UCOSIII CAN1无法进入中断函数,求助!!!!!!

weiweiwsk · 发表于 2016-3-31 17:18:46

各位大神,调试了很久,无法进入CAN1中断服务函数,求助!!!下面是相关源码!任务主体
void AppTaskTestCan(void)
{
OS_ERR  err;
CPU_TS  ts;
LED2_Off();
while(1)
{
      OSSemPend(&App_TestCAN1Sem, //App_UserLEDSem当换成定时器中断发出的信号量里LED翻转 //App_TestCAN1Sem  进不了CAN1接收中断,所以也没有App_TestCAN1Sem出来
               0,
               OS_OPT_PEND_BLOCKING,
               &ts,
               &err
               );
      BSP_LED_Toggle(2);
}
}
CAN1配置函数
void BSP_Can1_Init(void)
{
CAN_InitTypeDef    CAN_InitStructure;
CAN_FilterInitTypeDef  CAN_FilterInitStructure;
GPIO_InitTypeDef GPIO_InitStructure;
NVIC_InitTypeDef NVIC_InitStructure;

NVIC_PriorityGroupConfig(NVIC_PriorityGroup_1);
NVIC_InitStructure.NVIC_IRQChannel = CAN1_RX0_IRQn;
NVIC_InitStructure.NVIC_IRQChannelPreemptionPriority = 0;
NVIC_InitStructure.NVIC_IRQChannelSubPriority = 0;
NVIC_InitStructure.NVIC_IRQChannelCmd = ENABLE;
NVIC_Init(&NVIC_InitStructure);

/* CAN Periph clock enable */
RCC_APB2PeriphClockCmd(RCC_APB2Periph_GPIOD | RCC_APB2Periph_AFIO,ENABLE);
RCC_APB1PeriphClockCmd(RCC_APB1Periph_CAN1, ENABLE);

GPIO_PinRemapConfig(GPIO_Remap2_CAN1,ENABLE);

/* Configure CAN1 pin: RX */
GPIO_InitStructure.GPIO_Pin = GPIO_Pin_0;
GPIO_InitStructure.GPIO_Speed = GPIO_Speed_50MHz;
GPIO_InitStructure.GPIO_Mode = GPIO_Mode_IPU;
GPIO_Init(GPIOD, &GPIO_InitStructure);
/* Configure CAN1 pin: TX */
GPIO_InitStructure.GPIO_Pin = GPIO_Pin_1;
GPIO_InitStructure.GPIO_Speed = GPIO_Speed_50MHz;
GPIO_InitStructure.GPIO_Mode = GPIO_Mode_AF_PP;
GPIO_Init(GPIOD, &GPIO_InitStructure);

CAN_DeInit(CAN1);
CAN_StructInit(&CAN_InitStructure);

/* CAN cell init */
CAN_InitStructure.CAN_TTCM = DISABLE;
CAN_InitStructure.CAN_ABOM = DISABLE;
CAN_InitStructure.CAN_AWUM = DISABLE;
CAN_InitStructure.CAN_NART = DISABLE;
CAN_InitStructure.CAN_RFLM = DISABLE;
CAN_InitStructure.CAN_TXFP = ENABLE;
CAN_InitStructure.CAN_Mode = CAN_Mode_Normal;

CAN_InitStructure.CAN_SJW=CAN_SJW_1tq;
CAN_InitStructure.CAN_BS1=CAN_BS1_8tq;
CAN_InitStructure.CAN_BS2=CAN_BS2_7tq;
CAN_InitStructure.CAN_Prescaler=9;

CAN_Init(CAN1,&CAN_InitStructure);

CAN_FilterInitStructure.CAN_FilterNumber = 0;
CAN_FilterInitStructure.CAN_FilterMode = CAN_FilterMode_IdMask;
CAN_FilterInitStructure.CAN_FilterScale = CAN_FilterScale_32bit;
CAN_FilterInitStructure.CAN_FilterIdHigh = 0;
CAN_FilterInitStructure.CAN_FilterIdLow = 0;
CAN_FilterInitStructure.CAN_FilterMaskIdHigh = 0x0000;
CAN_FilterInitStructure.CAN_FilterMaskIdLow = 0x0000;
CAN_FilterInitStructure.CAN_FilterFIFOAssignment = 0;
CAN_FilterInitStructure.CAN_FilterActivation = ENABLE;
CAN_FilterInit(&CAN_FilterInitStructure);
CAN_ITConfig(CAN1,CAN_IT_FMP0, ENABLE);

//

BSP_IntVectSet(BSP_INT_ID_CAN1_RX0, CAN1_RX0_ISR_Handler);
BSP_IntEn(BSP_INT_ID_CAN1_RX0);
}

CAN1中断服务函数,对应于BSP_IntVectSet(BSP_INT_ID_CAN1_RX0, CAN1_RX0_ISR_Handler);
void CAN1_RX0_ISR_Handler(void)
{
OS_ERR  err;
CanRxMsg RxMessage;
unsigned char i;
if(CAN_GetFlagStatus(CAN1,CAN_IT_FMP0) != RESET)
{
      BSP_LED_Toggle(2);
CAN_Receive(CAN1, CAN_FIFO0, &RxMessage);
for(i = 0;i < 8; i ++)
{
CAN1_DATA = RxMessage.Data;
}
CAN_ClearITPendingBit(CAN1,CAN_IT_FMP0);
      OSSemPost(&App_TestCAN0Sem,
               OS_OPT_POST_ALL ,
               &err
               );
}
}

另:#define  BSP_INT_ID_CAN1_RX0                            20 /* CAN1 RX0 Interrupts                               */

用同样的方式(
BSP_IntVectSet(BSP_INT_ID_TIM2, BSP_Timer2_Int);
BSP_IntVectSet(BSP_INT_ID_CAN1_RX0, CAN1_RX0_ISR_Handler);
),定时器2可以实现中断,但CAN1就是不行,求大神帮忙!!!不胜感激!