急！急！急！各位大神帮我看看双节点CAN通讯为什么接不到数据啊

STM32

急！急！急！各位大神帮我看看双节点CAN通讯为什么接不到数据啊

2019-07-20 19:27发布

站内问答 / STM32/STM8

6188 3

原子哥，求助啊。

各位大神，我想使用两块STM32F407ZET6的板子通过CAN通讯，但是总借不到数据啊。请问为什么

这分别是我的接收板和发送板的 MAIN.C  和CAN.C 的程序
***********************************接收板main.c************************************
#include "sys.h"
#include "delay.h"
#include "usart.h"
#include "led.h"
#include "lcd.h"
#include "key.h"

nt main(void)
{
      u8 key;
      u8 i=0,t=0;
      u8 cnt=0;
      u8 canbuf[8];
      u8 res;
      u8 mode=1;
      NVIC_PriorityGroupConfig(NVIC_PriorityGroup_2);
      delay_init(168);
      uart_init(115200);
      LED_Init();
      KEY_Init();
      delay_ms(1000);
      cnt=CAN1_Mode_Init(CAN_SJW_1tq,CAN_BS2_6tq,CAN_BS1_7tq,6,CAN_Mode_Normal);
  if(cnt==0)
      {printf("InitSuccess");}
  else printf("InitFail");

while(1)
      {
            key=CAN1_Receive_Msg(canbuf);
            if(key!=0)
            {
               printf("RECEIVED ");
            }
      else printf("NO  DATA ");

      delay_ms(1000);

      }

}

*******************************接收板CAN.C***********************************
u8 CAN1_Mode_Init(u8 tsjw,u8 tbs2,u8 tbs1,u16 brp,u8 mode)
{

      GPIO_InitTypeDef GPIO_InitStructure;
      CAN_InitTypeDef       CAN_InitStructure;
      CAN_FilterInitTypeDef  CAN_FilterInitStructure;
//#if CAN1_RX0_INT_ENABLE
      NVIC_InitTypeDef  NVIC_InitStructure;
//#endif

      RCC_AHB1PeriphClockCmd(RCC_AHB1Periph_GPIOA, ENABLE);

      RCC_APB1PeriphClockCmd(RCC_APB1Periph_CAN1, ENABLE);


      GPIO_InitStructure.GPIO_Pin = GPIO_Pin_11| GPIO_Pin_12;
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(GPIOA, &GPIO_InitStructure);


      GPIO_PinAFConfig(GPIOA,GPIO_PinSource11,GPIO_AF_CAN1);
      GPIO_PinAFConfig(GPIOA,GPIO_PinSource12,GPIO_AF_CAN1);


         CAN_InitStructure.CAN_TTCM=DISABLE;
      CAN_InitStructure.CAN_ABOM=DISABLE;
      CAN_InitStructure.CAN_AWUM=DISABLE;
      CAN_InitStructure.CAN_NART=ENABLE;
      CAN_InitStructure.CAN_RFLM=DISABLE;
      CAN_InitStructure.CAN_TXFP=DISABLE;
      CAN_InitStructure.CAN_Mode= mode;
      CAN_InitStructure.CAN_SJW=tsjw;
      CAN_InitStructure.CAN_BS1=tbs1;
      CAN_InitStructure.CAN_BS2=tbs2;
      CAN_InitStructure.CAN_Prescaler=brp;
      CAN_Init(CAN1, &CAN_InitStructure);

      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=CAN_Filter_FIFO0;
      CAN_FilterInitStructure.CAN_FilterActivation=ENABLE;
      CAN_FilterInit(&CAN_FilterInitStructure);

//#if CAN1_RX0_INT_ENABLE

      CAN_ITConfig(CAN1,CAN_IT_FMP0,ENABLE);

      NVIC_InitStructure.NVIC_IRQChannel = CAN1_RX0_IRQn;
      NVIC_InitStructure.NVIC_IRQChannelPreemptionPriority = 1;
      NVIC_InitStructure.NVIC_IRQChannelSubPriority = 0;
      NVIC_InitStructure.NVIC_IRQChannelCmd = ENABLE;
      NVIC_Init(&NVIC_InitStructure);
//#endif
      return 0;
}

