&gnetif);
  }
}

/**
  * @brief ETH Initialization Function
  * @param None
  * @retval None
  */
static void MX_ETH_Init(void)
{
  /* USER CODE BEGIN ETH_Init 0 */

  /* USER CODE END ETH_Init 0 */
  /* USER CODE BEGIN ETH_Init 1 */

  /* USER CODE END ETH_Init 1 */
  heth.Instance = ETH;
  heth.Init.AutoNegotiation = ETH_AUTONEGOTIATION_ENABLE;
  heth.Init.PhyAddress = LAN8742A_PHY_ADDRESS;
  heth.Init.MACAddr[0] =   0x00;
  heth.Init.MACAddr[1] =   0x80;
  heth.Init.MACAddr[2] =   0xE1;
  heth.Init.MACAddr[3] =   0x00;
  heth.Init.MACAddr[4] =   0x00;
  heth.Init.MACAddr[5] =   0x00;
  heth.Init.RxMode = ETH_RXINTERRUPT_MODE;
  heth.Init.ChecksumMode = ETH_CHECKSUM_BY_HARDWARE;
  heth.Init.MediaInterface = ETH_MEDIA_INTERFACE_RMII;

  /* USER CODE BEGIN MACADDRESS */

  /* USER CODE END MACADDRESS */

  if (HAL_ETH_Init(&heth) != HAL_OK)
  {
    Error_Handler();
  }
  /* USER CODE BEGIN ETH_Init 2 */

  /* USER CODE END ETH_Init 2 */
}

/**
  * @brief System Clock Configuration
  * @retval None
  */
void SystemClock_Config(void)
{
  RCC_OscInitTypeDef RCC_OscInitStruct = {0};
  RCC_ClkInitTypeDef RCC_ClkInitStruct = {0};

  /** Initializes the RCC Oscillators according to the specified parameters
  * in the RCC_OscInitTypeDef structure.
  */
  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 = 25;
  RCC_OscInitStruct.PLL.PLLN = 400;
  RCC_OscInitStruct.PLL.PLLP = RCC_PLLP_DIV2;
  RCC_OscInitStruct.PLL.PLLQ = 8;
  if (HAL_RCC_OscConfig(&RCC_OscInitStruct) != HAL_OK)
  {
    Error_Handler();
  }
  /** Initializes the CPU, AHB and APB buses 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_DIV4;
  RCC_ClkInitStruct.APB2CLKDivider = RCC_HCLK_DIV2;

  if (HAL_RCC_ClockConfig(&RCC_ClkInitStruct, FLASH_LATENCY_6) != HAL_OK)
  {
    Error_Handler();
  }
}

/**
  * @brief GPIO Initialization Function
  * @param None
  * @retval None
  */
static void MX_GPIO_Init(void)
{
  /* GPIO Ports Clock Enable */
  __HAL_RCC_GPIOJ_CLK_ENABLE();
}

/* Relevant functions for Ethernet driver */

void HAL_ETH_MspInit(ETH_HandleTypeDef* ethHandle)
{
  GPIO_InitTypeDef GPIO_InitStruct = {0};
  if(ethHandle->Instance==ETH)
  {
    /* USER CODE BEGIN ETH_MspInit 0 */

    /* USER CODE END ETH_MspInit 0 */
    /* Peripheral clock enable */
    __HAL_RCC_ETH_CLK_ENABLE();

    __HAL_RCC_GPIOA_CLK_ENABLE();
    __HAL_RCC_GPIOC_CLK_ENABLE();
    __HAL_RCC_GPIOG_CLK_ENABLE();
    /**ETH GPIO Configuration
    PA1     ------> ETH_REF_CLK
    PA2     ------> ETH_MDIO
    PA7     ------> ETH_CRS_DV
    PC1     ------> ETH_MDC
    PC4     ------> ETH_RXD0
    PC5     ------> ETH_RXD1
    PG11     ------> ETH_TX_EN
    PG13     ------> ETH_TXD0
    PG14     ------> ETH_TXD1
    */
    GPIO_InitStruct.Pin = GPIO_PIN_1|GPIO_PIN_2|GPIO_PIN_7;
    GPIO_InitStruct.Mode = GPIO_MODE_AF_PP;
    GPIO_InitStruct.Pull = GPIO_NOPULL;
    GPIO_InitStruct.Speed = GPIO_SPEED_FREQ_VERY_HIGH;
    GPIO_InitStruct.Alternate = GPIO_AF11_ETH;
    HAL_GPIO_Init(GPIOA, &GPIO_InitStruct);

