STM32F072 CAN问题急急急

只看该作者 · 2015-7-10 10:49

问题是，我的CAN软件，一开始总是通信存在发送计数器累加，后来改了  CAN_InitStructure.CAN_BS1=CAN_BS1_7tq; 原来是CAN_BS1_14tq  CAN_InitStructure.CAN_BS2=CAN_BS2_8tq; 原来是CAN_BS1_2tq;

原来的配置总是发着发着，我就离线了，而且还存在多发好几条重发命令，实际总线已经有了；
后来，开启了CAN_InitStructure.CAN_ABOM=ENABLE;总线离线自动上线模式；
而且禁止使能重发CAN_InitStructure.CAN_NART=ENABLE;

现在和别人联调时，在总线开启时，我总是会发好几条命令出来；
请问这个是为什么呢？

我发送是在收到客户命令后，置标志为1，然后检查到标志为1时，回复命令；

如果它的上条命令发来，我没回出去，然后总线关断，在开启的瞬间，我会一直发出好几条当初没发出去的命令？
如下是CAN的配置看是否存在问题？

void CAN1_Init(void)
{

GPIO_InitTypeDef GPIO_InitStructure;
CAN_InitTypeDef CAN_InitStructure;
CAN_FilterInitTypeDef CAN_FilterInitStructure;

/* Enable the clock for the CAN GPIOs */
  RCC_AHBPeriphClockCmd(RCC_AHBPeriph_GPIOA, ENABLE);
  /* Connect the involved CAN pins to AF */
  GPIO_PinAFConfig(GPIOA, GPIO_PinSource11, GPIO_AF_4);
  GPIO_PinAFConfig(GPIOA, GPIO_PinSource12, GPIO_AF_4);
  /* Configure these CAN pins in alternate function mode by calling */
  GPIO_InitStructure.GPIO_Mode = GPIO_Mode_AF;
  GPIO_InitStructure.GPIO_OType = GPIO_OType_PP;
  GPIO_InitStructure.GPIO_Pin = GPIO_Pin_11 | GPIO_Pin_12;
  GPIO_InitStructure.GPIO_PuPd = GPIO_PuPd_UP;
  GPIO_InitStructure.GPIO_Speed = GPIO_Speed_50MHz;
GPIO_Init(GPIOA, &GPIO_InitStructure);

  /* Enable the peripheral clock CAN */
RCC_APB1PeriphClockCmd(RCC_APB1Periph_CAN, ENABLE);
  /* CAN cell init */
  CAN_InitStructure.CAN_TTCM=DISABLE;
  CAN_InitStructure.CAN_ABOM=ENABLE;
  CAN_InitStructure.CAN_AWUM=DISABLE;
  CAN_InitStructure.CAN_NART=ENABLE;
  CAN_InitStructure.CAN_RFLM=DISABLE;
  CAN_InitStructure.CAN_TXFP=DISABLE;
// CAN_InitStructure.CAN_Mode=CAN_Mode_LoopBack;
  CAN_InitStructure.CAN_Mode=CAN_Mode_Normal;
  CAN_InitStructure.CAN_SJW=CAN_SJW_1tq;
  CAN_InitStructure.CAN_BS1=CAN_BS1_7tq;
  CAN_InitStructure.CAN_BS2=CAN_BS2_8tq;
  CAN_InitStructure.CAN_Prescaler = 4; //(pclk1/((1+14+1)*4))  = 125Kbits
  CAN_Init(CAN, &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= CAN_FIFO0;
  CAN_FilterInitStructure.CAN_FilterActivation=ENABLE;
  CAN_FilterInit(&CAN_FilterInitStructure);
  CAN_ITConfig(CAN, CAN_IT_FMP0, ENABLE);

  /* Configure IT */
  /* (14) Set priority for CAN_IRQn */
  /* (15) Enable CAN_IRQn */
  NVIC_SetPriority(CEC_CAN_IRQn, 1); /* (16) */
  NVIC_EnableIRQ(CEC_CAN_IRQn); /* (17) */

}