GD32F103CBT6的CAN0发送问题

只看该作者 · 2022-5-11 14:34

本帖最后由 cx103931118cc 于 2022-5-12 14:02 编辑

void CAN_Mode_Init(void)
{
      can_parameter_struct       can_parameter;
  can_filter_parameter_struct can_filter;

      rcu_periph_clock_enable(RCU_GPIOA);                                     //Ê¹ÄÜPORTAÊ±ÖÓ
      rcu_periph_clock_enable(RCU_CAN0);                                     //Ê¹ÄÜCAN0Ê±ÖÓ
//       rcu_periph_clock_enable(RCU_AF);
      can_struct_para_init(CAN_INIT_STRUCT, &can_parameter);                   //Can³õÊ¼»¯²ÎÊý½á¹¹Ìå
      can_struct_para_init(CAN_FILTER_STRUCT, &can_filter);
//
   gpio_init(GPIOA, GPIO_MODE_AF_PP , GPIO_OSPEED_50MHZ, GPIO_PIN_12);    //33=PA12=CAN0_TX,ÉèÖÃÍÆÍìÊä³ö
      gpio_init(GPIOA, GPIO_MODE_IPU, GPIO_OSPEED_50MHZ, GPIO_PIN_11);  //32=PA11=CAN0_RX,ÉèÖÃ¸¡¿ÕÊäÈë
//       gpio_pin_remap_config(GPIO_CAN_PARTIAL_REMAP,DISABLE);

               //Can¹ýÂËÆ÷²ÎÊý½á¹¹Ìå
  //CANµ¥ÔªÉèÖÃ
      can_deinit(CAN0);
  can_parameter.time_triggered = DISABLE;                                  //·ÇÊ±¼ä´¥·¢Í¨ÐÅÄ£Ê½
  can_parameter.auto_bus_off_recovery = DISABLE;                         //·Ç×Ô¶¯ÀëÏß»Ö¸´
  can_parameter.auto_wake_up = DISABLE;                                  //·Ç×Ô¶¯»½ÐÑ
  can_parameter.no_auto_retrans = DISABLE;                               //·Ç×Ô¶¯ÖØ´«
  can_parameter.rec_fifo_overwrite = DISABLE;                            //·Ç½ÓÊÕFIFOÂúÊ±¸²¸Ç
  can_parameter.trans_fifo_order = DISABLE;                               //·Ç·¢ËÍFIFOË³Ðò
  can_parameter.working_mode = CAN_NORMAL_MODE;                            //Ä£Ê½ÉèÖÃ£ºÆÕÍ¨Ä£Ê½

  //ÉèÖÃ²¨ÌØÂÊBand=APB1(108M)/(1TQ+5TQ+3TQ)/Prescaler=108M/(1+5+3)/48=250Kpbs
  can_parameter.resync_jump_width = CAN_BT_SJW_1TQ;                      //ÔÙÍ¬²½²¹³¥¿í¶È
  can_parameter.time_segment_1 = CAN_BT_BS1_5TQ;                         //Î»¶Î1
  can_parameter.time_segment_2 = CAN_BT_BS2_3TQ;                         //Î»¶Î2
  can_parameter.prescaler = 48;                                           //²¨ÌØÂÊ·ÖÆµÏµÊý
  can_init(CAN0, &can_parameter);

      //ÉèÖÃ¹ýÂËÆ÷
      can_filter.filter_number = 0;                   //¹ýÂËÆ÷0
      can_filter.filter_mode = CAN_FILTERMODE_MASK;    //ÆÁ±ÎÎ»Ä£Ê½
  can_filter.filter_bits = CAN_FILTERBITS_32BIT; //32Î»¿í
  can_filter.filter_list_high = 0x0000;          //32Î»ID
  can_filter.filter_list_low = 0x0000;
  can_filter.filter_mask_high = 0x0000;          //32Î»MASK
  can_filter.filter_mask_low = 0x0000;
  can_filter.filter_fifo_number = CAN_FIFO0;       //¹ýÂËÆ÷0¹ØÁªµ½FIFO0
  can_filter.filter_enable=ENABLE;                //¼¤»î¹ýÂËÆ÷0
  can_filter_init(&can_filter);                   //ÂË²¨Æ÷³õÊ¼»¯
}
unsigned char Can_Send_Msg(unsigned char* msg,unsigned char len)
{
      unsigned char mbox;
      unsigned short int i=0;
      can_trasnmit_message_struct TxMessage;
      TxMessage.tx_sfid=0x12;                         //±ê×¼±êÊ¶·û
      TxMessage.tx_efid=0x12;                         //ÉèÖÃÀ©Õ¹±êÊ¾·û
      TxMessage.tx_ff=CAN_FF_STANDARD;                //±ê×¼Ö¡
      TxMessage.tx_ft=CAN_FT_DATA;                   //Êý¾ÝÖ¡
      TxMessage.tx_dlen=len;                         //Òª·¢ËÍµÄÊý¾Ý³¤¶È
      for(i=0;i<len;i++)
      TxMessage.tx_data=msg;
      mbox=can_message_transmit(CAN0,&TxMessage);
      i=0;
      while((can_transmit_states(CAN0,mbox)==CAN_TRANSMIT_FAILED)&&(i<0XFFF))i++;       //µÈ´ý·¢ËÍ½áÊø
      if(i>=0XFFF)return 1;
      return 0;
}

      Res=Can_Send_Msg(Canbuf,8);
                     if(Res)
                     {
                              LED_D1_ON;
                     }
                     else
                     {
                              LED_D2_ON;
                     }