STM32F103RBT6 CAN通信问题,

只看该作者 · 2013-4-18 10:02

使用ST的例程环回模式是可以的，小弟是新手，请问要改成正常模式怎么改？
我只是改了CAN_InitStructure.CAN_Mode = CAN_Mode_Normal;  发现发送不成功，发送后检查状态CAN_TransmitStatus  一直没有CANTXOK，（用示波器看TX引脚也没有波形）是不是还要改别的地方？
发送程序如下：
/* Includes ------------------------------------------------------------------*/
#include "stm32f10x_lib.h"
unsigned char TestTx=0;  //发送成功标志
/* Private functions ---------------------------------------------------------*/
void RCC_Configuration(void);
void GPIO_Configuration(void);
void NVIC_Configuration(void);
unsigned char CAN_MessageSend(void); //报文发送函数
void delay(void);
/*******************************************************************************
* Function Name  : main
* Description : Main program
* Input       : None
* Output       : None
* Return       : None
*******************************************************************************/
int main(void)
{
  /* System Clocks Configuration */
  RCC_Configuration();
  /* NVIC Configuration */
  NVIC_Configuration();

  /* GPIO ports pins Configuration */
  GPIO_Configuration();

  TestTx = CAN_MessageSend();

  while (1)
  {
/* CAN transmit at 100Kb/s and receive by polling in normal mode */

   if (TestTx == 1)
{
   GPIO_SetBits(GPIOA,GPIO_Pin_11);
   delay(); // LED1闪烁一次，发送一个字符
   GPIO_ResetBits(GPIOA,GPIO_Pin_11);
   delay();
}
  }
}
void delay(void)
{
  unsigned int a,b;
  for(a=0;a<10000;a++)
  {
for(b=0;b<100;b++);
  }
}
/*******************************************************************************
* Function Name  : RCC_Configuration
* Description : Configures the different system clocks.
* Input       : None
* Output       : None
* Return       : None
*******************************************************************************/
void RCC_Configuration(void)
{
  ErrorStatus HSEStartUpStatus;

  /* 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)
  {
/* Enable Prefetch Buffer */
FLASH_PrefetchBufferCmd(FLASH_PrefetchBuffer_Enable);

/* HCLK = SYSCLK */
RCC_HCLKConfig(RCC_SYSCLK_Div1);

/* PCLK2 = HCLK */
RCC_PCLK2Config(RCC_HCLK_Div1);
/* PCLK1 = HCLK */
RCC_PCLK1Config(RCC_HCLK_Div1);
/* Select HSE as system clock source，系统为8MHz */
RCC_SYSCLKConfig(RCC_SYSCLKSource_HSE);
/* Wait till HSE is used as system clock source */
while(RCC_GetSYSCLKSource() != 0x04)
{
}
  }

  RCC_APB2PeriphClockCmd(RCC_APB2Periph_GPIOA | RCC_APB2Periph_GPIOB , 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;

  /* Configure CAN pin: RX */
  GPIO_InitStructure.GPIO_Pin = GPIO_Pin_8;
  GPIO_InitStructure.GPIO_Mode = GPIO_Mode_IPU;
  GPIO_InitStructure.GPIO_Speed = GPIO_Speed_50MHz; //只能工作在此速度下
  GPIO_Init(GPIOB, &GPIO_InitStructure);

  /* Configure CAN pin: TX */
  GPIO_InitStructure.GPIO_Pin = GPIO_Pin_9;
  GPIO_InitStructure.GPIO_Mode = GPIO_Mode_AF_PP;
  GPIO_InitStructure.GPIO_Speed = GPIO_Speed_50MHz;//只能工作在此速度下
  GPIO_Init(GPIOB, &GPIO_InitStructure);

  GPIO_InitStructure.GPIO_Pin = GPIO_Pin_All;
  GPIO_InitStructure.GPIO_Mode = GPIO_Mode_Out_PP;
  GPIO_InitStructure.GPIO_Speed = GPIO_Speed_50MHz;
  GPIO_Init(GPIOA, &GPIO_InitStructure);

  GPIO_PinRemapConfig(GPIO_Remap2_CAN,ENABLE); //将PD1映射为CAN_TX,将PD0映射为CAN_RX

}
/*******************************************************************************
* Function Name  : NVIC_Configuration
* Description : Configures the NVIC and Vector Table base address.
* Input       : None
* Output       : None
* Return       : None
*******************************************************************************/
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
}
unsigned char CAN_MessageSend(void)
{
  CAN_InitTypeDef       CAN_InitStructure;
  CanTxMsg TxMessage;
  u32 i = 0;
  u8 TransmitMailbox = 0;
  /* 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=1;
  CAN_Init(&CAN_InitStructure);
  /* transmit */
  TxMessage.StdId=0x11;
  TxMessage.RTR=CAN_RTR_DATA;//数据帧
  TxMessage.IDE=CAN_ID_STD;//标准帧格式
  TxMessage.DLC=2; //帧长度，单位：字节
  TxMessage.Data[0]=0xCA;//待传数据
  TxMessage.Data[1]=0xFE;
  /*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，老是卡在这边最后成发送不成功
  {
i++;
  }
  if(i==0xff)//发送超时，但发送不成功
  {
return 0;
  }
  return 1; /* Test Passed */
}
我用的是IAR的编程环境以及EmbededDebug v2.0调试软件，就是问题不知道在哪儿，求大神帮忙啊