stm32f105 can双机通讯

单片机菜鸟 · 发表于 2016-5-4 16:41:33

各位大哥大姐好，本人现在在调stm32f105 can的双机通讯，一直调不通，程序是根据原子大哥的程序来的。两块板的can配置如下：

#define CAN1_RX0_INT_ENABLE 1

void Can1_Init(void)
{
GPIO_InitTypeDef GPIO_InitStructure;
CAN_InitTypeDef CAN_InitStructure;
CAN_FilterInitTypeDef  CAN_FilterInitStructure;
#if CAN1_RX0_INT_ENABLE
NVIC_InitTypeDef  NVIC_InitStructure;
#endif

RCC_APB2PeriphClockCmd(RCC_APB2Periph_GPIOA, ENABLE);
RCC_APB1PeriphClockCmd(RCC_APB1Periph_CAN1, ENABLE);

GPIO_InitStructure.GPIO_Pin = GPIO_Pin_11;
GPIO_InitStructure.GPIO_Speed = GPIO_Speed_50MHz;
  GPIO_InitStructure.GPIO_Mode = GPIO_Mode_IPU; //¸′óÃíÆíìêä3ö
  GPIO_Init(GPIOA, &GPIO_InitStructure);//3õê¼»ˉGPIOA.9

  GPIO_InitStructure.GPIO_Pin = GPIO_Pin_12; //PA.9
  GPIO_InitStructure.GPIO_Speed = GPIO_Speed_50MHz;
  GPIO_InitStructure.GPIO_Mode = GPIO_Mode_AF_PP; //¸′óÃíÆíìêä3ö
  GPIO_Init(GPIOA, &GPIO_InitStructure);//3õê¼»ˉGPIOA.9

CAN_DeInit(CAN1);
CAN_StructInit(&CAN_InitStructure);
    //CANμ￥ÔaéèÖÃ
   CAN_InitStructure.CAN_TTCM=DISABLE; //·Çê±¼ä′￥·￠í¨DÅÄ￡ê½
    CAN_InitStructure.CAN_ABOM=DISABLE; //èí¼t×Ô¶ˉàëÏß1üàí
    CAN_InitStructure.CAN_AWUM=DISABLE;//ËˉÃßÄ￡ê½í¨1yèí¼t»½DÑ(Çå3yCAN->MCRμÄSLEEPÎ»)
    CAN_InitStructure.CAN_NART=ENABLE; //½ûÖ1±¨ÎÄ×Ô¶ˉ′«Ëí
    CAN_InitStructure.CAN_RFLM=DISABLE; //±¨ÎÄ2»Ëø¶¨,DÂμÄ¸2¸Ç¾éμÄ
    CAN_InitStructure.CAN_TXFP=DISABLE; //óÅÏè¼¶óé±¨ÎÄ±êê¶·û¾ö¶¨
    CAN_InitStructure.CAN_Mode= CAN_Mode_Normal;    //Ä￡ê½éèÖÃ
// CAN_InitStructure.CAN_Mode= CAN_Mode_LoopBack;    //Ä￡ê½éèÖÃ

    CAN_InitStructure.CAN_SJW=CAN_SJW_1tq; //ÖØDÂí¬2½ìøÔ¾¿í¶è(Tsjw)Îatsjw+1¸öê±¼äμ￥Î» CAN_SJW_1tq~CAN_SJW_4tq
    CAN_InitStructure.CAN_BS1=CAN_BS1_8tq; //Tbs1·¶Î§CAN_BS1_1tq ~CAN_BS1_16tq
    CAN_InitStructure.CAN_BS2=CAN_BS2_7tq;//Tbs2·¶Î§CAN_BS2_1tq ~ CAN_BS2_8tq
    CAN_InitStructure.CAN_Prescaler=45;  //·ÖÆμÏμêy(Fdiv)Îabrp+1
    CAN_Init(CAN1, &CAN_InitStructure); // 3õê¼»ˉCAN1

