只是配置一下CAN多邮箱的过程记录引脚更改相较于上篇代码这里引脚已经改掉一个在launchpad开发板也飞线接过去了关于CPU频率的问题之前文章解决方法是把传值给除以2了实际只要定义好了宏就行在device.h文件#define _LAUNCHXL_F28379D1#include device_hal_can.h这里我加了开启中断接收与否的宏不开就要用轮询方式主动读取邮箱了can轮询接收函数 CAN_readMessage(CANB_BASE, RX_MSG_OBJ2, rxData_Obj2); CAN_readMessage(CANB_BASE, RX_MSG_OBJ3, rxData_Obj3); CAN_readMessage(CANB_BASE, RX_MSG_OBJ4, rxData_Obj4); CAN_readMessage(CANB_BASE, RX_MSG_OBJ5, rxData_Obj5); CAN_readMessage(CANB_BASE, RX_MSG_OBJ6, rxData_Obj6);#include device_hal_can.h uint16_t txMsgData[8]; uint16_t txMsgData2[8]; uint16_t rxData_Obj2[CAN_DATA_LEN]; uint16_t rxData_Obj3[CAN_DATA_LEN]; uint16_t rxData_Obj4[CAN_DATA_LEN]; uint16_t rxData_Obj5[CAN_DATA_LEN]; uint16_t rxData_Obj6[CAN_DATA_LEN]; static void Config_CAN_GPIO(void) { GPIO_setPinConfig(GPIO_CFG_CANRXB); // CANB RX GPIO_setPinConfig(GPIO_CFG_CANTXB); // CANB TX GPIO_setControllerCore(PIN_CFG_CANTXB, GPIO_CORE_CPU1); GPIO_setPadConfig(PIN_CFG_CANTXB, GPIO_PIN_TYPE_STD); GPIO_setControllerCore(PIN_CFG_CANRXB, GPIO_CORE_CPU1); GPIO_setPadConfig(PIN_CFG_CANRXB, GPIO_PIN_TYPE_PULLUP); } void RPS_HAL_SetupCan(void) { txMsgData[0] 0x55;txMsgData[1] 0xff;txMsgData[2] 0x55;txMsgData[3] 0xff; txMsgData[4] 0x55;txMsgData[5] 0xff;txMsgData[6] 0x55;txMsgData[7] 0xff; txMsgData2[0] 0x12;txMsgData2[1] 0x34;txMsgData2[2] 0x56;txMsgData2[3] 0x78; txMsgData2[4] 0x21;txMsgData2[5] 0x43;txMsgData2[6] 0x65;txMsgData2[7] 0x87; Config_CAN_GPIO(); // Initialize the CAN controllers CAN_initModule(CANB_BASE); CAN_disableTestMode(CANB_BASE); // Set up the CAN bus bit rate to 1Mbps // 500k 20 // 250k 20 / 16 // 1000k 10 // CAN_setBitRate(CANB_BASE,DEVICE_SYSCLK_FREQ/2,500000, 20); // CANB CAN_setBitRate(CANB_BASE,DEVICE_SYSCLK_FREQ_1,1000000, 10); // CANB //CAN_enableTestMode(CANB_BASE, CAN_TEST_EXL); // Initialize the transmit message object used for sending CAN messages. // Message Object Parameters: // CAN Module: A // Message Object ID Number: 1 // Message Identifier: 0x01 // Message Frame: Standard // Message Type: Transmit // Message ID Mask: 0x0 // Message Object Flags: None // Message Data Length: 4 Bytes // CAN_setupMessageObject(CANB_BASE, TX_MSG_OBJ_ID, CAN_ID, CAN_MSG_FRAME_STD, CAN_MSG_OBJ_TYPE_TX, 0, CAN_MSG_OBJ_NO_FLAGS, MSG_DATA_LENGTH); // 配置接收邮箱 2 // Message Data Length: Dont care for a Receive mailbox // 邮箱的 ID 过滤掩码是 0不做任何过滤接收所有 ID 的报文。 // CAN_setupMessageObject(CANB_BASE, RX_MSG_OBJ_ID, CAN_ID, // CAN_MSG_FRAME_STD, CAN_MSG_OBJ_TYPE_RX, 0, // CAN_MSG_OBJ_USE_ID_FILTER | CAN_MSG_OBJ_RX_INT_ENABLE, MSG_DATA_LENGTH); // 邮箱2接收中断使能 / 掩码 0x7FF严格全匹配 CAN_setupMessageObject(CANB_BASE, RX_MSG_OBJ2, CAN_RX_ID_OBJ2, CAN_FRAME_STD, CAN_TYPE_RX, 0x7FF, CAN_RX_COMMON_FLAGS, CAN_DATA_LEN); // 邮箱3 CAN_setupMessageObject(CANB_BASE, RX_MSG_OBJ3, CAN_RX_ID_OBJ3, CAN_FRAME_STD, CAN_TYPE_RX, 0x7FF, CAN_RX_COMMON_FLAGS, CAN_DATA_LEN); // 邮箱4 CAN_setupMessageObject(CANB_BASE, RX_MSG_OBJ4, CAN_RX_ID_OBJ4, CAN_FRAME_STD, CAN_TYPE_RX, 0x7FF, CAN_RX_COMMON_FLAGS, CAN_DATA_LEN); // 邮箱5 CAN_setupMessageObject(CANB_BASE, RX_MSG_OBJ5, CAN_RX_ID_OBJ5, CAN_FRAME_STD, CAN_TYPE_RX, 0x7FF, CAN_RX_COMMON_FLAGS, CAN_DATA_LEN); // 邮箱6 CAN_setupMessageObject(CANB_BASE, RX_MSG_OBJ6, CAN_RX_ID_OBJ6, CAN_FRAME_STD, CAN_TYPE_RX, 0x7FF, CAN_RX_COMMON_FLAGS, CAN_DATA_LEN); // CANB 中断配置 仅中断模式开启 #if CAN_RX_USE_INT CAN_enableInterrupt(CANB_BASE, CAN_INT_IE0 | CAN_INT_ERROR |CAN_INT_STATUS); Interrupt_register(INT_CANB0, canB_ISR); Interrupt_enable(INT_CANB0); CAN_enableGlobalInterrupt(CANB_BASE, CAN_GLOBAL_INT_CANINT0); #endif // Start CANB module operations CAN_startModule(CANB_BASE); } #if CAN_RX_USE_INT // 接收中断函数 __interrupt void canB_ISR(void) { uint32_t errReg; uint32_t status; status CAN_getInterruptCause(CANB_BASE); if(status CAN_INT_INT0ID_STATUS) { errReg CAN_getStatus(CANB_BASE); if((errReg 0x8000U) ! 0U) { // 软复位CAN退出BUSOFF CAN_initModule(CANB_BASE); CAN_setBitRate(CANB_BASE, DEVICE_SYSCLK_FREQ_1,1000000, 10); CAN_startModule(CANB_BASE); } } else if(status TX_MSG_OBJ_ID) { CAN_clearInterruptStatus(CANB_BASE, TX_MSG_OBJ_ID); } // 接收邮箱2 else if(status RX_MSG_OBJ2) { CAN_readMessage(CANB_BASE, RX_MSG_OBJ2, rxData_Obj2); CAN_clearInterruptStatus(CANB_BASE, RX_MSG_OBJ2); } // 接收邮箱3 else if(status RX_MSG_OBJ3) { CAN_readMessage(CANB_BASE, RX_MSG_OBJ3, rxData_Obj3); CAN_clearInterruptStatus(CANB_BASE, RX_MSG_OBJ3); } // 接收邮箱4 else if(status RX_MSG_OBJ4) { CAN_readMessage(CANB_BASE, RX_MSG_OBJ4, rxData_Obj4); CAN_clearInterruptStatus(CANB_BASE, RX_MSG_OBJ4); } // 接收邮箱5 else if(status RX_MSG_OBJ5) { CAN_readMessage(CANB_BASE, RX_MSG_OBJ5, rxData_Obj5); CAN_clearInterruptStatus(CANB_BASE, RX_MSG_OBJ5); } // 接收邮箱6 else if(status