在調試28335的CAN的發送時出現的問題：

1、接口用錯導致一直失敗；

2、注意28335的CAN總線波特率計算，如下所述：

ECanaShadow.CANBTC.bit.BRPREG = 9;

ECanaShadow.CANBTC.bit.TSEG2REG = 2;

ECanaShadow.CANBTC.bit.TSEG1REG = 10;

以上代碼是配置28335的CAN總線模塊波特率，最后的波特率為：

按照上面的參數計算最后的波特率為500k;

同時還需要注意28335的CAN總線中比較特殊的說明,如下所述：

1、是關于波特率配置的描述：

?2、關于CAN網絡的說明：

?必須保證在網絡中有一個設備和當前節點配置為同樣的波特率，但是不一定要設置為接收模式；

附：最后的配置程序：

void InitECana(void)		// 初始化CAN總線模塊
{
/* Create a shadow register structure for the CAN control registers. This isneeded, since only 32-bit access is allowed to these registers. 16-bit accessto these registers could potentially corrupt the register contents or returnfalse data. This is especially true while writing to/reading from a bit(or group of bits) among bits 16 - 31 */struct ECAN_REGS ECanaShadow;EALLOW;		// EALLOW enables access to protected bits/* Configure eCAN RX and TX pins for CAN operation using eCAN regs*/ECanaShadow.CANTIOC.all = ECanaRegs.CANTIOC.all;ECanaShadow.CANTIOC.bit.TXFUNC = 1;ECanaRegs.CANTIOC.all = ECanaShadow.CANTIOC.all;ECanaShadow.CANRIOC.all = ECanaRegs.CANRIOC.all;ECanaShadow.CANRIOC.bit.RXFUNC = 1;ECanaRegs.CANRIOC.all = ECanaShadow.CANRIOC.all;/* Configure eCAN for HECC mode - (reqd to access mailboxes 16 thru 31) */// HECC mode also enables time-stamping featureECanaShadow.CANMC.all = ECanaRegs.CANMC.all;ECanaShadow.CANMC.bit.SCB = 1;ECanaRegs.CANMC.all = ECanaShadow.CANMC.all;/* Initialize all bits of 'Master Control Field' to zero */
// Some bits of MSGCTRL register come up in an unknown state. For proper operation,
// all bits (including reserved bits) of MSGCTRL must be initialized to zeroECanaMboxes.MBOX0.MSGCTRL.all = 0x00000000;ECanaMboxes.MBOX1.MSGCTRL.all = 0x00000000;ECanaMboxes.MBOX2.MSGCTRL.all = 0x00000000;ECanaMboxes.MBOX3.MSGCTRL.all = 0x00000000;ECanaMboxes.MBOX4.MSGCTRL.all = 0x00000000;ECanaMboxes.MBOX5.MSGCTRL.all = 0x00000000;ECanaMboxes.MBOX6.MSGCTRL.all = 0x00000000;ECanaMboxes.MBOX7.MSGCTRL.all = 0x00000000;ECanaMboxes.MBOX8.MSGCTRL.all = 0x00000000;ECanaMboxes.MBOX9.MSGCTRL.all = 0x00000000;ECanaMboxes.MBOX10.MSGCTRL.all = 0x00000000;ECanaMboxes.MBOX11.MSGCTRL.all = 0x00000000;ECanaMboxes.MBOX12.MSGCTRL.all = 0x00000000;ECanaMboxes.MBOX13.MSGCTRL.all = 0x00000000;ECanaMboxes.MBOX14.MSGCTRL.all = 0x00000000;ECanaMboxes.MBOX15.MSGCTRL.all = 0x00000000;ECanaMboxes.MBOX16.MSGCTRL.all = 0x00000000;ECanaMboxes.MBOX17.MSGCTRL.all = 0x00000000;ECanaMboxes.MBOX18.MSGCTRL.all = 0x00000000;ECanaMboxes.MBOX19.MSGCTRL.all = 0x00000000;ECanaMboxes.MBOX20.MSGCTRL.all = 0x00000000;ECanaMboxes.MBOX21.MSGCTRL.all = 0x00000000;ECanaMboxes.MBOX22.MSGCTRL.all = 0x00000000;ECanaMboxes.MBOX23.MSGCTRL.all = 0x00000000;ECanaMboxes.MBOX24.MSGCTRL.all = 0x00000000;ECanaMboxes.MBOX25.MSGCTRL.all = 0x00000000;ECanaMboxes.MBOX26.MSGCTRL.all = 0x00000000;ECanaMboxes.MBOX27.MSGCTRL.all = 0x00000000;ECanaMboxes.MBOX28.MSGCTRL.all = 0x00000000;ECanaMboxes.MBOX29.MSGCTRL.all = 0x00000000;ECanaMboxes.MBOX30.MSGCTRL.all = 0x00000000;ECanaMboxes.MBOX31.MSGCTRL.all = 0x00000000;// TAn, RMPn, GIFn bits are all zero upon reset and are cleared again
