急！请高手回答stm32关于can通信的问题

xujualiang 2010-10-4 17:02 楼主

最近做了一块stm32的板子，can调不通，请大家帮忙。

情况是这样的，can芯片SN65HVD230外围电路工作正常，用实验板(我有stm32的学习板子），给我的板子的SN65HVD230一脚和四脚canrx和cantx提供信号，按实验历程的程序下载进去正常发送接收数据。按实验历程里会收到数据 "CAFE"。实验板用的是PD0  和 PD1作为输出得到那个结果。

我的板子把cantx和canrx映射到PA11和PA12了，按照实验历程把相应的程序修改了，却收不到数据，更奇怪的是，偶尔收到数据，竟然是"4C".我用can转232的转换器连接到电脑，用串口调试助手，收发数据的。

后来我又做了修改，把我的板子的cantx和canrx的输入端改成和实验板一样的PD0和PD1，用实验历程中的程序，完全没有收据收发，同样用这个程序，在实验板上可以收到“CAFE",收发数据正常!

我确定没有线路连接错误，没有虚焊。stm32的各个管脚工作正常（当程序下载进去后，能测得3.3V的电压，can的那个芯片也能测得2.29V的电压。

是不是stm32的can坏了啊？？还是什么问题，请高手指点！

实验历程程序如下
/******************** (C) COPYRIGHT 2007 STMicroelectronics ********************
* File Name       : main.c
* Author          : MCD Application Team
* Version          : V1.0
* Date             : 10/08/2007
* Description       : Main program body
********************************************************************************
* THE PRESENT SOFTWARE WHICH IS FOR GUIDANCE ONLY AIMS AT PROVIDING CUSTOMERS
* WITH CODING INFORMATION REGARDING THEIR PRODUCTS IN ORDER FOR THEM TO SAVE TIME.
* AS A RESULT, STMICROELECTRONICS SHALL NOT BE HELD LIABLE FOR ANY DIRECT,
* INDIRECT OR CONSEQUENTIAL DAMAGES WITH RESPECT TO ANY CLAIMS ARISING FROM THE
* CONTENT OF SUCH SOFTWARE AND/OR THE USE MADE BY CUSTOMERS OF THE CODING
* INFORMATION CONTAINED HEREIN IN CONNECTION WITH THEIR PRODUCTS.
*******************************************************************************/
/* Includes ------------------------------------------------------------------*/
#include "stm32f10x_lib.h"
/* Local includes ------------------------------------------------------------*/
/* Private typedef -----------------------------------------------------------*/
typedef enum {FAILED = 0, PASSED = !FAILED} TestStatus;
/* Private define ------------------------------------------------------------*/
/* Private macro -------------------------------------------------------------*/
/* Private variables ---------------------------------------------------------*/
vu32 ret; /* for return of the interrupt handling */
volatile TestStatus TestRx;
ErrorStatus HSEStartUpStatus;
/* Private functions ---------------------------------------------------------*/
void RCC_Configuration(void);
void GPIO_Configuration(void);
void NVIC_Configuration(void);
TestStatus CAN_Polling(void);
TestStatus CAN_Interrupt(void);
/*******************************************************************************
* Function Name  : main
* Description : Main program
* Input       : None
* Output       : None
* Return       : None
*******************************************************************************/
int main(void)
{
#ifdef DEBUG
  debug();
#endif
  /* System Clocks Configuration */
  RCC_Configuration();
  /* NVIC Configuration */
  NVIC_Configuration();

  /* GPIO ports pins Configuration */
  GPIO_Configuration();

