STM32F413 CAN通讯问题，同一个程序烧录407可以正常通信，但是F413就是不行

hl18810539280 · 发表于 2023-5-15 13:19:02

芯片：STM32F413VGTxsysclk=100Mhx
APB1：50Mhz
APB2：100Mhz
标准库版本：V1.9

问题：CAN3（引脚PB3、PB4）正常模式收发正常
      CAN2（引脚PB5、PB6）正常模式可以发送，接收不能触发中断
      CAN1（引脚PB8、PB9）环回模式正常收发，正常模式不能发送和接收。
补充：1.CAN1正常模式发送会占据发送邮箱（数据已经发送到发送邮箱了，数据就是发送不出去），若是按照原子哥的例程发送会在第三次发送时（三个发送邮箱全部沾满）卡死在while（***）循环里，所以程序屏蔽掉语句：“while(mbox==CAN_TxStatus_NoMailBox)mbox= CAN_Transmit(CAN1, &TxMessage); //判断发送邮箱是否为空，不为空则死等  ”
2.CAN1->TSR，在三次发送时状态(未屏蔽掉上述语句时)是0x19000000,0x52000000,0x82000000
3.同一个程序烧录到STM32F407VETx （由于407系统时钟分频高，CAN时钟频率低，所以调整时钟置上述时钟频率，其他配置不变情况下）CAN1、CAN2可以正常模式正常收发，
大神能不能分析下问题出在哪了，想要工程文件分析的可以留言。
谢谢！谢谢！！谢谢！！！

u8 CAN1_Mode_Init(u8 tsjw,u8 tbs2,u8 tbs1,u16 brp,u8 mode)
{

    GPIO_InitTypeDef GPIO_InitStructure;
   CAN_InitTypeDef       CAN_InitStructure;
    CAN_FilterInitTypeDef  CAN_FilterInitStructure;
#if CAN1_RX0_INT_ENABLE
   NVIC_InitTypeDef  NVIC_InitStructure;

#endif
//使能相关时钟
   RCC_AHB1PeriphClockCmd(RCC_AHB1Periph_GPIOB, ENABLE);//使能PORTA时钟

    RCC_APB1PeriphClockCmd(RCC_APB1Periph_CAN1, ENABLE);//使能CAN1时钟

CAN_DeInit(CAN1);

   //引脚复用映射配置
   GPIO_PinAFConfig(GPIOB,GPIO_PinSource8,GPIO_AF_CAN1); //GPIOA11复用为CAN1
   GPIO_PinAFConfig(GPIOB,GPIO_PinSource9,GPIO_AF_CAN1); //GPIOA12复用为CAN1

   //初始化GPIO
   GPIO_InitStructure.GPIO_Pin = GPIO_Pin_8| GPIO_Pin_9;
GPIO_InitStructure.GPIO_Mode = GPIO_Mode_AF;//复用功能
GPIO_InitStructure.GPIO_OType = GPIO_OType_PP;//推挽输出
GPIO_InitStructure.GPIO_Speed = GPIO_Speed_100MHz;//100MHz
GPIO_InitStructure.GPIO_PuPd = GPIO_PuPd_UP;//上拉
GPIO_Init(GPIOB, &GPIO_InitStructure);//初始化PB8,PB9

    //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=ENABLE; //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
    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_4tq
    CAN_InitStructure.CAN_BS1=tbs1; //Tbs1范围CAN_BS1_1tq ~CAN_BS1_16tq
    CAN_InitStructure.CAN_BS2=tbs2;//Tbs2范围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

