bsp_can.c
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/*********************************************************************************************************
* 模块名称 : CAN网络演示程序。
* 文件名称 : can_network.c
* 版 本 : V1.0
* 说 明 : 演示如何实现多个CAN节点（节点的程序相同）之间的通信。
*********************************************************************************************************/
#include "includes.h"
//CAN1?óê?RX0?D??ê1?ü
#define CAN1_RX0_INT_ENABLE 1 //0,2?ê1?ü;1,ê1?ü.
#define CAN2_RX0_INT_ENABLE 1
/* 定义全局变量 */
CANStruct can1Struct,can2Struct;
/* 仅允许本文件内调用的函数声明 */
void SendCanMsg(void);
/*
*********************************************************************************************************
* 函 数 名: can_Init
* 功能说明: 配置CAN硬件
* 形 参：无
* 返 回 值: 无
*********************************************************************************************************
*/
u8 CAN1_Mode_Init(CanBaudRate CanBaudValue,u8 mode) // CAN1RX--PA11 CAN1TX--PA12
{
GPIO_InitTypeDef GPIO_InitStructure;
CAN_InitTypeDef CAN_InitStructure;
CAN_FilterInitTypeDef CAN_FilterInitStructure;
#if CAN1_RX0_INT_ENABLE
NVIC_InitTypeDef NVIC_InitStructure;
#endif
//使能相关时钟
RCC_AHB1PeriphClockCmd(RCC_AHB1Periph_GPIOA, ENABLE);//使能PORTA时钟
RCC_APB1PeriphClockCmd(RCC_APB1Periph_CAN1, ENABLE);//使能CAN1时钟
//初始化GPIO
GPIO_InitStructure.GPIO_Pin = GPIO_Pin_11| GPIO_Pin_12;
GPIO_InitStructure.GPIO_Mode = GPIO_Mode_AF;//复用功能
GPIO_InitStructure.GPIO_OType = GPIO_OType_PP;//推挽输出
GPIO_InitStructure.GPIO_Speed = GPIO_Speed_100MHz;//100MHz
GPIO_InitStructure.GPIO_PuPd = GPIO_PuPd_UP;//上拉
GPIO_Init(GPIOA, &GPIO_InitStructure);//初始化PA11,PA12
//引脚复用映射配置
GPIO_PinAFConfig(GPIOA,GPIO_PinSource11,GPIO_AF_CAN1); //GPIOA11复用为CAN1
GPIO_PinAFConfig(GPIOA,GPIO_PinSource12,GPIO_AF_CAN1); //GPIOA12复用为CAN1
//CAN单元设置
CAN_InitStructure.CAN_TTCM=DISABLE; //非时间触发通信模式
CAN_InitStructure.CAN_ABOM=ENABLE; //软件自动离线管理
CAN_InitStructure.CAN_AWUM=DISABLE;//睡眠模式通过软件唤醒(清除CAN->MCR的SLEEP位)
CAN_InitStructure.CAN_NART=DISABLE; //禁止报文自动传送
CAN_InitStructure.CAN_RFLM=DISABLE; //报文不锁定,新的覆盖旧的
CAN_InitStructure.CAN_TXFP=DISABLE; //优先级由报文标识符决定
CAN_InitStructure.CAN_Mode= mode; //模式设置
switch(CanBaudValue) //CAN_SJW_1tq,CAN_BS2_6tq,CAN_BS1_7tq
{
case BandRate_100kbps:
CAN_InitStructure.CAN_SJW = CAN_SJW_1tq;
CAN_InitStructure.CAN_BS1 = CAN_BS1_7tq;