//ÅäÖÃ1yÂËÆ÷
   CAN_FilterInitStructure.CAN_FilterNumber=0;    //1yÂËÆ÷0
    CAN_FilterInitStructure.CAN_FilterMode=CAN_FilterMode_IdMask;
    CAN_FilterInitStructure.CAN_FilterScale=CAN_FilterScale_32bit; //32Î»
    CAN_FilterInitStructure.CAN_FilterIdHigh=0x0000;////32Î»ID
    CAN_FilterInitStructure.CAN_FilterIdLow=0x0000;
    CAN_FilterInitStructure.CAN_FilterMaskIdHigh=0x0000;//32Î»MASK
    CAN_FilterInitStructure.CAN_FilterMaskIdLow=0x0000;
   CAN_FilterInitStructure.CAN_FilterFIFOAssignment=CAN_Filter_FIFO0;//1yÂËÆ÷01Øáaμ½FIFO0
    CAN_FilterInitStructure.CAN_FilterActivation=ENABLE; //¼¤»î1yÂËÆ÷0
    CAN_FilterInit(&CAN_FilterInitStructure);//ÂË2¨Æ÷3õê¼»ˉ

#if CAN1_RX0_INT_ENABLE

   CAN_ITConfig(CAN1,CAN_IT_FMP0|CAN_IT_EPV,ENABLE);//FIFO0ÏûÏ￠1òoÅÖD¶ÏÔêDí.

    NVIC_InitStructure.NVIC_IRQChannel = USB_LP_CAN1_RX0_IRQn;
    NVIC_InitStructure.NVIC_IRQChannelPreemptionPriority = 1;    // Ö÷óÅÏè¼¶Îa1
    NVIC_InitStructure.NVIC_IRQChannelSubPriority = 0;          // ′ÎóÅÏè¼¶Îa0
    NVIC_InitStructure.NVIC_IRQChannelCmd = ENABLE;
    NVIC_Init(&NVIC_InitStructure);
#endif
return ;
}

#if CAN1_RX0_INT_ENABLE //ê1ÄüRX0ÖD¶Ï
//ÖD¶Ï·tÎñoˉêy
void CAN1_RX0_IRQHandler(void)
{
    CanRxMsg RxMessage;
int i=0;
CAN_Receive(CAN1, CAN_FIFO0, &RxMessage);
// for(i=0;i<8;i++)
// printf("rxbuf[%d]:%d\r\n",i,RxMessage.Data[i]);
    CAN_ClearITPendingBit(CAN1,CAN_IT_FMP0);
}
#endif

//can·￠Ëíò»×éêy¾Y(1ì¶¨¸ñê½:IDÎa0X12,±ê×¼Ö¡,êy¾YÖ¡)
//len:êy¾Y3¤¶è(×î′óÎa8)
//msg:êy¾YÖ¸Õë,×î′óÎa8¸ö×Ö½ú.
//·μ»ØÖμ:0,3é1|;
//    ÆäËû,ê§°ü;
u8 CAN1_Send_Msg(u8* msg,u8 len)
{
  u8 mbox;
  u16 i=0;
  CanTxMsg TxMessage;
  TxMessage.StdId=0x12;    // ±ê×¼±êê¶·ûÎa0
  //TxMessage.ExtId=0x12;    // éèÖÃà©Õ1±êê¾·û￡¨29Î»￡©
  TxMessage.IDE=CAN_ID_STD;    // ê1óÃà©Õ1±êê¶·û
  TxMessage.RTR=CAN_RTR_DATA;    // ÏûÏ￠ààDíÎaêy¾YÖ¡￡¬ò»Ö¡8Î»
  TxMessage.DLC=len;    // ·￠Ëíá½Ö¡DÅÏ￠
  for(i=0;i<len;i++)
  TxMessage.Data[i]=msg[i];    // μúò»Ö¡DÅÏ￠
  mbox= CAN_Transmit(CAN1, &TxMessage);
  i=0;
//while((CAN_TransmitStatus(CAN1, mbox)==CAN_TxStatus_Failed)&&(i<0XFFF))i++; //μè′y·￠Ëí½áêø
  while((CAN_TransmitStatus(CAN1, mbox)==CAN_TxStatus_Failed)); //μè′y·￠Ëí½áêø
  if(i>=0XFFF)return 1;
  return 0;

