CAN进入不了中断问题，求大神帮忙看下

陆仲文 · 发表于 2018-11-1 19:46:46

本帖最后由陆仲文于 2018-11-1 20:16 编辑

  最近一直在做CAN的相关程序，可是我写的程序一直进不了中断，相关配置和正点原子的对照过，感觉没什么问题，但是就是进不了中断，请大家帮我看下。谢谢大家，另外我还想问下大家配置过STM32F7657IG的CAN3没有？
CAN_HandleTypeDef CAN1_Handler; //CAN1¾ä±ú
CAN_TxHeaderTypeDef    TxMessage;    //·￠ËíÏûÏ￠
CAN_RxHeaderTypeDef    RxMessage;    //½óêÕÏûÏ￠

      extern u8 mydata1[8];
extern u8 mydata2[8];
extern u8 mydata3[8];
extern u8 mydata4[8];
extern u8 mydata[8];

////CAN3õê¼»ˉ
//tsjw:ÖØDÂí¬2½ìøÔ¾ê±¼äμ￥Ôa.·¶Î§:CAN_SJW_1TQ~CAN_SJW_4TQ
//tbs2:ê±¼ä¶Î2μÄê±¼äμ￥Ôa. ·¶Î§:CAN_BS2_1TQ~CAN_BS2_8TQ;
//tbs1:ê±¼ä¶Î1μÄê±¼äμ￥Ôa. ·¶Î§:CAN_BS1_1TQ~CAN_BS1_16TQ
//brp :2¨ìØÂê·ÖÆμÆ÷.·¶Î§:1~1024; tq=(brp)*tpclk1
//2¨ìØÂê=Fpclk1/((tbs1+1+tbs2+1+1)*brp);
//mode:CAN_MODE_NORMAL,ÆÕí¨Ä￡ê½;CAN_MODE_LOOPBACK,»Ø»·Ä￡ê½;
//Fpclk1μÄê±ÖóÔú3õê¼»ˉμÄê±oòéèÖÃÎa54M,èç1ûéèÖÃCAN1_Mode_Init(CAN_SJW_1tq,CAN_BS2_6tq,CAN_BS1_11tq,6,CAN_MODE_LOOPBACK);
//Ôò2¨ìØÂêÎa:54M/((6+11+1)*6)=500Kbps
//·μ»ØÖμ:0,3õê¼»ˉOK;
// ÆäËû,3õê¼»ˉê§°ü;

u8 CAN1_Mode_Init(u32 tsjw,u32 tbs2,u32 tbs1,u16 brp,u32 mode)
{
CAN_FilterTypeDef  CAN1_FilerConf;

CAN1_Handler.Instance=CAN1;
CAN1_Handler.pTxMsg=&TxMessage;    //·￠ËíÏûÏ￠
CAN1_Handler.pRxMsg=&RxMessage;    //½óêÕÏûÏ￠
CAN1_Handler.Init.Prescaler=brp; //·ÖÆμÏμêy(Fdiv)Îabrp+1
CAN1_Handler.Init.Mode=mode;       //Ä￡ê½éèÖÃ
CAN1_Handler.Init.SyncJumpWidth=tsjw;       //ÖØDÂí¬2½ìøÔ¾¿í¶è(Tsjw)Îatsjw+1¸öê±¼äμ￥Î» CAN_SJW_1TQ~CAN_SJW_4TQ
CAN1_Handler.Init.TimeSeg1=tbs1;       //tbs1·¶Î§CAN_BS1_1TQ~CAN_BS1_16TQ
CAN1_Handler.Init.TimeSeg2=tbs2;       //tbs2·¶Î§CAN_BS2_1TQ~CAN_BS2_8TQ
CAN1_Handler.Init.TimeTriggeredMode=DISABLE;    //·Çê±¼ä′￥·￠í¨DÅÄ￡ê½
CAN1_Handler.Init.AutoBusOff=DISABLE;    //èí¼t×Ô¶ˉàëÏß1üàí
CAN1_Handler.Init.AutoWakeUp=DISABLE;    //ËˉÃßÄ￡ê½í¨1yèí¼t»½DÑ(Çå3yCAN->MCRμÄSLEEPÎ»)
CAN1_Handler.Init.AutoRetransmission=ENABLE;    //½ûÖ1±¨ÎÄ×Ô¶ˉ′«Ëí
CAN1_Handler.Init.ReceiveFifoLocked=DISABLE;    //±¨ÎÄ2»Ëø¶¨,DÂμÄ¸2¸Ç¾éμÄ
CAN1_Handler.Init.TransmitFifoPriority=DISABLE;    //óÅÏè¼¶óé±¨ÎÄ±êê¶·û¾ö¶¨
if(HAL_CAN_Init(&CAN1_Handler)!=HAL_OK) return 1; //3õê¼»ˉ

