请教一个STM32F103芯片CAN的问题。

只看该作者 · 2009-11-2 23:08

我所用的开发板为STM32F103V100
上位机调试工具及软件为周立功的USBCAN I
现在单片机软件接收正常，但发送的数据上位机接收不到
好几天解决不了这个问题，请大虾帮我看一下。
int main(void)
{
#ifdef DEBUG
  debug();
#endif
  FLASH_Unlock();
  CAN_Boot_Init();
  while(1)
  {
CAN_Test();
  }
}

void CAN_Boot_Init()
{
  RCC_Configuration(); //时钟的配置，系统时钟为8MHz, CAN时钟为4MHz。
  GPIO_Configuration(); //IO口初始化。
  NVIC_Configuration();  //中断向量的初始化
  CAN_Initiation(); //CAN通信初始化，波特率250K。
}

void CAN_Test()
{
  CanTxMsg TxMessage;
u8 TransmitMailbox;
CanRxMsg RxMessage;
// u8 MsgPendingNum;
u8 i;
while(CAN_MessagePending(CAN_FIFO0)<1);//等待接收到数据

RxMessage.StdId=0x00;
RxMessage.ExtId=0x00;
RxMessage.IDE=0;
RxMessage.DLC=0;
RxMessage.FMI=0;  //CAN接收消息通过的过滤器索引
RxMessage.Data[0]=0x00;
RxMessage.Data[1]=0x00;
CAN_Receive(CAN_FIFO0, &RxMessage);
TxMessage.StdId=RxMessage.StdId;
TxMessage.RTR=CAN_RTR_DATA;
TxMessage.IDE=RxMessage.IDE; //用来区分标准CAN和扩展CAN
TxMessage.DLC=RxMessage.DLC;
for(i=0;i<8;i++)
{
TxMessage.Data[i]=RxMessage.Data[i];
}

TransmitMailbox=CAN_Transmit(&TxMessage);
while(CAN_TransmitStatus(TransmitMailbox)!=CANTXOK);//等待CAN发送成功。
}

void RCC_Configuration(void)
{
  /* RCC system reset(for debug purpose) */
  RCC_DeInit();
  /* Enable HSE */
  RCC_HSEConfig(RCC_HSE_ON);
  /* Wait till HSE is ready */
  HSEStartUpStatus = RCC_WaitForHSEStartUp();
  if(HSEStartUpStatus == SUCCESS)
  {
/* HCLK = SYSCLK */
RCC_HCLKConfig(RCC_SYSCLK_Div1);

/* PCLK2 = HCLK */
RCC_PCLK2Config(RCC_HCLK_Div1);
/* PCLK1 = HCLK/2 */
RCC_PCLK1Config(RCC_HCLK_Div2);
/* Enable Prefetch Buffer */
FLASH_PrefetchBufferCmd(FLASH_PrefetchBuffer_Enable);
/* Select HSE as system clock source */
RCC_SYSCLKConfig(RCC_SYSCLKSource_HSE);
/* Wait till HSE is used as system clock source */
while(RCC_GetSYSCLKSource() != 0x04)
{
}
  }

  /* GPIOA and GPIOC clock enable */
  RCC_APB2PeriphClockCmd(RCC_APB2Periph_GPIOA  | RCC_APB2Periph_GPIOC | RCC_APB2Periph_GPIOD | RCC_APB2Periph_AFIO, ENABLE);
  /* CAN Periph clock enable */
  RCC_APB1PeriphClockCmd(RCC_APB1Periph_CAN, ENABLE);
}
/*******************************************************************************
* Function Name  : GPIO_Configuration
* Description : Configures the different GPIO ports.
* Input       : None
* Output       : None
* Return       : None
*******************************************************************************/
void GPIO_Configuration(void)
{
  GPIO_InitTypeDef GPIO_InitStructure;
  GPIO_PinRemapConfig(GPIO_Remap2_CAN,ENABLE);
  /* Configure PC.06, PC.07, PC.08 and PC.09 as Output push-pull */
  GPIO_InitStructure.GPIO_Pin = GPIO_Pin_6 | GPIO_Pin_7 | GPIO_Pin_8 | GPIO_Pin_9;
  GPIO_InitStructure.GPIO_Mode = GPIO_Mode_Out_PP;
  GPIO_InitStructure.GPIO_Speed = GPIO_Speed_50MHz;
  GPIO_Init(GPIOC, &GPIO_InitStructure);
  /* Configure CAN pin: RX */
  GPIO_InitStructure.GPIO_Pin = GPIO_Pin_0;
  GPIO_InitStructure.GPIO_Mode = GPIO_Mode_IPU;
  GPIO_Init(GPIOD, &GPIO_InitStructure);

