Stm32f103CAN通信，发送多帧数据出错-login

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Stm32f103CAN通信，发送多帧数据出错

2019-07-21 05:41发布

站内问答 / STM32/STM8

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描述问题：当发送三帧数据的时候，利用串口调试助手发现结果正确，如图1；但是当发送四帧数据时候，第四帧与前三帧之间添加延时，串口调试助手如图2.
图片1（串口结果，三帧）：图片2（串口结果，四帧）：
三帧.jpg

图2：四帧

代码如下：
CAN配置：

tatic 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;    // Ö÷óÅÏè¼¶Îa1
NVIC_InitStructure.NVIC_IRQChannelSubPriority = 3;          // ′ÎóÅÏè¼¶Îa3
NVIC_InitStructure.NVIC_IRQChannelCmd = ENABLE;
NVIC_Init(&NVIC_InitStructure);
}

/*
* oˉêyÃû￡oCAN_GPIO_Config
* Ãèêö  ￡oCAN GPIO oíê±ÖóÅäÖÃ
* êäèë  ￡oÎT
* êä3ö  : ÎT
* μ÷óÃ  ￡oÄú2¿μ÷óÃ
*/
static void CAN_GPIO_Config(void){
GPIO_InitTypeDef GPIO_InitStructure;

RCC_APB2PeriphClockCmd(RCC_APB2Periph_GPIOA, ENABLE);

/* CAN1 Periph clock enable */
RCC_APB1PeriphClockCmd(RCC_APB1Periph_CAN1, ENABLE);

/* Configure CAN pin: RX */                // PA11
GPIO_InitStructure.GPIO_Pin = GPIO_Pin_11;
GPIO_InitStructure.GPIO_Mode = GPIO_Mode_IN_FLOATING ;             // GPIO_Mode_IN_FLOATING       IPU                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                     // éÏà-êäèë
GPIO_Init(GPIOA, &GPIO_InitStructure);

/* Configure CAN pin: TX */                // PA12
GPIO_InitStructure.GPIO_Pin = GPIO_Pin_12;
GPIO_InitStructure.GPIO_Speed = GPIO_Speed_50MHz;
GPIO_InitStructure.GPIO_Mode = GPIO_Mode_AF_PP;          // ¸′óÃíÆíìêä3ö
GPIO_Init(GPIOA, &GPIO_InitStructure);
}

void USER_CAN_Config(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;          // ê±¼ä′￥·￠í¨DÅ½ûÖ1
CAN_InitStructure.CAN_ABOM=ENABLE;             // àëÏßíË3öêÇÔúÖD¶ÏÖÃÎ»Çå0oóíË3ö
CAN_InitStructure.CAN_AWUM=ENABLE;             // ×Ô¶ˉ»½DÑÄ￡ê½￡oó2¼t»½DÑ
CAN_InitStructure.CAN_NART=DISABLE;             // ½ûÖ1ÖØDÂ′«Ëí
CAN_InitStructure.CAN_RFLM=DISABLE;             // FIFOÃ»óDËø¶¨￡¬DÂ±¨ÎÄ¸2¸Ç¾é±¨ÎÄ
CAN_InitStructure.CAN_TXFP=DISABLE;          // ·￠Ëí±¨ÎÄóÅÏè¼¶è·¶¨￡o±êÖ¾·û;(IDÄ￡ê½óé±¨ÎÄμÄID¾ö¶¨￡¬¼′IDÖμÔ½D¡￡¬óÅÏè¼¶Ô½¸ß.)
CAN_InitStructure.CAN_Mode=CAN_Mode_LoopBack; // Õy3￡Ä￡ê½  CAN_Mode_Normal
CAN_InitStructure.CAN_SJW=CAN_SJW_1tq;       // 1tq¡￠BS1¡￠BS2μÄÖμ¸ú2¨ìØÂêóD1Ø
CAN_InitStructure.CAN_BS1=CAN_BS1_3tq;       // ¿éòÔéèÖÃ16¸öê±¼äμ￥Î» ￡¬êμ¼êD′èëμÄÖμÎa5.
CAN_InitStructure.CAN_BS2=CAN_BS2_5tq;       // ¿éòÔéèÖÃ8¸öê±¼äμ￥Î»￡¬êμ¼êD′èëμÄÖμÎa1.
CAN_InitStructure.CAN_Prescaler=16;    // ·ÖÆμÏμêyÎa16 36/((1+3+5)*16)=250KHz￡¬·¶Î§1μ½1024,D′3éê2Ã′¾íêÇê2Ã′￡¬Ôú·a×°oˉêyàïÃæòÑ¾-¼õ1.
CAN_Init(CAN1, &CAN_InitStructure); // 3õê¼»ˉCAN1

