mmuuss586 发表于 2014-11-25 19:42 
120欧电阻，2个板子都接了吗？
你如果2个同样的MCU间可以通讯，硬件问题不大；
接了的！但两者作为发送，都有波形输出，波特率一样，电压平均值一个是正的，一个是负的，无法实现通信！麻烦你在简单看看两者的程序，我觉得应该没问题
stm32:
static void CAN_GPIO_Config(void)
{
GPIO_InitTypeDef GPIO_InitStructure;
RCC_APB2PeriphClockCmd(RCC_APB2Periph_AFIO | RCC_APB2Periph_GPIOB, ENABLE);
RCC_APB1PeriphClockCmd(RCC_APB1Periph_CAN1, ENABLE);
GPIO_PinRemapConfig(GPIO_Remap1_CAN1, ENABLE);
/* Configure CAN pin: RX */ // PB8
GPIO_InitStructure.GPIO_Pin = GPIO_Pin_8;
GPIO_InitStructure.GPIO_Mode = GPIO_Mode_IPU; // ÉÏÀÊäÈë
// GPIO_InitStructure.GPIO_Speed = GPIO_Speed_50MHz;
GPIO_Init(GPIOB, &GPIO_InitStructure);
/* Configure CAN pin: TX */ // PB9
GPIO_InitStructure.GPIO_Pin = GPIO_Pin_9;
GPIO_InitStructure.GPIO_Mode = GPIO_Mode_AF_PP; // ¸´ÓÃÍÆÍìÊä³ö
GPIO_InitStructure.GPIO_Speed = GPIO_Speed_50MHz;
GPIO_Init(GPIOB, &GPIO_InitStructure);
}
static void CAN_NVIC_Config(void)
{
NVIC_InitTypeDef NVIC_InitStructure;
/* Configure one bit for preemption priority */
NVIC_PriorityGroupConfig(NVIC_PriorityGroup_1);
/*ÖжÏÉèÖÃ*/
NVIC_InitStructure.NVIC_IRQChannel = USB_LP_CAN1_RX0_IRQn; //CAN1 RX0ÖжÏ
NVIC_InitStructure.NVIC_IRQChannelPreemptionPriority = 0; //ÇÀÕ¼ÓÅÏȼ¶0
NVIC_InitStructure.NVIC_IRQChannelSubPriority = 0; //×ÓÓÅÏȼ¶Îª0
NVIC_InitStructure.NVIC_IRQChannelCmd = ENABLE;
NVIC_Init(&NVIC_InitStructure);
}
static void CAN_Mode_Config(void)
{
CAN_InitTypeDef CAN_InitStructure;
/************************CANͨÐŲÎÊýÉèÖÃ**********************************/
/*CAN¼Ä´æÆ÷³õʼ»¯*/
CAN_DeInit(CAN1);
CAN_StructInit(&CAN_InitStructure);
/*CANµ¥Ôª³õʼ»¯*/
CAN_InitStructure.CAN_TTCM=DISABLE; //MCR-TTCM ¹Ø±Õʱ¼ä´¥·¢Í¨ÐÅģʽʹÄÜ
CAN_InitStructure.CAN_ABOM=DISABLE;//ENABLE; //MCR-ABOM ×Ô¶¯ÀëÏß¹ÜÀí
CAN_InitStructure.CAN_AWUM=DISABLE;//ENABLE; //MCR-AWUM ʹÓÃ×Ô¶¯»½ÐÑģʽ
CAN_InitStructure.CAN_NART=DISABLE; //MCR-NART ½ûÖ¹±¨ÎÄ×Ô¶¯ÖØ´« DISABLE-×Ô¶¯ÖØ´«
CAN_InitStructure.CAN_RFLM=DISABLE; //MCR-RFLM ½ÓÊÕFIFO Ëø¶¨Ä£Ê½ DISABLE-Òç³öʱб¨ÎĻḲ¸ÇÔÓб¨ÎÄ
CAN_InitStructure.CAN_TXFP=DISABLE; //MCR-TXFP ·¢ËÍFIFOÓÅÏȼ¶ DISABLE-ÓÅÏȼ¶È¡¾öÓÚ±¨Îıêʾ·û
CAN_InitStructure.CAN_Mode = CAN_Mode_Normal; //Õý³£¹¤×÷ģʽ