//	as a matter of precaution.ECanaRegs.CANTA.all	= 0xFFFFFFFF;	/* Clear all TAn bits */ECanaRegs.CANRMP.all = 0xFFFFFFFF;	/* Clear all RMPn bits */ECanaRegs.CANGIF0.all = 0xFFFFFFFF;	/* Clear all interrupt flag bits */ECanaRegs.CANGIF1.all = 0xFFFFFFFF;/* Configure bit timing parameters for eCANA*/ECanaShadow.CANMC.all = ECanaRegs.CANMC.all;ECanaShadow.CANMC.bit.CCR = 1 ;            // Set CCR = 1ECanaRegs.CANMC.all = ECanaShadow.CANMC.all;ECanaShadow.CANES.all = ECanaRegs.CANES.all;do{ECanaShadow.CANES.all = ECanaRegs.CANES.all;} while(ECanaShadow.CANES.bit.CCE != 1 );  		// Wait for CCE bit to be set..ECanaShadow.CANBTC.all = 0;#if (CPU_FRQ_150MHZ)                 
//初始化通信波特率
/*
具體的波特率計算：
波特率=系統時鐘/(2*(BRPREG+TSEG2REG+TSEG1REG+3)),同時需要確保TSEG1REG > TSEG2REG */ECanaShadow.CANBTC.bit.BRPREG = 9;ECanaShadow.CANBTC.bit.TSEG2REG = 2;ECanaShadow.CANBTC.bit.TSEG1REG = 10;#endifECanaShadow.CANBTC.bit.SAM = 1;ECanaRegs.CANBTC.all = ECanaShadow.CANBTC.all;ECanaShadow.CANMC.all = ECanaRegs.CANMC.all;ECanaShadow.CANMC.bit.CCR = 0 ;            // Set CCR = 0ECanaRegs.CANMC.all = ECanaShadow.CANMC.all;ECanaShadow.CANES.all = ECanaRegs.CANES.all;do{ECanaShadow.CANES.all = ECanaRegs.CANES.all;} while(ECanaShadow.CANES.bit.CCE != 0 ); 		// Wait for CCE bit to be  cleared../* Disable all Mailboxes  */ECanaRegs.CANME.all = 0;		// Required before writing the MSGIDsEDIS;
}void InitECanGpio(void)
{InitECanaGpio();
#if (DSP28_ECANB)InitECanbGpio();
#endif // if DSP28_ECANB
}void InitECanaGpio(void)
{EALLOW;
/* Enable internal pull-up for the selected CAN pins */
// Pull-ups can be enabled or disabled by the user.
// This will enable the pullups for the specified pins.
// Comment out other unwanted lines.GpioCtrlRegs.GPAPUD.bit.GPIO18 = 0;	    // Enable pull-up for GPIO18 (CANRXA)GpioCtrlRegs.GPAPUD.bit.GPIO19 = 0;	    // Enable pull-up for GPIO19 (CANTXA)/* Set qualification for selected CAN pins to asynch only */
// Inputs are synchronized to SYSCLKOUT by default.
// This will select asynch (no qualification) for the selected pins.GpioCtrlRegs.GPAQSEL2.bit.GPIO18 = 3;   // Asynch qual for GPIO18 (CANRXA)
/* Configure eCAN-A pins using GPIO regs*/
// This specifies which of the possible GPIO pins will be eCAN functional pins.GpioCtrlRegs.GPAMUX2.bit.GPIO18 = 3;	// Configure GPIO18 for CANRXA operationGpioCtrlRegs.GPAMUX2.bit.GPIO19 = 3;	// Configure GPIO19 for CANTXA operationEDIS;
}#if (DSP28_ECANB)
void InitECanbGpio(void)
{EALLOW;
/* Enable internal pull-up for the selected CAN pins */
// Pull-ups can be enabled or disabled by the user.
// This will enable the pullups for the specified pins.
// Comment out other unwanted lines.GpioCtrlRegs.GPAPUD.bit.GPIO12 = 0;   // Enable pull-up for GPIO12 (CANTXB)GpioCtrlRegs.GPAPUD.bit.GPIO13 = 0;   // Enable pull-up for GPIO13 (CANRXB)
/* Set qualification for selected CAN pins to asynch only */
// Inputs are synchronized to SYSCLKOUT by default.
// This will select asynch (no qualification) for the selected pins.
// Comment out other unwanted lines.GpioCtrlRegs.GPAQSEL1.bit.GPIO13 = 3; // Asynch qual for GPIO13 (CANRXB)
/* Configure eCAN-B pins using GPIO regs*/GpioCtrlRegs.GPAMUX1.bit.GPIO12 = 2;  // Configure GPIO12 for CANTXB operationGpioCtrlRegs.GPAMUX1.bit.GPIO13 = 2;  // Configure GPIO13 for CANRXB operationEDIS;
}
#endif // if DSP28_ECANB