//配置过滤器
   CAN_FilterInitStructure.CAN_FilterNumber=0;    //过滤器0
    CAN_FilterInitStructure.CAN_FilterMode=CAN_FilterMode_IdMask;  ////选择屏蔽位模式
    CAN_FilterInitStructure.CAN_FilterScale=CAN_FilterScale_32bit; ////设置过滤器为1个32位
    CAN_FilterInitStructure.CAN_FilterIdHigh=0x0000;////32位ID
    CAN_FilterInitStructure.CAN_FilterIdLow=0x0000;
    CAN_FilterInitStructure.CAN_FilterMaskIdHigh=0x0000;//32位MASK
    CAN_FilterInitStructure.CAN_FilterMaskIdLow=0x0000;
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(CAN1,&CAN_FilterInitStructure);//滤波器初始化

#if CAN1_RX0_INT_ENABLE
CAN_ITConfig(CAN1,CAN_IT_FMP0,ENABLE);//FIFO0消息挂号中断允许.

    NVIC_InitStructure.NVIC_IRQChannel = CAN1_RX0_IRQn;
    NVIC_InitStructure.NVIC_IRQChannelPreemptionPriority = 2;    // 主优先级为1
    NVIC_InitStructure.NVIC_IRQChannelSubPriority = 1;          // 次优先级为0
    NVIC_InitStructure.NVIC_IRQChannelCmd = ENABLE;
    NVIC_Init(&NVIC_InitStructure);
#endif
return 0;
}

//CAN初始化
//tsjw:重新同步跳跃时间单元.范围:CAN_SJW_1tq~ CAN_SJW_4tq
//tbs2:时间段2的时间单元. 范围:CAN_BS2_1tq~CAN_BS2_8tq;
//tbs1:时间段1的时间单元. 范围:CAN_BS1_1tq ~CAN_BS1_16tq
//brp :波特率分频器.范围:1~1024; tq=(brp)*tpclk1
//波特率=Fpclk1/((tbs1+1+tbs2+1+1)*brp);
//mode:CAN_Mode_Normal,普通模式;CAN_Mode_LoopBack,回环模式;
//Fpclk1的时钟在初始化的时候设置为50M,如果设置CAN1_Mode_Init(CAN_SJW_1tq,CAN_BS2_6tq,CAN_BS1_7tq,6,CAN_Mode_LoopBack);
//则波特率为:50M/((6+7+1)*6)=500Kbps
//返回值:0,初始化OK;
// 其他,初始化失败;
u8 CAN2_Mode_Init(u8 tsjw,u8 tbs2,u8 tbs1,u16 brp,u8 mode)
{

    GPIO_InitTypeDef    GPIO_InitStructure;
   CAN_InitTypeDef       CAN_InitStructure;
    CAN_FilterInitTypeDef  CAN_FilterInitStructure;
#if CAN2_RX0_INT_ENABLE
   NVIC_InitTypeDef    NVIC_InitStructure;
#endif
//使能相关时钟
   RCC_AHB1PeriphClockCmd(RCC_AHB1Periph_GPIOB, ENABLE);//使能PORTB时钟
    RCC_APB1PeriphClockCmd(RCC_APB1Periph_CAN2|RCC_APB1Periph_CAN1, ENABLE);//使能CAN2时钟

//CAN_DeInit(CAN2);

//初始化GPIO
   GPIO_InitStructure.GPIO_Pin = GPIO_Pin_5| GPIO_Pin_6;
GPIO_InitStructure.GPIO_Mode = GPIO_Mode_AF;//复用功能
GPIO_InitStructure.GPIO_OType = GPIO_OType_PP;//推挽输出
GPIO_InitStructure.GPIO_Speed = GPIO_Speed_100MHz;//100MHz
GPIO_InitStructure.GPIO_PuPd = GPIO_PuPd_UP;//上拉
GPIO_Init(GPIOB, &GPIO_InitStructure);//初始化PB5,PB6

   //引脚复用映射配置
   GPIO_PinAFConfig(GPIOB,GPIO_PinSource5,GPIO_AF_CAN2); //GPIOB5复用为CAN2
   GPIO_PinAFConfig(GPIOB,GPIO_PinSource6,GPIO_AF_CAN2); //GPIOB6复用为CAN2

