STM32 CAN Bus Problem

void HWinitCAN(void)

{

  GPIO_InitTypeDef GPIO_InitStructure;

  CAN_InitTypeDef CAN_InitStructure; 

  NVIC_InitTypeDef NVIC_InitStructure;

  // Initialisiert den RX Fifo Buffer

  RingFifo_Init(&CAN1_RX_Fifo, CAN1_Rx_Buffer, CAN_RX_DATA_SIZE);

  // Aktiviert die Clocks für den CAN-Bus 

  RCC_APB2PeriphClockCmd(RCC_APB2Periph_GPIOD | RCC_APB2Periph_AFIO, ENABLE);

  RCC_APB1PeriphClockCmd(CAN1_RCC, ENABLE);  

  // CAN Configure pin RX

  GPIO_InitStructure.GPIO_Pin = GPIO_Pin_0;        // PD0 => CANRX

  GPIO_InitStructure.GPIO_Mode = GPIO_Mode_IPU;

  GPIO_Init(GPIOD, &GPIO_InitStructure);

  // CAN Configure pin TX

  GPIO_InitStructure.GPIO_Pin = GPIO_Pin_1;        // PD0 => CANTX

  GPIO_InitStructure.GPIO_Mode = GPIO_Mode_AF_PP;

  GPIO_InitStructure.GPIO_Speed = GPIO_Speed_50MHz;

  GPIO_Init(GPIOD, &GPIO_InitStructure);

  // CAN1 PD0 -> CAN1_RX, PD1 -> CAN1_TX

  GPIO_PinRemapConfig(GPIO_Remap2_CAN1, ENABLE);

  // CAN register init

  CAN_StructInit(&CAN_InitStructure);

  CAN_DeInit(CAN1);

  // Enable or disable the time triggered communication mode. This parameter can be set either to ENABLE or DISABLE. 

  CAN_InitStructure.CAN_TTCM = DISABLE;

  // Enable or disable the automatic bus-off management. This parameter can be set either to ENABLE or DISABLE

  CAN_InitStructure.CAN_ABOM = DISABLE;

  // Enable or disable the automatic wake-up mode. This parameter can be set either to ENABLE or DISABLE. 

  CAN_InitStructure.CAN_AWUM = DISABLE;

  // Enable or disable the no-automatic retransmission mode. This parameter can be set either to ENABLE or DISABLE.

  CAN_InitStructure.CAN_NART = DISABLE;

  // Enable or disable the Receive FIFO Locked mode. This parameter can be set either to ENABLE or DISABLE. 

  CAN_InitStructure.CAN_RFLM = DISABLE;

  // Enable or disable the transmit FIFO priority. This parameter can be set either to ENABLE or DISABLE. 

  CAN_InitStructure.CAN_TXFP = DISABLE;

  // Specifies the CAN operating mode. This parameter can be a value of CAN_operating_mode. {CAN_Mode_Normal, CAN_Mode_LoopBack, CAN_Mode_Silent, CAN_Mode_Silent_LoopBack} 

  CAN_InitStructure.CAN_Mode = CAN_Mode_Normal;

  // Konfiguriert die CAN Baudrate für eine 72MHz Clock

  CAN_InitStructure.CAN_SJW = CAN_SJW_1tq;  // SJW 1-4   Specifies the maximum number of time quanta the CAN hardware is allowed to lengthen or shorten a bit to perform resynchronization. This parameter can be a value of CAN_synchronisation_jump_width  

  // Initialize the CAN_BS1 member

  CAN_InitStructure.CAN_BS1 = CAN_BS1_3tq;    

  CAN_InitStructure.CAN_BS2 = CAN_BS2_5tq;

  // Specifies the length of a time quantum. It ranges from 1 to 1024. 

  //CAN_InitStructure.CAN_Prescaler = 2;  // 1000 kbit/s = 1Mbit/s

  //CAN_InitStructure.CAN_Prescaler = 16; // 250 kbit/s

  CAN_InitStructure.CAN_Prescaler = 32;   // 125 kbit/s

  //CAN_InitStructure.CAN_Prescaler = 80; // 50 kbit/s

  // Initialize the CAN_BS2 member

  CAN_Init(CAN1, &CAN_InitStructure);    

  // CAN1 RX Interrupt

  NVIC_PriorityGroupConfig(NVIC_PriorityGroup_4);

  NVIC_InitStructure.NVIC_IRQChannel = CAN1_RX0_IRQn;

  NVIC_InitStructure.NVIC_IRQChannelPreemptionPriority = 0;

  NVIC_InitStructure.NVIC_IRQChannelSubPriority = 0;

  NVIC_InitStructure.NVIC_IRQChannelCmd = ENABLE;

  NVIC_Init(&NVIC_InitStructure);

  // IT Configuration for CAN1 

  CAN_ITConfig(CAN1, CAN_IT_FMP0, ENABLE);

  // CAN filter init

  CAN1_UseFilterID();

}

void CAN1_UseFilterID(void)

{

  CAN_FilterInitTypeDef   CAN_FilterInitStructure;

  // Zum testen erstmal alles durchlassen

  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_FIFO0;

  CAN_FilterInitStructure.CAN_FilterActivation       = ENABLE;

  CAN_FilterInit(&CAN_FilterInitStructure);

}

void CAN1_RX0_IRQHandler(void)

{

  int i;

  CAN_Receive(CAN1, CAN_FIFO0, &RxMessage);

  // DEBUG

  SetDigOutputLed2(TRUE);

/*

  if((RxMessage.StdId == Par4.CAN_ID || RxMessage.StdId == CAN1_STD_ID_TO_ALL) &&

     (RxMessage.IDE == CAN_ID_STD) &&

     (RxMessage.DLC > 0) &&

     (RxMessage.DLC < 8))

*/

  {

    for(i=0; i<RxMessage.DLC; i++)

    {

      if(CAN1_RX_Fifo.Count < CAN1_RX_Fifo.Size)

      {

        RingFifo_Put(&CAN1_RX_Fifo, (RingFifoData_t)RxMessage.Data[i]);

      }

      else

      {

        // Fehler Buffer ist übergelaufen

        break;

      }

    }    

  }

}