问答

参考 官方例程改的 不知道是哪里没有设置对 过滤ID有问题 前面两个ID一直收不到 （使用的是回环模式） CAN_MsgInfoType g_sendCANMsgInfo; CAN_MsgInfoType g_recvCANMsgInfo; CAN_FilterControlType canFilterControl01[]= { {0, ENABLE, CAN_ID_1, 0x00000000}, ///<Ö»½ÓÊÕ0x400 ID }; CAN_FilterControlType canFilterControl02[]= { {1, ENABLE, CAN_ID_2, 0x00000000}, ///<Ö»½ÓÊÕ0x400 ID }; CAN_FilterControlType canFilterControl03[]= { {2, ENABLE, CAN_ID_3, 0x00000000}, ///<Ö»½ÓÊÕ0x400 ID }; CAN_FilterControlType canFilterControl04[]= { {3, ENABLE, CAN_ID_4, 0x00000000}, ///<Ö»½ÓÊÕ0x400 ID }; CAN_FilterControlType canFilterControl05[]= { {4, ENABLE, CAN_ID_5, 0x00000000}, ///<Ö»½ÓÊÕ0x400 ID }; CAN_FilterControlType canFilterControl06[]= { {5, ENABLE, CAN_ID_6, 0x00000000}, ///<Ö»½ÓÊÕ0x400 ID }; u8 sendDataBuff[CAN_SEND_LENGTH] = {1,2,3,4,5,6,7,8,9,10,11,12,13,14,15,16,17,18,19,20,21,22,23,24,25,26,27,28,29,30,31,32}; u8 recvDataBuff[CAN_RECIEVE_LENGTH] = {0}; u8 can_recieve_buffer[CAN_RECIEVE_LENGTH] = {0}; void CAN0_IRQnCallBack(void *device, uint32_t wpara, uint32_t lpara); void CAN0_gpio_init(void) { CKGEN_Enable(CLK_CAN0, ENABLE); GPIO_SetFunc(GPIOB, GPIO_PIN0, GPIO_FUN3);//CAN0_TX GPIO_SetFunc(GPIOB, GPIO_PIN1, GPIO_FUN3);//CAN0_RX // GPIO_SetFunc(GPIOC, GPIO_PIN8, GPIO_FUN0);//CAN0_STB // GPIO_SetDir(GPIOC, GPIO_PIN8, GPIO_OUT);//ÉèÖÃCAN0ÊÕ·¢Æ÷¿ØÖÆΪIO¿ØÖÆ //CAN0_TRASCVER_NML;//ʹÄÜCANÊÕ·¢Æ÷ // GPIO_SetPinLevel(GPIOC, GPIO_PIN8, GPIO_LEVEL_LOW); } void CAN_InitHardwr(void) { CAN_ConfigType canConfig; CAN_BitrateConfigType canBandrateConfig; //CAN_FilterControlType CAN_FilterControlTypedef; CAN0_gpio_init(); /* ÉèÖò¨ÌØÂÊΪ500K,²ÉÑùµãΪ81.25%. tSeg1 = (S_SEG_1 + 2); tSeg2 = (S_SEG_2 + 1). BandRate = (48M / (S_PRESC + 1) / ((S_SEG_1 + 2) + (S_SEG_2 + 1))) SamplePoint = (tSeg1 / (tSeg1 + tSeg2)). ÔÚÒѾ­ÖªµÀ²¨ÌØÂÊÓë²ÉÑùµãµÄÇé¿öÏÂ,¾­¹ý¼ÆËãºó:tSeg1 = 13,tSeg2 = 3. */ canBandrateConfig.PRESC = 11;//·ÖƵºóʱÖÓΪ8M. canBandrateConfig.SEG_1 = 11; canBandrateConfig.SEG_2 = 2; canBandrateConfig.SJW = 2;//Âú×ãS_SJW <= tSeg2¼´¿É. canConfig.interruptMask = CAN_IRQ_ALL_ENABLE_MSK; //´ò¿ªËùÓÐÖÐ¶Ï canConfig.canMode = CAN_MODE_LOOPBACK_INTERNAL;//CAN_MODE_NORMAL;// canConfig.clockSrc = CAN_CLKSRC_AHB; canConfig.tsMode = CAN_TSMODE_FIFO; canConfig.tsAmount = CAN_TRANSMIT_ONE; canConfig.interruptEn = ENABLE;//ʹÄÜÖÐ¶Ï canConfig.tpss = DISABLE; canConfig.tsss = ENABLE; canConfig.timeStampEn = DISABLE; /*!< Time stamp enable */ canConfig.timeStampClk = CAN_TIME_CLK_DIVIDER_8; /*!< Time stamp clock */ canConfig.timeStampPos = CAN_TIME_STAMP_SOF; /*!< Time stamp position */ canConfig.rom = CAN_RECV_OVER_WRITE; canConfig.selfAckEn = DISABLE; /*!< Self-Acknowledge enable(when LBME=1) */ canConfig.fdModeEn = DISABLE; /*!< FD enable */ canConfig.fdIsoEn = DISABLE; /*!< FD ISO mode */ canConfig.tdcEnable = DISABLE; canConfig.filterNum = 0; //canConfig.filterList = &CAN_FilterControlTypedef; canConfig.filterList = canFilterControl01;//¸³Öµ¹ýÂËÆ÷ÉèÖÃlist canConfig.callback = CAN0_IRQnCallBack; canConfig.normalBitrate = &canBandrateConfig; g_sendCANMsgInfo.DATA = sendDataBuff; g_recvCANMsgInfo.DATA = recvDataBuff; CAN_Init(CAN0, &canConfig); canConfig.filterNum = 1; canConfig.filterList = canFilterControl02; CAN_Init(CAN0, &canConfig); canConfig.filterNum = 2; canConfig.filterList = canFilterControl03; CAN_Init(CAN0, &canConfig); canConfig.filterNum = 3; canConfig.filterList = canFilterControl04; CAN_Init(CAN0, &canConfig); canConfig.filterNum = 4; canConfig.filterList = canFilterControl05; CAN_Init(CAN0, &canConfig); canConfig.filterNum = 5; canConfig.filterList = canFilterControl06; CAN_Init(CAN0, &canConfig); } void CAN_send_data(u32 ID, u8 *buffer) { g_sendCANMsgInfo.ID = ID; g_sendCANMsgInfo.IDE = 1; g_sendCANMsgInfo.DLC = 8; for (u8 a=0; a