CAN_InitStructure.CAN_BS2 = CAN_BS2_6tq;
CAN_InitStructure.CAN_Prescaler = 30;
break;
case BandRate_125kbps:
CAN_InitStructure.CAN_SJW = CAN_SJW_1tq;
CAN_InitStructure.CAN_BS1 = CAN_BS1_7tq;
CAN_InitStructure.CAN_BS2 = CAN_BS2_6tq;
CAN_InitStructure.CAN_Prescaler = 24;
break;
case BandRate_200kbps:
CAN_InitStructure.CAN_SJW = CAN_SJW_1tq;
CAN_InitStructure.CAN_BS1 = CAN_BS1_7tq;
CAN_InitStructure.CAN_BS2 = CAN_BS2_6tq;
CAN_InitStructure.CAN_Prescaler = 15;
break;
case BandRate_250kbps:
CAN_InitStructure.CAN_SJW = CAN_SJW_1tq;
CAN_InitStructure.CAN_BS1 = CAN_BS1_7tq;
CAN_InitStructure.CAN_BS2 = CAN_BS2_6tq;
CAN_InitStructure.CAN_Prescaler = 12;
break;
case BandRate_500kbps:
CAN_InitStructure.CAN_SJW = CAN_SJW_1tq;
CAN_InitStructure.CAN_BS1 = CAN_BS1_7tq;
CAN_InitStructure.CAN_BS2 = CAN_BS2_6tq;
CAN_InitStructure.CAN_Prescaler = 6;
break;
// case BandRate_1Mbps:
// CAN_InitStructure.CAN_SJW = CAN_SJW_1tq;
// CAN_InitStructure.CAN_BS1 = CAN_BS1_6tq;
// CAN_InitStructure.CAN_BS2 = CAN_BS2_8tq;
// CAN_InitStructure.CAN_Prescaler = 2;
// break;
default:
CAN_InitStructure.CAN_SJW = CAN_SJW_1tq;
CAN_InitStructure.CAN_BS1 = CAN_BS1_7tq;
CAN_InitStructure.CAN_BS2 = CAN_BS2_6tq;
CAN_InitStructure.CAN_Prescaler = 6;
break;
}
// CAN_InitStructure.CAN_SJW=tsjw; //重新同步跳跃宽度(Tsjw)为tsjw+1个时间单位 CAN_SJW_1tq~CAN_SJW_4tq
// CAN_InitStructure.CAN_BS1=tbs1; //Tbs1范围CAN_BS1_1tq ~CAN_BS1_16tq
// CAN_InitStructure.CAN_BS2=tbs2;//Tbs2范围CAN_BS2_1tq ~ CAN_BS2_8tq
// CAN_InitStructure.CAN_Prescaler=brp; //分频系数(Fdiv)为brp+1
CAN_Init(CAN1, &CAN_InitStructure); // 初始化CAN1
//配置过滤器
CAN_FilterInitStructure.CAN_FilterNumber=0; //过滤器0
CAN_FilterInitStructure.CAN_FilterMode=CAN_FilterMode_IdMask;
CAN_FilterInitStructure.CAN_FilterScale=CAN_FilterScale_32bit; //32位
CAN_FilterInitStructure.CAN_FilterIdHigh=0x0000;////32位ID
CAN_FilterInitStructure.CAN_FilterIdLow=0x0000;
CAN_FilterInitStructure.CAN_FilterMaskIdHigh=0x0000;//32位MASK
CAN_FilterInitStructure.CAN_FilterMaskIdLow=0x0000;
CAN_FilterInitStructure.CAN_FilterFIFOAssignment=CAN_Filter_FIFO0;//过滤器0关联到FIFO0
CAN_FilterInitStructure.CAN_FilterActivation=ENABLE; //激活过滤器0
CAN_FilterInit(&CAN_FilterInitStructure);//滤波器初始化
#if CAN1_RX0_INT_ENABLE
CAN_ITConfig(CAN1,CAN_IT_FMP0,ENABLE);//FIFO0消息挂号中断允许.
