关于STM32的CAN总线求助

翼间 · 发表于 2014-7-3 15:44:21

现在遇到这样一个问题：当CAN设置为回环模式时，发送和接收都正常，但用示波器观察CANTX引脚上无输出波形，
设置为正常模式时，发送和接收均失败，观察邮箱状态寄存器的TERR位置1，CAN发送失败。
使用CAN_TransmitStatus(CAN1, mbox)检查发送结果，发现一直处在CAN_TxStatus_Pending状态。
现在应该能肯定不是个别的管脚损坏，因为一批板子都是这个现象，也可以排除隔离电路的影响，因为管脚悬空测量也是如此。

附上初始化的代码，有哪位高手能指点一下问题出在哪里吗？
static void CAN_GPIO_Config(void)
{
    GPIO_InitTypeDef GPIO_InitStructure;
   RCC_APB2PeriphClockCmd(RCC_APB2Periph_GPIOA, ENABLE);
   RCC_APB1PeriphClockCmd(RCC_APB1Periph_CAN1, ENABLE);


   /* Configure CAN pin: RX PA11*/
    GPIO_InitStructure.GPIO_Pin = GPIO_Pin_11;
    GPIO_InitStructure.GPIO_Mode = GPIO_Mode_IPU;
    GPIO_InitStructure.GPIO_Speed = GPIO_Speed_50MHz;
   GPIO_Init(GPIOA, &GPIO_InitStructure);

   /* Configure CAN pin: TX PA12 */
    GPIO_InitStructure.GPIO_Pin = GPIO_Pin_12;
    GPIO_InitStructure.GPIO_Mode = GPIO_Mode_AF_PP;
    GPIO_InitStructure.GPIO_Speed = GPIO_Speed_50MHz;
   GPIO_Init(GPIOA, &GPIO_InitStructure);

}

static void CAN_NVIC_Config(void)
{
    NVIC_InitTypeDef NVIC_InitStructure;
   NVIC_PriorityGroupConfig(NVIC_PriorityGroup_1);
   NVIC_InitStructure.NVIC_IRQChannel = USB_LP_CAN1_RX0_IRQn;
    NVIC_InitStructure.NVIC_IRQChannelPreemptionPriority = 1;
    NVIC_InitStructure.NVIC_IRQChannelSubPriority = 2;
    NVIC_InitStructure.NVIC_IRQChannelCmd = ENABLE;
    NVIC_Init(&NVIC_InitStructure);
}

static void CAN_Mode_Config(void)
{
   CAN_InitTypeDef        CAN_InitStructure;

   CAN_DeInit(CAN1);
   CAN_StructInit(&CAN_InitStructure);
   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;

   CAN_InitStructure.CAN_SJW = CAN_SJW_1tq;
   CAN_InitStructure.CAN_BS1 = CAN_BS1_8tq;
   CAN_InitStructure.CAN_BS2 = CAN_BS2_7tq;
   CAN_InitStructure.CAN_Prescaler =18;
}

static void CAN_Filter_Config(void)
{
   CAN_FilterInitTypeDef CAN_FilterInitStructure;

   CAN_FilterInitStructure.CAN_FilterNumber=0;
    CAN_FilterInitStructure.CAN_FilterMode=CAN_FilterMode_IdMask;
   CAN_FilterInitStructure.CAN_FilterScale=CAN_FilterScale_32bit;

    CAN_FilterInitStructure.CAN_FilterIdHigh= ((CAN_address<<3)&0xFFFF0000)>>16;
    CAN_FilterInitStructure.CAN_FilterIdLow= ((CAN_address<<3)|CAN_ID_EXT|CAN_RTR_DATA)&0xFFFF;
    CAN_FilterInitStructure.CAN_FilterMaskIdHigh= 0xFFFF;
    CAN_FilterInitStructure.CAN_FilterMaskIdLow= 0xFFFF;
   CAN_FilterInitStructure.CAN_FilterFIFOAssignment=CAN_Filter_FIFO0 ;
   CAN_FilterInitStructure.CAN_FilterActivation=ENABLE;
   CAN_FilterInit(&CAN_FilterInitStructure);

   CAN_ITConfig(CAN1, CAN_IT_FMP0, ENABLE);
}

void CAN_Init(void)
{
   CAN_GPIO_Config();
   CAN_Mode_Config();
    CAN_Filter_Config();
    CAN_NVIC_Config();
}