GD32F105RCT6的CAN1通讯只能发不能收，无法进入接收中断

/*!

    \file    main.c

    \brief   communication_among_Devices in normal mode

    

    \version 2024-12-20, V2.5.0, firmware for GD32F10x

*/



/*

    Copyright (c) 2024, GigaDevice Semiconductor Inc.



    Redistribution and use in source and binary forms, with or without modification, 

are permitted provided that the following conditions are met:



    1. Redistributions of source code must retain the above copyright notice, this 

       list of conditions and the following disclaimer.

    2. Redistributions in binary form must reproduce the above copyright notice, 

       this list of conditions and the following disclaimer in the documentation 

       and/or other materials provided with the distribution.

    3. Neither the name of the copyright holder nor the names of its contributors 

       may be used to endorse or promote products derived from this software without 

       specific prior written permission.



    THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" 

AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED 

WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE DISCLAIMED. 

IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, 

INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, BUT 

NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR 

PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, 

WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) 

ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY 

OF SUCH DAMAGE.

*/



#include "gd32f10x.h"

#include <stdio.h>

#include "gd32f10x_eval.h"



/* select can */

//#define CAN0_USED

#define CAN1_USED



#ifdef  CAN0_USED

    #define CANX CAN0

#else 

    #define CANX CAN1

#endif



FlagStatus receive_flag;

uint8_t transmit_number = 0x0;

can_trasnmit_message_struct g_transmit_message;

can_receive_message_struct g_receive_message;

    

void nvic_config(void);

void led_config(void);

void gpio_config(void);

ErrStatus can_networking(void);

void can_networking_init(void);

void delay(void);



/*!

    \brief      main function

    \param[in]  none

    \param[out] none

    \retval     none

*/

int main(void)

{

    uint8_t i = 0;

    uint32_t timeout = 0xFFFF;

    uint8_t transmit_mailbox = 0;

    

    receive_flag = RESET;

    /* configure Tamper key */

    gd_eval_key_init(KEY_TAMPER, KEY_MODE_GPIO);

    /* configure GPIO */

    gpio_config();

    /* configure USART */

    gd_eval_com_init(EVAL_COM0);

    /* configure NVIC */

    nvic_config();

    /* configure leds */

    led_config();

    /* set all leds off */

    gd_eval_led_off(LED2);

    gd_eval_led_off(LED3);

    gd_eval_led_off(LED4);

    /* initialize CAN */

    can_networking_init();

    

    /* enable CAN receive FIFO1 not empty interrupt */

    can_interrupt_enable(CANX, CAN_INT_RFNE1);

//     can_interrupt_enable(CAN1, CAN_INT_RFNE1);

    /* initialize transmit message */

    can_struct_para_init(CAN_TX_MESSAGE_STRUCT, &g_transmit_message);

                

    g_transmit_message.tx_sfid = 0x00;

    g_transmit_message.tx_efid = 0xaabb;

    g_transmit_message.tx_ft = CAN_FT_DATA;

    g_transmit_message.tx_ff = CAN_FF_EXTENDED;

    g_transmit_message.tx_dlen = 8;

    

    g_transmit_message.tx_data[0] = 0xA0U;

    g_transmit_message.tx_data[1] = 0xA1U;

    g_transmit_message.tx_data[2] = 0xA2U;

    g_transmit_message.tx_data[3] = 0xA3U;

    g_transmit_message.tx_data[4] = 0xA4U;

    g_transmit_message.tx_data[5] = 0xA5U;

    g_transmit_message.tx_data[6] = 0xA6U;

    g_transmit_message.tx_data[7] = 0xA7U;

    

    printf("please press the Tamper key to transmit data!\r\n");

    

    /* initialize receive message */

    can_struct_para_init(CAN_RX_MESSAGE_STRUCT, &g_receive_message);

    

    while(1) {

        /* waiting for the Tamper key pressed */

        while(0 == gd_eval_key_state_get(KEY_TAMPER)){

            /* if transmit_number is 0x10, set it to 0x00 */

            if(transmit_number == 0x10){

                transmit_number = 0x00;

            }else{

                g_transmit_message.tx_data[0] = transmit_number++;

                printf("\r\n can transmit data:");

                for(i = 0; i < g_transmit_message.tx_dlen; i++){

                    printf(" %02x", g_transmit_message.tx_data[i]);

                }

                /* transmit message */

                transmit_mailbox = can_message_transmit(CANX, &g_transmit_message);

                /* waiting for transmit completed */

                timeout = 0xFFFF;

                while((CAN_TRANSMIT_OK != can_transmit_states(CANX, transmit_mailbox)) && (0 != timeout)){

                    timeout--;

                }

                /* waiting for Tamper key up */

                while(0 == gd_eval_key_state_get(KEY_TAMPER));

            }

        }

        if(SET == receive_flag) {

            gd_eval_led_toggle(LED2);

            receive_flag = RESET;

            printf("\r\n receive data:");

            for(i = 0; i < g_receive_message.rx_dlen; i++){

                printf(" %02x", g_receive_message.rx_data[i]);

            }

        }

    }

}



/*!