具關于CAN總線中的收發問題：

1、發送：

?

.具體描述參見上圖，配置程序如下所示：

//發送一幀數據
/*
CAN總線發送數據結構體
typedef?struct
{unsigned?short?int?StdId;??//標準幀ID,值為0x000到0x7FFF;unsigned?long?int?ExtId;?//擴展幀ID,值為0到0x1FFFFFFFunsigned?char?SAE_J1939_Flag;//表示是否使用SAE?J1939協議SAE_ID?SAE_J1939_ID;unsigned?char?IDE;???//幀類型,可為：CAN_ID_STD(標準幀),CAN_ID_EXT(擴展幀)unsigned?char?DLC;??//數據長度，可為0到8;unsigned?char?MBox_num;//郵箱編號,可為0到31;unsigned?short?int?Tx_timeout_cnt;CAN_MSG_DATA?CAN_Tx_msg_data;?/*!<?幀消息內容,共8字節?*/
}?CanTxMsg;
*/
void CAN_Send_Msg(CanTxMsg *can_tx_msg)//發送一幀數據
{Uint16 time_cnt;Uint32 mbox_enable_temp = 0x0000;Uint32 mbox_disable_temp = 0x0000;Uint32 mbox_dir_temp = 0x0000;mbox_enable_temp = 1<<(can_tx_msg->MBox_num);mbox_disable_temp = ~(1<<(can_tx_msg->MBox_num));mbox_dir_temp = ~(1<<(can_tx_msg->MBox_num));struct ECAN_REGS ECanaShadow;volatile struct MBOX *Mailbox;Mailbox = &ECanaMboxes.MBOX0+can_tx_msg->MBox_num;ECanaShadow.CANME.all  = ECanaRegs.CANME.all;ECanaShadow.CANME.all &= mbox_disable_temp;ECanaRegs.CANME.all    = ECanaShadow.CANME.all;if(can_tx_msg->IDE == CAN_ID_STD){Mailbox->MSGID.all = can_tx_msg->StdId; //standard identifierMailbox->MSGID.bit.IDE = can_tx_msg->IDE;}else if(can_tx_msg->IDE == CAN_ID_EXT){if(can_tx_msg->SAE_J1939_Flag == 0){Mailbox->MSGID.all = can_tx_msg->ExtId; //extended identifier.Mailbox->MSGID.bit.IDE = can_tx_msg->IDE;}else{Mailbox->MSGID.all = can_tx_msg->SAE_J1939_ID.id; //extended identifier.Mailbox->MSGID.bit.IDE = can_tx_msg->IDE;}}ECanaShadow.CANMD.all = ECanaRegs.CANMD.all;ECanaShadow.CANMD.all &=mbox_dir_temp;//設置郵箱工作方向,0表示郵箱工作于發送,1表示工作于接收ECanaRegs.CANMD.all = ECanaShadow.CANMD.all;ECanaShadow.CANME.all = ECanaRegs.CANME.all;ECanaShadow.CANME.all |= mbox_enable_temp;//使能郵箱ECanaRegs.CANME.all = ECanaShadow.CANME.all;Mailbox->MSGCTRL.bit.DLC = can_tx_msg->DLC;//數據長度Mailbox->MDL.byte.BYTE0 = can_tx_msg->CAN_Tx_msg_data.msg_Byte.byte0;Mailbox->MDL.byte.BYTE1 = can_tx_msg->CAN_Tx_msg_data.msg_Byte.byte1;Mailbox->MDL.byte.BYTE2 = can_tx_msg->CAN_Tx_msg_data.msg_Byte.byte2;Mailbox->MDL.byte.BYTE3 = can_tx_msg->CAN_Tx_msg_data.msg_Byte.byte3;Mailbox->MDH.byte.BYTE4 = can_tx_msg->CAN_Tx_msg_data.msg_Byte.byte4;Mailbox->MDH.byte.BYTE5 = can_tx_msg->CAN_Tx_msg_data.msg_Byte.byte5;Mailbox->MDH.byte.BYTE6 = can_tx_msg->CAN_Tx_msg_data.msg_Byte.byte6;Mailbox->MDH.byte.BYTE7 = can_tx_msg->CAN_Tx_msg_data.msg_Byte.byte7;ECanaShadow.CANTRS.all = 0;ECanaShadow.CANTRS.all |= mbox_enable_temp;             // Set TRS for mailbox under testECanaRegs.CANTRS.all = ECanaShadow.CANTRS.all;do{ECanaShadow.CANTA.all = ECanaRegs.CANTA.all;time_cnt++;} while(((ECanaShadow.CANTA.all&mbox_enable_temp) == 0 )&&(time_cnt<100));   // Wait for TA5 bit to be set..ECanaShadow.CANTA.all = 0;ECanaShadow.CANTA.all = mbox_enable_temp;     	   // Clear TA5ECanaRegs.CANTA.all = ECanaShadow.CANTA.all;}

