请教大家！stm32 can调试

只看该作者 · 2011-4-19 09:12

我用的是STM32F103C6T6芯片。用示波器检测接收设备CAN_RX上有波形，但程序一直进不了USB_LP_CAN_RX0_IRQHandler中断，不知道为什么？请教大家啊！我的can部分的配置如下：
void GPIO_Configuration(void)
{
  GPIO_InitTypeDef GPIO_InitStructure;

/* Configure CAN pin: RX */
  GPIO_InitStructure.GPIO_Pin = GPIO_Pin_11;
  GPIO_InitStructure.GPIO_Mode = GPIO_Mode_IPU;
  GPIO_InitStructure.GPIO_Speed = GPIO_Speed_50MHz;
  GPIO_Init(GPIOA, &GPIO_InitStructure);

  /* Configure CAN pin: TX */
  GPIO_InitStructure.GPIO_Pin = GPIO_Pin_12;
  GPIO_InitStructure.GPIO_Mode = GPIO_Mode_AF_PP;
  GPIO_InitStructure.GPIO_Speed = GPIO_Speed_50MHz;
  GPIO_Init(GPIOA, &GPIO_InitStructure);
}
void NVIC_Configuration(void)
{
#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
NVIC_InitTypeDef NVIC_InitStructure;

  /* Deinitializes the NVIC */
  NVIC_DeInit();
  NVIC_PriorityGroupConfig(NVIC_PriorityGroup_1);

  NVIC_SystemHandlerPriorityConfig(SystemHandler_SysTick, 0, 0);

  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);
}
unsigned char CAN_MessageSend(void)
{
  CAN_InitTypeDef       CAN_InitStructure;
  CanTxMsg TxMessage;
  volatile u8 TransmitMailbox = 0;
  u32 i;
  /* CAN register init */
  CAN_DeInit();
  CAN_StructInit(&CAN_InitStructure);
  /* CAN cell init */
  CAN_InitStructure.CAN_TTCM=DISABLE; //禁止时间触发通讯模式
  CAN_InitStructure.CAN_ABOM=DISABLE; //禁止自动离线模式
  CAN_InitStructure.CAN_AWUM=DISABLE; //禁止自动唤醒模式
  CAN_InitStructure.CAN_NART=DISABLE; //禁止非自动重传模式
  CAN_InitStructure.CAN_RFLM=DISABLE; //禁止接收FIFO锁定模式
  CAN_InitStructure.CAN_TXFP=DISABLE; //禁止发送FIFO优先级
  CAN_InitStructure.CAN_Mode=CAN_Mode_Normal;
  CAN_InitStructure.CAN_SJW=CAN_SJW_1tq;
  CAN_InitStructure.CAN_BS1=CAN_BS1_8tq; //已经折算好了
  CAN_InitStructure.CAN_BS2=CAN_BS2_7tq;
  CAN_InitStructure.CAN_Prescaler=5;
  CAN_Init(&CAN_InitStructure);
/* CAN FIFO0 message pending interrupt enable */
  CAN_ITConfig(CAN_IT_FMP0, ENABLE);
  /* transmit 1 message */
  TxMessage.StdId=0x00;
  TxMessage.ExtId=0x1234;
  TxMessage.IDE=CAN_ID_EXT;//扩展格式
  TxMessage.RTR=CAN_RTR_DATA; //数据帧
  TxMessage.DLC=2;
  TxMessage.Data[0]=0xDE;
  TxMessage.Data[1]=0xCA;

  /*数据发送*/
  TransmitMailbox=CAN_Transmit(&TxMessage);
  i = 0;
  while((CAN_TransmitStatus(TransmitMailbox) != CANTXOK) && (i != 0xFF)) //等待CAN总线传输数据成功
      i++;

  if(i==0xff)//发送超时，但发送不成功
return 0;

return 1;
}
void CAN_Interrupt_MessageReceive(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=DISABLE;
  CAN_InitStructure.CAN_ABOM=DISABLE;
  CAN_InitStructure.CAN_AWUM=DISABLE;
  CAN_InitStructure.CAN_NART=DISABLE;
  CAN_InitStructure.CAN_RFLM=DISABLE;
  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=5;
  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=0x91a4;
//  CAN_FilterInitStructure.CAN_FilterMaskIdHigh=0xffff;
//  CAN_FilterInitStructure.CAN_FilterMaskIdLow=0xffff;
  CAN_FilterInitStructure.CAN_FilterIdLow=0x0000;
  CAN_FilterInitStructure.CAN_FilterMaskIdHigh=0x0000;
  CAN_FilterInitStructure.CAN_FilterMaskIdLow=0x0000;
  CAN_FilterInitStructure.CAN_FilterFIFOAssignment=CAN_FIFO0;

  CAN_FilterInitStructure.CAN_FilterActivation=DISABLE;//ENABLE;
  CAN_FilterInit(&CAN_FilterInitStructure);
  /* CAN FIFO0 message pending interrupt enable */
  CAN_ITConfig(CAN_IT_FMP0, ENABLE);
}
int main(void)
{

#ifdef DEBUG
  debug();
#endif
  //配置系统时钟
  RCC_Configuration();
  //配置  NVIC 和 Vector Table
  NVIC_Configuration();

  //配置使用的GPIO口
GPIO_Configuration();
// RCC_APB1PeriphClockCmd(RCC_APB1Periph_TIM2 , ENABLE);
#ifndef CAN_SEND_VERSION
   CAN_Interrupt_MessageReceive();
#endif

//Writeflash(1,0x12345678);
  //  Readflash();
  while (1){
#ifdef CAN_SEND_VERSION
TestTx = CAN_MessageSend();
//if (TestTx == 1)
   delay();
   }
#endif
  }

}