我用的
STM32F105VC
芯片LQFP100脚做的双路CAN
通信，现在是CAN2功能正常，CAN1通信异常。CAN1，CAN2的代码基本一样，波特率是500kbps。软件方面：CAN1是完全映射到PD0,PD1上面，在回环模式下，CAN1通信正常，且可以在CAN1_TX上面量到波形；正常通信模式下，CAN1通信失败。调试使用的是周立功的CAN卡通信。
硬件方面：电脑用CAN卡向CAN1发送数据，可以在
单片机STM32F105的CAN1_RX处用示波器量到正常脉冲，但是CAN1不进中断，不接受。CAN卡也显示通信异常。CAN收发器用的ADI的ADM3053隔离型。并且做了2块
PCB都是这种情况，以下是我的CAN初始化代码，希望大家可以帮忙看看！
/*********************************************************************************
功能说明：CAN1模式初始化配置
CAN1的过滤器为0~13，过滤器关联到FIFO 0
*********************************************************************************/
void CAN1_Mode_Init(void)
{
GPIO_InitTypeDef GPIO_InitStructure;
CAN_InitTypeDef CAN_InitStructure;
CAN_FilterInitTypeDef CAN_FilterInitStructure;
NVIC_InitTypeDef NVIC_InitStructure;
RCC_APB2PeriphClockCmd(RCC_APB2Periph_GPIOD | RCC_APB2Periph_AFIO, ENABLE);//使能PORTD时钟
RCC_APB1PeriphClockCmd(RCC_APB1Periph_CAN1, ENABLE);//使能CAN1时钟
GPIO_InitStructure.GPIO_Pin = GPIO_Pin_1;
GPIO_InitStructure.GPIO_Speed = GPIO_Speed_50MHz;
GPIO_InitStructure.GPIO_Mode = GPIO_Mode_AF_PP; //复用推挽
GPIO_Init(GPIOD, &GPIO_InitStructure); //初始化IO CAN1 TX
GPIO_InitStructure.GPIO_Pin = GPIO_Pin_0;
GPIO_InitStructure.GPIO_Mode = GPIO_Mode_IPU;//上拉输入
GPIO_Init(GPIOD, &GPIO_InitStructure);//初始化IO CAN1 RX
GPIO_PinRemapConfig(GPIO_Remap2_CAN1 , ENABLE); //CAN1完全重映射到PD0,PD1
CAN_DeInit(CAN1); //复位CAN寄存器
CAN_Struc
tinit(&CAN_InitStructure); //填充CAN参数结构体成员为缺省值
//CAN单元设置
CAN_InitStructure.CAN_TTCM=DISABLE; //非时间触发通信模式 //
CAN_InitStructure.CAN_ABOM=DISABLE; //软件自动离线管理 //
CAN_InitStructure.CAN_AWUM=DISABLE; //睡眠模式通过软件唤醒(清除CAN->MCR的SLEEP位)//
CAN_InitStructure.CAN_NART=ENABLE; //禁止报文自动传送 //
CAN_InitStructure.CAN_RFLM=DISABLE; //报文不锁定,新的覆盖旧的 //
CAN_InitStructure.CAN_TXFP=DISABLE; //优先级由报文标识符决定 //
CAN_InitStructure.CAN_Mode= CAN_Mode_Normal; //模式设置： mode:0,普通模式;1,回环模式; //
//设置波特率
//CAN 波特率 = RCC_APB1Periph_CAN / Prescaler /(sjw + bs1 +bs2)
//CAN 波特率 = 36000000/8/(1+4+4)=500kbps
CAN_InitStructure.CAN_SJW = CAN_SJW_1tq; //重复同步跳跃宽度为个实际单位
CAN_InitStructure.CAN_BS1 = CAN_BS1_4tq; //时间段1占用4个时间单位
CAN_InitStructure.CAN_BS2 = CAN_BS2_4tq; //时间段2占用4个时间单位
CAN_InitStructure.CAN_Prescaler = 8; //分频系数为8
CAN_Init(CAN1, &CAN_InitStructure); // 初始化CAN1
CAN_FilterInitStructure.CAN_FilterNumber=0; //过滤器0
CAN_FilterInitStructure.CAN_FilterMode=CAN_FilterMode_IdMask; //标识符屏蔽位模式
CAN_FilterInitStructure.CAN_FilterScale=CAN_FilterScale_32bit; //过滤器位宽32位
CAN_FilterInitStructure.CAN_FilterIdHigh=0x0000;////32位滤波器ID
CAN_FilterInitStructure.CAN_FilterIdLow=0x0000;
CAN_FilterInitStructure.CAN_FilterMaskIdHigh=0x0000;//32位MASK ID
CAN_FilterInitStructure.CAN_FilterMaskIdLow=0x0000;
CAN_FilterInitStructure.CAN_FilterFIFOAssignment=CAN_Filter_FIFO0;//过滤器0关联到FIFO0
CAN_FilterInitStructure.CAN_FilterActivation=ENABLE; //激活过滤器0
CAN_FilterInit(&CAN_FilterInitStructure);//滤波器初始化 CAN1
NVIC_InitStructure.NVIC_IRQChannel = CAN1_RX0_IRQn ;
NVIC_InitStructure.NVIC_IRQChannelPreemptionPriority = 0; // 主优先级为0
NVIC_InitStructure.NVIC_IRQChannelSubPriority = 2; // 次优先级为0
NVIC_InitStructure.NVIC_IRQChannelCmd = ENABLE;
NVIC_Init(&NVIC_InitStructure);
CAN_ITConfig(CAN1,CAN_IT_FMP0,ENABLE);//FIFO0消息挂号中断允许.
