STM32F103C8T6调试CAN通讯

这是我这两天做的一个功能，有一些细节没注意，导致移植没通，现在记下来。

一、硬件部分

    STM32F103C8T6 ：2个，记为STM32(1),STM32(2)

    TJA1050(CAN模块)：2个,记为TJA(1),TJA(2)

    STM32(1)的RX接TJA(1)的RX，TX接TX。TJA(1)的CAN_H接另一个TJA(2)的CAN_H，CAN_L接CAN_L。然后TJA(2)的RX接STM32(2)的RX，TX接TX。

 

 

二、软件部分

注释：软件参考了网上的一些朋友的代码，如果雷同，纯属参考学习，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

	RCC_APB2PeriphClockCmd(RCC_APB2Periph_GPIOA, ENABLE);	                   											 
  	RCC_APB1PeriphClockCmd(RCC_APB1Periph_CAN1, ENABLE);	
	GPIO_PinRemapConfig(GPIO_Remap1_CAN1,ENABLE);

	GPIO_InitStructure.GPIO_Pin = GPIO_Pin_11;
        GPIO_InitStructure.GPIO_Mode = GPIO_Mode_IPU;
        GPIO_InitStructure.GPIO_Speed = GPIO_Speed_50MHz;//100MHz
	GPIO_Init(GPIOA, &GPIO_InitStructure);
	GPIO_InitStructure.GPIO_Pin = GPIO_Pin_12;
        GPIO_InitStructure.GPIO_Mode = GPIO_Mode_AF_PP;
        GPIO_InitStructure.GPIO_Speed = GPIO_Speed_50MHz;//100MHz
        GPIO_Init(GPIOA, &GPIO_InitStructure);
	  

   	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=tsjw;	
  	CAN_InitStructure.CAN_BS1=tbs1; 
  	CAN_InitStructure.CAN_BS2=tbs2;
  	CAN_InitStructure.CAN_Prescaler=brp;
  	CAN_Init(CAN1, &CAN_InitStructure);
    
		
 	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=CAN_Filter_FIFO0;
  	CAN_FilterInitStructure.CAN_FilterActivation=ENABLE;
  	CAN_FilterInit(&CAN_FilterInitStructure);

#if CAN1_RX0_INT_ENABLE
	CAN_ITConfig(CAN1,CAN_IT_FMP0,ENABLE);
    CAN_ITConfig(CAN1,CAN_IT_TME,ENABLE);
	CAN_ITConfig(CAN1,CAN_IT_BOF,ENABLE);
  	NVIC_InitStructure.NVIC_IRQChannel = USB_LP_CAN1_RX0_IRQn;
  	NVIC_InitStructure.NVIC_IRQChannelPreemptionPriority = 1;     
  	NVIC_InitStructure.NVIC_IRQChannelSubPriority = 0;           
  	NVIC_InitStructure.NVIC_IRQChannelCmd = ENABLE;
  	NVIC_Init(&NVIC_InitStructure);
#endif

	return 0;
}

#if CAN1_RX0_INT_ENABLE 
void USB_LP_CAN1_RX0_IRQHandler(void)
{
		int i=0;
  	        CanRxMsg RxMessage;
		RxMessage.StdId=0x00;	 
		RxMessage.ExtId=0x00;	 
		RxMessage.IDE=0;		  
		RxMessage.RTR=0;		
		RxMessage.FMI=0;
		for(i=0;i<8;i++)
			RxMessage.Data[i]=0;
		
                CAN_Receive(CAN1, 0, &RxMessage);
		//USART1_DATA(RxMessage.Data,RxMessage.DLC);
		printf("IRQ RxMessage.Data = %s\r\n", RxMessage.Data);	
}
#endif

u8 CAN1_Send_Msg(u8* msg,u8 len)
{	
  u8 mbox;
  u16 i=0;
  CanTxMsg TxMessage;
  TxMessage.StdId=0x12;	 
  TxMessage.ExtId=0x12;	
  TxMessage.IDE=CAN_ID_STD;		 
  TxMessage.RTR=CAN_RTR_Data;		
  TxMessage.DLC=len;						
  for(i=0;i<len;i++)
		TxMessage.Data[i]=*(msg+i);				 
	
  mbox= CAN_Transmit(CAN1, &TxMessage); 
  i=0;
  while((CAN_TransmitStatus(CAN1, mbox)==CAN_TxStatus_Failed)&&(i<0XFFF))i++;	/
  if(i>=0XFFF)return 1;
  return 0;		

}

int main(void)
{			
		u8 i,cnt,len,res;
		u8 canbuf[8];
		NVIC_PriorityGroupConfig(NVIC_PriorityGroup_2);
		uart_init();
		CAN1_Mode_Init(CAN_SJW_1tq,CAN_BS2_6tq,CAN_BS1_7tq,6,0);
		printf("stm32 startup!\r\n");

		while(1)
		{
			#if 1
			delay_ms(1000);
			len = 8;
			cnt = 'a';
			for(i=0;i<len;i++)
			{
				canbuf[i]=cnt+i;
			}
			res = CAN1_Send_Msg(canbuf, len);
			#endif
		}
}

两个STM32都烧写这个程序,然后接上串口，每隔1s会收到另一个STM32发来的8个字节的abcdefgh。

注意事项：

1、TJA1050供电5V

2、用printf打印数据，如果用USART_SendData必须等待发送完成再发送下一个字符。循环打印可以参考如下：

void USART1_DATA(unsigned char *lb,unsigned int len)
{
    unsigned int i;
    for(i=0;i<len;i++)
   {
        USART_SendData(USART1,*lb);
        while(USART_GetFlagStatus(USART1, USART_FLAG_TXE) == RESET)
        {
        }
        lb ++;
   }
}

3、CAN_TX和CAN_RX的GPIO属性配置不一样，要注意一下。

4、CAN1_RX0_INT_ENABLE置为1