RX_MSG_OBJ6) { CAN_readMessage(CANB_BASE, RX_MSG_OBJ6, rxData_Obj6); CAN_clearInterruptStatus(CANB_BASE, RX_MSG_OBJ6); } CAN_clearGlobalInterruptStatus(CANB_BASE, CAN_GLOBAL_INT_CANINT0); Interrupt_clearACKGroup(INTERRUPT_ACK_GROUP9); } #endif#ifndef _DEVICE_HAL_CAN_H_ #define _DEVICE_HAL_CAN_H_ #include driverlib.h #include device.h #include board.h #include c2000ware_libraries.h #include device_hal_can.h #define CAN_RX_USE_INT 1 // 1中断接收0轮询接收 #define DEVICE_SYSCLK_FREQ_1 DEVICE_SYSCLK_FREQ #define PIN_CFG_CANRXB 17 #define GPIO_CFG_CANRXB GPIO_17_CANRXB // pinConfig for CANB RX //#define GPIO_CFG_CANTXB GPIO_12_CANTXB // pinConfig for CANB TX #define PIN_CFG_CANTXB 16 #define GPIO_CFG_CANTXB GPIO_16_CANTXB // pinConfig for CANB TX #define CAN_DATA_LEN 8U // 每个CAN报文最大8字节 #define CAN_ID 0x1 // 发ID 0x1 #define MSG_DATA_LENGTH 8 #define MSG_DATARX_LENGTH 0 #define TX_MSG_OBJ_ID 1 // 发送邮箱 // 接收邮箱标志 自动根据宏切换 #if CAN_RX_USE_INT #define CAN_RX_COMMON_FLAGS (CAN_MSG_OBJ_USE_ID_FILTER | CAN_MSG_OBJ_RX_INT_ENABLE) #else #define CAN_RX_COMMON_FLAGS (CAN_MSG_OBJ_USE_ID_FILTER) #endif #define CAN_FRAME_STD CAN_MSG_FRAME_STD #define CAN_TYPE_RX CAN_MSG_OBJ_TYPE_RX // 接收邮箱编号 #define RX_MSG_OBJ1 1U #define RX_MSG_OBJ2 2U #define RX_MSG_OBJ3 3U #define RX_MSG_OBJ4 4U #define RX_MSG_OBJ5 5U #define RX_MSG_OBJ6 6U //对应邮箱的CAN-ID宏 #define CAN_RX_ID_OBJ1 0x01U #define CAN_RX_ID_OBJ2 0x02U #define CAN_RX_ID_OBJ3 0x03U #define CAN_RX_ID_OBJ4 0x04U #define CAN_RX_ID_OBJ5 0x05U #define CAN_RX_ID_OBJ6 0x06U extern uint16_t txMsgData[8]; extern uint16_t txMsgData2[8]; extern uint16_t rxData_Obj2[CAN_DATA_LEN]; extern uint16_t rxData_Obj3[CAN_DATA_LEN]; extern uint16_t rxData_Obj4[CAN_DATA_LEN]; extern uint16_t rxData_Obj5[CAN_DATA_LEN]; extern uint16_t rxData_Obj6[CAN_DATA_LEN]; void RPS_HAL_SetupCan(void); #if CAN_RX_USE_INT __interrupt void canB_ISR(void); #endif // 仅轮询模式使用循环调用读取所有接收邮箱 void CANB_PollAllRxMailbox(void); #endif主函数调用初始化CAN发送CAN_sendMessage(CANB_BASE, TX_MSG_OBJ_ID, MSG_DATA_LENGTH, txMsgData); // Poll TxOk bit in CAN_ES register to check completion of transmission //while(((HWREGH(CANB_BASE CAN_O_ES) CAN_ES_TXOK)) ! CAN_ES_TXOK){} delay_ms(10); CAN_sendMessage(CANB_BASE, TX_MSG_OBJ_ID, MSG_DATA_LENGTH, txMsgData2); // Poll TxOk bit in CAN_ES register to check completion of transmission //while(((HWREGH(CANB_BASE CAN_O_ES) CAN_ES_TXOK)) ! CAN_ES_TXOK){}测试结果打开DEBUG查看对应邮箱ID的接收buffer看到能够对应上邮箱接收到信息