关于CAN线接收的问题

royzhangsz · 发表于 2018-1-16 16:43:32

要接收别人CAN线上的信息，每隔十秒连续发射六桢。我的程序通过中断接收，根据数据帧来做分类，但结果是每次六桢数据只接受到第一桢的数据。
120欧电阻也加了，实在是找不出在哪有问题。中断执行的时间很短，应该不会影响下一桢数据接收。

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

   GPIO_InitTypeDef GPIO_InitStructure;
   CAN_InitTypeDef       CAN_InitStructure;
         CAN_FilterInitTypeDef  CAN_FilterInitStructure;
         u32 ext_id =0x18fef433;
         NVIC_InitTypeDef  NVIC_InitStructure;

   RCC_APB2PeriphClockCmd(RCC_APB2Periph_GPIOA, ENABLE);//使能PORTA时钟
       RCC_APB1PeriphClockCmd(RCC_APB1Periph_CAN1, ENABLE);//使能CAN1时钟

      GPIO_InitStructure.GPIO_Pin = GPIO_Pin_12;
      GPIO_InitStructure.GPIO_Speed = GPIO_Speed_50MHz;
      GPIO_InitStructure.GPIO_Mode = GPIO_Mode_AF_PP; //复用推挽
      GPIO_Init(GPIOA, &GPIO_InitStructure); //初始化IO

         GPIO_InitStructure.GPIO_Pin = GPIO_Pin_11;
         GPIO_InitStructure.GPIO_Mode = GPIO_Mode_IPU;//上拉输入
         GPIO_Init(GPIOA, &GPIO_InitStructure);//初始化IO

//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=DISABLE;      //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= mode;          //模式设置： mode:0,普通模式;1,回环模式; //
    //设置波特率 250K
    CAN_InitStructure.CAN_SJW=tsjw; //重新同步跳跃宽度(Tsjw)为tsjw+1个时间单位  CAN_SJW_1tq    CAN_SJW_2tq CAN_SJW_3tq CAN_SJW_4tq
    CAN_InitStructure.CAN_BS1=tbs1; //Tbs1=tbs1+1个时间单位CAN_BS1_1tq ~CAN_BS1_16tq
    CAN_InitStructure.CAN_BS2=tbs2;//Tbs2=tbs2+1个时间单位CAN_BS2_1tq ~ CAN_BS2_8tq
    CAN_InitStructure.CAN_Prescaler=brp;          //分频系数(Fdiv)为brp+1 //
    CAN_Init(CAN1, &CAN_InitStructure);          // 初始化CAN1

CAN_FilterInitStructure.CAN_FilterNumber=0;    //过滤器0
   CAN_FilterInitStructure.CAN_FilterMode=CAN_FilterMode_IdList;
    CAN_FilterInitStructure.CAN_FilterScale=CAN_FilterScale_32bit; //32位
    CAN_FilterInitStructure.CAN_FilterIdHigh=(((u32)ext_id<<3)&0xFFFF0000)>>16;
      CAN_FilterInitStructure.CAN_FilterIdLow=(((u32)ext_id<<3)|CAN_ID_EXT|CAN_RTR_DATA)&0xFFFF;
      CAN_FilterInitStructure.CAN_FilterMaskIdHigh=0XFFFF;//32位MASK
    CAN_FilterInitStructure.CAN_FilterMaskIdLow=0xFFFF;
    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

    NVIC_InitStructure.NVIC_IRQChannel = USB_LP_CAN1_RX0_IRQn;
    NVIC_InitStructure.NVIC_IRQChannelPreemptionPriority = 1;    // 主优先级为1
    NVIC_InitStructure.NVIC_IRQChannelSubPriority = 0;          // 次优先级为0
    NVIC_InitStructure.NVIC_IRQChannelCmd = ENABLE;
    NVIC_Init(&NVIC_InitStructure);

   CAN_ITConfig(CAN1,CAN_IT_FMP0, ENABLE);  //FIFO0 消息挂号中断屏蔽  FIFO0消息挂号中断允许

return 0;
}

void USB_LP_CAN1_RX0_IRQHandler(void)
{
u8 Rxhead=0;
u8 i=0;
CanRxMsg RxMessage;

CAN_Receive(CAN1, 0, &RxMessage);
Rxhead=RxMessage.Data[0];//通过Rxhead来进行数据分类
switch(Rxhead)//做数据分类存储
{
case CarTrye1://左前轮
{
for(i=0;i<8;i++)
{
Tyre1[i]=RxMessage.Data[i];
}
break;
}
case CarTrye2://右前轮
{
for(i=0;i<8;i++)
{
Tyre2[i]=RxMessage.Data[i];
}
break;
}
case CarTrye3://左后外
{
for(i=0;i<8;i++)
{
Tyre3[i]=RxMessage.Data[i];
}
break;
}
case CarTrye4://左后内
{
for(i=0;i<8;i++)
{
Tyre4[i]=RxMessage.Data[i];
}
break;
}
case CarTrye5://右后内
{
for(i=0;i<8;i++)
{
Tyre5[i]=RxMessage.Data[i];
}
break;
}
case CarTrye6://右后外
{
for(i=0;i<8;i++)
{
Tyre6[i]=RxMessage.Data[i];
}
break;
}
default:break;
}

CAN_ClearITPendingBit(CAN1,CAN_IT_FF0);//清除中断

}