GD32F450只用一路can无法收发，这个 怎么解决
mcu_can.c
#include <stdio.h>
#include <stdint.h>
#include <string.h>
#include "gd32f4xx.h"
#include "mcu_dev/mcu_can.h"
#include "emqueue.h"
#define CAN_MSG_MAX 4000
typedef can_trasnmit_message_struct can0_send_msg_t;
QUEUE_DECLARE(can0_send_msg_t, CAN_MSG_MAX);
QUEUE_DEFINE(can0_send_msg_t);
QUEUE_TYPE(can0_send_msg_t) can0_txq;
static can0_send_msg_t can0_send_msg;
static uint8_t can0_wait_fifo_to_send;
void CAN0_RX0_IRQHandler(void)
{
// CAN0 连接输入卡槽
// 输入卡槽接收ID列表： 0x002 ~ 0x0FF
// 输出卡槽接收ID列表： 0x102 ~ 0x1FF
can_receive_message_struct rx_msg;
can0_send_msg_t can0_tx_msg;
can_message_receive(CAN0, CAN_FIFO0, &rx_msg);
if(rx_msg.rx_sfid >= 0x102 && rx_msg.rx_sfid <= 0x1FF)
{
can0_tx_msg.tx_sfid = rx_msg.rx_sfid;
can0_tx_msg.tx_efid = rx_msg.rx_efid;
can0_tx_msg.tx_ff = rx_msg.rx_ff;
can0_tx_msg.tx_ft = rx_msg.rx_ft;
can0_tx_msg.tx_dlen = rx_msg.rx_dlen;
memcpy(can0_tx_msg.tx_data, rx_msg.rx_data, 8);
QUEUE_PUSH(can0_send_msg_t, &can0_txq, can0_tx_msg);
}
}
void mcu_can_init(void)
{
QUEUE_INIT(can0_send_msg_t, &can0_txq);
can0_wait_fifo_to_send = 0;
rcu_periph_clock_enable(RCU_CAN0);
rcu_periph_clock_enable(RCU_GPIOA);
// CAN0
gpio_af_set(GPIOA, GPIO_AF_9, GPIO_PIN_11);
gpio_af_set(GPIOA, GPIO_AF_9, GPIO_PIN_12);
gpio_output_options_set(GPIOA, GPIO_OTYPE_PP, GPIO_OSPEED_50MHZ, GPIO_PIN_11);
gpio_mode_set(GPIOA, GPIO_MODE_AF, GPIO_PUPD_NONE, GPIO_PIN_11);
gpio_output_options_set(GPIOA, GPIO_OTYPE_PP, GPIO_OSPEED_50MHZ, GPIO_PIN_12);
gpio_mode_set(GPIOA, GPIO_MODE_AF, GPIO_PUPD_NONE, GPIO_PIN_12);
nvic_irq_enable(CAN0_RX0_IRQn,0,0);
/*
** .prescaler变量，代表产生CAN总线波特率的时钟分频值
** CAN模块总线时钟50MHz
** 采样点 = (1+SEG1)/(1+SEG1+SEG2)，要求在75%~80%之间
** 1MBps - 5； 500KBps - 10； 250KBps - 20；
** 100KBps - 50； 50KBps - 100
**/
can_parameter_struct canParameter = {
.working_mode = CAN_NORMAL_MODE,
.resync_jump_width = CAN_BT_SJW_1TQ,
.time_segment_1 = CAN_BT_BS1_7TQ,
.time_segment_2 = CAN_BT_BS2_2TQ,
.time_triggered = DISABLE,
.auto_bus_off_recovery = DISABLE,
.auto_wake_up = DISABLE,
.auto_retrans = ENABLE,
.rec_fifo_overwrite = DISABLE,
.trans_fifo_order = ENABLE,
.prescaler = 5,
};
can_deinit(CAN0);
can_init(CAN0, &canParameter);
// CAN0 连接输入卡槽，即需实现：输出卡槽（CAN1）--> 输入卡槽（CAN0） ==> CAN1接收0x002 ~ 0x0FF
// CAN1 连接输出卡槽，即需实现：输入卡槽（CAN0）--> 输出卡槽（CAN0） ==> CAN0接收0x102 ~ 0x1FF
// 输入卡槽接收ID列表： 0x002 ~ 0x0FF
// 输出卡槽接收ID列表： 0x102 ~ 0x1FF
can_filter_parameter_struct can_filter;
can_filter.filter_number=0;
can_filter.filter_mode = CAN_FILTERMODE_MASK;
can_filter.filter_bits = CAN_FILTERBITS_32BIT;
can_filter.filter_list_high = 0x0000;
can_filter.filter_list_low = 0x0000;
can_filter.filter_mask_high = 0x0000;
can_filter.filter_mask_low = 0x0000;
can_filter.filter_fifo_number = CAN_FIFO0;
can_filter.filter_enable = ENABLE;
can_filter_init(&can_filter);
can_interrupt_enable(CAN0, CAN_INT_RFNE0);
}
void mcu_can_proc(void)
{
int ret;
int can0_msg_tx_flag = 0;
if(can0_wait_fifo_to_send)
{
printf("111\r\n");
can0_msg_tx_flag = 1;
}
else if(QUEUE_LENGTH(can0_send_msg_t, &can0_txq))
{
printf("2\r\n");
can0_send_msg = QUEUE_POP(can0_send_msg_t, &can0_txq);
can0_msg_tx_flag = 1;
}
if(can0_msg_tx_flag)
{
printf("3\r\n");
ret = can_message_transmit(CAN0, &can0_send_msg);
can0_wait_fifo_to_send = (ret == CAN_NOMAILBOX) ? 1 : 0;
}
}
mcu_can.h
#ifndef _MCU_CAN_H_
#define _MCU_CAN_H_
void mcu_can_init(void);
void mcu_can_proc(void);
#endif // !_MCU_CAN_H_