    GPIO_InitStruct.Pin = GPIO_PIN_1|GPIO_PIN_4|GPIO_PIN_5;
    GPIO_InitStruct.Mode = GPIO_MODE_AF_PP;
    GPIO_InitStruct.Pull = GPIO_NOPULL;
    GPIO_InitStruct.Speed = GPIO_SPEED_FREQ_VERY_HIGH;
    GPIO_InitStruct.Alternate = GPIO_AF11_ETH;
    HAL_GPIO_Init(GPIOC, &GPIO_InitStruct);

    GPIO_InitStruct.Pin = GPIO_PIN_11|GPIO_PIN_13|GPIO_PIN_14;
    GPIO_InitStruct.Mode = GPIO_MODE_AF_PP;
    GPIO_InitStruct.Pull = GPIO_NOPULL;
    GPIO_InitStruct.Speed = GPIO_SPEED_FREQ_VERY_HIGH;
    GPIO_InitStruct.Alternate = GPIO_AF11_ETH;
    HAL_GPIO_Init(GPIOG, &GPIO_InitStruct);

    /* USER CODE BEGIN ETH_MspInit 1 */

    /* USER CODE END ETH_MspInit 1 */
  }
}

void HAL_ETH_MspDeInit(ETH_HandleTypeDef* ethHandle)
{
  if(ethHandle->Instance==ETH)
  {
    /* USER CODE BEGIN ETH_MspDeInit 0 */

    /* USER CODE END ETH_MspDeInit 0 */
    /* Peripheral clock disable */
    __HAL_RCC_ETH_CLK_DISABLE();

    /**ETH GPIO Configuration
    PA1     ------> ETH_REF_CLK
    PA2     ------> ETH_MDIO
    PA7     ------> ETH_CRS_DV
    PC1     ------> ETH_MDC
    PC4     ------> ETH_RXD0
    PC5     ------> ETH_RXD1
    PG11     ------> ETH_TX_EN
    PG13     ------> ETH_TXD0
    PG14     ------> ETH_TXD1
    */
    HAL_GPIO_DeInit(GPIOA, GPIO_PIN_1|GPIO_PIN_2|GPIO_PIN_7);

    HAL_GPIO_DeInit(GPIOC, GPIO_PIN_1|GPIO_PIN_4|GPIO_PIN_5);

    HAL_GPIO_DeInit(GPIOG, GPIO_PIN_11|GPIO_PIN_13|GPIO_PIN_14);

    /* USER CODE BEGIN ETH_MspDeInit 1 */

    /* USER CODE END ETH_MspDeInit 1 */
  }
}

/**
  * @brief  Retargets the C library printf function to the USART.
  * @param  None
  * @retval None
  */
PUTCHAR_PROTOTYPE
{
  /* Place your implementation of fputc here */
  /* e.g. write a character to the USART */
  HAL_UART_Transmit(&huart3, (uint8_t *)&ch, 1, HAL_MAX_DELAY);

  return ch;
}

/* Relevant functions for LwIP stack */

void ethernetif_input(struct netif *netif)
{
  err_t err;
  struct pbuf *p;

  /* move received packet into a new pbuf */
  err = ethernetif_recv(netif, &p);

  /* if no error occured, send packet */
  if (err == ERR_OK)
  {
    /* pass all packets to upper layer */
    netif->input(p, netif);
  }
  else
  {
    /* Free buffer */
    pbuf_free(p);
  }
}

/* Relevant functions for LwIP stack */

void HAL_ETH_RxCpltCallback(ETH_HandleTypeDef *heth)
{
  /* Frame received */
  ethernetif_input(&gnetif);

  /* Clear the Eth DMA Rx IT pending bits */
  __HAL_ETH_DMA_CLEAR_IT(heth, ETH_DMA_IT_R);

  /* Resume DMA reception */
  HAL_ETH_Receive_IT(heth);
}

/* Relevant functions for LwIP stack */

void HAL_ETH_TxCpltCallback(ETH_HandleTypeDef *heth)
{
  /* Clear the Eth DMA Tx IT pending bits */
  __HAL_ETH_DMA_CLEAR_IT(heth, ETH_DMA_IT_T);

  /* Process Unlocked */
  osSemaphoreRelease(s_xSemaphore);
}

/* Relevant functions for LwIP stack */

void HAL_ETH_ErrorCallback(ETH_HandleTypeDef *heth)
{
  /* Stop the transmission process */
  HAL_ETH_TransmitStop(&heth);

  /* Flush Transmit FIFO */
  HAL_ETH_FlushTransmitFIFO(&heth);

  /* Resume DMA reception */
  HAL_ETH_Receive_IT(&heth);
}

/* Relevant functions for LwIP stack */

void HAL_ETH_MspInit(ETH_HandleTypeDef* ethHandle)
{
  GPIO_InitTypeDef GPIO_InitStruct = {0};
  if(ethHandle->Instance==ETH)
  {
    /* USER CODE BEGIN ETH_MspInit 0 */

