1. int main(void)
   
2. {
   
3.   RCC_ClocksTypeDef RCC_Clocks;
   
4. //&**** SysTick end of count event each 10ms *****&/
   
5.   RCC_GetClocksFreq(&RCC_Clocks);
   
6.   SysTick_Config(RCC_Clocks.HCLK_Frequency / 100);
   
7.   NVIC_Config();
   
8.   LED_Config();
   
9.   CAN_Config();
   
10.         while(1)
    
11.         {
    
12.                 CAN_Trans();
    
13.                 Delay(60);
    
14.         }
    
15. }
    
16. 
    
17. 
    
18. void NVIC_Config(void)
    
19. {
    
20.   NVIC_InitTypeDef  NVIC_InitStructure;
    
21. //NVIC_PriorityGroupConfig(NVIC_PriorityGroup_1);
    
22.   NVIC_InitStructure.NVIC_IRQChannel=CAN1_RX0_IRQn;   //中断请求 CAN1_RX0_IRQn
    
23.   NVIC_InitStructure.NVIC_IRQChannelPreemptionPriority = 0x0;
    
24.   NVIC_InitStructure.NVIC_IRQChannelSubPriority = 0x1;
    
25.   NVIC_InitStructure.NVIC_IRQChannelCmd = ENABLE;
    
26.   NVIC_Init(&NVIC_InitStructure);
    
27. }
    
28. 
    
29. 
    
30. void CAN_Config(void)
    
31. {
    
32.   GPIO_InitTypeDef  GPIO_InitStructure;
    
33.        
    
34.   RCC_AHB1PeriphClockCmd(RCC_AHB1Periph_GPIOA, ENABLE);
    
35. /* Connect CAN pins to AF9 */
    
36.   GPIO_PinAFConfig(GPIOA, GPIO_PinSource11, GPIO_AF_CAN1);
    
37.   GPIO_PinAFConfig(GPIOA, GPIO_PinSource12, GPIO_AF_CAN1);
    
38. 
    
39. /* Configure CAN RX and TX pins */
    
40. /* PA11 RX-上拉输入,PA12 TX-复用推挽输出*/
    
41.   GPIO_InitStructure.GPIO_Pin = GPIO_Pin_11 |GPIO_Pin_12;
    
42.   GPIO_InitStructure.GPIO_Mode = GPIO_Mode_AF;
    
43.   GPIO_InitStructure.GPIO_Speed = GPIO_Speed_50MHz;
    
44.   GPIO_InitStructure.GPIO_OType = GPIO_OType_PP; // 推挽输出
    
45.   GPIO_InitStructure.GPIO_PuPd  = GPIO_PuPd_UP; //上拉输入
    
46.   GPIO_Init(GPIOA, &GPIO_InitStructure);
    
47. 
    
48.   RCC_APB1PeriphClockCmd(RCC_APB1Periph_CAN1, ENABLE);
    
49.        
    
50.   CAN_DeInit(CAN1);
    
51. 
    
52.   CAN_InitStructure.CAN_TTCM = DISABLE; //time triggered communication mode
    
53.   CAN_InitStructure.CAN_ABOM = DISABLE; //automatic bus-off management
    
54.   CAN_InitStructure.CAN_AWUM = DISABLE; //automatic wake-up mode
    
55.   CAN_InitStructure.CAN_NART = DISABLE; //non-automatic retransmission mode
    
56.   CAN_InitStructure.CAN_RFLM = DISABLE; //Receive FIFO Locked mode
    
57.   CAN_InitStructure.CAN_TXFP = DISABLE;  //transmit FIFO priority
    
58.   CAN_InitStructure.CAN_Mode = CAN_Mode_Normal;
    
59. 
    
60.        
    
