stm32f107VC 使用 CAN库函数通讯收发数据未成功（附代码）

Lw_2017 2018-01-13 04:31:48

我使用的sthm32f107VC芯片，使用CAN1在正常模式下，无法收发数据。但是使用回环模式自发自收测试没有问题。循环发送8个字节数据，接收数据采用中断接收,接收数据不会触发中断函数。用CANalyst 测试收发都未成功。
请大神帮忙解决：







extern CanTxMsg TxMessage;

extern  CanRxMsg RxMessage;





void GPIO_CAN_Configuration(void)

{

  GPIO_InitTypeDef GPIO_InitStructure;

 

  /* Configure CAN pin: RX */

  GPIO_InitStructure.GPIO_Pin = GPIO_Pin_11;

  GPIO_InitStructure.GPIO_Mode = GPIO_Mode_AIN;

  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);

	GPIO_ResetBits(GPIOA,GPIO_Pin_12);

}





void CAN_Interrupt(void)

{

      CAN_InitTypeDef        CAN_InitStructure;

      CAN_FilterInitTypeDef  CAN_FilterInitStructure;

 

 

       /* CAN register init */

       CAN_DeInit(CAN1);

       CAN_StructInit(&CAN_InitStructure);

 

       /* CAN cell init */

      CAN_InitStructure.CAN_TTCM=DISABLE;           	// 时间触发通信禁止

      CAN_InitStructure.CAN_ABOM=DISABLE;             // 离线退出是在中断置位清0后退出

      CAN_InitStructure.CAN_AWUM=DISABLE;             // 自动唤醒模式：清零sleep

      CAN_InitStructure.CAN_NART=DISABLE;             // 自动重新传送豹纹，知道发送成功

      CAN_InitStructure.CAN_RFLM=DISABLE;             // FIFO没有锁定，新报文覆盖旧报文

      CAN_InitStructure.CAN_TXFP=DISABLE;          	  // 发送报文优先级确定：标志符

      CAN_InitStructure.CAN_Mode=CAN_Mode_Normal; 

      CAN_InitStructure.CAN_SJW=CAN_SJW_1tq;        	// 1tq、BS1、BS2的值跟波特率有关

      CAN_InitStructure.CAN_BS1=CAN_BS1_9tq;

      CAN_InitStructure.CAN_BS2=CAN_BS2_8tq;

      CAN_InitStructure.CAN_Prescaler=4;              // 分频系数为4         500Kpbs

      CAN_Init(CAN1, &CAN_InitStructure);             // 初始化CAN1

 

      /* CAN filter init */

      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=0;

      CAN_FilterInitStructure.CAN_FilterActivation=ENABLE;

      CAN_FilterInit(&CAN_FilterInitStructure);

 

       /* CAN FIFO0 message pending interrupt enable */

       CAN_ITConfig(CAN1, CAN_IT_FMP0, ENABLE); //中断使能

}







static void CAN_NVIC_Configuration(void)

{

       NVIC_InitTypeDef NVIC_InitStructure;

 

        /* Enable CAN1 RX0 interrupt IRQ channel */

        NVIC_InitStructure.NVIC_IRQChannel = USB_LP_CAN1_RX0_IRQn;

        NVIC_InitStructure.NVIC_IRQChannelPreemptionPriority = 1;     // 主优先级为0

        NVIC_InitStructure.NVIC_IRQChannelSubPriority = 0;            // 次优先级为0

        NVIC_InitStructure.NVIC_IRQChannelCmd = ENABLE;

        NVIC_Init(&NVIC_InitStructure);

}





void CAN_Config(void)

{

	GPIO_CAN_Configuration();

	CAN_NVIC_Configuration();

	CAN_Interrupt();

}





void CAN_SetMsg(void)

{	 

       TxMessage.StdId=0x00; 																				         //ID标识符

	TxMessage.RTR=CAN_RTR_DATA;                                    //数据帧

	TxMessage.IDE=CAN_ID_STD;                                      //标准帧格式

	TxMessage.DLC=8;                                               //帧长度，单位：字节

	TxMessage.Data[0]=0xF1;                                        //待传数据

	TxMessage.Data[1]=0xF2;

	TxMessage.Data[2]=0xF3;

	TxMessage.Data[3]=0xF4;

	TxMessage.Data[4]=0xF5;

	TxMessage.Data[5]=0xF6;

	TxMessage.Data[6]=0xF7;

	TxMessage.Data[7]=0xF8;

	

	CAN_Transmit(CAN1, &TxMessage);

		

}





void USB_LP_CAN1_RX0_IRQHandler(void)

{

	//CanRxMsg RxMessage;

 

	RxMessage.StdId=0x00;

	RxMessage.IDE=CAN_ID_EXT;

	RxMessage.DLC=0;

	RxMessage.FMI=0;

	RxMessage.Data[0]=0x00;

	RxMessage.Data[1]=0x00;

	RxMessage.Data[2]=0x00;

	RxMessage.Data[3]=0x00;

	RxMessage.Data[4]=0x00;

	RxMessage.Data[5]=0x00;

	RxMessage.Data[6]=0x00;

	RxMessage.Data[7]=0x00;

	 

	CAN_Receive(CAN1, CAN_FIFO0, &RxMessage);

	//LED灯闪烁

	if(GPIO_ReadOutputDataBit(GPIOA,GPIO_Pin_1))

	{

		GPIO_ResetBits(GPIOA,GPIO_Pin_1);

	}else

	{

		GPIO_SetBits(GPIOA,GPIO_Pin_1);

	}	

}