本帖最后由 db520136 于 2018-11-17 15:07 编辑

代码也是使用原子哥的CAN例程移植的，只是我的板子是STM32F103CB的，型号不一样！下面的模式 回环和正常模式都试过
[mw_shl_code=applescript,true]#include "STM32F103_CAN.h"
#include "stm32f1xx_hal_can.h"
CAN_HandleTypeDef   CAN1_Handler;
CanTxMsgTypeDef     TxMessage;
CanRxMsgTypeDef     RxMessage;

u8 CAN1_Mode_Init(u32 tsjw,u32 tbs2,u32 tbs1,u16 brp,u32 mode)
{
    CAN_FilterConfTypeDef  CAN1_FilerConf;
    printf("OK0! ");
    CAN1_Handler.Instance=CAN1;
    CAN1_Handler.pTxMsg=&TxMessage;
    CAN1_Handler.pRxMsg=&RxMessage;
    CAN1_Handler.Init.Prescaler=brp;
    CAN1_Handler.Init.Mode=mode；
    CAN1_Handler.Init.SJW=tsjw;
    CAN1_Handler.Init.BS1=tbs1;
    CAN1_Handler.Init.BS2=tbs2;
    CAN1_Handler.Init.TTCM=DISABLE;
    CAN1_Handler.Init.ABOM=DISABLE;
    CAN1_Handler.Init.AWUM=DISABLE;
    CAN1_Handler.Init.NART=ENABLE;
    CAN1_Handler.Init.RFLM=DISABLE;
    CAN1_Handler.Init.TXFP=DISABLE;
    if(HAL_CAN_Init(&CAN1_Handler)!=HAL_OK) return 1;
     
    CAN1_FilerConf.FilterIdHigh=0X0000;
    CAN1_FilerConf.FilterIdLow=0X0000;
    CAN1_FilerConf.FilterMaskIdHigh=0X0000;
    CAN1_FilerConf.FilterMaskIdLow=0X0000;  
    CAN1_FilerConf.FilterFIFOAssignment=CAN_FILTER_FIFO0;
    CAN1_FilerConf.FilterNumber=0;
    CAN1_FilerConf.FilterMode=CAN_FILTERMODE_IDMASK;
    CAN1_FilerConf.FilterScale=CAN_FILTERSCALE_32BIT;
    CAN1_FilerConf.FilterActivation=ENABLE;
    CAN1_FilerConf.BankNumber=14;
    if(HAL_CAN_ConfigFilter(&CAN1_Handler,&CAN1_FilerConf)!=HAL_OK) return 2;
        printf("CAN Init OK! ");
    return 0;
}

void HAL_CAN_MspInit(CAN_HandleTypeDef* hcan)
{
    GPIO_InitTypeDef GPIO_Initure;
      
   
    __HAL_RCC_CAN1_CLK_ENABLE();
    __HAL_RCC_GPIOA_CLK_ENABLE();
     
    GPIO_Initure.Pin=GPIO_PIN_12;
    GPIO_Initure.Mode=GPIO_MODE_AF_PP;
    GPIO_Initure.Pull=GPIO_PULLUP;
    GPIO_Initure.Speed=GPIO_SPEED_HIGH;
    HAL_GPIO_Init(GPIOA,&GPIO_Initure);
     
    GPIO_Initure.Pin=GPIO_PIN_11;               //PA11
    GPIO_Initure.Mode=GPIO_MODE_AF_INPUT;
    HAL_GPIO_Init(GPIOA,&GPIO_Initure);
     
#if CAN1_RX0_INT_ENABLE
    __HAL_CAN_ENABLE_IT(&CAN1_Handler,CAN_IT_FMP0);
    HAL_NVIC_SetPriority(CAN1_RX0_IRQn,6,0);
    HAL_NVIC_EnableIRQ(CAN1_RX0_IRQn);
#endif  
}


void CAN1_RX0_IRQHandler(void)
{
    HAL_CAN_IRQHandler(&CAN1_Handler);//′Ëoˉêy»áμ÷óÃCAN_Receive_IT()½óêÕêy¾Y
}


void HAL_CAN_RxCpltCallback(CAN_HandleTypeDef* hcan)
{
    int i=0;

    __HAL_CAN_ENABLE_IT(&CAN1_Handler,CAN_IT_FMP0);
    printf("id:%d ",CAN1_Handler.pRxMsg->StdId);
    printf("ide:%d ",CAN1_Handler.pRxMsg->IDE);
    printf("rtr:%d ",CAN1_Handler.pRxMsg->RTR);
    printf("len:%d ",CAN1_Handler.pRxMsg->DLC);
    for(i=0;i<8;i++)
    printf("rxbuf[%d]:%d ",i,CAN1_Handler.pRxMsg->Data);
}
#endif  

u8 CAN1_Send_Msg(u8* msg,u8 len)
{  
    u16 i=0;
    CAN1_Handler.pTxMsg->StdId=0X12;
AN1_Handler.pTxMsg->ExtId=0x12;
    CAN1_Handler.pTxMsg->IDE=CAN_ID_STD;
    CAN1_Handler.pTxMsg->RTR=CAN_RTR_DATA；
    CAN1_Handler.pTxMsg->DLC=len;               
    for(i=0;i<len;i++)
    CAN1_Handler.pTxMsg->Data=msg;
    if(HAL_CAN_Transmit(&CAN1_Handler,10)!=HAL_OK)
        {
            printf("CAN Send ERR ");
            return 1;
        }
        printf("CAN Send OK ");
    return 0;      
}


u8 CAN1_Receive_Msg(u8 *buf)
{                 
u32 i;
    if(HAL_CAN_Receive(&CAN1_Handler,CAN_FIFO0,0)!=HAL_OK) return 0;
    for(i=0;i<CAN1_Handler.pRxMsg->DLC;i++)
    buf=CAN1_Handler.pRxMsg->Data;
    printf("Recv Data! ");
    return CAN1_Handler.pRxMsg->DLC;
}[/mw_shl_code]

初始化也正常，一调用发送，进入下面这段代码，就死循环这了；因为我是上了FreeRTOS的，工程架构也是使用原子哥提供的例程，滴答中断重写过的，uwTick++;没了，所以HAL_GetTick()得到的永远是0的！
__HAL_CAN_TRANSMIT_STATUS(hcan, transmitmailbox) 返回的一直是True; 退不出这个函数
[mw_shl_code=applescript,true]/* Check End of transmission flag */
while(!(__HAL_CAN_TRANSMIT_STATUS(hcan, transmitmailbox)))
{
   /* Check for the Timeout */
   if(Timeout != HAL_MAX_DELAY)
   {
     if((Timeout == 0) || ((HAL_GetTick()-tickstart) > Timeout))
     {
       hcan->State = HAL_CAN_STATE_TIMEOUT;
        
       /* Process unlocked */
       __HAL_UNLOCK(hcan);
        
       return HAL_TIMEOUT;
     }
   }
}[/mw_shl_code]
硬件接法是 MCU CAN Rx,Tx 接到sn65hvd230芯片上，单板回环模式，双板正常收发模式都试过，不行！！！求解 ！！！