CAN主程序发送6条报文，却只能接收到3条消息返回；后面该怎么处理呢？

15628961848 · 发表于 2022-3-24 10:56:33

int main(void)
{

u8 key;
u8 i=0,t=0;
u8 canbuf[8];
u8 res;
u8 mode=CAN_Mode_LoopBack;//CAN工作模式;CAN_Mode_Normal(0)：普通模式，CAN_Mode_LoopBack(1)：环回模式

delay_init();            //延时函数初始化
NVIC_PriorityGroupConfig(NVIC_PriorityGroup_2);//设置中断优先级分组为组2：2位抢占优先级，2位响应优先级
uart_init(115200);      //串口初始化为115200
LED_Init();       //初始化与LED连接的硬件接口
LCD_Init();    //初始化LCD
KEY_Init(); //按键初始化

CAN_Mode_Init(CAN_SJW_1tq,CAN_BS2_8tq,CAN_BS1_9tq,4,CAN_Mode_Normal);//CAN初始化环回模式,波特率500Kbps

while(1)
{
key=KEY_Scan(0);
if(key==KEY0_PRES)//KEY0按下,发送一次数据
{

canbuf[0]=0x40;
canbuf[1]=0x00;
canbuf[2]=0x21;
canbuf[3]=0x01;
canbuf[4]=0x00;
canbuf[5]=0x00;
canbuf[6]=0x00;
canbuf[7]=0x00;
res=Can_Send_Msg(canbuf,8);//发送8个字节
delay_ms(10);

canbuf[0]=0x40;
canbuf[1]=0x0A;
canbuf[2]=0x21;
canbuf[3]=0x01;
canbuf[4]=0x00;
canbuf[5]=0x00;
canbuf[6]=0x00;
canbuf[7]=0x00;
res=Can_Send_Msg(canbuf,8);//发送8个字节
delay_ms(10);

canbuf[0]=0x40;
canbuf[1]=0x0F;
canbuf[2]=0x21;
canbuf[3]=0x02;
canbuf[4]=0x00;
canbuf[5]=0x00;
canbuf[6]=0x00;
canbuf[7]=0x00;
res=Can_Send_Msg(canbuf,8);//发送8个字节
delay_ms(10);

canbuf[0]=0x40;
canbuf[1]=0x12;
canbuf[2]=0x21;
canbuf[3]=0x00;
canbuf[4]=0x00;
canbuf[5]=0x00;
canbuf[6]=0x00;
canbuf[7]=0x00;
res=Can_Send_Msg(canbuf,8);//发送8个字节
delay_ms(10);

canbuf[0]=0x40;
canbuf[1]=0x11;
canbuf[2]=0x21;
canbuf[3]=0x00;
canbuf[4]=0x00;
canbuf[5]=0x00;
canbuf[6]=0x00;
canbuf[7]=0x00;
res=Can_Send_Msg(canbuf,8);//发送8个字节
delay_ms(10);

canbuf[0]=0x40;
canbuf[1]=0x0D;
canbuf[2]=0x21;
canbuf[3]=0x02;
canbuf[4]=0x00;
canbuf[5]=0x00;
canbuf[6]=0x00;
canbuf[7]=0x00;
res=Can_Send_Msg(canbuf,8);//发送8个字节
delay_ms(10);

if(res)
   printf("\r\n  Failed \r\n ");
else
   printf("\r\n  OK \r\n ");
}

key=Can_Receive_Msg(canbuf);
if(key)//接收到有数据
{

printf("%x %x %x %x %x %x %x %x  \n",canbuf[0],canbuf[1],canbuf[2],canbuf[3],canbuf[4],canbuf[5],canbuf[6],canbuf[7]);

}
t++;
delay_ms(10);
if(t==20)
{
LED0=!LED0;//提示系统正在运行
t=0;
}
}
}