STM32 CAN，新手请各位帮助分析代码问题，不能正常通信

于佩元 · 发表于 2020-4-8 17:16:51

最近开始做can总线，例程测试没问题，在例程基础上封装了一个发送函数，但是发送不成功，循环发送一个26字节数组，代码如下，CAN_Transmit(CAN1,&TxMessage);返回值0,1,2,4，然后就一直是4.

int main(void)
{
SystemInit(); //éèÖÃÏμí3ê±ÖóÎa72M
// KeyInit();    //°′¼ü1ü½Å3õê¼»ˉ
// LED_GPIO_Config();//LED1ü½Å3õê¼»ˉ
CAN_GPIO_Config();//CAN1ü½Å3õê¼»ˉ
CAN_NVIC_Configuration(); //CANÖD¶Ï3õê¼»ˉ
CAN_INIT();//CA3õê¼»ˉNÄ￡¿é
while(1)
{
   can_tx(canbuf,26);
   Delay(10000);

    }
}

/* CAN3õê¼»ˉ */
void CAN_INIT(void)
{
  CAN_InitTypeDef       CAN_InitStructure;
  CAN_FilterInitTypeDef  CAN_FilterInitStructure;
  CanTxMsg TxMessage;

  /* CAN register init */
  CAN_DeInit(CAN1); //½«íaéèCANμÄè«2¿¼Ä′æÆ÷ÖØéèÎaè±ê¡Öμ
  CAN_StructInit(&CAN_InitStructure);//°ÑCAN_InitStructÖDμÄÃ¿ò»¸ö2Îêy°′è±ê¡Öμìîèë

  /* CAN cell init */
  CAN_InitStructure.CAN_TTCM=DISABLE;//Ã»óDê1Äüê±¼ä′￥·￠Ä￡ê½
  CAN_InitStructure.CAN_ABOM=DISABLE;//Ã»óDê1Äü×Ô¶ˉàëÏß1üàí
  CAN_InitStructure.CAN_AWUM=DISABLE;//Ã»óDê1Äü×Ô¶ˉ»½DÑÄ￡ê½
  CAN_InitStructure.CAN_NART=DISABLE;//Ã»óDê1Äü·Ç×Ô¶ˉÖØ′«Ä￡ê½
  CAN_InitStructure.CAN_RFLM=DISABLE;//Ã»óDê1Äü½óêÕFIFOËø¶¨Ä￡ê½
  CAN_InitStructure.CAN_TXFP=DISABLE;//Ã»óDê1Äü·￠ËíFIFOóÅÏè¼¶
  CAN_InitStructure.CAN_Mode=CAN_Mode_Normal;//CANéèÖÃÎaÕy3￡Ä￡ê½
  CAN_InitStructure.CAN_SJW=CAN_SJW_1tq; //ÖØDÂí¬2½ìøÔ¾¿í¶è1¸öê±¼äμ￥Î»
  CAN_InitStructure.CAN_BS1=CAN_BS1_3tq; //ê±¼ä¶Î1Îa3¸öê±¼äμ￥Î»
  CAN_InitStructure.CAN_BS2=CAN_BS2_2tq; //ê±¼ä¶Î2Îa2¸öê±¼äμ￥Î»
  CAN_InitStructure.CAN_Prescaler=60;  //ê±¼äμ￥Î»3¤¶èÎa60
  CAN_Init(CAN1,&CAN_InitStructure);
                                    //2¨ìØÂêÎa￡o72M/2/60(1+3+2)=0.1 ¼′100K

  /* CAN filter init */
  CAN_FilterInitStructure.CAN_FilterNumber=1;//Ö¸¶¨1yÂËÆ÷Îa1
  CAN_FilterInitStructure.CAN_FilterMode=CAN_FilterMode_IdMask;//Ö¸¶¨1yÂËÆ÷Îa±êê¶·ûÆá±ÎÎ»Ä￡ê½
  CAN_FilterInitStructure.CAN_FilterScale=CAN_FilterScale_32bit;//1yÂËÆ÷Î»¿íÎa32Î»
  CAN_FilterInitStructure.CAN_FilterIdHigh=0x0000;// 1yÂËÆ÷±êê¶·ûμÄ¸ß16Î»Öμ
  CAN_FilterInitStructure.CAN_FilterIdLow=0x0000;//    1yÂËÆ÷±êê¶·ûμÄμí16Î»Öμ
  CAN_FilterInitStructure.CAN_FilterMaskIdHigh=0x0000;//1yÂËÆ÷Æá±Î±êê¶·ûμÄ¸ß16Î»Öμ
  CAN_FilterInitStructure.CAN_FilterMaskIdLow=0x0000;// 1yÂËÆ÷Æá±Î±êê¶·ûμÄμí16Î»Öμ
  CAN_FilterInitStructure.CAN_FilterFIFOAssignment=CAN_FIFO0;// éè¶¨áËÖ¸Ïò1yÂËÆ÷μÄFIFOÎa0
  CAN_FilterInitStructure.CAN_FilterActivation=ENABLE;// ê1Äü1yÂËÆ÷
  CAN_FilterInit(&CAN_FilterInitStructure);// °′éÏÃæμÄ2Îêy3õê¼»ˉ1yÂËÆ÷

  /* CAN FIFO0 message pending interrupt enable */
CAN_ITConfig(CAN1,CAN_IT_FMP0, ENABLE); //ê1ÄüFIFO0ÏûÏ￠1òoÅÖD¶Ï

}

void can_tx(u8* Databuf,u16 num)
{
u16 times = 0;
u8 res = 0;
u8 i = 0;
u16 j = 0;
u8 flag = 0;
  CanTxMsg TxMessage;

times = num/8;
res = num%8;


  TxMessage.StdId=0x00; //±ê×¼±êê¶·ûÎa0x00
  TxMessage.ExtId=0x0000; //à©Õ1±êê¶·û0x0000
  TxMessage.IDE=CAN_ID_EXT;//ê1óÃà©Õ1±êê¶·û
  TxMessage.RTR=CAN_RTR_DATA;//Îaêy¾YÖ¡

  if(times > 0)
{
for (j = 0; j < times; j++)
{
TxMessage.DLC=8; // ÏûÏ￠μÄêy¾Y3¤¶èÎa8¸ö×Ö½ú
for (i = 0; i < 8; i++)
{
TxMessage.Data = Databuf[i+(8*j)];
}
flag=CAN_Transmit(CAN1,&TxMessage); //·￠Ëíêy¾Y
Delay(100);
}
if(res > 0)
{
TxMessage.DLC=res; // ÏûÏ￠μÄêy¾Y3¤¶èÎares¸ö×Ö½ú
for (i = 0; i < res; i++)
{
TxMessage.Data = Databuf[i+(8*j)+res];
}
CAN_Transmit(CAN1,&TxMessage); //·￠Ëíêy¾Y
}

  }
else
{
TxMessage.DLC=res; // ÏûÏ￠μÄêy¾Y3¤¶èÎa8¸ö×Ö½ú
for (i = 0; i < res; i++)
{
TxMessage.Data = Databuf;
}
CAN_Transmit(CAN1,&TxMessage); //·￠Ëíêy¾Y
  }
}