Huaan 发表于 2019-6-2 09:56
你这初始化配置的位时间参数为：
SJW=1tq
BS1=9qt

多谢帮助，我试了一下，还是有问题。
1、2号单片机的型号是STM32F103CBT6；3,4,5单片机型号是STM32F413VGT6。刚才贴的初始化代码是1,2单片机的。3,4,5单片机的初始化代码如下：

        RCC_APB1PeriphClockCmd(RCC_APB1Periph_CAN1, ENABLE);
        RCC_APB1PeriphClockCmd(RCC_APB1Periph_CAN2, ENABLE);
        RCC_AHB1PeriphClockCmd(RCC_AHB1Periph_GPIOB, ENABLE);       
       
        GPIO_InitTypeDef  GPIO_InitStructure;
       
        GPIO_InitStructure.GPIO_Pin = GPIO_Pin_5 | GPIO_Pin_6;
        GPIO_InitStructure.GPIO_Mode = GPIO_Mode_AF;
        GPIO_InitStructure.GPIO_OType = GPIO_OType_PP;//????
        GPIO_InitStructure.GPIO_Speed = GPIO_Speed_100MHz;
        GPIO_InitStructure.GPIO_PuPd  = GPIO_PuPd_UP;
        GPIO_Init(GPIOB, &GPIO_InitStructure);

        GPIO_PinAFConfig(GPIOB, GPIO_PinSource5, GPIO_AF_CAN2);
        GPIO_PinAFConfig(GPIOB, GPIO_PinSource6, GPIO_AF_CAN2);
       
        CAN_DeInit(CAN2);
       
        CAN_InitTypeDef        CAN_InitStructure;
        /* CAN cell init */
        CAN_InitStructure.CAN_TTCM = DISABLE;
        CAN_InitStructure.CAN_ABOM = DISABLE;
        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;
//500kbps
        CAN_InitStructure.CAN_SJW = CAN_SJW_1tq;
        CAN_InitStructure.CAN_BS1 = CAN_BS1_3tq;
        CAN_InitStructure.CAN_BS2 = CAN_BS2_1tq;
        CAN_InitStructure.CAN_Prescaler = 20;
                       
        CAN_Init(CAN2, &CAN_InitStructure);

        CAN_FilterInitTypeDef  CAN_FilterInitStructure;
        CAN_FilterInitStructure.CAN_FilterNumber = 1;           //CAN1?????0?13
        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;        //?????ID
        CAN_FilterInitStructure.CAN_FilterMaskIdLow = 0x0000;                //?????ID
        CAN_FilterInitStructure.CAN_FilterFIFOAssignment = CAN_Filter_FIFO0;          // /*!< Specifies the FIFO (0 or 1) which will be assigned to the filter.
                                                                                                          //This parameter can be a value of @ref CAN_filter_FIFO */
        CAN_FilterInitStructure.CAN_FilterActivation = ENABLE;
        CAN_FilterInit(CAN2, &CAN_FilterInitStructure);

        NVIC_InitTypeDef NVIC_InitStructure;
        NVIC_InitStructure.NVIC_IRQChannel = CAN2_RX0_IRQn;
        NVIC_InitStructure.NVIC_IRQChannelPreemptionPriority = 0;
        NVIC_InitStructure.NVIC_IRQChannelSubPriority = 1;
        NVIC_InitStructure.NVIC_IRQChannelCmd = ENABLE;
        NVIC_Init(&NVIC_InitStructure);                                                       
       
        CAN_ITConfig(CAN2, CAN_IT_FMP0, ENABLE);