?接收相關配置：（數據接受通常會采用中斷來接收數據),具體配置程序如下，包括中斷的相關配置；

void CAN_Rx_Config(void)//接收配置函數，程序中相關備注
{struct ECAN_REGS ECanaShadow;ECanaShadow.CANME.all = ECanaRegs.CANME.all;ECanaShadow.CANME.bit.ME1 = 0;//不使能郵箱1ECanaShadow.CANME.bit.ME31 = 0;//不使能郵箱31ECanaRegs.CANME.all = ECanaShadow.CANME.all;/*----------以下代碼是配置接受郵箱的相關代碼------------*///郵箱1相關配置ECanaMboxes.MBOX1.MSGCTRL.bit.DLC = 8;//配置數據長度，應該是沒意義的;ECanaMboxes.MBOX1.MSGID.all = 0x07909ADC;//設置接收消息的有效IDECanaMboxes.MBOX1.MSGID.bit.AME =1;//屏蔽使能位,如果需要使用屏蔽,必須將該位置1ECanaMboxes.MBOX1.MSGID.bit.IDE = CAN_ID_EXT;/*LAMn[28:0]這些位啟用一個進入消息的任意標識符位的屏蔽。1 針對接受到的標識符的相應位， 接受一個 0 或 1（ 無關） 。0 接收到的標識符位值必須與 MSGID 寄存器的相應標識符位相匹配。*/ECanaLAMRegs.LAM1.all = 0x000000F;///*LAMI 本地接受屏蔽標識符擴展位1 可以接收標準和擴展幀。 在擴展幀的情況下， 標識符的所有 29 位被存儲在郵箱中， 本地接受屏        蔽寄存器的所有 29 位被過濾器使用。 在一個標準幀的情況下， 只有標識符的頭 11 個位（ 28 至         18 位）和本地接受屏蔽被使用。0 存儲在郵箱中的標識符擴展位決定了哪些消息應該被接收到*/ECanaLAMRegs.LAM1.bit.LAMI = 1;//郵箱31相關配置ECanaMboxes.MBOX31.MSGCTRL.bit.DLC = 8;//配置數據長度，應該是沒意義的;ECanaMboxes.MBOX31.MSGID.all = 0x07909ABC;//設置接收消息的有效IDECanaMboxes.MBOX31.MSGID.bit.AME =1;//屏蔽使能位,ECanaMboxes.MBOX31.MSGID.bit.IDE = CAN_ID_EXT;/*LAM[28:0]這些位啟用一個進入消息的任意標識符位的屏蔽。1 針對接受到的標識符的相應位， 接受一個 0 或 1（ 無關） 。0 接收到的標識符位值必須與 MSGID 寄存器的相應標識符位相匹配。*/ECanaLAMRegs.LAM31.all = 0x000000F;//
/*LAMI 本地接受屏蔽標識符擴展位1 可以接收標準和擴展幀。 在擴展幀的情況下， 標識符的所有 29 位被存儲在郵箱中,本地接受屏蔽寄存器的所有 29 位被過濾器使用。 在一個標準幀的情況下， 只有標識符的頭 11 個位（ 28 至 18 位）和本地接受屏蔽被使用。0 存儲在郵箱中的標識符擴展位決定了哪些消息應該被接收到*/ECanaLAMRegs.LAM31.bit.LAMI = 1;ECanaRegs.CANRMP.all      = 0xFFFFFFFF;ECanaShadow.CANMD.all     = ECanaRegs.CANMD.all;ECanaShadow.CANMD.bit.MD1 = 1;ECanaShadow.CANMD.bit.MD31 = 1;ECanaRegs.CANMD.all       = ECanaShadow.CANMD.all;ECanaShadow.CANME.all       = ECanaRegs.CANME.all;ECanaShadow.CANME.bit.ME1   = 1;//使能郵箱1ECanaShadow.CANME.bit.ME31  = 1;//使能郵箱1ECanaRegs.CANME.all         = ECanaShadow.CANME.all;