    //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=ENABLE; //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
    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_4tq
    CAN_InitStructure.CAN_BS1=tbs1; //Tbs1范围CAN_BS1_1tq ~CAN_BS1_16tq
    CAN_InitStructure.CAN_BS2=tbs2;//Tbs2范围CAN_BS2_1tq ~ CAN_BS2_8tq
    CAN_InitStructure.CAN_Prescaler=brp;  //分频系数(Fdiv)为brp+1
    CAN_Init(CAN2, &CAN_InitStructure); // 初始化CAN2

//配置过滤器
   CAN_FilterInitStructure.CAN_FilterNumber=15;    //过滤器14-27
    CAN_FilterInitStructure.CAN_FilterMode=CAN_FilterMode_IdMask;
    CAN_FilterInitStructure.CAN_FilterScale=CAN_FilterScale_32bit; //32位
    CAN_FilterInitStructure.CAN_FilterIdHigh=0x0000;////32位ID
    CAN_FilterInitStructure.CAN_FilterIdLow=0x0000;//
    CAN_FilterInitStructure.CAN_FilterMaskIdHigh=0x0000;//32位MASK
    CAN_FilterInitStructure.CAN_FilterMaskIdLow=0x0000;
   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(CAN2,&CAN_FilterInitStructure);//滤波器初始化
#if CAN2_RX0_INT_ENABLE
   CAN_ITConfig(CAN2,CAN_IT_FMP0,ENABLE);//FIFO0消息挂号中断允许.

    NVIC_InitStructure.NVIC_IRQChannel = CAN2_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);
#endif
return 0;
}
//CAN初始化
//tsjw:重新同步跳跃时间单元.范围:CAN_SJW_1tq~ CAN_SJW_4tq
//tbs2:时间段2的时间单元. 范围:CAN_BS2_1tq~CAN_BS2_8tq;
//tbs1:时间段1的时间单元. 范围:CAN_BS1_1tq ~CAN_BS1_16tq
//brp :波特率分频器.范围:1~1024; tq=(brp)*tpclk1
//波特率=Fpclk1/((tbs1+1+tbs2+1+1)*brp);
//mode:CAN_Mode_Normal,普通模式;CAN_Mode_LoopBack,回环模式;
//Fpclk1的时钟在初始化的时候设置为50M,如果设置CAN1_Mode_Init(CAN_SJW_1tq,CAN_BS2_6tq,CAN_BS1_7tq,6,CAN_Mode_LoopBack);
//则波特率为:50M/((6+7+1)*6)=500Kbps
//返回值:0,初始化OK;
// 其他,初始化失败;
u8 CAN3_Mode_Init(u8 tsjw,u8 tbs2,u8 tbs1,u16 brp,u8 mode)
{

    GPIO_InitTypeDef GPIO_InitStructure;
   CAN_InitTypeDef       CAN_InitStructure;
    CAN_FilterInitTypeDef  CAN_FilterInitStructure;
#if CAN3_RX0_INT_ENABLE
   NVIC_InitTypeDef  NVIC_InitStructure;
#endif
//使能相关时钟
   RCC_AHB1PeriphClockCmd(RCC_AHB1Periph_GPIOB, ENABLE);//使能PORTB时钟
    RCC_APB1PeriphClockCmd(RCC_APB1Periph_CAN3, ENABLE);//使能CAN3时钟

//CAN_DeInit(CAN3);

//初始化GPIO
   GPIO_InitStructure.GPIO_Pin = GPIO_Pin_3| GPIO_Pin_4;
GPIO_InitStructure.GPIO_Mode = GPIO_Mode_AF;//复用功能
GPIO_InitStructure.GPIO_OType = GPIO_OType_PP;//推挽输出
GPIO_InitStructure.GPIO_Speed = GPIO_Speed_100MHz;//100MHz
GPIO_InitStructure.GPIO_PuPd = GPIO_PuPd_UP;//上拉
GPIO_Init(GPIOB, &GPIO_InitStructure);//初始化PA11,PA12