NVIC_InitStructure.NVIC_IRQChannel = CAN1_RX0_IRQn;
NVIC_InitStructure.NVIC_IRQChannelPreemptionPriority = 1; // 主优先级为1
NVIC_InitStructure.NVIC_IRQChannelSubPriority = 0; // 次优先级为0
NVIC_InitStructure.NVIC_IRQChannelCmd = ENABLE;
NVIC_Init(&NVIC_InitStructure);
#endif
return 0;
}
u8 CAN2_Mode_Init(CanBaudRate CanBaudValue,u8 mode) // CAN2RX---PB5 CAN2TX---PB6
{
GPIO_InitTypeDef GPIO_InitStructure;
CAN_InitTypeDef CAN_InitStructure;
CAN_FilterInitTypeDef CAN_FilterInitStructure;
#if CAN2_RX0_INT_ENABLE
NVIC_InitTypeDef NVIC_InitStructure;
#endif
//使能相关时钟
RCC_AHB1PeriphClockCmd(RCC_AHB1Periph_GPIOB, ENABLE);//使能PORTA时钟
RCC_APB1PeriphClockCmd(RCC_APB1Periph_CAN1|RCC_APB1Periph_CAN2, ENABLE);//使能CAN2时钟时，CAN1时钟必须开启！！
//初始化GPIO
GPIO_InitStructure.GPIO_Pin = GPIO_Pin_5| GPIO_Pin_6;
GPIO_InitStructure.GPIO_Mode = GPIO_Mode_AF;//复用功能
GPIO_InitStructure.GPIO_OType = GPIO_OType_PP;//推挽输出
GPIO_InitStructure.GPIO_Speed = GPIO_Speed_100MHz;//100MHz
GPIO_InitStructure.GPIO_PuPd = GPIO_PuPd_UP;//上拉
GPIO_Init(GPIOB, &GPIO_InitStructure);//初始化PA11,PA12
//引脚复用映射配置
GPIO_PinAFConfig(GPIOB,GPIO_PinSource5,GPIO_AF_CAN2); //GPIOA11复用为CAN1
GPIO_PinAFConfig(GPIOB,GPIO_PinSource6,GPIO_AF_CAN2); //GPIOA12复用为CAN1
//CAN单元设置
CAN_InitStructure.CAN_TTCM=DISABLE; //非时间触发通信模式
CAN_InitStructure.CAN_ABOM=ENABLE; //软件自动离线管理
CAN_InitStructure.CAN_AWUM=DISABLE;//睡眠模式通过软件唤醒(清除CAN->MCR的SLEEP位)
CAN_InitStructure.CAN_NART=DISABLE; //禁止报文自动传送
CAN_InitStructure.CAN_RFLM=DISABLE; //报文不锁定,新的覆盖旧的
CAN_InitStructure.CAN_TXFP=DISABLE; //优先级由报文标识符决定
CAN_InitStructure.CAN_Mode= mode; //模式设置
switch(CanBaudValue) //CAN_SJW_1tq,CAN_BS2_6tq,CAN_BS1_7tq
{
case BandRate_100kbps:
CAN_InitStructure.CAN_SJW = CAN_SJW_1tq;
CAN_InitStructure.CAN_BS1 = CAN_BS1_7tq;
CAN_InitStructure.CAN_BS2 = CAN_BS2_6tq;
CAN_InitStructure.CAN_Prescaler = 30;
break;
case BandRate_125kbps:
CAN_InitStructure.CAN_SJW = CAN_SJW_1tq;
CAN_InitStructure.CAN_BS1 = CAN_BS1_7tq;
CAN_InitStructure.CAN_BS2 = CAN_BS2_6tq;
CAN_InitStructure.CAN_Prescaler = 24;