CAN1_FilerConf.FilterIdHigh=0X0000;    //32Î»ID
CAN1_FilerConf.FilterIdLow=0X0000;
CAN1_FilerConf.FilterMaskIdHigh=0X0000; //32Î»MASK
CAN1_FilerConf.FilterMaskIdLow=0X0000;
CAN1_FilerConf.FilterFIFOAssignment=CAN_FILTER_FIFO0;//1yÂËÆ÷01Øáaμ½FIFO0
CAN1_FilerConf.FilterBank=0;       //1yÂËÆ÷0
CAN1_FilerConf.FilterMode=CAN_FILTERMODE_IDMASK;
CAN1_FilerConf.FilterScale=CAN_FILTERSCALE_32BIT;
CAN1_FilerConf.FilterActivation=ENABLE; //¼¤»îÂË2¨Æ÷0
CAN1_FilerConf.SlaveStartFilterBank=14;
if(HAL_CAN_ConfigFilter(&CAN1_Handler,&CAN1_FilerConf)!=HAL_OK) return 2;//ÂË2¨Æ÷3õê¼»ˉ
return 0;
}

//CANμ×2ãÇy¶ˉ￡¬òy½ÅÅäÖÃ￡¬ê±ÖóÅäÖÃ￡¬ÖD¶ÏÅäÖÃ
//′Ëoˉêy»á±»HAL_CAN_Init()μ÷óÃ
//hcan:CAN¾ä±ú

void HAL_CAN_MspInit(CAN_HandleTypeDef* hcan)
{
GPIO_InitTypeDef GPIO_Initure;
__HAL_RCC_CAN1_CLK_ENABLE();             //ê1ÄüCAN1ê±Öó
__HAL_RCC_GPIOA_CLK_ENABLE();       //¿aÆôGPIOAê±Öó

GPIO_Initure.Pin=GPIO_PIN_11|GPIO_PIN_12; //PA11,12
GPIO_Initure.Mode=GPIO_MODE_AF_PP;       //íÆíì¸′óÃ
GPIO_Initure.Pull=GPIO_PULLUP;             //éÏà-
GPIO_Initure.Speed=GPIO_SPEED_FAST;       //¿ìËù
GPIO_Initure.Alternate=GPIO_AF9_CAN1;
HAL_GPIO_Init(GPIOA,&GPIO_Initure);       //3õê¼»ˉ




#if CAN1_RX0_INT_ENABLE
__HAL_CAN_ENABLE_IT(&CAN1_Handler,CAN_IT_RX_FIFO0_MSG_PENDING);//FIFO0ÏûÏ￠1òoÅÖD¶ÏÔêDí.
HAL_NVIC_SetPriority(CAN1_RX0_IRQn,1,2); //ÇàÕ¼óÅÏè¼¶1￡¬×óóÅÏè¼¶2
HAL_NVIC_EnableIRQ(CAN1_RX0_IRQn);       //ê1ÄüÖD¶Ï
#endif
}
#if CAN1_RX0_INT_ENABLE                      //ê1ÄüRX0ÖD¶Ï
//CANÖD¶Ï·tÎñoˉêy
void CAN1_RX0_IRQHandler(void)
{
HAL_CAN_IRQHandler(&CAN1_Handler);//′Ëoˉêy»áμ÷óÃCAN_Receive_IT()½óêÕêy¾Y
}

//CANÖD¶Ï′|àí1y3ì
//′Ëoˉêy»á±»CAN_Receive_IT()μ÷óÃ
//hcan:CAN¾ä±ú
void HAL_CAN_RxFifo0MsgPendingCallback(CAN_HandleTypeDef* hcan)
{
int b=0;
   int a=0;

//CAN_Receive_IT()oˉêy»á1Ø±ÕFIFO0ÏûÏ￠1òoÅÖD¶Ï￡¬òò′ËÎòÃÇDèòaÖØDÂ′ò¿a
__HAL_CAN_ENABLE_IT(&CAN1_Handler,CAN_IT_RX_FIFO0_MSG_PENDING);//ÖØDÂ¿aÆôFIF00ÏûÏ￠1òoÅÖD¶Ï

switch(CAN1_Handler.pRxMsg->StdId)
{
case 0x190:

for(b=0;b<8;b++)
{
      mydata1=CAN1_Handler.pRxMsg->aData;
}
a=0;
   for(b=0;b<4;b++)
      {
   mydata[a++]=((int)mydata1[2*b]<<8)+mydata1[2*b+1];
   }
break;
case 0x191:

for(b=0;b<8;b++)
{
mydata2=CAN1_Handler.pRxMsg->aData;
}
a=4;
   for(b=0;b<4;b++)
      {
   mydata[a++]=((int)mydata2[2*b]<<8)+mydata2[2*b+1];
   }

break;
case 0x170:
for(b=0;b<8;b++)
{
mydata3=CAN1_Handler.pRxMsg->aData;
}
a=8;
   for(b=0;b<4;b++)
      {
   mydata[a++]=((int)mydata3[2*b]<<8)+mydata3[2*b+1];
   }
break;
case 0x171:
for(b=0;b<8;b++)
{
mydata4=CAN1_Handler.pRxMsg->aData;
}
a=12;
   for(b=0;b<4;b++)
      {
   mydata[a++]=((int)mydata4[2*b]<<8)+mydata4[2*b+1];
   }
break;
default:
//printf("id:%d\r\n",CAN1_Handler.pRxMsg->StdId);

break;
}

}