   //引脚复用映射配置
   GPIO_PinAFConfig(GPIOB,GPIO_PinSource3,GPIO_AF11_CAN3); //GPIOB8复用为CAN3
   GPIO_PinAFConfig(GPIOB,GPIO_PinSource4,GPIO_AF11_CAN3); //GPIOB9复用为CAN3

    //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=ENABLE; //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
    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_4tq
    CAN_InitStructure.CAN_BS1=tbs1; //Tbs1范围CAN_BS1_1tq ~CAN_BS1_16tq
    CAN_InitStructure.CAN_BS2=tbs2;//Tbs2范围CAN_BS2_1tq ~ CAN_BS2_8tq
    CAN_InitStructure.CAN_Prescaler=brp;  //分频系数(Fdiv)为brp+1
    CAN_Init(CAN3, &CAN_InitStructure); // 初始化CAN3

//配置过滤器
   CAN_FilterInitStructure.CAN_FilterNumber=0;    //过滤器0
    CAN_FilterInitStructure.CAN_FilterMode=CAN_FilterMode_IdMask;
    CAN_FilterInitStructure.CAN_FilterScale=CAN_FilterScale_32bit; //32位
    CAN_FilterInitStructure.CAN_FilterIdHigh=0x0000;////32位ID
    CAN_FilterInitStructure.CAN_FilterIdLow=0x0000;
    CAN_FilterInitStructure.CAN_FilterMaskIdHigh=0x0000;//32位MASK//只看0x1800f001中00f0 16bit完全一致就可以
    CAN_FilterInitStructure.CAN_FilterMaskIdLow=0x0000;
   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(CAN3,&CAN_FilterInitStructure);//滤波器初始化
#if CAN3_RX0_INT_ENABLE
   CAN_ITConfig(CAN3,CAN_IT_FMP0,ENABLE);//FIFO0消息挂号中断允许.

    NVIC_InitStructure.NVIC_IRQChannel = CAN3_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);
#endif
return 0;
}

u8 CAN1_Send_Msg(u32 ISOPDUID,u8* msg,u8 len)
{
  u8 mbox;
  u16 i=0;
  CanTxMsg TxMessage;
  TxMessage.StdId=0x12;      // 标准标识符为0
  TxMessage.ExtId=ISOPDUID;      // 设置扩展标示符（29位）
  TxMessage.IDE=CAN_Id_Extended;    // 使用扩展标识符标准帧为CAN_Id_Standard
  TxMessage.RTR=CAN_RTR_Data;       // 消息类型为数据帧，一帧8位
  TxMessage.DLC=len;      // 发送两帧信息
  for(i=0;i<len;i++)
  TxMessage.Data[i]=msg[i];      // 第一帧信息

  mbox= CAN_Transmit(CAN1, &TxMessage);
//  while(mbox==CAN_TxStatus_NoMailBox)mbox= CAN_Transmit(CAN1, &TxMessage); //判断发送邮箱是否为空，不为空则死等
  i=0;
  while((CAN_TransmitStatus(CAN1, mbox)==CAN_TxStatus_Failed)&&(i<0XFFF))i++; //等待发送结束
  if(i>=0XFFF)return 1;
  return 0;

}

主函数：
      CAN1_Mode_Init(CAN_SJW_1tq,CAN_BS2_7tq,CAN_BS1_12tq,20,CAN_Mode_Normal);  //50M/((7+12+1)*10)=250Kbps  CAN_Mode_LoopBack
CAN2_Mode_Init(CAN_SJW_1tq,CAN_BS2_7tq,CAN_BS1_12tq,20,CAN_Mode_Normal);//50M/((6+13+1)*20)=125Kbps CAN_Mode_Normal
CAN3_Mode_Init(CAN_SJW_1tq,CAN_BS2_7tq,CAN_BS1_12tq,20,CAN_Mode_Normal);//50M/((6+13+1)*10)=125Kbps