求大神帮助，刚接触stm32 can总线，自己改的程序，想实现用usb转can接口向开发板CAN1接口发数据，实现发01LED1亮，02LED2亮，03LED3亮，04LED4亮，附上主程序和CAN.c里的程序，开发板有两个CAN接口，只用CAN1，程序编译上没问题，用usb转can的通信软件发数据也可以进入中断，但不知道CAN_DATA[8]中数据如何，而且不能实现控制等的亮灭，不知道怎么去改，感觉是CAN1接收中断函数的问题，求助各位高手帮忙
main.c主程序如下
#include "main.h"
#include "LED.h"
#define SYSTEMTICK_PERIOD_MS 10
__IO uint32_t LocalTime = 0; /* this variable is used to create a time reference incremented by 10ms */
uint32_t timingdelay;
unsigned int can_flag=0;
unsigned int led_flag=0;
/* Private function prototypes -----------------------------------------------*/
void Usart2_Send(unsigned char ch);
void System_Setup(void);
void CAN_Configuration(void);
void Delay(uint32_t nCount);
int main(void)
{
/* Setup STM32 system (clocks, GPIO, NVIC) */
SystemInit();
GPIO_Configuration();
CAN_Configuration();
NVIC_Configuration();
USART_Configuration();
System_Setup(); //设置系统时钟72MHZ
LED_Configuration(); //LED配置
/* Infinite loop */
while (1)
{
LED_Blink();
}
}
}
void Delay(uint32_t nCount)
{
while(nCount > 0)
{
nCount --;
}
}
#ifdef USE_FULL_ASSERT
void assert_failed(uint8_t* file, uint32_t line)
{
while (1)
{}
}
#endif
CAN.c子程序如下：
#include "stm32f10x.h"
#include "CAN_DATA.h"
#include "LED.h"
#define CAN1_FILTER_START 0
#define CAN2_FILTER_START 14//过滤器
#define FILTER_MESSAGE_NUM 2 //要过滤的报文总个数，不能超过14个
#define FILTER_MESSAGE_NUM_SHAWOD 2 //一般与FILTER_MESSAGE_NUM相等，但如果为0则不过滤任何报文
const unsigned int can1_filter_list_id[FILTER_MESSAGE_NUM] =
{
0x18400001, //?
};
const unsigned int can2_filter_list_id[FILTER_MESSAGE_NUM] =
{
0x18400002, //?
};
extern unsigned int can_flag;
extern unsigned int led_flag;
volatile unsigned int CAN_ID; //unsigned int为32位的 unsigned short int为16位的
unsigned char CAN_DATA[8] = 0;
unsigned char CAN2_DATA[8] = 0;
unsigned char can_send_data[8] = 0;
unsigned char meter_flag = 0;
volatile unsigned char CanRec_flag = 0;
volatile unsigned char enable_meter_flag = 0;
volatile unsigned char disable_meter_flag = 0;
void NVIC_Configuration(void);
void GPIO_Configuration(void);
void Filter_List(const unsigned int *CAN1_filte_list_id,unsigned char CAN1_num,const unsigned int *CAN2_filte_list_id,unsigned char CAN2_num);
void CAN_Configuration(void)
{
u32 id = 0;
unsigned char i = 0;
CAN_InitTypeDef CAN_InitStructure;
CAN_FilterInitTypeDef CAN_FilterInitStructure;
CAN_DeInit(CAN1);
CAN_StructInit(&CAN_InitStructure);
/* CAN cell init */
CAN_InitStructure.CAN_TTCM = DISABLE; /* 时间触发禁止, 时间触发：CAN硬件的内部定时器被激活，并且被用于产生时间戳 */
CAN_InitStructure.CAN_ABOM = DISABLE; /* 自动离线禁止，自动离线：一旦硬件监控到128次11个隐性位，就自动退出离线状态。在这里要软件设定后才能退出 */
CAN_InitStructure.CAN_AWUM = DISABLE; /* 自动唤醒禁止，有报文来的时候自动退出休眠 */
CAN_InitStructure.CAN_NART = DISABLE; /* 报文重传, 如果错误一直传到成功止，否则只传一次 */
CAN_InitStructure.CAN_RFLM = DISABLE; /* 接收FIFO锁定, 1--锁定后接收到新的报文摘不要，0--接收到新的报文则覆盖前一报文 */
CAN_InitStructure.CAN_TXFP = ENABLE; /* 发送优先级 0---由标识符决定 1---由发送请求顺序决定 */
CAN_InitStructure.CAN_Mode = CAN_Mode_Normal; /* 模式 */
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=9; //我的时钟是PLL 72M,那么CAN应该是36M了吧?这样就是36/((1+8+7)*9)=250K
if (CAN_Init(CAN1,&CAN_InitStructure) == CANINITFAILED)
{
/* 初始化时先设置CAN_MCR的初始化位 */
/* 然后查看硬件是否真的设置了CAN_MSR的初始化位来确认是否进入了初始化模式 */
}
if (CAN_Init(CAN2,&CAN_InitStructure) == CANINITFAILED)
{
/* 初始化时先设置CAN_MCR的初始化位 */
/* 然后查看硬件是否真的设置了CAN_MSR的初始化位来确认是否进入了初始化模式 */
}
Filter_List(can1_filter_list_id,FILTER_MESSAGE_NUM_SHAWOD,can2_filter_list_id,FILTER_MESSAGE_NUM_SHAWOD);//为0时不过滤任何ID
CAN_ITConfig(CAN1,CAN_IT_FMP0, ENABLE); /* 挂号中断, 进入中断后读fifo的报文函数释放报文清中断标志 */
CAN_ITConfig(CAN2,CAN_IT_FMP0, ENABLE); /* 挂号中断, 进入中断后读fifo的报文函数释放报文清中断标志 */
}
/*******************************************************************************
* Function Name : CanWriteData