break;
case BandRate_200kbps:
CAN_InitStructure.CAN_SJW = CAN_SJW_1tq;
CAN_InitStructure.CAN_BS1 = CAN_BS1_7tq;
CAN_InitStructure.CAN_BS2 = CAN_BS2_6tq;
CAN_InitStructure.CAN_Prescaler = 15;
break;
case BandRate_250kbps:
CAN_InitStructure.CAN_SJW = CAN_SJW_1tq;
CAN_InitStructure.CAN_BS1 = CAN_BS1_7tq;
CAN_InitStructure.CAN_BS2 = CAN_BS2_6tq;
CAN_InitStructure.CAN_Prescaler = 12;
break;
case BandRate_500kbps:
CAN_InitStructure.CAN_SJW = CAN_SJW_1tq;
CAN_InitStructure.CAN_BS1 = CAN_BS1_7tq;
CAN_InitStructure.CAN_BS2 = CAN_BS2_6tq;
CAN_InitStructure.CAN_Prescaler = 6;
break;
// case BandRate_1Mbps:
// CAN_InitStructure.CAN_SJW = CAN_SJW_1tq;
// CAN_InitStructure.CAN_BS1 = CAN_BS1_6tq;
// CAN_InitStructure.CAN_BS2 = CAN_BS2_8tq;
// CAN_InitStructure.CAN_Prescaler = 2;
// break;
default:
CAN_InitStructure.CAN_SJW = CAN_SJW_1tq;
CAN_InitStructure.CAN_BS1 = CAN_BS1_7tq;
CAN_InitStructure.CAN_BS2 = CAN_BS2_6tq;
CAN_InitStructure.CAN_Prescaler = 6;
break;
}
// CAN_InitStructure.CAN_SJW=tsjw; //重新同步跳跃宽度(Tsjw)为tsjw+1个时间单位 CAN_SJW_1tq~CAN_SJW_4tq
// CAN_InitStructure.CAN_BS1=tbs1; //Tbs1范围CAN_BS1_1tq ~CAN_BS1_16tq
// CAN_InitStructure.CAN_BS2=tbs2;//Tbs2范围CAN_BS2_1tq ~ CAN_BS2_8tq
// CAN_InitStructure.CAN_Prescaler=brp; //分频系数(Fdiv)为brp+1
CAN_Init(CAN2, &CAN_InitStructure); // 初始化CAN1
//配置过滤器
CAN_FilterInitStructure.CAN_FilterNumber=14; //CAN1滤波器号从0~13 CAN2滤波器号从14~27!!!
CAN_FilterInitStructure.CAN_FilterMode=CAN_FilterMode_IdMask;
CAN_FilterInitStructure.CAN_FilterScale=CAN_FilterScale_32bit; //32位
CAN_FilterInitStructure.CAN_FilterIdHigh=0x0000;////32位ID
CAN_FilterInitStructure.CAN_FilterIdLow=0x0000;
CAN_FilterInitStructure.CAN_FilterMaskIdHigh=0x0000;//32位MASK
CAN_FilterInitStructure.CAN_FilterMaskIdLow=0x0000;
CAN_FilterInitStructure.CAN_FilterFIFOAssignment=CAN_Filter_FIFO0;//过滤器0关联到FIFO0
CAN_FilterInitStructure.CAN_FilterActivation=ENABLE; //激活过滤器0
CAN_FilterInit(&CAN_FilterInitStructure);//滤波器初始化
#if CAN2_RX0_INT_ENABLE
CAN_ITConfig(CAN2,CAN_IT_FMP0,ENABLE);//FIFO0消息挂号中断允许.