}
/**********************************************************************************
功能说明：CAN2模式初始化配置
CAN2的过滤器配置为14~28，过滤器关联到FIFO 1
**********************************************************************************/
void CAN2_Mode_Init(void)
{
GPIO_InitTypeDef GPIO_InitStructure;
CAN_InitTypeDef CAN_InitStructure;
CAN_FilterInitTypeDef CAN_FilterInitStructure;
NVIC_InitTypeDef NVIC_InitStructure;
RCC_APB2PeriphClockCmd(RCC_APB2Periph_GPIOB | RCC_APB2Periph_AFIO, ENABLE);//使能PORTB时钟
RCC_APB1PeriphClockCmd(RCC_APB1Periph_CAN2, ENABLE);//使能CAN2时
GPIO_InitStructure.GPIO_Pin = GPIO_Pin_6;
GPIO_InitStructure.GPIO_Speed = GPIO_Speed_50MHz;
GPIO_InitStructure.GPIO_Mode = GPIO_Mode_AF_PP; //复用推挽
GPIO_Init(GPIOB, &GPIO_InitStructure); //初始化IO CAN2 TX
GPIO_InitStructure.GPIO_Pin = GPIO_Pin_5;
GPIO_InitStructure.GPIO_Mode = GPIO_Mode_IPU;//上拉输入
GPIO_Init(GPIOB, &GPIO_InitStructure);//初始化IO CAN2 RX
GPIO_PinRemapConfig(GPIO_Remap_CAN2 , ENABLE);
CAN_DeInit(CAN2); //复位CAN寄存器
CAN_StructInit(&CAN_InitStructure); //填充CAN参数结构体成员为缺省值
//CAN单元设置
CAN_InitStructure.CAN_TTCM=DISABLE; //非时间触发通信模式 //
CAN_InitStructure.CAN_ABOM=DISABLE; //软件自动离线管理 //
CAN_InitStructure.CAN_AWUM=DISABLE; //睡眠模式通过软件唤醒(清除CAN->MCR的SLEEP位)//
CAN_InitStructure.CAN_NART=ENABLE; //禁止报文自动传送 //
CAN_InitStructure.CAN_RFLM=DISABLE; //报文不锁定,新的覆盖旧的 //
CAN_InitStructure.CAN_TXFP=DISABLE; //优先级由报文标识符决定 //
CAN_InitStructure.CAN_Mode= CAN_Mode_Normal; //模式设置： mode:0,普通模式;1,回环模式; //
//设置波特率
//CAN 波特率 = RCC_APB1Periph_CAN / Prescaler /(sjw + bs1 +bs2)
//CAN 波特率 = 36000000/8/(1+4+4)=500kbps
CAN_InitStructure.CAN_SJW = CAN_SJW_1tq;
CAN_InitStructure.CAN_BS1 = CAN_BS1_4tq;
CAN_InitStructure.CAN_BS2 = CAN_BS2_4tq;
CAN_InitStructure.CAN_Prescaler = 8;
CAN_Init(CAN2, &CAN_InitStructure); // 初始化CAN2
CAN_FilterInitStructure.CAN_FilterNumber=14; //过滤器0
CAN_FilterInitStructure.CAN_FilterMode=CAN_FilterMode_IdMask;
CAN_FilterInitStructure.CAN_FilterScale=CAN_FilterScale_32bit; //32位
CAN_FilterInitStructure.CAN_FilterIdHigh=0x0000;////32位ID
CAN_FilterInitStructure.CAN_FilterIdLow=0x0000;
CAN_FilterInitStructure.CAN_FilterMaskIdHigh=0x0000;//32位MASK
CAN_FilterInitStructure.CAN_FilterMaskIdLow=0x0000;
CAN_FilterInitStructure.CAN_FilterFIFOAssignment=CAN_Filter_FIFO1;//过滤器0关联到FIFO1
CAN_FilterInitStructure.CAN_FilterActivation=ENABLE; //激活过滤器0
CAN_FilterInit(&CAN_FilterInitStructure);//滤波器初始化 CAN2
// CAN_ITConfig(CAN2,CAN_IT_FMP1,ENABLE);
NVIC_InitStructure.NVIC_IRQChannel = CAN2_RX1_IRQn;
NVIC_InitStructure.NVIC_IRQChannelPreemptionPriority =0; // 主优先级为0
NVIC_InitStructure.NVIC_IRQChannelSubPriority = 3; // 次优先级为0
NVIC_InitStructure.NVIC_IRQChannelCmd = ENABLE;
NVIC_Init(&NVIC_InitStructure);
CAN_ITConfig(CAN2,CAN_IT_FMP1,ENABLE);
}
/**********************************************************************************