  /* CAN transmit at 100Kb/s and receive by polling in loopback mode*/
  TestRx = CAN_Polling();
  if (TestRx == FAILED)
  {
/* Turn on led connected to PC.08 pin (LD3) */
GPIO_SetBits(GPIOC, GPIO_Pin_8);
  }
  else
  {
/* Turn on led connected to PC.06 pin (LD1) */
GPIO_SetBits(GPIOC, GPIO_Pin_6);
  }
  /* CAN transmit at 500Kb/s and receive by interrupt in loopback mode*/
  TestRx = CAN_Interrupt();
  if (TestRx == FAILED)
  {
/* Turn on led connected to PC.09 pin (LD4) */
GPIO_SetBits(GPIOC, GPIO_Pin_9);
  }
  else
  {
/* Turn on led connected to PC.07 pin (LD2) */
GPIO_SetBits(GPIOC, GPIO_Pin_7);
  }

  while (1)
  {
  }
}
/*******************************************************************************
* Function Name  : RCC_Configuration
* Description : Configures the different system clocks.
* Input       : None
* Output       : None
* Return       : None
*******************************************************************************/
void RCC_Configuration(void)
{
  /* RCC system reset(for debug purpose) */
  RCC_DeInit();
  /* Enable HSE */
  RCC_HSEConfig(RCC_HSE_ON);
  /* Wait till HSE is ready */
  HSEStartUpStatus = RCC_WaitForHSEStartUp();
  if(HSEStartUpStatus == SUCCESS)
  {
/* Enable Prefetch Buffer */
FLASH_PrefetchBufferCmd(FLASH_PrefetchBuffer_Enable);

/* HCLK = SYSCLK */
RCC_HCLKConfig(RCC_SYSCLK_Div1);

/* PCLK2 = HCLK */
RCC_PCLK2Config(RCC_HCLK_Div1);
/* PCLK1 = HCLK/2 */
RCC_PCLK1Config(RCC_HCLK_Div2);
/* Select HSE as system clock source */
RCC_SYSCLKConfig(RCC_SYSCLKSource_HSE);
/* Wait till HSE is used as system clock source */
while(RCC_GetSYSCLKSource() != 0x04)
{
}
  }

  /* GPIOA and GPIOC clock enable */
  RCC_APB2PeriphClockCmd(RCC_APB2Periph_GPIOD | RCC_APB2Periph_GPIOC, ENABLE);
  /* CAN Periph clock enable */
  RCC_APB1PeriphClockCmd(RCC_APB1Periph_CAN, ENABLE);
}
/*******************************************************************************
* Function Name  : GPIO_Configuration
* Description : Configures the different GPIO ports.
* Input       : None
* Output       : None
* Return       : None
*******************************************************************************/
void GPIO_Configuration(void)
{
  GPIO_InitTypeDef GPIO_InitStructure;

  // CAN IO configuration ------------------------------------//
  // Enable GPIOD & AFEN(Alternate Function) clock //
  RCC_APB2PeriphClockCmd(RCC_APB2Periph_GPIOD | RCC_APB2Periph_AFIO, ENABLE);
  // remap(Remap1_CAN) CAN to PB8, PB9 as CAN_RX, CAN_TX - to avoid v glitch on CAN_TX pin
  GPIO_PinRemapConfig(GPIO_Remap2_CAN, ENABLE);// Remap1 of CAN

  /* Configure PC.06, PC.07, PC.08 and PC.09 as Output push-pull */
  GPIO_InitStructure.GPIO_Pin = GPIO_Pin_6 | GPIO_Pin_7 | GPIO_Pin_8 | GPIO_Pin_9;
  GPIO_InitStructure.GPIO_Mode = GPIO_Mode_Out_PP;
  GPIO_InitStructure.GPIO_Speed = GPIO_Speed_50MHz;
  GPIO_Init(GPIOC, &GPIO_InitStructure);
  /* Configure CAN pin: RX */
  GPIO_InitStructure.GPIO_Pin = GPIO_Pin_0;
  GPIO_InitStructure.GPIO_Mode = GPIO_Mode_IPU;
  GPIO_Init(GPIOD, &GPIO_InitStructure);