CAN_InitStructure.CAN_SJW=CAN_SJW_2tq; //BTR-SJW ÖØÐÂͬ²½ÌøÔ¾¿í¶È 2¸öʱ¼äµ¥Ôª
CAN_InitStructure.CAN_BS1=CAN_BS1_10tq; //BTR-TS1 ʱ¼ä¶Î1 Õ¼ÓÃÁË10¸öʱ¼äµ¥Ôª
CAN_InitStructure.CAN_BS2=CAN_BS2_7tq; //BTR-TS2 ʱ¼ä¶Î2 Õ¼ÓÃÁË7¸öʱ¼äµ¥Ôª
CAN_InitStructure.CAN_Prescaler =4; //BTR-BRP ²¨ÌØÂÊ·ÖƵÆ÷ ¶¨ÒåÁËʱ¼äµ¥ÔªµÄʱ¼ä³¤¶È 36/(1+10+7)/4=0.5Mbps
CAN_Init(CAN1, &CAN_InitStructure);
}
static void CAN_Filter_Config(void)
{
CAN_FilterInitTypeDef CAN_FilterInitStructure;
CAN_FilterInitStructure.CAN_FilterNumber=0;
CAN_FilterInitStructure.CAN_FilterMode=CAN_FilterMode_IdMask;
CAN_FilterInitStructure.CAN_FilterScale=CAN_FilterScale_32bit;
CAN_FilterInitStructure.CAN_FilterIdHigh= 0x0000;//(((u32)0x01<<21)&0xFFFF0000)>>16;
CAN_FilterInitStructure.CAN_FilterIdLow=0x0000; //(((u32)0x01<<21)|CAN_ID_STD|CAN_RTR_DATA)&0xFFFF;
CAN_FilterInitStructure.CAN_FilterMaskIdHigh= 0x0000;
CAN_FilterInitStructure.CAN_FilterMaskIdLow= 0x0000;
CAN_FilterInitStructure.CAN_FilterFIFOAssignment=CAN_Filter_FIFO0 ;
CAN_FilterInitStructure.CAN_FilterActivation=ENABLE;
CAN_FilterInit(&CAN_FilterInitStructure);
CAN_ITConfig(CAN1, CAN_IT_FMP0, ENABLE);
}
void CAN_Config(void)
{
CAN_GPIO_Config();
CAN_NVIC_Config();
CAN_Mode_Config();
CAN_Filter_Config();
}
void CAN_SetMsg(void)
{
TxMessage.StdId=0x02;
TxMessage.ExtId=0x0000;
TxMessage.IDE=CAN_ID_STD;
//TxMessage.ExtId=0x1314;
//TxMessage.IDE=CAN_ID_EXT;
TxMessage.RTR=CAN_RTR_DATA;
TxMessage.DLC=1;
TxMessage.Data[0]=0x01;
}
040:
void init_msg_object_TX (char MsgNum,uchar id)
{
uint temp;
char SFRPAGE_SAVE=SFRPAGE;
SFRPAGE = CAN0_PAGE;
CAN0ADR = IF1CMDMSK; //
CAN0DAT = 0x00b3;
/* IF1 Command Mask Registers =0x00b3
WR/RD=1,Mask=0,Arb=1,Control=1,ClrIntPnd=0,TxRqst=0,DataA=1,DataB=1,一次发送8字节数据*/
CAN0ADR = IF1ARB1;
CAN0DAT = 0x0000;
/*IF1 Arbitration Registers1 =0x0000，即ID15-0=0*/
temp=id<<2;//标准id为ID28-ID18,所以要左移2位
temp&=0x1fff;
temp|=0xa000;
CAN0DAT = temp; //地址自增，指向IF1 Arbitration Registers2
/*IF1 Arbitration Registers2=101(id)00b
MsgVal=1,Xtd=0,为标准模式，扩展ID无效，Dir=1，为发送*/
CAN0DAT = 0x0088;
/*IF1 Message Control Registers=0x0088
NewDat=0,MsgLst=0,IntPnd=0,UMask=0,TxIE=0,RxIE=0,RmtEn=0,TxRqst=0
EoB=1,DLC3-0=1000,即数据长度为8*/
