can用正常模式，上位接收不到数据，回环模式就行，请问怎么解决

775647194 · 发表于 2015-12-26 10:34:26

我用的原子开发板的例程调can,用usb转can,连接电脑和开发板，回环模式可以收到下位发的，正常模式就不行，请问这是怎么回事，要怎么解决，原码如下：
#include "led.h"
#include "delay.h"
#include "key.h"
#include "sys.h"
#include "lcd.h"
#include "usart.h"
#include "can.h"

//ALIENTEK战舰STM32开发板实验25
//CAN 实验
//技术支持：www.openedv.com
//广州市星翼电子科技有限公司

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;
#if CAN_RX0_INT_ENABLE
   NVIC_InitTypeDef  NVIC_InitStructure;
#endif

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_Speed = GPIO_Speed_50MHz;
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=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： mode:0,普通模式;1,回环模式; //
    //设置波特率
    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_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(&CAN_FilterInitStructure);//滤波器初始化
#if CAN_RX0_INT_ENABLE

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

    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);
#endif
return 0;
}

int main(void)
{
u8 key;
u8 i=0,t=0;
u8 cnt=0;
u8 canbuf[8];
u8 res;
u8 mode=CAN_Mode_LoopBack;//CAN工作模式;CAN_Mode_Normal(0)：普通模式，CAN_Mode_LoopBack(1)：环回模式

delay_init();            //延时函数初始化
NVIC_Configuration();    //设置NVIC中断分组2:2位抢占优先级，2位响应优先级
uart_init(9600);      //串口初始化为9600
LED_Init();       //初始化与LED连接的硬件接口
LCD_Init();    //初始化LCD
KEY_Init(); //按键初始化

CAN_Mode_Init(CAN_SJW_1tq,CAN_BS2_8tq,CAN_BS1_6tq,6,CAN_OperatingMode_Normal);//CAN初始化环回模式,波特率450Kbps

POINT_COLOR=RED;//设置字体为红色
LCD_ShowString(60,50,200,16,16,"WarShip STM32");
LCD_ShowString(60,70,200,16,16,"CAN TEST");
LCD_ShowString(60,90,200,16,16,"ATOM@ALIENTEK");
LCD_ShowString(60,110,200,16,16,"2012/9/11");
LCD_ShowString(60,130,200,16,16,"LoopBack Mode");
LCD_ShowString(60,150,200,16,16,"KEY0:Send WK_UP:Mode");//显示提示信息
  POINT_COLOR=BLUE;//设置字体为蓝色
LCD_ShowString(60,170,200,16,16,"Count:"); //显示当前计数值
LCD_ShowString(60,190,200,16,16,"Send Data:"); //提示发送的数据
LCD_ShowString(60,250,200,16,16,"Receive Data:"); //提示接收到的数据
while(1)
{

key=KEY_Scan(0);
if(key==KEY_RIGHT)//KEY0按下,发送一次数据
{
for(i=0;i<8;i++)
{
canbuf=cnt+i;//填充发送缓冲区
if(i<4)LCD_ShowxNum(60+i*32,210,canbuf,3,16,0X80); //显示数据
else LCD_ShowxNum(60+(i-4)*32,230,canbuf,3,16,0X80); //显示数据
}
res=Can_Send_Msg(canbuf,8);//发送8个字节
if(res)LCD_ShowString(60+80,190,200,16,16,"Failed"); //提示发送失败
else LCD_ShowString(60+80,190,200,16,16,"OK ");      //提示发送成功
}else if(key==KEY_UP)//WK_UP按下，改变CAN的工作模式
{
mode=!mode;
    CAN_Mode_Init(CAN_SJW_1tq,CAN_BS2_8tq,CAN_BS1_6tq,6,mode);//CAN普通模式初始化, 波特率450Kbps
POINT_COLOR=RED;//设置字体为红色
if(mode==0)//普通模式，需要2个开发板
{
LCD_ShowString(60,130,200,16,16,"Nnormal Mode ");
}else //回环模式,一个开发板就可以测试了.
{
LCD_ShowString(60,130,200,16,16,"LoopBack Mode");
}
POINT_COLOR=BLUE;//设置字体为蓝色
}
key=Can_Receive_Msg(canbuf);
if(key)//接收到有数据
{
LCD_Fill(60,270,130,310,WHITE);//清除之前的显示
for(i=0;i<key;i++)
{
if(i<4)LCD_ShowxNum(60+i*32,270,canbuf,3,16,0X80); //显示数据
else LCD_ShowxNum(60+(i-4)*32,290,canbuf,3,16,0X80); //显示数据
}
}
t++;
delay_ms(10);
if(t==20)
{
LED0=!LED0;//提示系统正在运行
t=0;
cnt++;
LCD_ShowxNum(60+48,170,cnt,3,16,0X80); //显示数据
}
}
}