STM32F107两个can口通信，CAN没有波形

pengpotter · 发表于 2014-10-29 20:37:14

我在stm32f107板子上，把两个can口连接起来，然后一开始直接用的裸跑不加ucos，可以正常的运行；
然后加上了ucos之后，同样的配置程序，结果发现没法进入can接收中断函数，但是其他的中断函数，比如串口中断都正常；
后来用示波器测了下，can1的两个管脚就没有波形；但是can的配置函数和之前裸跑的一模一样的，区别在于之前裸跑的库是3.3，现在是3.5；下面的是我的和can有关的配置函数
can配置函数（1）

[mw_shl_code=c,true] RCC_APB2PeriphClockCmd(RCC_APB2Periph_AFIO | RCC_APB2Periph_GPIOD | RCC_APB2Periph_GPIOB, ENABLE); RCC_APB1PeriphClockCmd(RCC_APB1Periph_CAN1 | RCC_APB1Periph_CAN2, ENABLE); /* CAN register init */ CAN_DeInit(CAN1); CAN_DeInit(CAN2); CAN_StructInit(&CAN_InitStructure); //CAN1 cell init 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_3tq; CAN_InitStructure.CAN_BS2 = CAN_BS2_5tq; CAN_InitStructure.CAN_Prescaler = 4; CAN_Init(CAN1, &CAN_InitStructure); CAN_Init(CAN2, &CAN_InitStructure); //* CAN1 filter init CAN_FilterInitStructure.CAN_FilterNumber = 0; CAN_FilterInitStructure.CAN_FilterMode = CAN_FilterMode_IdMask; CAN_FilterInitStructure.CAN_FilterScale = CAN_FilterScale_32bit; CAN_FilterInitStructure.CAN_FilterIdHigh = 0x0000; CAN_FilterInitStructure.CAN_FilterIdLow = 0x0000; CAN_FilterInitStructure.CAN_FilterMaskIdHigh = 0x0000; CAN_FilterInitStructure.CAN_FilterMaskIdLow = 0x0000; CAN_FilterInitStructure.CAN_FilterFIFOAssignment = 0; CAN_FilterInitStructure.CAN_FilterActivation = ENABLE; CAN_FilterInit(&CAN_FilterInitStructure); //* CAN2 filter init CAN_FilterInitStructure.CAN_FilterNumber = 14; CAN_FilterInit(&CAN_FilterInitStructure);[/mw_shl_code]

CAN IO口的配置

[mw_shl_code=c,true]GPIO_InitTypeDef GPIO_InitStructure; RCC_APB2PeriphClockCmd(RCC_APB2Periph_GPIOD | RCC_APB2Periph_GPIOB | RCC_APB2Periph_GPIOE | RCC_APB2Periph_GPIOA ,ENABLE); /* Configure CAN1 RX pin */ GPIO_InitStructure.GPIO_Pin = GPIO_Pin_0; GPIO_InitStructure.GPIO_Mode = GPIO_Mode_IPU; GPIO_Init(GPIOD, &GPIO_InitStructure); /* Configure CAN2 RX pin */ GPIO_InitStructure.GPIO_Pin = GPIO_Pin_5; GPIO_Init(GPIOB, &GPIO_InitStructure); /* Configure CAN1 TX pin */ GPIO_InitStructure.GPIO_Pin = GPIO_Pin_1; GPIO_InitStructure.GPIO_Mode = GPIO_Mode_AF_PP; GPIO_InitStructure.GPIO_Speed = GPIO_Speed_50MHz; GPIO_Init(GPIOD, &GPIO_InitStructure); /* Configure CAN2 TX pin */ GPIO_InitStructure.GPIO_Pin = GPIO_Pin_6; GPIO_Init(GPIOB, &GPIO_InitStructure); /* Remap CAN1 and CAN2 GPIOs */ GPIO_PinRemapConfig(GPIO_Remap2_CAN1 , ENABLE); GPIO_PinRemapConfig(GPIO_Remap_CAN2, ENABLE);[/mw_shl_code]

NVIC的配置

[mw_shl_code=c,true]NVIC_InitTypeDef NVIC_InitStructure; NVIC_PriorityGroupConfig(NVIC_PriorityGroup_1); /* Configure the NVIC Preemption Priority Bits */ NVIC_InitStructure.NVIC_IRQChannel = USART1_IRQn; NVIC_InitStructure.NVIC_IRQChannelPreemptionPriority=0x01 ; NVIC_InitStructure.NVIC_IRQChannelSubPriority = 3; // NVIC_InitStructure.NVIC_IRQChannelCmd = ENABLE; NVIC_Init(&NVIC_InitStructure); // NVIC_InitStructure.NVIC_IRQChannel = CAN1_RX0_IRQn; NVIC_InitStructure.NVIC_IRQChannelPreemptionPriority=0x01 ; NVIC_InitStructure.NVIC_IRQChannelSubPriority = 3; // NVIC_InitStructure.NVIC_IRQChannelCmd = ENABLE; NVIC_Init(&NVIC_InitStructure); NVIC_InitStructure.NVIC_IRQChannel = CAN2_RX0_IRQn; NVIC_InitStructure.NVIC_IRQChannelPreemptionPriority=0x01 ; NVIC_InitStructure.NVIC_IRQChannelSubPriority = 3; // NVIC_InitStructure.NVIC_IRQChannelCmd = ENABLE; NVIC_Init(&NVIC_InitStructure); [/mw_shl_code]

其他配置

[mw_shl_code=c,true] CAN_Config(); CAN_ITConfig(CAN1, CAN_IT_FMP0, ENABLE); CAN_ITConfig(CAN2, CAN_IT_FMP0, ENABLE);[/mw_shl_code]

在发送的时候，我是在APP.C声明了一个CanTxMsg TxMessage的全局变量,然后在一个任务里面每隔3ms就循环发送

[mw_shl_code=c,true]while(1) { TxMessage.Data[0] = 0x55; CAN_Transmit(CAN1, &TxMessage); OSTimeDlyHMSM(0,0,0,3); TxMessage.Data[0] = 0xAA; CAN_Transmit(CAN2, &TxMessage); OSTimeDlyHMSM(0,0,0,3); printf("Can Task"); }[/mw_shl_code]

“Can Task”可以不停的打印出来，但是Can1口和Can2口没有波形，也进不去中断

各位帮忙给看下，可能是什么地方出的问题，谢谢！！

各位，这个我前前后后查了真的两天了，实在是找不到什么地方出错了，附近里面是工程。希望有人能下下来帮我看下，非常的感谢！
（这个工程就俩TASK，一个是点亮led，一个是循环CAN发送）