    /* USER CODE END ETH_MspInit 0 */
    /* Peripheral clock enable */
    __HAL_RCC_ETH_CLK_ENABLE();

    __HAL_RCC_GPIOA_CLK_ENABLE();
    __HAL_RCC_GPIOC_CLK_ENABLE();
    __HAL_RCC_GPIOG_CLK_ENABLE();
    /**ETH GPIO Configuration
    PA1     ------> ETH_REF_CLK
    PA2     ------> ETH_MDIO
    PA7     ------> ETH_CRS_DV
    PC1     ------> ETH_MDC
    PC4     ------> ETH_RXD0
    PC5     ------> ETH_RXD1
    PG11     ------> ETH_TX_EN
    PG13     ------> ETH_TXD0
    PG14     ------> ETH_TXD1
    */
    GPIO_InitStruct.Pin = GPIO_PIN_1|GPIO_PIN_2|GPIO_PIN_7;
    GPIO_InitStruct.Mode = GPIO_MODE_AF_PP;
    GPIO_InitStruct.Pull = GPIO_NOPULL;
    GPIO_InitStruct.Speed = GPIO_SPEED_FREQ_VERY_HIGH;
    GPIO_InitStruct.Alternate = GPIO_AF11_ETH;
    HAL_GPIO_Init(GPIOA, &GPIO_InitStruct);

    GPIO_InitStruct.Pin = GPIO_PIN_1|GPIO_PIN_4|GPIO_PIN_5;
    GPIO_InitStruct.Mode = GPIO_MODE_AF_PP;
    GPIO_InitStruct.Pull = GPIO_NOPULL;
    GPIO_InitStruct.Speed = GPIO_SPEED_FREQ_VERY_HIGH;
    GPIO_InitStruct.Alternate = GPIO_AF11_ETH;
    HAL_GPIO_Init(GPIOC, &GPIO_InitStruct);

    GPIO_InitStruct.Pin = GPIO_PIN_11|GPIO_PIN_13|GPIO_PIN_14;
    GPIO_InitStruct.Mode = GPIO_MODE_AF_PP;
    GPIO_InitStruct.Pull = GPIO_NOPULL;
    GPIO_InitStruct.Speed = GPIO_SPEED_FREQ_VERY_HIGH;
    GPIO_InitStruct.Alternate = GPIO_AF11_ETH;
    HAL_GPIO_Init(GPIOG, &GPIO_InitStruct);

    /* USER CODE BEGIN ETH_MspInit 1 */

    /* USER CODE END ETH_MspInit 1 */
  }
}

/* Relevant functions for LwIP stack */

void HAL_ETH_MspDeInit(ETH_HandleTypeDef* ethHandle)
{
  if(ethHandle->Instance==ETH)
  {
    /* USER CODE BEGIN ETH_MspDeInit 0 */

    /* USER CODE END ETH_MspDeInit 0 */
    /* Peripheral clock disable */
    __HAL_RCC_ETH_CLK_DISABLE();

    /**ETH GPIO Configuration
    PA1     ------> ETH_REF_CLK
    PA2     ------> ETH_MDIO
    PA7     ------> ETH_CRS_DV
    PC1     ------> ETH_MDC
    PC4     ------> ETH_RXD0
    PC5     ------> ETH_RXD1
    PG11     ------> ETH_TX_EN
    PG13     ------> ETH_TXD0
    PG14     ------> ETH_TXD1
    */
    HAL_GPIO_DeInit(GPIOA, GPIO_PIN_1|GPIO_PIN_2|GPIO_PIN_7);

    HAL_GPIO_DeInit(GPIOC, GPIO_PIN_1|GPIO_PIN_4|GPIO_PIN_5);

    HAL_GPIO_DeInit(GPIOG, GPIO_PIN_11|GPIO_PIN_13|GPIO_PIN_14);

    /* USER CODE BEGIN ETH_MspDeInit 1 */

    /* USER CODE END ETH_MspDeInit 1 */
  }
}

/* Relevant functions for LwIP stack */

void HAL_TIM_PeriodElapsedCallback(TIM_HandleTypeDef *htim)
{
  /* Handle timeouts */
  sys_check_timeouts();
}

/* Relevant functions for LwIP stack */

void Error_Handler(void)
{
  /* User can add his own implementation to report the HAL error return state */
  while(1)
  {
  }
}

/* Relevant functions for LwIP stack */

void assert_failed(uint8_t* file, uint32_t line)
{
  /* 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) */

  /* Infinite loop */
  while (1)
  {
  }
}