STM32F107 CAN收发问题（求助！）

只看该作者 · 2012-7-20 09:14

最近在用107的板子在调试CAN，参考了网上的代码，用CAN1通讯，板子上对应的IO为PD0,PD1,已经remap，中断接收，轮循发送，自发自收没有问题，NORMAL模式下就无法收到CAN盒的数据帧，CAN盒也收不到板子发送的数据帧（追踪到发送状态一直是CAN_TxStatus_Pending），用示波器量过，发送和接收时总线上都是有差分信号出来的，检查了代码，发现好像也没啥问题，求指正！

void can_configuration(void)
{
CAN_InitTypeDef       CAN_InitStructure;
CAN_FilterInitTypeDef  CAN_FilterInitStructure;
GPIO_InitTypeDef GPIO_InitStructure;
NVIC_InitTypeDef NVIC_InitStructure;

/* GPIOB Periph clock enable */
RCC_APB2PeriphClockCmd(RCC_APB2Periph_AFIO | RCC_APB2Periph_GPIOD , ENABLE);
/* Enable CAN1 clock  */
RCC_APB1PeriphClockCmd(RCC_APB1Periph_CAN1 , ENABLE);

NVIC_InitStructure.NVIC_IRQChannel = CAN1_RX0_IRQn;
NVIC_InitStructure.NVIC_IRQChannelPreemptionPriority = 0;
NVIC_InitStructure.NVIC_IRQChannelSubPriority = 0;
NVIC_InitStructure.NVIC_IRQChannelCmd = ENABLE;
NVIC_Init(&NVIC_InitStructure);

/* Configure CAN1 pin(PB5): RX */
            GPIO_InitStructure.GPIO_Pin = GPIO_Pin_0;
            GPIO_InitStructure.GPIO_Mode = GPIO_Mode_IPU;
            GPIO_Init(GPIOD, &GPIO_InitStructure);
            /* Configure CAN1 pin(PB6): TX */
            GPIO_InitStructure.GPIO_Pin = GPIO_Pin_1;
            GPIO_InitStructure.GPIO_Mode = GPIO_Mode_AF_PP;
GPIO_InitStructure.GPIO_Speed = GPIO_Speed_50MHz;
            GPIO_Init(GPIOD, &GPIO_InitStructure);

/* Enable the USART2 Pins Software Remapping */
            GPIO_PinRemapConfig(GPIO_Remap2_CAN1, ENABLE);

/* CAN1 register init */
CAN_DeInit(CAN1);
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 = ENABLE;
CAN_InitStructure.CAN_Mode = CAN_Mode_Normal;
CAN_InitStructure.CAN_SJW = CAN_SJW_1tq;
CAN_InitStructure.CAN_BS1 = CAN_BS1_4tq;
CAN_InitStructure.CAN_BS2 = CAN_BS2_3tq;
CAN_InitStructure.CAN_Prescaler = 9;    //500kHz

CAN_Init(CAN1,&CAN_InitStructure);

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);

CAN_ITConfig(CAN1,CAN_IT_FMP0, ENABLE);
}

发送：
void CanWriteData(void)
{
  CanTxMsg TxMessage;

  /* transmit */
  TxMessage.StdId = 0x55;
  TxMessage.RTR = CAN_RTR_DATA;
  TxMessage.IDE = CAN_ID_STD;
  TxMessage.DLC = 8;
  TxMessage.Data[0] = 0x55;
  TxMessage.Data[1] = 0x55;
  TxMessage.Data[2] = 0x55;
  TxMessage.Data[3] = 0x55;
  TxMessage.Data[4] = 0x55;
  TxMessage.Data[5] = 0x55;
  TxMessage.Data[6] = 0x55;
  TxMessage.Data[7] = 0x55;
  CAN_Transmit(CAN1,&TxMessage);
}

接收：
void CAN1_RX0_IRQHandler(void)
{
  CanRxMsg RxMessage;

   CAN_Receive(CAN1,CAN_FIFO0, &RxMessage);
   recv_frame.id = RxMessage.StdId;
   recv_frame.data_buff[0] = RxMessage.Data[0];
   recv_frame.data_buff[1] = RxMessage.Data[1];
   recv_frame.data_buff[2] = RxMessage.Data[2];
   recv_frame.data_buff[3] = RxMessage.Data[3];
   recv_frame.data_buff[4] = RxMessage.Data[4];
   recv_frame.data_buff[5] = RxMessage.Data[5];
   recv_frame.data_buff[6] = RxMessage.Data[6];
   recv_frame.data_buff[7] = RxMessage.Data[7];
   can_recv_flag = ENABLE;
}

只看该作者 · 2012-7-20 09:37

:dizzy:继续求指正......!

只看该作者 · 2012-7-20 10:24

顶起来，求CAN高手指教。。。

只看该作者 · 2012-7-20 11:17

你先用例子程序试试。
可以用这个看你是不是发送成功了。
TransmitMailbox=CAN_Transmit(&TxMessage); //报文发往发送邮箱
i = 0;
while((CAN_TransmitStatus(TransmitMailbox) != CANTXOK) && (i != 0xFF))
{
i++;
}