/* CAN filter init */
CAN_FilterInitStructure.CAN_FilterNumber=1;                      //Ñ¡Ôñ1yÂËÆ÷1￡¬éèÖÃÆäËû1yÂËÆ÷μÄê±oò￡¬DèòaÖØDÂÅäÖÃ￡¬2»Äüê1óÃ»òóï¾äà′ÅäÖÃ¶à¸ö1yÂËÆ÷
CAN_FilterInitStructure.CAN_FilterMode=CAN_FilterMode_IdMask;    //Æá±ÎÎ»Ä￡ê½￡¨CAN_FilterMode_IdList ±êê¶·ûáD±íÄ￡ê½￡©
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;       //½óêÕμ½μÄêy¾Y′æμ½FIFO0￡¬μ½ê±oòÖ±½ó¶á
CAN_FilterInitStructure.CAN_FilterActivation=ENABLE;
CAN_FilterInit(&CAN_FilterInitStructure);

/* CAN FIFO0 message pending interrupt enable */
CAN_ITConfig(CAN1, CAN_IT_FMP0, ENABLE); //ÖD¶Ïê1Äü￡¬óêÏä0μÄ±êÖ¾Î»
}

回环测试四帧数据代码：
void CAN_SdPl_One(uint16_t ID){
CanTxMsg TxMessage;
CanRxMsg RxMessage;
  uint8_t TransmitMailbox;
uint8_t i,n;

TxMessage.StdId=ID;       // ±ê×¼±êê¶·ûÎa0x0011,±íê¾μúò»×éμÄμúò»Ö¡êy¾Y￡¬óÃμúò»¸öËÄÎ»±íê¾Ö¡êy￡¬óÃμú¶t¸öËÄÎ»±íê¾×éêy¡￡0000 0001 0001
TxMessage.IDE=CAN_ID_STD;    // ê1óÃ±ê×¼±êê¶·û
TxMessage.RTR=CAN_RTR_DATA;    // Ö¡ààDíÎaêy¾YÖ¡￡¬ò»Ö¡8Î»
TxMessage.DLC=8;    // ·￠Ëí8¸ö×Ö½úDÅÏ￠,êy¾Y3¤¶èÂë￡¬Ö¸¶¨′«êäÖ¡μÄ3¤¶è
// for(i=0;i<8;i++){
// TxMessage.Data=CAN_SendArray;
// }
TxMessage.Data[0]=0x11;
TxMessage.Data[1]=0x12;
TxMessage.Data[2]=0x13;
TxMessage.Data[3]=0x14;

TxMessage.Data[4]=0x15;
TxMessage.Data[5]=0x16;
TxMessage.Data[6]=0x17;
TxMessage.Data[7]=0x18;
TransmitMailbox=CAN_Transmit(CAN1, &TxMessage); //¿aê¼′«êäò»¸öÏûÏ￠￡¬ oˉêyóD¸ö·μ»ØÖμ￡¬·μ»ØóêÏäoÅ0￡¬1￡¬2
while((CAN_TransmitStatus(CAN1, TransmitMailbox)!= CANTXOK)&&(n!=0xFF)){ //í¨1y¼ì2éCANTXOKà′è·¶¨·￠ËíêÇ·ñ3é1|￡¬CANTXPENDING￡oÏûÏ￠êÇ·ñ1òoÅ￡»CANTXFAILEDÆäËû
n++;
}
n=0;
while((CAN_MessagePending(CAN1,CAN_FIFO0)==0)&&(n!=0xFF)){
n++;
}

RxMessage.StdId=0x00;    //éè¶¨±ê×¼±êê¶·û
RxMessage.IDE=CAN_ID_STD; //ê1óÃ±ê×¼±êê¶·û
RxMessage.DLC=0;          //óÃà′éè¶¨′y′«êäμÄÖ¡3¤¶è
for(i=0;i<8;i++){
RxMessage.Data=0x00;
}
CAN_Receive(CAN1, CAN_FIFO0, &RxMessage);

if(RxMessage.StdId == ID){
for(i=0;i<RxMessage.DLC;i++){
printf(" %d",RxMessage.Data);
}
printf("  The first frame has sent and got! ");

}

}

void CAN_SdPl_Two(uint16_t ID){
CanTxMsg TxMessage;
CanRxMsg RxMessage;
  uint8_t TransmitMailbox;
uint8_t i,n;

