本帖最后由 cwchenyu 于 2012-12-29 16:41 编辑
最近几天都在调试自己做的小型开发板，但是在CAN的这一块就是调试不过去，在初始化的时候就过不去了，程序如下：
void GPIO_Configuration(void)
{
GPIO_InitTypeDef GPIO_InitStructure;
/* Configure CAN1 pin: RX */
GPIO_InitStructure.GPIO_Pin = GPIO_Pin_CAN_RX;
GPIO_InitStructure.GPIO_Mode = GPIO_Mode_IPU;
GPIO_Init(GPIO_CAN, &GPIO_InitStructure);
/* Configure CAN1 pin: TX */
GPIO_InitStructure.GPIO_Pin = GPIO_Pin_CAN_TX;
GPIO_InitStructure.GPIO_Mode = GPIO_Mode_AF_PP;
GPIO_InitStructure.GPIO_Speed = GPIO_Speed_50MHz;
GPIO_Init(GPIO_CAN, &GPIO_InitStructure);
GPIO_PinRemapConfig(GPIO_Remap_CAN , ENABLE);
/* Configure CAN2 pin: RX */
GPIO_InitStructure.GPIO_Pin = GPIO_Pin_CAN_RX_2;
GPIO_InitStructure.GPIO_Mode = GPIO_Mode_IPU;
GPIO_Init(GPIO_CAN_2, &GPIO_InitStructure);
/* Configure CAN2 pin: TX */
GPIO_InitStructure.GPIO_Pin = GPIO_Pin_CAN_TX_2;
GPIO_InitStructure.GPIO_Mode = GPIO_Mode_AF_PP;
GPIO_InitStructure.GPIO_Speed = GPIO_Speed_50MHz;
GPIO_Init(GPIO_CAN_2, &GPIO_InitStructure);
GPIO_PinRemapConfig(GPIO_Remap_CAN_2 , ENABLE);
}
void CAN_Config(CAN_TypeDef* CANx, uint8_t CAN_FilterNumber)
{
/* CAN register init */
CAN_DeInit(CANx);
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_3tq;
CAN_InitStructure.CAN_BS2 = CAN_BS2_5tq;
CAN_InitStructure.CAN_Prescaler = 4;//2
CAN_Init(CANx, &CAN_InitStructure);
/* CAN filter init */
CAN_FilterInitStructure.CAN_FilterNumber=CAN_FilterNumber;
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=(CANx == CAN1? 0:1);
CAN_FilterInitStructure.CAN_FilterActivation=ENABLE;
CAN_FilterInit(CANx, &CAN_FilterInitStructure);
/* transmit */
TxMessage.StdId = 0x321;
TxMessage.ExtId = 0x01;
TxMessage.RTR = CAN_RTR_DATA;
TxMessage.IDE = CAN_ID_STD;
TxMessage.DLC = 1;
}
CANx->MCR &= ~MCR_SLEEP;
/* Request initialisation */
CANx->MCR |= MCR_INRQ ;
/* Wait the acknowledge */
while (((CANx->MSR & MSR_INAK) != MSR_INAK) && (wait_ack != INAK_TimeOut))
{
wait_ack++;
}
/* ...and check acknowledged */
if ((CANx->MSR & MSR_INAK) != MSR_INAK)
{
InitStatus = CANINITFAILED;
}
else
{
/* Set the time triggered communication mode */
if (CAN_InitStruct->CAN_TTCM == ENABLE)
{
CANx->MCR |= MCR_TTCM;
}
else
{
CANx->MCR &= ~MCR_TTCM;
}
/* Set the automatic bus-off management */
if (CAN_InitStruct->CAN_ABOM == ENABLE)
{
CANx->MCR |= MCR_ABOM;
}
else
{
CANx->MCR &= ~MCR_ABOM;
}
/* Set the automatic wake-up mode */
if (CAN_InitStruct->CAN_AWUM == ENABLE)
{
CANx->MCR |= MCR_AWUM;
}
else
{
CANx->MCR &= ~MCR_AWUM;
}
/* Set the no automatic retransmission */
if (CAN_InitStruct->CAN_NART == ENABLE)
{
CANx->MCR |= MCR_NART;
}
else
{
CANx->MCR &= ~MCR_NART;
}
/* Set the receive FIFO locked mode */
if (CAN_InitStruct->CAN_RFLM == ENABLE)
{
CANx->MCR |= MCR_RFLM;
}
else
{
CANx->MCR &= ~MCR_RFLM;
}
/* Set the transmit FIFO priority */
if (CAN_InitStruct->CAN_TXFP == ENABLE)
{
CANx->MCR |= MCR_TXFP;
}
else
{
CANx->MCR &= ~MCR_TXFP;
}
/* Set the bit timing register */
CANx->BTR = (uint32_t)((uint32_t)CAN_InitStruct->CAN_Mode << 30) | ((uint32_t)CAN_InitStruct->CAN_SJW << 24) |
((uint32_t)CAN_InitStruct->CAN_BS1 << 16) | ((uint32_t)CAN_InitStruct->CAN_BS2 << 20) |
((uint32_t)CAN_InitStruct->CAN_Prescaler - 1);
/* Request leave initialisation */
CANx->MCR &= ~MCR_INRQ;
/* Wait the acknowledge */
wait_ack = 0x00;
while (((CANx->MSR & MSR_INAK) == MSR_INAK) && (wait_ack != INAK_TimeOut))
{
wait_ack++;
}
/* ...and check acknowledged */
if ((CANx->MSR & MSR_INAK) == MSR_INAK)
{
InitStatus = CANINITFAILED;
}
else
{
InitStatus = CANINITOK ;
}
}
/* At this step, return the status of initialization */
return InitStatus;
就是死在了 while (((CANx->MSR & MSR_INAK) == MSR_INAK) && (wait_ack != INAK_TimeOut))
{
wait_ack++;
}手册说是到这个地方是硬件自动对CAN_MSR_INAK位自动清零，但是就是一直没出现，希望各位大神赐教啊！！！！！
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