NVIC_InitStructure.NVIC_IRQChannel = CAN2_RX0_IRQn;
NVIC_InitStructure.NVIC_IRQChannelPreemptionPriority = 1; // 主优先级为1
NVIC_InitStructure.NVIC_IRQChannelSubPriority = 0; // 次优先级为0
NVIC_InitStructure.NVIC_IRQChannelCmd = ENABLE;
NVIC_Init(&NVIC_InitStructure);
#endif
return 0;
}
/*
*********************************************************************************************************
* 函 数 名: can_ISR
* 功能说明: CAN中断服务程序. 这个函数在 stm32f4xx_it.c中被调用
* 形 参：无
* 返 回 值: 无
*********************************************************************************************************
*/
void CAN2_TX_IRQHandler(void)
{
CPU_SR_ALLOC();
CPU_CRITICAL_ENTER();
OSIntEnter();
CPU_CRITICAL_EXIT();
CAN_ClearITPendingBit(CAN2,CAN_IT_TME);
if(CAN_GetITStatus(CAN2,CAN_IT_RQCP0) == SET)
{
CAN_ClearITPendingBit(CAN2,CAN_IT_RQCP0);
}
else if(CAN_GetITStatus(CAN2,CAN_IT_RQCP1) == SET)
{
CAN_ClearITPendingBit(CAN2,CAN_IT_RQCP1);
}
else if(CAN_GetITStatus(CAN2,CAN_IT_RQCP2) == SET)
{
CAN_ClearITPendingBit(CAN2,CAN_IT_RQCP2);
}
CAN_ITConfig(CAN2, CAN_IT_TME, DISABLE);
OSIntExit();
}
//CAN数据发送
u8 CAN2_Send_Msg(unsigned short int StdID,unsigned char *msg, unsigned char len,u16 time)
{
OS_ERR err;
u8 j = 20;
unsigned char mbox;
unsigned int i = 0;
CanTxMsg TxMessage;
TxMessage.StdId = StdID; // 标准标识符为0
TxMessage.ExtId = 0x12; // 设置扩展标示符（29位）
TxMessage.IDE = 0; // 使用扩展标识符
TxMessage.RTR = 0; // 消息类型为数据帧，一帧8位
TxMessage.DLC = len;
for(i = 0; i < len; i++)
{
TxMessage.Data[i] = msg[i];
}
while(1)
{
{
mbox = CAN_Transmit(CAN2, &TxMessage); //向CAN总线传输数据
}
if(mbox != CAN_TxStatus_NoMailBox)
{
while(CAN_TransmitStatus(CAN2, mbox) == CAN_TxStatus_Failed)
{
if(j-- < 1)
{
break;
}
}
break;
}
if(j-- < 1)
{
break;
}
}
OSTimeDly(time, OS_OPT_TIME_PERIODIC, &err);
return 0;
}
/*
*********************************************************************************************************
* 函 数 名: can_ISR
* 功能说明: CAN中断服务程序. 这个函数在 stm32f4xx_it.c中被调用
* 形 参：无
* 返 回 值: 无`z
*********************************************************************************************************
*/
//extern ElecHDFeeddback LElecHDFeeddback,RElecHDFeeddback;
int OneLeftState,OneRightState,TwoLeftState,TwoRightState,ThreeLeftState,ThreeRightState,FourLeftState,FourRightState;
int OneLeftData,OneRightData,TwoLeftData,TwoRightData,ThreeLeftData,ThreeRightData,FourLeftData,FourRightData;
float OneLeftMagBias,OneRightMagBias,TwoLeftMagBias,TwoRightMagBias,ThreeLeftMagBias,ThreeRightMagBias,FourLeftMagBias,FourRightMagBias;
void CAN1_RX0_IRQHandler(void)
{
int i = 0;
