stm32 can 接收数据问题

黑鹰007 2016-01-20 02:19:19

stm32f4can接收数据时，怎么分别读取三个邮箱的数据帧？
线面是我接收数据的代码，查询的方式接收，是放在主函数的while死循环中的





u8 CAN1_Receive_Msg(u8 *buf)

{		   

	/*

		CanRxMsg RxMessage;

		if( CAN_MessagePending(CAN1,CAN_FIFO0)==0)return 0;		

		

		CAN_Receive(CAN1, CAN_FIFO0, &RxMessage);

		dataFuc(RxMessage);*/



	u8 data[100];

 	u32 i,j;

	CanRxMsg rx;

	CanRxMsg RxMessage;

//	CanRxMsg *msgs;

	canmsgs_t msgs;

//	msgs=(CanRxMsg*)Mem_malloc(EXSRAM,sizeof(CanRxMsg)*43);

//	 if (msgs == NULL)

//   { 

//			uart1SendChars("malloc error!",strlen("malloc error!"));

//		 return 1;

//	 }

	memset(data, 0, 100);

	for(i = 0;i<21;)

	{

					

			if( CAN_MessagePending(CAN1,CAN_FIFO0) > 0) 

			{

			

				CAN_Receive(CAN1, CAN_FIFO0, &RxMessage);

				

				sprintf(data, "CAN_RF0R_FOVR0 = %d\r\n", (CAN1->RF0R &= CAN_RF0R_FOVR0)>>4);

				uart1SendChars(data,strlen(data));

				

				sprintf(data, "CAN_RF0R_FULL0=%d\r\n", (CAN1->RF0R &= CAN_RF0R_FULL0)>>3);

				uart1SendChars(data,strlen(data));

				

				sprintf(data, "CAN_RF0R_RFOM0 =%d\r\n", (CAN1->RF0R &= CAN_RF0R_RFOM0)>>5);

				uart1SendChars(data,strlen(data));	

				

//			msgs[i] = RxMessage;			

				msgs.mmsg[i++] = RxMessage;

			}

			

//			delay_us(500);

	}



//	for(j=0;j<21;j++)

//	{

//		rx = msgs.mmsg[j];

////		rx = msgs[j];

//		sprintf(data, "%02x %02x %02x %02x %02x %02x %02x %02x %02x\r\n", j,rx.Data[0],rx.Data[1],rx.Data[2],rx.Data[3],rx.Data[4],rx.Data[5],rx.Data[6],rx.Data[7]);

//		uart1SendChars(data,strlen(data));

//	}

	

//	Mem_free(EXSRAM,msgs);

//	for(i=0;i<RxMessage.DLC;i++)

//	buf[i]=RxMessage.Data[i];  

//	sprintf(data, "%02x %02x %02x %02x %02x %02x %02x %02x %02x\r\n",CAN_MessagePending(CAN1, CAN_FIFO0), buf[0],buf[1],buf[2],buf[3],buf[4],buf[5],buf[6],buf[7]);



//	uart1SendChars(data,strlen(data));

	return 0;

}

这个是main函数



int main(void)

{ 

	u8 buf[100];

	NVIC_PriorityGroupConfig(NVIC_PriorityGroup_2);

	CAN1_Mode_Init(CAN_SJW_1tq,CAN_BS2_6tq,CAN_BS1_7tq,6,CAN_Mode_Normal);//CAN³õÊ¼»¯Õý³£Ä£Ê½,²¨ÌØÂÊ500Kbps    

	uart1_init(115200);	   

	delay_init();		     

	

//	FSMC_SRAM_Init();

//	Memory_Init(EXSRAM); 

	

	uart1SendChars("yyy",3); 

	

	while(1)

	{

		u8 buf[100];

		memset(buf, 0, 100);

		CAN1_Receive_Msg(buf);

	}

}

下面是can初始化函数：





u8 CAN1_Mode_Init(u8 tsjw,u8 tbs2,u8 tbs1,u16 brp,u8 mode)

{



  	GPIO_InitTypeDef       GPIO_InitStructure; 

	  CAN_InitTypeDef        CAN_InitStructure;

  	CAN_FilterInitTypeDef  CAN_FilterInitStructure;

	

		#if CAN1_RX0_INT_ENABLE 

				NVIC_InitTypeDef       NVIC_InitStructure;

		#endif

	



	  RCC_AHB1PeriphClockCmd(RCC_AHB1Periph_GPIOA, ENABLE);              											 



  	RCC_APB1PeriphClockCmd(RCC_APB1Periph_CAN1, ENABLE);

	



	  GPIO_InitStructure.GPIO_Pin = GPIO_Pin_11| GPIO_Pin_12;

    GPIO_InitStructure.GPIO_Mode = GPIO_Mode_AF;

    GPIO_InitStructure.GPIO_OType = GPIO_OType_PP;

    GPIO_InitStructure.GPIO_Speed = GPIO_Speed_100MHz;//100MHz

    GPIO_InitStructure.GPIO_PuPd = GPIO_PuPd_UP;

    GPIO_Init(GPIOA, &GPIO_InitStructure);//³õÊ¼»¯PA11,PA12

	



	  GPIO_PinAFConfig(GPIOA,GPIO_PinSource11,GPIO_AF_CAN1); //GPIOA11¸´ÓÃÎªCAN1

	  GPIO_PinAFConfig(GPIOA,GPIO_PinSource12,GPIO_AF_CAN1); //GPIOA12¸´ÓÃÎªCAN1

	  



   	CAN_InitStructure.CAN_TTCM=DISABLE;	

  	CAN_InitStructure.CAN_ABOM=DISABLE;	

  	CAN_InitStructure.CAN_AWUM=DISABLE;

  	CAN_InitStructure.CAN_NART=ENABLE;	

  	CAN_InitStructure.CAN_RFLM=DISABLE;	

  	CAN_InitStructure.CAN_TXFP=DISABLE;	

  	CAN_InitStructure.CAN_Mode= mode;	

  	CAN_InitStructure.CAN_SJW=tsjw;	

  	CAN_InitStructure.CAN_BS1=tbs1; 

  	CAN_InitStructure.CAN_BS2=tbs2;

  	CAN_InitStructure.CAN_Prescaler=brp;  

  	CAN_Init(CAN1, &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_Filter_FIFO0;

  	CAN_FilterInitStructure.CAN_FilterActivation=ENABLE; 

  	CAN_FilterInit(&CAN_FilterInitStructure);

		

#if CAN1_RX0_INT_ENABLE

	

	  CAN_ITConfig(CAN1,CAN_IT_FMP0,ENABLE);    

  

  	NVIC_InitStructure.NVIC_IRQChannel = CAN1_RX0_IRQn;

  	NVIC_InitStructure.NVIC_IRQChannelPreemptionPriority = 1;     

  	NVIC_InitStructure.NVIC_IRQChannelSubPriority = 0;           

  	NVIC_InitStructure.NVIC_IRQChannelCmd = ENABLE;

  	NVIC_Init(&NVIC_InitStructure);

#endif

	return 0;

}

传感器是以83帧数据为周期发送连续的can数据帧，我是连续读取21帧数据到can数据帧结构体数组中，通过串口发送到上位机，查看id是否一致。发现数据帧并不是传感器发送出来的，而是一些固定的未知数据帧。对于can的接收是FIFO0的三个接收邮箱，我怎么分别读取这三个邮箱的数据呢？我把接收到的的邮箱数打印出来观察一直都是现实三帧，也就是硬件每次读到了三帧数据到邮箱。传感器是每60ms发送83帧数据。
我弄了几天了，也没找到原因，望指点小弟一二？谢谢

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