}
void CAN_Rx_IT_Concig(void)//郵箱中斷相關配置
{EALLOW;ECanaRegs.CANMIM.bit.MIM1 = 1;//使能中斷郵箱1的中斷;ECanaRegs.CANMIL.bit.MIL1 = 1;//將中斷1連接至中斷1;ECanaRegs.CANMIM.bit.MIM31 = 1;//使能中斷郵箱31的中斷;ECanaRegs.CANMIL.bit.MIL31 = 1;//將中斷1連接至中斷1;ECanaRegs.CANGIM.bit.I1EN = 1;//使能中斷1;EDIS;
}
//具體的中斷函數,在清除GMIF1標志位時,不能通過向GMIF1寫1來清除,只能通過向RMPn來清除該標志位 
/*
CAN總線接收數據的結構體
typedef?struct
{unsigned?short?int?StdId;??//標準幀ID,值為0x000到0x7FFF;unsigned?long?int?ExtId;?//擴展幀ID,值為0到0x1FFFFFFFunsigned?char?SAE_J1939_Flag;//表示是否使用SAE?J1939協議SAE_ID?SAE_J1939_ID;unsigned?char?IDE;???//幀類型,可為：CAN_ID_STD(標準幀),CAN_ID_EXT(擴展幀)unsigned?char?DLC;??//數據長度，可為0到8unsigned?char?MBox_num;//發送所用郵箱編號unsigned?short?int?Rx_timeout_cnt;CAN_MSG_DATA?CAN_Rx_msg_data;?/*!<?幀消息內容,共8字節?*/
}?CanRxMsg;
*/
__interrupt void Ecana_isr1(void)
{if(ECanaRegs.CANGIF1.bit.GMIF1 == 1){if(ECanaRegs.CANRMP.bit.RMP1 == 1){
//讀取該位是知道當前哪一個郵箱收到數據,can_rx_msg.MBox_num = ECanaRegs.CANGIF1.bit.MIV1;can_rx_msg.DLC = ECanaMboxes.MBOX1.MSGCTRL.bit.DLC;can_rx_msg.IDE = ECanaMboxes.MBOX1.MSGID.bit.IDE;if(can_rx_msg.IDE == CAN_ID_EXT){can_rx_msg.ExtId = ECanaMboxes.MBOX1.MSGID.all&0x1FFFFFFF;can_rx_msg.SAE_J1939_ID.id = can_rx_msg.ExtId;}else if(can_rx_msg.IDE == CAN_ID_STD){can_rx_msg.StdId = ECanaMboxes.MBOX1.MSGID.bit.STDMSGID;}can_rx_msg.CAN_Rx_msg_data.msg_Byte.byte0 = ECanaMboxes.MBOX1.MDL.byte.BYTE0;can_rx_msg.CAN_Rx_msg_data.msg_Byte.byte1 = ECanaMboxes.MBOX1.MDL.byte.BYTE1;can_rx_msg.CAN_Rx_msg_data.msg_Byte.byte2 = ECanaMboxes.MBOX1.MDL.byte.BYTE2;can_rx_msg.CAN_Rx_msg_data.msg_Byte.byte3 = ECanaMboxes.MBOX1.MDL.byte.BYTE3;can_rx_msg.CAN_Rx_msg_data.msg_Byte.byte4 = ECanaMboxes.MBOX1.MDH.byte.BYTE4;can_rx_msg.CAN_Rx_msg_data.msg_Byte.byte5 = ECanaMboxes.MBOX1.MDH.byte.BYTE5;can_rx_msg.CAN_Rx_msg_data.msg_Byte.byte6 = ECanaMboxes.MBOX1.MDH.byte.BYTE6;can_rx_msg.CAN_Rx_msg_data.msg_Byte.byte7 = ECanaMboxes.MBOX1.MDH.byte.BYTE7;ECanaRegs.CANRMP.bit.RMP1 = 1;}else if(ECanaRegs.CANRMP.bit.RMP31 == 1){can_rx_msg.MBox_num = ECanaRegs.CANGIF1.bit.MIV1;can_rx_msg.DLC = ECanaMboxes.MBOX31.MSGCTRL.bit.DLC;can_rx_msg.IDE = ECanaMboxes.MBOX31.MSGID.bit.IDE;if(can_rx_msg.IDE == CAN_ID_EXT){can_rx_msg.ExtId = ECanaMboxes.MBOX31.MSGID.all&0x1FFFFFFF;can_rx_msg.SAE_J1939_ID.id = can_rx_msg.ExtId;}else if(can_rx_msg.IDE == CAN_ID_STD){can_rx_msg.StdId = ECanaMboxes.MBOX31.MSGID.bit.STDMSGID;}can_rx_msg.CAN_Rx_msg_data.msg_Byte.byte0 = ECanaMboxes.MBOX31.MDL.byte.BYTE0;can_rx_msg.CAN_Rx_msg_data.msg_Byte.byte1 = ECanaMboxes.MBOX31.MDL.byte.BYTE1;can_rx_msg.CAN_Rx_msg_data.msg_Byte.byte2 = ECanaMboxes.MBOX31.MDL.byte.BYTE2;can_rx_msg.CAN_Rx_msg_data.msg_Byte.byte3 = ECanaMboxes.MBOX31.MDL.byte.BYTE3;can_rx_msg.CAN_Rx_msg_data.msg_Byte.byte4 = ECanaMboxes.MBOX31.MDH.byte.BYTE4;can_rx_msg.CAN_Rx_msg_data.msg_Byte.byte5 = ECanaMboxes.MBOX31.MDH.byte.BYTE5;can_rx_msg.CAN_Rx_msg_data.msg_Byte.byte6 = ECanaMboxes.MBOX31.MDH.byte.BYTE6;can_rx_msg.CAN_Rx_msg_data.msg_Byte.byte7 = ECanaMboxes.MBOX31.MDH.byte.BYTE7;ECanaRegs.CANRMP.bit.RMP31 = 1;}}PieCtrlRegs.PIEACK.bit.ACK9 = 1;
}