CAN0ADR = IF1CMDRQST;
CAN0DAT = MsgNum;
/*IF1 Command Request Registers=MsgNum,将以上配置写入MsgNum号消息*/
SFRPAGE=SFRPAGE_SAVE;
}
void init_msg_object_RX (char MsgNum,uchar id)
{
uint temp;
char SFRPAGE_SAVE=SFRPAGE;
SFRPAGE = CAN0_PAGE;
CAN0ADR = IF1CMDMSK;
CAN0DAT = 0x00b8;
/* IF2 Command Mask Registers =0x00bb
WR/RD=1,Mask=0,Arb=1,Control=1,ClrIntPnd=1,TxRqst=0,DataA=1,DataB=1,一次发送8字节数据*/
CAN0ADR = IF1ARB1;
CAN0DAT = 0x0000;
/*IF2 Arbitration Registers1 =0x0000，即ID15-0=0*/
temp=id<<2;//标准id为ID28-ID18,所以要左移2位
temp&=0x1fff;
temp|=0x8000;
CAN0DAT = temp;
/*IF2 Arbitration Registers2=100(id)00b
MsgVal=1,Xtd=0,为标准模式，扩展ID无效，Dir=0，为接收*/
CAN0DAT = 0x0488;
/*IF2 Message Control Registers=0x0488
NewDat=0,MsgLst=0,IntPnd=0,UMask=0,TxIE=0,RxIE=1,接收中断使能;RmtEn=0,TxRqst=0
EoB=1,DLC3-0=1000,即数据长度为8*/
CAN0ADR = IF1CMDRQST;
CAN0DATL = MsgNum;
/*IF2 Command Request Registers=MsgNum,将以上配置写入MsgNum号消息*/
SFRPAGE=SFRPAGE_SAVE;
}
void clear_msg_objects (void) //将所有消息清零
{
uchar i;
char SFRPAGE_SAVE=SFRPAGE;
SFRPAGE = CAN0_PAGE;
CAN0ADR = IF1CMDMSK;
CAN0DATL = 0xFF;
for (i=1;i<33;i++)
{
CAN0ADR = IF1CMDRQST;
CAN0DATL = i;
}
SFRPAGE=SFRPAGE_SAVE;
}
void start_CAN (int baud)
{
char SFRPAGE_SAVE=SFRPAGE;
SFRPAGE = CAN0_PAGE;
CAN0CN|=0x41;
CAN0ADR=BITREG;
CAN0DAT=baud;
CAN0ADR = IF2CMDMSK;
CAN0DATL = 0x1f;
CAN0CN = 0x02;
/*IE置1，使能CAN模块中断，Init清零，结束初始化操作，CAN控制器进入正常工作*/
SFRPAGE=SFRPAGE_SAVE;
}
void receive_data(uchar MsgNum,uchar *p,uchar len)
{
int i=0;
char SFRPAGE_PAGE=SFRPAGE;
SFRPAGE = CAN0_PAGE;
CAN0ADR = IF2CMDMSK;
// CAN0DATL = 0x1f;
CAN0ADR = IF2CMDRQST;
CAN0DATL = MsgNum;
CAN0ADR = IF2DATA1;
//连续接收8个字节，存入接收缓冲器中
for(i=0;i<len;i++)
{
*p++=CAN0DATH;
i++;
*p++=CAN0DATL;
}
SFRPAGE=SFRPAGE_PAGE;
}
void ISRname (void) interrupt 19
{
char SFRPAGE_SAVE=SFRPAGE;
SFRPAGE = CAN0_PAGE;
status = CAN0STA;
if ((status&0x10) != 0)
{
CAN0STA=(CAN0STA&0xef)|0x07;
receive_data (MSGR,rdata,1);
}
if(((status&0x07)!=0)&&((status&0x07)!=7))
CAN0STA|=0x07;
SFRPAGE=temppage;
}
void main()
{
Init(); //包括CAN初始化，IO口配置及关看门狗
while(1)
{
if(rdata[0]==0x01)
{
LED=0;
}
if(rdata[0]==0x02)
{
LED=1;
}
}
}
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