* Description : Can Write Date to CAN-BUS
* Input : None
* Output : None
* Return : None
* Attention : None
*******************************************************************************/
void Filter_List(const unsigned int *CAN1_filte_list_id,unsigned char CAN1_num,const unsigned int *CAN2_filte_list_id,unsigned char CAN2_num)
{
unsigned int temp_id = 0;
unsigned char temp = 0;
unsigned char i = 0;
CAN_FilterInitTypeDef CAN_FilterInitStructure;
/*******************以下是num为0不过滤任何ID***************************************/
if(CAN1_num > 0 && CAN2_num > 0)//can1和can2都要过滤
{
temp = CAN1_num <= CAN2_num ? CAN1_num : CAN2_num;//取出较小的数
for(i = 0;i < temp;i ++)
{
temp_id = CAN1_filte_list_id
;
CAN_FilterInitStructure.CAN_FilterNumber = i; ///* 过滤器组 */
CAN_FilterInitStructure.CAN_FilterMode = CAN_FilterMode_IdMask;//CAN_FilterMode_IdList;//CAN_FilterMode_IdMask; /* 屏敝模式 */
CAN_FilterInitStructure.CAN_FilterScale = CAN_FilterScale_32bit; ///* 32位 */
CAN_FilterInitStructure.CAN_FilterIdHigh = (temp_id<<3)>>16;//(id<<3)>>16;
CAN_FilterInitStructure.CAN_FilterIdLow = (temp_id<<3)|CAN_ID_EXT|CAN_RTR_DATA;//扩展帧
CAN_FilterInitStructure.CAN_FilterMaskIdHigh = 0xffff;
CAN_FilterInitStructure.CAN_FilterMaskIdLow = 0xffff;
CAN_FilterInitStructure.CAN_FilterFIFOAssignment = 0; ///* 能够通过该过滤器的报文存到fifo0中 */
CAN_FilterInitStructure.CAN_FilterActivation = ENABLE;
CAN_FilterInit(&CAN_FilterInitStructure);
temp_id = CAN2_filte_list_id;
CAN_FilterInitStructure.CAN_FilterNumber = i + 14; ///* 过滤器组 */
CAN_FilterInitStructure.CAN_FilterMode = CAN_FilterMode_IdMask;//CAN_FilterMode_IdList;//CAN_FilterMode_IdMask; /* 屏敝模式 */
CAN_FilterInitStructure.CAN_FilterScale = CAN_FilterScale_32bit; ///* 32位 */
CAN_FilterInitStructure.CAN_FilterIdHigh = (temp_id<<3)>>16;//(id<<3)>>16;
CAN_FilterInitStructure.CAN_FilterIdLow = (temp_id<<3)|CAN_ID_EXT|CAN_RTR_DATA;//扩展帧
CAN_FilterInitStructure.CAN_FilterMaskIdHigh = 0xffff;
CAN_FilterInitStructure.CAN_FilterMaskIdLow = 0xffff;
CAN_FilterInitStructure.CAN_FilterFIFOAssignment = 0; ///* 能够通过该过滤器的报文存到fifo0中 */
CAN_FilterInitStructure.CAN_FilterActivation = ENABLE;
CAN_FilterInit(&CAN_FilterInitStructure);
}
}
else if(CAN1_num == 0 && CAN2_num == 0)
{
CAN_FilterInitStructure.CAN_FilterNumber = 0; /* 过滤器组 */
CAN_FilterInitStructure.CAN_FilterMode = CAN_FilterMode_IdMask;//CAN_FilterMode_IdList;//CAN_FilterMode_IdMask; /* 屏敝模式 */
CAN_FilterInitStructure.CAN_FilterScale = CAN_FilterScale_32bit; /* 32位 */
CAN_FilterInitStructure.CAN_FilterIdHigh = 0;
CAN_FilterInitStructure.CAN_FilterIdLow = 0;
CAN_FilterInitStructure.CAN_FilterMaskIdHigh = 0x0000;
CAN_FilterInitStructure.CAN_FilterMaskIdLow = 0x0000;
CAN_FilterInitStructure.CAN_FilterFIFOAssignment = 0; /* 能够通过该过滤器的报文存到fifo0中 */
CAN_FilterInitStructure.CAN_FilterActivation = ENABLE;
CAN_FilterInit(&CAN_FilterInitStructure);
CAN_FilterInitStructure.CAN_FilterNumber = 14; //CAN2过滤器从14开始
CAN_FilterInit(&CAN_FilterInitStructure);
}
}
//CAN1中断程序
void CAN1_RX0_IRQHandler(void)
{
CanRxMsg RxMessage;
unsigned char i;
can_flag=1;
CAN_Receive(CAN1,CAN_FIFO0, &RxMessage); /* 此函数包含释放提出报文了的,在非必要时,不需要自己释放 */
//CAN_ID = RxMessage.ExtId;
for(i = 0;i < 8; i ++)
{
CAN_DATA[8]= RxMessage.Data;
}
One_LED_ON(2);Delay(0x1ffffff);
if(CAN_DATA[0]==0x01)
{ One_LED_ON(1);Delay(0x1ffffff);}
if(CAN_DATA[0]==0x02)
{ One_LED_ON(2);Delay(0x1ffffff);}
if(CAN_DATA[0]==0x03)
{ One_LED_ON(3);Delay(0x1ffffff);}
if(CAN_DATA[0]==0x04)
{ One_LED_ON(4);Delay(0x1ffffff);}
CAN_ClearITPendingBit(CAN1,CAN_IT_FMP0); /* 清除挂起中断 */
}
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本帖最后由 cheng_long 于 2013-6-22 21:31 编辑 ]
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