/*接收中断*/
CPU_SR_ALLOC();
CPU_CRITICAL_ENTER();
OSIntEnter();
CPU_CRITICAL_EXIT();
CanRxMsg g_tCanRxMsg; /* 用于接收 */
if(CAN_GetITStatus(CAN1,CAN_IT_FMP0) != RESET)
{
CAN_Receive(CAN1, CAN_FIFO0, &g_tCanRxMsg);
if(g_tCanRxMsg.StdId == 0x181)//左行走
{
WheelDataProcess1(&g_tCanRxMsg);
}
if(g_tCanRxMsg.StdId == 0x183)//右行走
{
WheelDataProcess3(&g_tCanRxMsg);
}
if(g_tCanRxMsg.StdId == 0x182)//转向1
{
WheelDataProcess2(&g_tCanRxMsg);
}
if(g_tCanRxMsg.StdId == 0x184)//转向2
{
WheelDataProcess4(&g_tCanRxMsg);
}
if(g_tCanRxMsg.StdId == 0x185)//举升
{
WheelDataProcess5(&g_tCanRxMsg);
}
if(g_tCanRxMsg.StdId == 0x381)//1
{
WheelSpeedProcess1(&g_tCanRxMsg);
}
if(g_tCanRxMsg.StdId == 0x383)//3
{
WheelSpeedProcess3(&g_tCanRxMsg);
}
if(g_tCanRxMsg.StdId == 0x482)//转向2
{
WheelAngleProcess2(&g_tCanRxMsg);
}
if(g_tCanRxMsg.StdId == 0x484)//转向4
{
WheelAngleProcess4(&g_tCanRxMsg);
}
}
g_tCanRxMsg.StdId = 0;
g_tCanRxMsg.ExtId = 0;
OSIntExit();
}
void CAN2_RX0_IRQHandler(void)
{
/*接收中断*/
int i = 0;
CPU_SR_ALLOC();
CPU_CRITICAL_ENTER();
OSIntEnter();
CPU_CRITICAL_EXIT();
CanRxMsg g_tCanRxMsg; /* 用于接收 */
if(CAN_GetITStatus(CAN2,CAN_IT_FMP0) != RESET)
{
CAN_Receive(CAN2, CAN_FIFO0, &g_tCanRxMsg);
if(g_tCanRxMsg.StdId == 0x200)
{
agv.Public.Voltage = (g_tCanRxMsg.Data[0]<<8|g_tCanRxMsg.Data[1]);
}
if(g_tCanRxMsg.StdId == 0x201)
{
agv.Public.SOC = g_tCanRxMsg.Data[6]<<8|g_tCanRxMsg.Data[7];
}
if(g_tCanRxMsg.StdId == 0x202)
{
}
}
g_tCanRxMsg.StdId = 0;
g_tCanRxMsg.ExtId = 0;
OSIntExit();
}
void CAN1_TX_IRQHandler(void)
{
CPU_SR_ALLOC();
CPU_CRITICAL_ENTER();
OSIntEnter();
CPU_CRITICAL_EXIT();
CAN_ClearITPendingBit(CAN1,CAN_IT_TME);
if(CAN_GetITStatus(CAN1,CAN_IT_RQCP0) == SET)
{
CAN_ClearITPendingBit(CAN1,CAN_IT_RQCP0);
}
else if(CAN_GetITStatus(CAN1,CAN_IT_RQCP1) == SET)
{
CAN_ClearITPendingBit(CAN1,CAN_IT_RQCP1);
}
else if(CAN_GetITStatus(CAN1,CAN_IT_RQCP2) == SET)
{
CAN_ClearITPendingBit(CAN1,CAN_IT_RQCP2);
}
CAN_ITConfig(CAN1, CAN_IT_TME, DISABLE);
OSIntExit();
}
//CAN数据发送
u8 CAN1_Send_Msg(unsigned short int StdID,unsigned char *msg, unsigned char len,u16 time)
{
OS_ERR err;
u8 j = 20;
unsigned char mbox;
unsigned int i = 0;
CanTxMsg TxMessage;
TxMessage.StdId = StdID; // 标准标识符为0
TxMessage.ExtId = 0x12; // 设置扩展标示符（29位）
TxMessage.IDE = 0; // 使用扩展标识符
TxMessage.RTR = 0; // 消息类型为数据帧，一帧8位
TxMessage.DLC = len;
for(i = 0; i < len; i++)
{
TxMessage.Data[i] = msg[i];
}
while(1)
{
{
mbox = CAN_Transmit(CAN1, &TxMessage); //向CAN总线传输数据
}
// printf("发送完毕\r\n");
if(mbox != CAN_TxStatus_NoMailBox)
{