  /* Configure CAN pin: TX */
  GPIO_InitStructure.GPIO_Pin = GPIO_Pin_1;
  GPIO_InitStructure.GPIO_Mode = GPIO_Mode_AF_PP;
  GPIO_Init(GPIOD, &GPIO_InitStructure);
}
/*******************************************************************************
* Function Name  : NVIC_Configuration
* Description : Configures the NVIC and Vector Table base address.
* Input       : None
* Output       : None
* Return       : None
*******************************************************************************/
void NVIC_Configuration(void)
{
  NVIC_InitTypeDef NVIC_InitStructure;
#ifdef  VECT_TAB_RAM
  /* Set the Vector Table base location at 0x20000000 */
  NVIC_SetVectorTable(NVIC_VectTab_RAM, 0x0);
#else  /* VECT_TAB_FLASH  */
  /* Set the Vector Table base location at 0x08000000 */
  NVIC_SetVectorTable(NVIC_VectTab_FLASH, 0x0);
#endif
  /* enabling interrupt */
  NVIC_InitStructure.NVIC_IRQChannel=USB_LP_CAN_RX0_IRQChannel;
  NVIC_InitStructure.NVIC_IRQChannelPreemptionPriority = 0;
  NVIC_InitStructure.NVIC_IRQChannelSubPriority = 0;
  NVIC_InitStructure.NVIC_IRQChannelCmd = ENABLE;
  NVIC_Init(&NVIC_InitStructure);
}
/*******************************************************************************
* Function Name  : CAN_Initiation
* Description : 初始化CAN控制器，250K波特率，并初始化CAN的滤波器。
* Input       : None
* Output       : None
* Return       : None
*******************************************************************************/
void CAN_Initiation(void)
{
CAN_InitTypeDef       CAN_InitStructure;
  CAN_FilterInitTypeDef  CAN_FilterInitStructure;
/* CAN register init */
  CAN_DeInit();
  CAN_StructInit(&CAN_InitStructure);
/* CAN cell init */
  // CAN_InitStructure.CAN_TTCM=ENABLE;
CAN_InitStructure.CAN_TTCM=DISABLE;
  //  CAN_InitStructure.CAN_ABOM=DISABLE;
  // CAN_InitStructure.CAN_ABOM=ENABLE;
CAN_InitStructure.CAN_ABOM=DISABLE;
  // CAN_InitStructure.CAN_AWUM=ENABLE;
CAN_InitStructure.CAN_AWUM=DISABLE;
CAN_InitStructure.CAN_NART=DISABLE;
CAN_InitStructure.CAN_RFLM=DISABLE;
CAN_InitStructure.CAN_TXFP=ENABLE;
  // CAN_InitStructure.CAN_TXFP=DISABLE;
CAN_InitStructure.CAN_Mode=CAN_Mode_Normal;
CAN_InitStructure.CAN_SJW=CAN_SJW_1tq;
CAN_InitStructure.CAN_BS1=CAN_BS1_8tq;
CAN_InitStructure.CAN_BS2=CAN_BS2_7tq;
CAN_InitStructure.CAN_Prescaler=1;
CAN_Init(&CAN_InitStructure);
/* CAN filter init */
CAN_FilterInitStructure.CAN_FilterNumber=0;
CAN_FilterInitStructure.CAN_FilterMode=CAN_FilterMode_IdMask;
CAN_FilterInitStructure.CAN_FilterScale=CAN_FilterScale_32bit;
CAN_FilterInitStructure.CAN_FilterIdHigh=0x0000;
CAN_FilterInitStructure.CAN_FilterIdLow=0x0000;
CAN_FilterInitStructure.CAN_FilterMaskIdHigh=0x0000;
CAN_FilterInitStructure.CAN_FilterMaskIdLow=0x0000;
CAN_FilterInitStructure.CAN_FilterFIFOAssignment=0;
CAN_FilterInitStructure.CAN_FilterActivation=ENABLE;
CAN_FilterInit(&CAN_FilterInitStructure);
}