Опытным путём нашёл что причина в конфигурации CAN
static void can_configuration(void)
{
can_base_type can_base_struct;
can_baudrate_type can_baudrate_struct;
can_filter_init_type can_filter_init_struct;
crm_periph_clock_enable(CRM_CAN1_PERIPH_CLOCK, TRUE);
/* can base init */
can_default_para_init(&can_base_struct);
can_base_struct.mode_selection = CAN_MODE_COMMUNICATE; <---- меняем на loopback и работает
can_base_struct.ttc_enable = FALSE;
can_base_struct.aebo_enable = TRUE;
can_base_struct.aed_enable = TRUE;
can_base_struct.prsf_enable = FALSE;
can_base_struct.mdrsel_selection = CAN_DISCARDING_FIRST_RECEIVED;
can_base_struct.mmssr_selection = CAN_SENDING_BY_ID;
can_base_init(CAN1, &can_base_struct);
/* can baudrate, set baudrate = pclk/(baudrate_div *(1 + bts1_size + bts2_size)) */
can_baudrate_default_para_init(&can_baudrate_struct);
can_baudrate_struct.baudrate_div = 30;
can_baudrate_struct.rsaw_size = CAN_RSAW_1TQ;
can_baudrate_struct.bts1_size = CAN_BTS1_6TQ;
can_baudrate_struct.bts2_size = CAN_BTS2_1TQ;
can_baudrate_set(CAN1, &can_baudrate_struct);
/* can filter init */
can_filter_init_struct.filter_activate_enable = TRUE;
can_filter_init_struct.filter_mode = CAN_FILTER_MODE_ID_MASK;
can_filter_init_struct.filter_fifo = CAN_FILTER_FIFO0;
can_filter_init_struct.filter_number = 0;
can_filter_init_struct.filter_bit = CAN_FILTER_32BIT;
can_filter_init_struct.filter_id_high = 0;
can_filter_init_struct.filter_id_low = 0;
can_filter_init_struct.filter_mask_high = 0;
can_filter_init_struct.filter_mask_low = 0;
can_filter_init(CAN1, &can_filter_init_struct);
/* can interrupt config */
nvic_irq_enable(CAN1_SE_IRQn, 0, 0);
nvic_irq_enable(USBFS_L_CAN1_RX0_IRQn, 0, 0);
can_interrupt_enable(CAN1, CAN_RF0MIEN_INT, TRUE);
/* error interrupt enable */
can_interrupt_enable(CAN1, CAN_ETRIEN_INT, TRUE);
can_interrupt_enable(CAN1, CAN_EOIEN_INT, TRUE);
}
На прерывании USBFS_L_CAN1_RX0_IRQ сидит и USB и CAN
void USBFS_L_CAN1_RX0_IRQHandler (void)
{
can_rx_message_type rx_message_struct;
if(can_flag_get(CAN1,CAN_RF0MN_FLAG) != RESET)
{
can_message_receive(CAN1, CAN_RX_FIFO0, &rx_message_struct);
if (rx_message_struct.standard_id == 0x500) {
at32_led_toggle(LED3);
}
}
usbd_irq_handler(&usb_core_dev);
}
Куда двигаться дальше не знаю
