can sample loopbackdemo 卡在can begin不动, 什么原因

[luyevzranr]

卡在Serial.println ("pos65") ;的下一行不动.

/******************************************************************************/
/* File name : LoopBackDemo.ino */
/* Project : ESP32-CAN-DRIVER */
/* Description : ESP32 CAN Self Test with Interrupt Handler */
/* ---------------------------------------------------------------------------*/
/* Copyright : Copyright © 2019 Pierre Molinaro. All rights reserved. */
/* ---------------------------------------------------------------------------*/
/* Author : Mohamed Irfanulla */
/* Supervisor : Prof. Pierre Molinaro */
/* Institution : Ecole Centrale de Nantes */
/* ---------------------------------------------------------------------------*/

//------------------------------- Board Check ----------------------------------

#ifndef ARDUINO_ARCH_ESP32
#error "Select an ESP32 board"
#endif

//------------------------------- Include files --------------------------------

#include <ACAN_ESP32.h>
#include <core_version.h> // For ARDUINO_ESP32_RELEASE

//——————————————————————————————————————————————————————————————————————————————
// ESP32 Desired Bit Rate
//——————————————————————————————————————————————————————————————————————————————

static const uint32_t DESIRED_BIT_RATE = 100UL * 1000UL ; // 1 Mb/s

//——————————————————————————————————————————————————————————————————————————————
// SETUP
//——————————————————————————————————————————————————————————————————————————————

void setup() {
//--- Switch on builtin led
pinMode (LED_BUILTIN, OUTPUT) ;
digitalWrite (LED_BUILTIN, HIGH) ;
//--- Start serial
Serial.begin (115200) ;
delay (100) ;
//--- Display ESP32 Chip Info
esp_chip_info_t chip_info ;
esp_chip_info (&chip_info) ;
Serial.print ("ESP32 Arduino Release: ") ;
Serial.println (ARDUINO_ESP32_RELEASE) ;
Serial.print ("ESP32 Chip Revision: ") ;
Serial.println (chip_info.revision) ;
Serial.print ("ESP32 SDK: ") ;
Serial.println (ESP.getSdkVersion ()) ;
Serial.print ("ESP32 Flash: ") ;
Serial.print (spi_flash_get_chip_size () / (1024 * 1024)) ;
Serial.print (" MB ") ;
Serial.println (((chip_info.features & CHIP_FEATURE_EMB_FLASH) != 0) ? "(embeded)" : "(external)") ;
Serial.print ("APB CLOCK: ") ;
Serial.print (APB_CLK_FREQ) ;
Serial.println (" Hz") ;
//--- Configure ESP32 CAN
Serial.println ("Configure ESP32 CAN654546") ;
ACAN_ESP32_Settings settings (DESIRED_BIT_RATE) ;
Serial.println ("pos60") ;
settings.mRequestedCANMode = ACAN_ESP32_Settings::LoopBackMode ;
Serial.println ("pos61") ;
settings.mRxPin = GPIO_NUM_4 ; // Optional, default Tx pin is GPIO_NUM_4
settings.mTxPin = GPIO_NUM_5 ; // Optional, default Rx pin is GPIO_NUM_5
Serial.println ("pos65") ;
const uint32_t errorCode = ACAN_ESP32::can.begin (settings) ;
Serial.println ("pos67") ;
if (errorCode == 0) {
Serial.print ("Bit Rate prescaler: ") ;
Serial.println (settings.mBitRatePrescaler) ;
Serial.print ("Time Segment 1: ") ;
Serial.println (settings.mTimeSegment1) ;
Serial.print ("Time Segment 2: ") ;
Serial.println (settings.mTimeSegment2) ;
Serial.print ("RJW: ") ;
Serial.println (settings.mRJW) ;
Serial.print ("Triple Sampling: ") ;
Serial.println (settings.mTripleSampling ? "yes" : "no") ;
Serial.print ("Actual bit rate: ") ;
Serial.print (settings.actualBitRate ()) ;
Serial.println (" bit/s") ;
Serial.print ("Exact bit rate ? ") ;
Serial.println (settings.exactBitRate () ? "yes" : "no") ;
Serial.print ("Distance ") ;
Serial.print (settings.ppmFromDesiredBitRate ()) ;
Serial.println (" ppm") ;
Serial.print ("Sample point: ") ;
Serial.print (settings.samplePointFromBitStart ()) ;
Serial.println ("%") ;
Serial.println ("Configuration OK!");
}else {
Serial.print ("Configuration error 0x") ;
Serial.println (errorCode, HEX) ;
}
}

//——————————————————————————————————————————————————————————————————————————————

static uint32_t gBlinkLedDate = 0 ;
static uint32_t gReceivedFrameCount = 0 ;
static uint32_t gSentFrameCount = 0 ;

//——————————————————————————————————————————————————————————————————————————————
// LOOP
//——————————————————————————————————————————————————————————————————————————————

void loop () {
CANMessage frame ;
if (gBlinkLedDate < millis ()) {
gBlinkLedDate += 500 ;
digitalWrite (LED_BUILTIN, !digitalRead (LED_BUILTIN)) ;
Serial.print ("Sent: ") ;
Serial.print (gSentFrameCount) ;
Serial.print (" ") ;
Serial.print ("Receive: ") ;
Serial.print (gReceivedFrameCount) ;
Serial.print (" ") ;
Serial.print (" STATUS 0x") ;
Serial.print (TWAI_STATUS_REG, HEX) ;
Serial.print (" RXERR ") ;
Serial.print (TWAI_RX_ERR_CNT_REG) ;
Serial.print (" TXERR ") ;
Serial.println (TWAI_TX_ERR_CNT_REG) ;
const bool ok = ACAN_ESP32::can.tryToSend (frame) ;
if (ok) {
gSentFrameCount += 1 ;
}
}
while (ACAN_ESP32::can.receive (frame)) {
gReceivedFrameCount += 1 ;
}
}