TxMessage.StdId=ID;       // ±ê×¼±êê¶·ûÎa0x0011,±íê¾μúò»×éμÄμúò»Ö¡êy¾Y￡¬óÃμúò»¸öËÄÎ»±íê¾Ö¡êy￡¬óÃμú¶t¸öËÄÎ»±íê¾×éêy¡￡0000 0001 0001
TxMessage.IDE=CAN_ID_STD;    // ê1óÃ±ê×¼±êê¶·û
TxMessage.RTR=CAN_RTR_DATA;    // Ö¡ààDíÎaêy¾YÖ¡￡¬ò»Ö¡8Î»
TxMessage.DLC=8;    // ·￠Ëí8¸ö×Ö½úDÅÏ￠,êy¾Y3¤¶èÂë￡¬Ö¸¶¨′«êäÖ¡μÄ3¤¶è
// for(i=0;i<8;i++){
// TxMessage.Data=CAN_SendArray;
// }
TxMessage.Data[0]=0x21;
TxMessage.Data[1]=0x22;
TxMessage.Data[2]=0x23;
TxMessage.Data[3]=0x24;

TxMessage.Data[4]=0x25;
TxMessage.Data[5]=0x26;
TxMessage.Data[6]=0x27;
TxMessage.Data[7]=0x28;
TransmitMailbox=CAN_Transmit(CAN1, &TxMessage); //¿aê¼′«êäò»¸öÏûÏ￠￡¬ oˉêyóD¸ö·μ»ØÖμ￡¬·μ»ØóêÏäoÅ0￡¬1￡¬2
while((CAN_TransmitStatus(CAN1, TransmitMailbox)!= CANTXOK)&&(n!=0xFF)){ //í¨1y¼ì2éCANTXOKà′è·¶¨·￠ËíêÇ·ñ3é1|￡¬CANTXPENDING￡oÏûÏ￠êÇ·ñ1òoÅ￡»CANTXFAILEDÆäËû
n++;
}
n=0;
while((CAN_MessagePending(CAN1,CAN_FIFO0)==0)&&(n!=0xFF)){
n++;
}

RxMessage.StdId=0x00;    //éè¶¨±ê×¼±êê¶·û
RxMessage.IDE=CAN_ID_STD; //ê1óÃ±ê×¼±êê¶·û
RxMessage.DLC=0;          //óÃà′éè¶¨′y′«êäμÄÖ¡3¤¶è
for(i=0;i<8;i++){
RxMessage.Data=0x00;
}
CAN_Receive(CAN1, CAN_FIFO0, &RxMessage);

if(RxMessage.StdId == ID){
for(i=0;i<RxMessage.DLC;i++){
printf(" %d",RxMessage.Data);
}
printf("  The second frame has sent and got! ");
}

}

void CAN_SdPl_Three(uint16_t ID){
CanTxMsg TxMessage;
CanRxMsg RxMessage;
  uint8_t TransmitMailbox;
uint8_t i,n;

TxMessage.StdId=ID;       // ±ê×¼±êê¶·ûÎa0x0011,±íê¾μúò»×éμÄμúò»Ö¡êy¾Y￡¬óÃμúò»¸öËÄÎ»±íê¾Ö¡êy￡¬óÃμú¶t¸öËÄÎ»±íê¾×éêy¡￡0000 0001 0001
TxMessage.IDE=CAN_ID_STD;    // ê1óÃ±ê×¼±êê¶·û
TxMessage.RTR=CAN_RTR_DATA;    // Ö¡ààDíÎaêy¾YÖ¡￡¬ò»Ö¡8Î»
TxMessage.DLC=8;    // ·￠Ëí8¸ö×Ö½úDÅÏ￠,êy¾Y3¤¶èÂë￡¬Ö¸¶¨′«êäÖ¡μÄ3¤¶è
// for(i=0;i<8;i++){
// TxMessage.Data=CAN_SendArray;
// }
TxMessage.Data[0]=0x31;
TxMessage.Data[1]=0x32;
TxMessage.Data[2]=0x33;
TxMessage.Data[3]=0x34;

TxMessage.Data[4]=0x35;
TxMessage.Data[5]=0x36;
TxMessage.Data[6]=0x37;
TxMessage.Data[7]=0x38;
TransmitMailbox=CAN_Transmit(CAN1, &TxMessage); //¿aê¼′«êäò»¸öÏûÏ￠￡¬ oˉêyóD¸ö·μ»ØÖμ￡¬·μ»ØóêÏäoÅ0￡¬1￡¬2
while((CAN_TransmitStatus(CAN1, TransmitMailbox)!= CANTXOK)&&(n!=0xFF)){ //í¨1y¼ì2éCANTXOKà′è·¶¨·￠ËíêÇ·ñ3é1|￡¬CANTXPENDING￡oÏûÏ￠êÇ·ñ1òoÅ￡»CANTXFAILEDÆäËû
n++;
}
n=0;
while((CAN_MessagePending(CAN1,CAN_FIFO0)==0)&&(n!=0xFF)){
n++;
}