}
//can¿ú½óêÕêy¾Y2éÑˉ
//buf:êy¾Y»o′æÇø;
//·μ»ØÖμ:0,ÎTêy¾Y±»êÕμ½;
//    ÆäËû,½óêÕμÄêy¾Y3¤¶è;
u8 CAN1_Receive_Msg(u8 *buf)
{
u32 i;
CanRxMsg RxMessage;
if( CAN_MessagePending(CAN1,CAN_FIFO0)==0)return 0; //Ã»óD½óêÕμ½êy¾Y,Ö±½óíË3ö
CAN_Receive(CAN1, CAN_FIFO0, &RxMessage);//¶áè¡êy¾Y
for(i=0;i<RxMessage.DLC;i++)
buf[i]=RxMessage.Data[i];
return RxMessage.DLC;
}

发送板的主函数如下：

int main(void)
{
int i;
u8 data[8];
   u8 data1[8];
// while(SysTick_Config(SystemFrequency/1000));
    NVIC_PriorityGroupConfig(NVIC_PriorityGroup_2);//éèÖÃÖD¶ÏóÅÏè¼¶·Ö×éÎa×é2￡o2Î»ÇàÕ¼óÅÏè¼¶￡¬2Î»Ïìó|óÅÏè¼¶

// uart_init(9600);      //′®¿ú3õê¼»ˉÎa115200
// TIM3_Int_Init();
// Adc_Init();
// fm24cl_Init();
// EXTIX_Init();
// LED_Init();
    Can1_Init();


   while(1)
   {
for(i=0;i<8;i++)
data[i]=i+1;
   i=CAN1_Send_Msg(data,8);
   if(i)
   i=0;
//    i=CAN1_Receive_Msg(data1);
//    if(i)
//    i=0;
   delay_ms(10000);
}
}

接收板的主函数如下：

int main(void)
{
int i;
u8 data[8];
   u8 data1[8];
// while(SysTick_Config(SystemFrequency/1000));
NVIC_PriorityGroupConfig(NVIC_PriorityGroup_2);//éèÖÃÖD¶ÏóÅÏè¼¶·Ö×éÎa×é2￡o2Î»ÇàÕ¼óÅÏè¼¶￡¬2Î»Ïìó|óÅÏè¼¶

// uart_init(9600);      //′®¿ú3õê¼»ˉÎa115200
// TIM3_Int_Init();
// Adc_Init();
// fm24cl_Init();
// EXTIX_Init();
// LED_Init();
    Can1_Init();


   while(1)
   {

//    printf("%d",1);
// for(i=0;i<8;i++)
// data[i]=i+1;
//    i=CAN1_Send_Msg(data,8);
//    if(i)
   i=CAN1_Receive_Msg(data1);
   if(i)
   i=0;
//    delay_ms(100);
}
}

有一段时间内，接收板用查询的方式能够接受到发送版发送过来的信息，但是中断接受不到。然后如果把接收板改成发送板，发送板为接收板，则接受不到。
但是某一次修改程序的时候，把接收板主函数里的if（i） i=0;改成if(i) i--;就接收不到了。然后重新改回去，还是接收不到。
在硬件部分，接收板与发送板的rx与tx端都有接指示灯。发送的时候，两块板的指示灯都会亮。
现在不知道问题出在哪里。希望各位大哥大姐给出自己的意见。

正点原子 · 发表于 2016-5-4 21:15:00

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