  /* Configure CAN pin: TX */
  GPIO_InitStructure.GPIO_Pin = GPIO_Pin_1;
  GPIO_InitStructure.GPIO_Mode = GPIO_Mode_AF_PP;
  GPIO_Init(GPIOD, &GPIO_InitStructure);
}
/*******************************************************************************
* Function Name  : NVIC_Configuration
* Description : Configures the NVIC and Vector Table base address.
* Input       : None
* Output       : None
* Return       : None
*******************************************************************************/
void NVIC_Configuration(void)
{
  NVIC_InitTypeDef NVIC_InitStructure;
#ifdef  VECT_TAB_RAM
  /* Set the Vector Table base location at 0x20000000 */
  NVIC_SetVectorTable(NVIC_VectTab_RAM, 0x0);
#else  /* VECT_TAB_FLASH  */
  /* Set the Vector Table base location at 0x08000000 */
  NVIC_SetVectorTable(NVIC_VectTab_FLASH, 0x0);
#endif
  /* enabling interrupt */
  NVIC_InitStructure.NVIC_IRQChannel=USB_LP_CAN_RX0_IRQChannel;
  NVIC_InitStructure.NVIC_IRQChannelPreemptionPriority = 0;
  NVIC_InitStructure.NVIC_IRQChannelSubPriority = 0;
  NVIC_InitStructure.NVIC_IRQChannelCmd = ENABLE;
  NVIC_Init(&NVIC_InitStructure);
}
/*******************************************************************************
* Function Name  : CAN_Polling
* Description : Configures the CAN and transmit and receive by polling
* Input       : None
* Output       : None
* Return       : PASSED if the reception is well done, FAILED in other case
*******************************************************************************/
TestStatus CAN_Polling(void)
{
  CAN_InitTypeDef       CAN_InitStructure;
  CAN_FilterInitTypeDef  CAN_FilterInitStructure;
  CanTxMsg TxMessage;
  CanRxMsg RxMessage;
  u32 i = 0;
  u8 TransmitMailbox;
  /* CAN register init */
  CAN_DeInit();
  CAN_StructInit(&CAN_InitStructure);
  /* CAN 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_LoopBack;
  CAN_InitStructure.CAN_SJW=CAN_SJW_1tq;
  CAN_InitStructure.CAN_BS1=CAN_BS1_8tq;
  CAN_InitStructure.CAN_BS2=CAN_BS2_7tq;
  CAN_InitStructure.CAN_Prescaler=5;
  CAN_Init(&CAN_InitStructure);
  /* CAN 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);
  /* transmit */
  TxMessage.StdId=0x11;
  TxMessage.RTR=CAN_RTR_DATA;
  TxMessage.IDE=CAN_ID_STD;
  TxMessage.DLC=2;
  TxMessage.Data[0]=0xCA;
  TxMessage.Data[1]=0xFE;
  TransmitMailbox=CAN_Transmit(&TxMessage);
  i = 0;
  while((CAN_TransmitStatus(TransmitMailbox) != CANTXOK) && (i != 0xFF))
  {
i++;
  }
  i = 0;
  while((CAN_MessagePending(CAN_FIFO0) < 1) && (i != 0xFF))
  {
i++;
  }
  /* receive */
  RxMessage.StdId=0x00;
  RxMessage.IDE=CAN_ID_STD;
  RxMessage.DLC=0;
  RxMessage.Data[0]=0x00;
  RxMessage.Data[1]=0x00;
  CAN_Receive(CAN_FIFO0, &RxMessage);
  if (RxMessage.StdId!=0x11) return FAILED;
  if (RxMessage.IDE!=CAN_ID_STD) return FAILED;
  if (RxMessage.DLC!=2) return FAILED;
  if ((RxMessage.Data[0]<<8|RxMessage.Data[1])!=0xCAFE) return FAILED;