    \brief      initialize CAN and filter

    \param[in]  can_parameter

      \arg        can_parameter_struct

    \param[in]  can_filter

      \arg        can_filter_parameter_struct

    \param[out] none

    \retval     none

*/

void can_networking_init(void)

{

    can_parameter_struct            can_parameter;

    can_filter_parameter_struct     can_filter;

    

    can_struct_para_init(CAN_INIT_STRUCT, &can_parameter);

    can_struct_para_init(CAN_FILTER_STRUCT, &can_filter);

    

    /* initialize CAN register */

    can_deinit(CANX);

    

    /* initialize CAN */

    can_parameter.time_triggered = DISABLE;

    can_parameter.auto_bus_off_recovery = DISABLE;

    can_parameter.auto_wake_up = DISABLE;

    can_parameter.auto_retrans = DISABLE;

    can_parameter.rec_fifo_overwrite = DISABLE;

    can_parameter.trans_fifo_order = DISABLE;

    can_parameter.working_mode = CAN_NORMAL_MODE;

    can_parameter.resync_jump_width = CAN_BT_SJW_1TQ;

    can_parameter.time_segment_1 = CAN_BT_BS1_5TQ;

    can_parameter.time_segment_2 = CAN_BT_BS2_3TQ;

    /* baudrate 250kbps */

    can_parameter.prescaler = 24;

    can_init(CANX, &can_parameter);

    /* initialize filter */



#ifdef  CAN0_USED

    /* CAN0 filter number */

    can_filter.filter_number = 0;

#else

    /* CAN1 filter number */

    can_filter.filter_number = 15;

#endif

    /* initialize filter */    

    can_filter.filter_mode = CAN_FILTERMODE_MASK;

    can_filter.filter_bits = CAN_FILTERBITS_32BIT;

    can_filter.filter_list_high = 0x0000U;

    can_filter.filter_list_low = 0x0000U;

    can_filter.filter_mask_high = 0x0000U;

    can_filter.filter_mask_low = 0x0000U;  

    can_filter.filter_fifo_number = CAN_FIFO1;

    can_filter.filter_enable = ENABLE;

    can_filter_init(&can_filter);



}



/*!

    \brief      configure the nested vectored interrupt controller

    \param[in]  none

    \param[out] none

    \retval     none

*/

void nvic_config(void)

{

#ifdef  CAN0_USED

    /* configure CAN0 NVIC */

    nvic_irq_enable(CAN0_RX1_IRQn,0,0);

#else

    /* configure CAN1 NVIC */

    nvic_irq_enable(CAN1_RX1_IRQn,0,0);

#endif



}



/*!

    \brief      delay

    \param[in]  none

    \param[out] none

    \retval     none

*/

void delay(void)

{

    uint16_t nTime = 0x0000;



    for(nTime = 0; nTime < 0xFFFF; nTime++){

    }

}



/*!

    \brief      configure the leds

    \param[in]  none

    \param[out] none

    \retval     none

*/

void led_config(void)

{

    gd_eval_led_init(LED2);

    gd_eval_led_init(LED3);

    gd_eval_led_init(LED4);

}



/*!

    \brief      configure GPIO

    \param[in]  none

    \param[out] none

    \retval     none

*/

void gpio_config(void)

{

    /* enable CAN clock */

    rcu_periph_clock_enable(RCU_CAN0);

                rcu_periph_clock_enable(RCU_CAN1);

          rcu_periph_clock_enable(RCU_GPIOB);

    rcu_periph_clock_enable(RCU_AF);

    

    /* configure CAN0 GPIO */

    gpio_init(GPIOB,GPIO_MODE_IPU,GPIO_OSPEED_50MHZ,GPIO_PIN_8);

    gpio_init(GPIOB,GPIO_MODE_AF_PP,GPIO_OSPEED_50MHZ,GPIO_PIN_9);

    gpio_pin_remap_config(GPIO_CAN0_PARTIAL_REMAP,ENABLE);

        

          gpio_init(GPIOB,GPIO_MODE_IPU,GPIO_OSPEED_50MHZ,GPIO_PIN_5);

    gpio_init(GPIOB,GPIO_MODE_AF_PP,GPIO_OSPEED_50MHZ,GPIO_PIN_6);

    gpio_pin_remap_config(GPIO_CAN1_REMAP,ENABLE);

}



#ifdef GD_ECLIPSE_GCC

/* retarget the C library printf function to the USART, in Eclipse GCC environment */

int __io_putchar(int ch)

{

    usart_data_transmit(EVAL_COM0, (uint8_t) ch );

    while(RESET == usart_flag_get(EVAL_COM0, USART_FLAG_TBE));

    return ch;

}

#else

/* retarget the C library printf function to the USART */

int fputc(int ch, FILE *f)

{

    usart_data_transmit(EVAL_COM0, (uint8_t)ch);

    while(RESET == usart_flag_get(EVAL_COM0, USART_FLAG_TBE));

    return ch;

}

#endif /* GD_ECLIPSE_GCC */

void CAN0_RX1_IRQHandler(void)

{

    /* check the receive message */

    can_message_receive(CAN0, CAN_FIFO1, &g_receive_message);

//    if((0xaabb == g_receive_message.rx_efid)&&(CAN_FF_EXTENDED == g_receive_message.rx_ff) && (8 == g_receive_message.rx_dlen)){

        receive_flag = SET;

//    }

}



/*!

    \brief      this function handles CAN1 RX0 exception

    \param[in]  none

    \param[out] none

    \retval     none

*/

void CAN1_RX1_IRQHandler(void)

{

//    printf("get!!\r\n");

    /* check the receive message */

    can_message_receive(CAN1, CAN_FIFO1, &g_receive_message);

//    if((0xaabb == g_receive_message.rx_efid)&&(CAN_FF_EXTENDED == g_receive_message.rx_ff) && (8 == g_receive_message.rx_dlen)){

        receive_flag = SET;

//    }

}