61. /*主板的时钟使用外部告诉时钟，25MHz，CAN clocked(APB1) at 30 MHz, set CAN Baudrate = 125KBps
    
62.           than, how to calculate the Tq*/  
    
63. /* 主板的时钟使用外部高速时钟，25MHz Baudrate = 500 Kbps ,CAN clocked (APB1) at 30MHz*/
    
64.   CAN_InitStructure.CAN_SJW = CAN_SJW_1tq;  //Specifies the maximum number of time quanta
    
65.   CAN_InitStructure.CAN_BS1 = CAN_BS1_6tq;
    
66.   CAN_InitStructure.CAN_BS2 = CAN_BS2_8tq;
    
67.   CAN_InitStructure.CAN_Prescaler = 4;   //30 000000/(1+6+8)/4= 30 000000/(1+2+3)/10=
    
68.   CAN_Init(CAN1, &CAN_InitStructure);
    
69. 
    
70. 
    
71.   CAN_FilterInitStructure.CAN_FilterNumber = 0;
    
72.   CAN_FilterInitStructure.CAN_FilterMode = CAN_FilterMode_IdMask;// CAN_FilterMode_IdList
    
73.   CAN_FilterInitStructure.CAN_FilterScale = CAN_FilterScale_32bit;
    
74.   CAN_FilterInitStructure.CAN_FilterIdHigh = 0x0000;
    
75.   CAN_FilterInitStructure.CAN_FilterIdLow = 0x0000;
    
76.   CAN_FilterInitStructure.CAN_FilterMaskIdHigh = 0x0000;
    
77.   CAN_FilterInitStructure.CAN_FilterMaskIdLow = 0x0000;
    
78.   CAN_FilterInitStructure.CAN_FilterFIFOAssignment = 0; //FIFO0
    
79.   CAN_FilterInitStructure.CAN_FilterActivation = ENABLE;
    
80.   CAN_FilterInit(&CAN_FilterInitStructure);
    
81.        
    
82.        
    
83.   TxMessage.StdId = 0x04;  //standard ID
    
84.   TxMessage.ExtId = 0x00;   //extend ID
    
85.   TxMessage.RTR = CAN_RTR_DATA;  //data frame
    
86.   TxMessage.IDE = CAN_ID_STD;   //standard ID
    
87.   TxMessage.DLC = 1;  //length of data
    
88.   TxMessage.Data[0] = 0xDE;
    
89.        
    
90.   CAN_ITConfig(CAN1, CAN_IT_FMP0, ENABLE);  // finish sending Interrupt CAN_IT_TME, Enable FIFO 0 message pending Interrupt
    
91.        
    
92. }
    
93. 
    
94. void CAN_Trans(void)
    
95. {
    
96.   uint32_t i=0;
    
97.   uint8_t TransmitMailbox=0;
    
98. /* Transmit Structure preparation */
    
99.   TransmitMailbox = CAN_Transmit(CAN1, &TxMessage);
    
100. //CAN_Transmit(CAN1, &TxMessage);
     
101. 
     
102.   i = 0;
     
103. //一定时间内不断发送，直到：1、发送成功==CANTXOK，2、i !=0xFFFF
     
104.   while((CAN_TransmitStatus(CAN1, TransmitMailbox)  != CANTXOK ) && (i  !=  0xFFFF)) // CAN_TxStatus_Failed
     
105.   {
     
106.     i++;  //发送失败
     
107.   }
     
108.   i = 0;
     
109.   while((CAN_MessagePending(CAN1, CAN_FIFO0) <1 ) && (i  !=  0xFFFF))
     
110.   {
     
111.     i++;  //MessagePending 不是FIFO 1，也不是FIFO 0
     
112.   }
     
113. }

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解决了！！！！！！！！！！！！！！！我的天天老爷，收发器ISO1050，CANH，CANL那端没供电！！！！！！！！！！！！！！我真是猪到家了，因为底板电源种类比较多，没有认真检查，浪费了将近一周的时间，天啊！！！！！！！！！！！！！程序是没有问题的！！！！！！！！！！

谢谢各位大哥

mo_正_pei 发表于 2017-3-16 18:26
解决了！！！！！！！！！！！！！！！我的天天老爷，收发器ISO1050，CANH，CANL那端没供电！！！！！！！ ...

你这样说让我有点想骂人。。。。。，我之前就让你排除硬件问题，你告诉我的硬件没有问题。。。。。。。
我们这种控制，硬件是软件的基础，硬件都有问题，你的软件写的再牛逼，也没有用。。。。