RxMessage.StdId=0x00;    //éè¶¨±ê×¼±êê¶·û
RxMessage.IDE=CAN_ID_STD; //ê1óÃ±ê×¼±êê¶·û
RxMessage.DLC=0;          //óÃà′éè¶¨′y′«êäμÄÖ¡3¤¶è
for(i=0;i<8;i++){
RxMessage.Data=0x00;
}
CAN_Receive(CAN1, CAN_FIFO0, &RxMessage);

if(RxMessage.StdId == ID){
for(i=0;i<RxMessage.DLC;i++){
printf(" %d",RxMessage.Data);
}
printf("  The thrid frame has sent and got! ");
}

}

void CAN_SdPl_Four(uint16_t ID){
CanTxMsg TxMessage;
CanRxMsg RxMessage;
  uint8_t TransmitMailbox;
uint8_t i,n;

TxMessage.StdId=ID;       // ±ê×¼±êê¶·ûÎa0x0011,±íê¾μúò»×éμÄμúò»Ö¡êy¾Y￡¬óÃμúò»¸öËÄÎ»±íê¾Ö¡êy￡¬óÃμú¶t¸öËÄÎ»±íê¾×éêy¡￡0000 0001 0001
TxMessage.IDE=CAN_ID_STD;    // ê1óÃ±ê×¼±êê¶·û
TxMessage.RTR=CAN_RTR_DATA;    // Ö¡ààDíÎaêy¾YÖ¡￡¬ò»Ö¡8Î»
TxMessage.DLC=8;    // ·￠Ëí8¸ö×Ö½úDÅÏ￠,êy¾Y3¤¶èÂë￡¬Ö¸¶¨′«êäÖ¡μÄ3¤¶è
// for(i=0;i<8;i++){
// TxMessage.Data=CAN_SendArray;
// }
TxMessage.Data[0]=0x41;
TxMessage.Data[1]=0x42;
TxMessage.Data[2]=0x43;
TxMessage.Data[3]=0x44;

TxMessage.Data[4]=0x45;
TxMessage.Data[5]=0x46;
TxMessage.Data[6]=0x47;
TxMessage.Data[7]=0x48;
TransmitMailbox=CAN_Transmit(CAN1, &TxMessage); //¿aê¼′«êäò»¸öÏûÏ￠￡¬ oˉêyóD¸ö·μ»ØÖμ￡¬·μ»ØóêÏäoÅ0￡¬1￡¬2
while((CAN_TransmitStatus(CAN1, TransmitMailbox)!= CANTXOK)&&(n!=0xFF)){ //í¨1y¼ì2éCANTXOKà′è·¶¨·￠ËíêÇ·ñ3é1|￡¬CANTXPENDING￡oÏûÏ￠êÇ·ñ1òoÅ￡»CANTXFAILEDÆäËû
n++;
}
n=0;
while((CAN_MessagePending(CAN1,CAN_FIFO0)==0)&&(n!=0xFF)){
n++;
}

RxMessage.StdId=0x00;    //éè¶¨±ê×¼±êê¶·û
RxMessage.IDE=CAN_ID_STD; //ê1óÃ±ê×¼±êê¶·û
RxMessage.DLC=0;          //óÃà′éè¶¨′y′«êäμÄÖ¡3¤¶è
for(i=0;i<8;i++){
RxMessage.Data=0x00;
}
CAN_Receive(CAN1, CAN_FIFO0, &RxMessage);

if(RxMessage.StdId == ID){
for(i=0;i<RxMessage.DLC;i++){
printf(" %d",RxMessage.Data);
}
printf("  The forth frame has sent and got! ");
}

}

写入三帧数据代码：
void CAN_SdPl_Temp(void){
CAN_SdPl_One(0x0011);

CAN_SdPl_Two(0x0012);

CAN_SdPl_Three(0x0013);

}

写入四帧数据代码：
void CAN_SdPl_Temp(void){
CAN_SdPl_One(0x0011);

CAN_SdPl_Two(0x0012);

CAN_SdPl_Three(0x0013);
      Delay_ms(100);
CAN_SdPl_Four(0x0014);

}

主函数：
  while(1){
if(FLAGS0_CANSdTp){
CAN_SdPl_Temp();
FLAGS0_CANSdTp = FALSE;

}
}

问题出现了很久，一直没有解决多出来，求各位大佬帮忙解答！

友情提示: 此问题已得到解决，问题已经关闭,关闭后问题禁止继续编辑，回答。

5条回答

login_FAE
2019-07-21 07:40

帮顶。。。。

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Stm32f103CAN通信，发送多帧数据出错

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