  return PASSED; /* Test Passed */
}
/*******************************************************************************
* Function Name  : CAN_Interrupt
* Description : Configures the CAN and transmit and receive by interruption
* Input       : None
* Output       : None
* Return       : PASSED if the reception is well done, FAILED in other case
*******************************************************************************/
TestStatus CAN_Interrupt(void)
{
  CAN_InitTypeDef       CAN_InitStructure;
  CAN_FilterInitTypeDef  CAN_FilterInitStructure;
  CanTxMsg TxMessage;
  u32 i = 0;
  /* CAN register init */
  CAN_DeInit();
  CAN_StructInit(&CAN_InitStructure);
  /* CAN 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_LoopBack;
  CAN_InitStructure.CAN_SJW=CAN_SJW_1tq;
  CAN_InitStructure.CAN_BS1=CAN_BS1_8tq;
  CAN_InitStructure.CAN_BS2=CAN_BS2_7tq;
  CAN_InitStructure.CAN_Prescaler=1;
  CAN_Init(&CAN_InitStructure);
  /* CAN filter init */
  CAN_FilterInitStructure.CAN_FilterNumber=1;
  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=CAN_FIFO0;
  CAN_FilterInitStructure.CAN_FilterActivation=ENABLE;
  CAN_FilterInit(&CAN_FilterInitStructure);
  /* CAN FIFO0 message pending interrupt enable */
  CAN_ITConfig(CAN_IT_FMP0, ENABLE);
  /* transmit 1 message */
  TxMessage.StdId=0x12;
  TxMessage.ExtId=0x34;
  TxMessage.IDE=CAN_ID_EXT;
  TxMessage.RTR=CAN_RTR_DATA;
  TxMessage.DLC=2;
  TxMessage.Data[0]=0xDE;
  TxMessage.Data[1]=0xCA;
  CAN_Transmit(&TxMessage);
  /* initialize the value that will be returned */
  ret = 0xFF;

  /* receive message with interrupt handling */
  i=0;
  while((ret == 0xFF) && (i < 0xFFF))
  {
i++;
  }

  if (i == 0xFFF)
  {
ret=0;
  }
  /* disable interrupt handling */
  CAN_ITConfig(CAN_IT_FMP0, DISABLE);
  return (TestStatus)ret;
}
#ifdef  DEBUG
/*******************************************************************************
* Function Name  : assert_failed
* Description : Reports the name of the source file and the source line number
*                where the assert_param error has occurred.
* Input       : - file: pointer to the source file name
*                - line: assert_param error line source number
* Output       : None
* Return       : None
*******************************************************************************/
void assert_failed(u8* file, u32 line)
{
  /* User can add his own implementation to report the file name and line number,
   ex: printf("Wrong parameters value: file %s on line %d\r\n", file, line) */
  /* Infinite loop */
  while (1)
  {
  }
}
#endif
/******************* (C) COPYRIGHT 2007 STMicroelectronics *****END OF FILE****/

我改的程序如下

RCC_APB2PeriphClockCmd(RCC_APB2Periph_GPIOA | RCC_APB2Periph_GPIOC, ENABLE);
  /* CAN Periph clock enable */
  RCC_APB1PeriphClockCmd(RCC_APB1Periph_CAN, ENABLE);
}

// Enable GPIOD & AFEN(Alternate Function) clock //
  RCC_APB2PeriphClockCmd(RCC_APB2Periph_GPIOA | RCC_APB2Periph_AFIO, ENABLE);
  // remap(Remap1_CAN) CAN to PB8, PB9 as CAN_RX, CAN_TX - to avoid v glitch on CAN_TX pin
  GPIO_PinRemapConfig(GPIO_Remap2_CAN, ENABLE);// Remap1 of CAN

GPIO_InitStructure.GPIO_Pin = GPIO_Pin_11;
  GPIO_InitStructure.GPIO_Mode = GPIO_Mode_IPU;
  GPIO_Init(GPIOA, &GPIO_InitStructure);

  /* Configure CAN pin: TX */
  GPIO_InitStructure.GPIO_Pin = GPIO_Pin_12;
  GPIO_InitStructure.GPIO_Mode = GPIO_Mode_AF_PP;
  GPIO_Init(GPIOA, &GPIO_InitStructure);