STm32的can通信问题

莫名其妙的虫子 2016-06-14 06:38:37

我用两块一样的板子进行CAN通信，但是一直接收不到，从keil的寄存器中观察发现发送时会出现填充错误stuff error，如果不发送的话会出现格式错误form error。请问该如何排查这些问题，怎么解决。
我尝试用回环模式的话，是可以正常收发的。
这是代码。求大神指教。

#include "CanTran.h"



CanTxMsg TxMessage;

CanRxMsg RxMessage;

u8 CAN_Recieve_Flag;

u8 count1 = 0;





/**

  * @brief  Configures the CAN, transmit and receive using interrupt.

  * @param  None

  * @retval : PASSED if the reception is well done, FAILED in other case

  */

void MyCAN_Init(void)

{

  CAN_InitTypeDef        CAN_InitStructure;

  CAN_FilterInitTypeDef  CAN_FilterInitStructure;

  GPIO_InitTypeDef		 GPIO_InitStructure;

    NVIC_InitTypeDef NVIC_InitStructure;

  	RCC_APB1PeriphClockCmd( RCC_APB1Periph_CAN1 , ENABLE);



 

  /* Configure CAN pin: RX */

  GPIO_InitStructure.GPIO_Pin = GPIO_Pin_11;

  GPIO_InitStructure.GPIO_Speed = GPIO_Speed_50MHz;

  GPIO_InitStructure.GPIO_Mode = GPIO_Mode_IPU;

  GPIO_Init(GPIOA, &GPIO_InitStructure);

  

  /* Configure CAN pin: TX */

  GPIO_InitStructure.GPIO_Pin = GPIO_Pin_12;

  GPIO_InitStructure.GPIO_Mode = GPIO_Mode_AF_PP;

  GPIO_Init(GPIOA, &GPIO_InitStructure);



  /* CAN register init */

  CAN_DeInit(CAN1);

  CAN_StructInit(&CAN_InitStructure);



  /* CAN cell init */

  CAN_InitStructure.CAN_TTCM=DISABLE;

  CAN_InitStructure.CAN_ABOM=ENABLE;   // 

  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 Speed = 200KHz

//  CAN_InitStructure.CAN_SJW=CAN_SJW_1tq;

//  CAN_InitStructure.CAN_BS1=CAN_BS1_14tq;

//  CAN_InitStructure.CAN_BS2=CAN_BS2_3tq;

//  CAN_InitStructure.CAN_Prescaler=10;

//  CAN_Init(CAN1, &CAN_InitStructure);

 //500k

  CAN_InitStructure.CAN_SJW=CAN_SJW_1tq;

  CAN_InitStructure.CAN_BS1=CAN_BS1_13tq;

  CAN_InitStructure.CAN_BS2=CAN_BS2_4tq;

  CAN_InitStructure.CAN_Prescaler=4; //10;

  CAN_Init(CAN1, &CAN_InitStructure);









 



  /* CAN filter init */

  CAN_FilterInitStructure.CAN_FilterNumber=1;

  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 FIFO0 message pending interrupt enable */ 

  CAN_ITConfig(CAN1, CAN_IT_FMP0, ENABLE);





	NVIC_InitStructure.NVIC_IRQChannel = USB_LP_CAN1_RX0_IRQn; NVIC_InitStructure.NVIC_IRQChannelPreemptionPriority = 0;

	NVIC_InitStructure.NVIC_IRQChannelSubPriority = 0;

 	NVIC_InitStructure.NVIC_IRQChannelCmd = ENABLE;

 	NVIC_Init(&NVIC_InitStructure);



}





void CAN_TransmitData(u32 StdId, uint8_t DLC_Num,uint8_t *Data)

{

  /* transmit 1 message */

  uint8_t i;

  TxMessage.StdId=StdId;   

	TxMessage.ExtId = 0x0000;

  TxMessage.IDE=CAN_ID_STD;		

  TxMessage.RTR=CAN_RTR_DATA;	 

  TxMessage.DLC=DLC_Num;		 

  for(i=0;i<DLC_Num;i++)

    TxMessage.Data[i]=Data[i];

  CAN_Transmit(CAN1, &TxMessage);

}



/**

  * @brief  This function handles USB Low Priority or CAN RX0 interrupts 

  *   requests.

  * @param  None

  * @retval : None

  */

void USB_LP_CAN1_RX0_IRQHandler(void)

{

	CAN_Receive(CAN1, CAN_FIFO0, &RxMessage);

  CAN_Recieve_Flag = 1;

}





void CanTran_task(void)

{

   if(CAN_Recieve_Flag==1)

   {

   	  CAN_Recieve_Flag = 0;

	  switch(RxMessage.StdId)

	  {

//	  	case 0x101:

//			PowerSwitchState = RxMessage.Data[3];

//			PowerSwitchState <<=8;

//			PowerSwitchState |=RxMessage.Data[2]; 

//			PowerSwitchState <<=8;

//			PowerSwitchState |=RxMessage.Data[1];

//			PowerSwitchState <<=8;

//			PowerSwitchState |=RxMessage.Data[0];

//			UpKeyLed();

		case 0x101:

		//	 SetLedStatue(RxMessage.Data[0],RxMessage.Data[1]);

			 count1++;

			 CAN_TransmitData(0x101,8,"master1");

			 break;

		case 2:

			  if(RxMessage.Data[0]==1)

			  {

			  //	SetJDQ_AC(RxMessage.Data[1]);

			  }

			  else  if(RxMessage.Data[0]==2)

			  {

			//  	SetJDQ_Bat(RxMessage.Data[1]);

			  }

			break;

		case 3:	 // Èí¿ª¹Ø

		//	SoftOff = RxMessage.Data[0];

			break;

	  }



   }



	

}