智能车制作

标题: 求教，CAN发送不出去！ [打印本页]

作者: 921507436 时间: 2013-6-3 14:42
标题: 求教，CAN发送不出去！

void CAN_Init(void){
CANCTL0 = 0x01; /* MSCAN进入初始化模式 */
while (!(CANCTL1_INITAK));  /* 等待初始化模式确认 */

CANCTL1_CANE = 1;    /* Enable MSCAN module */
CANCTL1_CLKSRC = 1; /* MSCAN时钟为总线时钟 */ //振荡器
CANCTL1_LISTEN = 0; /* 正常模式，1：监听模式 */

CANBTR1 =  0x26;       // 500kbps (TSEG2<<4) + TSEG1
CANBTR0 =0X41;
CANIDAC_IDAM = 0x1; // Four 16-bit acceptanc filter

// accept all the ID on CAN bus
CANIDMR0 =0xFF;
CANIDMR1 = 0xFF;
CANIDMR2 = 0xFF;
CANIDMR3 = 0xFF;
CANIDMR4 = 0xFF;
CANIDMR5 = 0xFF;
CANIDMR6 = 0xFF;
CANIDMR7 = 0xFF;
CANIDAR0 = 0xFF;
CANIDAR1 = 0xFF;
CANIDAR2 = 0xFF;
CANIDAR3 = 0xFF;
CANIDAR4 = 0xFF;
CANIDAR5 = 0xFF;
CANIDAR6 = 0xFF;
CANIDAR7 = 0xFF;
CANCTL0_INITRQ = 0;          /* 退出初始化模式请求 */
      while (CANCTL1_INITAK) ;    /* 等待进入正常模式*/

   while(!(CANCTL0_SYNCH))  ;                /*等待CAN同步*/
CANRFLG_RXF = 1;    /* 清除接收标志位*/
CANRIER_RXFIE = 1;    /* 使能接收满中断*/
}

byte CAN_Send_Frame(mscan_msg_t msg)
{
/* Transmission buffer */
byte u8TxBuffer = {0};

/* Index to data within the transmission buffer */
byte u8Index;

if (!CANTFLG)             /* Retrun if Transmit Buffer is full */
      return ERR_BUFFER_FULL;
CANTBSEL = CANTFLG;    /* Select lowest empty buffer */
u8TxBuffer = CANTBSEL;  /* Backup selected buffer */

*((dword *) ((dword)(&CANTXIDR0)))= msg.u32ID; /* Load Id to IDR Registers */

      /* Load data to Data Segment Registers */
      for (u8Index=0;u8Index<(msg.u8Length);u8Index++) {

         *(&CANTXDSR0 + u8Index) = (msg.u8TxData)[u8Index];
      }
CANTXDLR = msg.u8Length; /* Set Data Length Code */
CANTXTBPR = msg.u8Prio; /* Set Priority */
CANTFLG = u8TxBuffer;  /* Start transmission */
//CANTARQ= u8TxBuffer;
while ( (CANTFLG & u8TxBuffer) != u8TxBuffer)
         ;  /* Wait for Transmission completion */

return NO_ERR;
}

作者: 921507436 时间: 2013-6-3 14:50
当发送时程序一直死在while ( (CANTFLG & u8TxBuffer) != u8TxBuffer)
CAN上位机数据接收到的是错误，不知道为什么！！！！！！！！！！！！！

作者: 易寒 时间: 2014-4-1 10:08
加个分号试试

作者: 张世民 时间: 2014-4-3 23:35
过来瞧瞧啊哈哈哈过来瞧瞧啊哈哈哈

作者: zhifu 时间: 2015-8-20 21:16
我是能发不能接收啊？

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