//#if CAN1_RX0_INT_ENABLE

void CAN1_RX0_IRQHandler(void)
{
      CanRxMsg RxMessage;
      int i=0;
CAN_Receive(CAN1, 0, &RxMessage);
      for(i=0;i<8;i++)
      printf("rxbuf[%d]:%d ",i,RxMessage.Data);
}

u8 CAN1_Receive_Msg(u8 *buf)
{
      u32 i;
      CanRxMsg RxMessage;
if( CAN_MessagePending(CAN1,CAN_FIFO0)==0)return 0;
CAN_Receive(CAN1, CAN_FIFO0, &RxMessage);
for(i=0;i<RxMessage.DLC;i++)
buf=RxMessage.Data;
      return RxMessage.DLC;
}
***************************发送板MAIN***********************************
int main(void)
{
      u8 key;
      u8 i=0,t=0;
      u8 cnt=0;
      u8 canbuf[8];
      u8 res;
      u8 mode=1;
      NVIC_PriorityGroupConfig(NVIC_PriorityGroup_2);
      delay_init(168);
      uart_init(115200);
      LED_Init();
      KEY_Init();
      CAN1_Mode_Init(CAN_SJW_1tq,CAN_BS2_6tq,CAN_BS1_7tq,6,CAN_Mode_Normal);


while(1)
      {
            key=KEY_Scan(0);
            if(key==KEY0_PRES)
            {
                     for(i=0;i<8;i++)
                     {
                              canbuf=cnt+i;
                     }
                     res=CAN1_Send_Msg(canbuf,8);

            }

      }
}

**********************************发送版CAN.C********************************

u8 CAN1_Mode_Init(u8 tsjw,u8 tbs2,u8 tbs1,u16 brp,u8 mode)
{

      GPIO_InitTypeDef GPIO_InitStructure;
      CAN_InitTypeDef       CAN_InitStructure;
      CAN_FilterInitTypeDef  CAN_FilterInitStructure;
//#if CAN1_RX0_INT_ENABLE
         NVIC_InitTypeDef  NVIC_InitStructure;
//#endif

      RCC_AHB1PeriphClockCmd(RCC_AHB1Periph_GPIOA, ENABLE);

      RCC_APB1PeriphClockCmd(RCC_APB1Periph_CAN1, ENABLE);


      GPIO_InitStructure.GPIO_Pin = GPIO_Pin_11| GPIO_Pin_12;
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(GPIOA, &GPIO_InitStructure);


      GPIO_PinAFConfig(GPIOA,GPIO_PinSource11,GPIO_AF_CAN1);
      GPIO_PinAFConfig(GPIOA,GPIO_PinSource12,GPIO_AF_CAN1);


         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= mode;
      CAN_InitStructure.CAN_SJW=tsjw;
      CAN_InitStructure.CAN_BS1=tbs1;
      CAN_InitStructure.CAN_BS2=tbs2;
      CAN_InitStructure.CAN_Prescaler=brp;
      CAN_Init(CAN1, &CAN_InitStructure);


      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=CAN_Filter_FIFO0;
      CAN_FilterInitStructure.CAN_FilterActivation=ENABLE;
      CAN_FilterInit(&CAN_FilterInitStructure);

//#if CAN1_RX0_INT_ENABLE

      CAN_ITConfig(CAN1,CAN_IT_FMP0,ENABLE);

      NVIC_InitStructure.NVIC_IRQChannel = CAN1_RX0_IRQn;
      NVIC_InitStructure.NVIC_IRQChannelPreemptionPriority = 1;
      NVIC_InitStructure.NVIC_IRQChannelSubPriority = 0;
      NVIC_InitStructure.NVIC_IRQChannelCmd = ENABLE;
      NVIC_Init(&NVIC_InitStructure);
//#endif
      return 0;
}

//#if CAN1_RX0_INT_ENABLE

void CAN1_RX0_IRQHandler(void)
{
      CanRxMsg RxMessage;
      int i=0;
CAN_Receive(CAN1, 0, &RxMessage);
      for(i=0;i<8;i++)
      printf("rxbuf[%d]:%d ",i,RxMessage.Data);
}
//#endif

u8 CAN1_Send_Msg(u8* msg,u8 len)
{
  u8 mbox;
  u16 i=0;
  CanTxMsg TxMessage;
  TxMessage.StdId=0x12;
  TxMessage.ExtId=0x12;
  TxMessage.IDE=0;
  TxMessage.RTR=0;
  TxMessage.DLC=len;
  for(i=0;i<len;i++)
  TxMessage.Data=msg;
  mbox= CAN_Transmit(CAN1, &TxMessage);
  i=0;
  while((CAN_TransmitStatus(CAN1, mbox)==CAN_TxStatus_Failed)&&(i<0XFFF))i++;
  if(i>=0XFFF)return 1;
  return 0;

}