功能说明：CAN1 FIFO0 接收中断
***********************************************************************************/
void CAN1_RX0_IRQHandler(void)
{
u32 i;
u16 CAN1RxID=0;
CanRxMsg RxMessage;
CAN_Receive(CAN1, CAN_FIFO0, &RxMessage);//
CAN1RxID= RxMessage.StdId; //标准ID
for(i=0;i<Max_Canidex;i++)
{
if(CAN1_RX_BUF
[10]==0) //最后1个字节的接收标志位 0：没有接收到数据 1：接收到数据
{
memcpy(&(CAN1_RX_BUF[0]),&CAN1RxID,2); //前两个字节是ID
memcpy(&(CAN1_RX_BUF[2]),RxMessage.Data,8);//8个字节的数据
CAN1_RX_BUF[10] =1;
break;
}
}
CAN1_Receive_flag = 1;
LED0=~LED0;
}
/***********************************************************************************
功能说明：CAN2 FIFO1 接收中断
***********************************************************************************/
void CAN2_RX1_IRQHandler(void)
{
u32 i;
u16 CAN2RxID=0;
CanRxMsg RxMessage;
CAN_Receive(CAN2, CAN_FIFO1, &RxMessage);
CAN2RxID= RxMessage.StdId;
for(i=0;i<Max_Canidex;i++)
{
if(CAN2_RX_BUF[10]==0)
{
memcpy(&(CAN2_RX_BUF[0]),&CAN2RxID,2);
memcpy(&(CAN2_RX_BUF[2]),RxMessage.Data,8);
CAN2_RX_BUF[10] =1;
break;
}
}
CAN2_Receive_flag = 1;
LED1=~LED1;
}
/*************************************************************************************
功能说明：CAN1发送函数
//can发送1组8个字节数据
//CanStdID:发送数据的ID
//CanData：发送的数据指针
//返回值:0,成功;
// 其他,失败;
*************************************************************************************/
u8 Can1_SendData(u16 CanStdID, u8 *CanData)
{
CanTxMsg TxMessage;
u8 i;
u8 CanTx_check = 0;
u8 Mailbox = 0;
TxMessage.StdId = CanStdID; //标准标识符
TxMessage.ExtId = 0;
TxMessage.IDE = CAN_ID_STD; //使用标准标示符
TxMessage.RTR = CAN_RTR_DATA;//数据帧
TxMessage.DLC = 8;
for(i = 0;i < 7;i++)
CanTx_check += CanData;
CanTx_check = -CanTx_check+1; //校验和
CanData[7] = CanTx_check;
memcpy(TxMessage.Data, CanData, 8);
Mailbox = CAN_Transmit(CAN1, &TxMessage);
i = 0;
while((CAN_TransmitStatus(CAN1,Mailbox) ！= CAN_TxStatus_Ok) && (i < 0xff))//等待发送结束
i++;
if(i >= 0xff) return 1;
return 0;
}
/***********************************************************************************
功能说明：CAN2发送函数
************************************************************************************/
u8 Can2_SendData(u16 CanStdID, u8 *CanData)
{
CanTxMsg TxMessage;
u8 i;
u8 CanTx_check = 0;
u8 Mailbox = 0;
TxMessage.StdId = CanStdID;
TxMessage.ExtId = 0;
TxMessage.IDE = CAN_ID_STD;
TxMessage.RTR = CAN_RTR_DATA;
TxMessage.DLC = 8;
for(i = 0;i < 7;i++)
CanTx_check += CanData;
CanTx_check = -CanTx_check+1; //校验和
CanData[7] = CanTx_check;
memcpy(TxMessage.Data, CanData, 8); //将CanData数组中的数据拷贝到TxMessage.Data中
Mailbox = CAN_Transmit(CAN2, &TxMessage); //范围值是邮箱号码，如果没有空邮箱返回CAN_NO_MB
i = 0;
while((CAN_TransmitStatus(CAN2,Mailbox) ！= CAN_TxStatus_Ok) && (i < 0xff)) //等待发送结束
i++;
if(i >= 0xff) return 1;
return 0;
}
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