下面是部分宏定義和結構體定義

/** CANA.h**  Created on: 2017年4月16日*      Author: admin*/#ifndef BSP_INC_CANA_H_
#define BSP_INC_CANA_H_
#include "include.h"
#include "stdint.h"
#define USE_CANA  1
#define USE_CANB  1
#define CAN_Id_Standard   0//表示標準幀
#define CAN_Id_Extended   1//表示擴展幀
#define CAN_ID_STD      CAN_Id_Standard
#define CAN_ID_EXT      CAN_Id_Extended
#define TXCOUNT 100
typedef enum _CAN_Num
{Null = 0,CANA = 1,CANB = 2,
} CAN_Num;
typedef enum _UPDATE_State
{NON_CHANGE = 0,UPDATE = 1,
} UPDATE_State;
typedef union _SAE_ID
{unsigned long int all;struct{unsigned short int SA :8;unsigned short int PS :8;unsigned short int PF :8;unsigned short int DP :1;unsigned short int R :1;unsigned short int Priority :3;unsigned short int resved :3;} bit;
} SAE_ID;
typedef struct _CAN_MSG_byte
{unsigned char data[8];
} CAN_MSG_byte;
typedef struct _CAN_MSG_BYTE
{unsigned char byte0;unsigned char byte1;unsigned char byte2;unsigned char byte3;unsigned char byte4;unsigned char byte5;unsigned char byte6;unsigned char byte7;
} CAN_MSG_BYTE;
typedef union _CAN_MSG_DATA
{CAN_MSG_byte msg_byte;CAN_MSG_BYTE msg_Byte;
} CAN_MSG_DATA;
typedef struct _CanTxMsg
{union{unsigned short int all;struct{unsigned short int StdId :11;unsigned short int resved :5;} bit;} StdId; //標準幀IDunion{unsigned long int all;struct{unsigned long int ExtId :29;unsigned long int resved :3;} bit;} ExtId; //擴展幀IDunsigned char SAE_J1939_Flag; //表示是否使用SAE J1939協議SAE_ID SAE_J1939_ID;unsigned char IDE;   //幀類型,可為：CAN_ID_STD(標準幀),CAN_ID_EXT(擴展幀)unsigned char DLC;  //數據長度，可為0到8;unsigned char MBox_num;  //郵箱編號,0-31unsigned short int Tx_timeout_cnt;CAN_Num CAN_num;UPDATE_State tx_update;CAN_MSG_DATA CAN_Tx_msg_data; /*!< 幀消息內容,共8字節 */} CanTxMsg;
typedef struct _CanRxMsg
{union{unsigned short int all;struct{unsigned short int StdId :11;unsigned short int resved :5;} bit;} StdId; 標準幀ID,值為0x000到0x7FFF;union{unsigned long int all;struct{unsigned long int ExtId :29;unsigned long int resved :3;} bit;} ExtId; 擴展幀ID,值為0到0x1FFFFFFFunsigned char SAE_J1939_Flag; //表示是否使用SAE J1939協議SAE_ID SAE_J1939_ID;unsigned char IDE;   //幀類型,可為：CAN_ID_STD(標準幀),CAN_ID_EXT(擴展幀)unsigned char DLC;  //數據長度，可為0到8;unsigned char MBox_num;  //發送所用郵箱編號unsigned short int Rx_timeout_cnt;CAN_MSG_DATA CAN_Rx_msg_data; /*!< 幀消息內容,共8字節 */CAN_Num CAN_num;UPDATE_State rx_update;
} CanRxMsg;
typedef struct _CANBus_Baudrate
{Uint16  BRPREG:   8; // 23:16 Baudrate prescaler register valueUint16  TSEG2REG: 3; // 2:0   TSEG2 register valueUint16  TSEG1REG: 4; // 6:3   TSEG1 register valueunsigned short int  BaudRate;
}CANBus_Baudrate;
void CAN_GPIO_Config(CAN_Num CAN);
void CAN_Config(CAN_Num CAN,unsigned short int  BaudRate);
void CAN_Tx_Msg(CanTxMsg *can_tx_msg);  //發送消息
void CAN_Rx_Msg(CanRxMsg *can_rx_msg);  //接收消息
#if USE_CANA
static void CANA_RX_Config(void);
#endif
#if USE_CANB
static void CANB_RX_Config(void);
#endif
void CAN_Rx_Config(void);
void CAN_Rx_IT_Concig(void);
int CAN_GetBaudRateNum(unsigned int BaudRate);
__interrupt void Ecana_isr1(void);
__interrupt void Ecanb_isr1(void);
extern CanTxMsg can_tx_msg;
extern CanRxMsg can_rx_msg;
extern CANBus_Baudrate CANBus_Baudrate_table[27];
#endif /* BSP_INC_CANA_H_ */

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