while(CAN_TransmitStatus(CAN1, mbox) == CAN_TxStatus_Failed)
{
if(j-- < 1)
{
break;
}
}
break;
}
if(j-- < 1)
{
break;
}
}
OSTimeDly(time, OS_OPT_TIME_PERIODIC, &err);
return 0;
}
//CAN数据发送 标准帧
u8 CAN1_Send_Msg_Extend(unsigned int StdID,unsigned char *msg, unsigned char len,u16 time)
{
OS_ERR err;
u8 j = 20;
unsigned char mbox;
unsigned int i = 0;
CanTxMsg TxMessage;
// TxMessage.StdId = CYLINDER_FEEDBACK; // 标准标识符为0
TxMessage.ExtId = StdID; // 设置扩展标示符（29位）
TxMessage.IDE = CAN_ID_EXT; // 使用扩展标识符
TxMessage.RTR = CAN_RTR_DATA; // 消息类型为数据帧，一帧8位
TxMessage.DLC = len;
for(i = 0; i < len; i++)
{
TxMessage.Data[i] = msg[i];
}
while(1)
{
{
mbox = CAN_Transmit(CAN1, &TxMessage); //向CAN总线传输数据
}
if(mbox != CAN_TxStatus_NoMailBox)
{
while(CAN_TransmitStatus(CAN1, mbox) == CAN_TxStatus_Failed)
{
if(j-- < 1)
{
break;
}
}
break;
}
if(j-- < 1)
{
break;
}
}
OSTimeDly(time, OS_OPT_TIME_PERIODIC, &err);
return 0;
}
u8 CAN2_Send_Msg_Extend(unsigned int StdID,unsigned char *msg, unsigned char len,u16 time)
{
OS_ERR err;
u8 j = 20;
unsigned char mbox;
unsigned int i = 0;
CanTxMsg TxMessage;
// TxMessage.StdId = CYLINDER_FEEDBACK; // 标准标识符为0
TxMessage.ExtId = StdID; // 设置扩展标示符（29位）
TxMessage.IDE = CAN_ID_EXT; // 使用扩展标识符
TxMessage.RTR = CAN_RTR_DATA; // 消息类型为数据帧，一帧8位
TxMessage.DLC = len;
for(i = 0; i < len; i++)
{
TxMessage.Data[i] = msg[i];
}
while(1)
{
{
mbox = CAN_Transmit(CAN2, &TxMessage); //向CAN总线传输数据
}
if(mbox != CAN_TxStatus_NoMailBox)
{
while(CAN_TransmitStatus(CAN2, mbox) == CAN_TxStatus_Failed)
{
if(j-- < 1)
{
break;
}
}
break;
}
if(j-- < 1)
{
break;
}
}
OSTimeDly(time, OS_OPT_TIME_PERIODIC, &err);
return 0;
}
//CAN数据发送
u8 CAN_Send_Msg(unsigned short int StdID,unsigned char *msg, unsigned char len,u16 time,u8 CanSelect)
{
OS_ERR err;
u8 j = 20;
unsigned char mbox;
CanTxMsg TxMessage;
TxMessage.StdId = StdID; // 标准标识符为0
TxMessage.ExtId = 0x12; // 设置扩展标示符（29位）
TxMessage.IDE = 0; // 使用扩展标识符
TxMessage.RTR = 0; // 消息类型为数据帧，一帧8位
TxMessage.DLC = len;
for(unsigned int i = 0; i < len; i++)
{
TxMessage.Data[i] = msg[i];
}
while(1)
{
if(CanSelect == 1)
{
mbox = CAN_Transmit(CAN1, &TxMessage); //向CAN总线传输数据
if(mbox != CAN_TxStatus_NoMailBox)
{
while(CAN_TransmitStatus(CAN1, mbox) == CAN_TxStatus_Failed)
{
if(j-- < 1)
{
break;
}
}
break;
}
if(j-- < 1)
{
break;
}
}
else
{
mbox = CAN_Transmit(CAN2, &TxMessage); //向CAN总线传输数据
if(mbox != CAN_TxStatus_NoMailBox)
{
while(CAN_TransmitStatus(CAN2, mbox) == CAN_TxStatus_Failed)
{
if(j-- < 1)
{
break;
}
}
break;
}
if(j-- < 1)
{
break;
}
}
}
OSTimeDly(time, OS_OPT_TIME_PERIODIC, &err);
return 0;
}