1 | // Programm: CAN Funktionen
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2 | // Achtung! KEINE GLEICHZEITIGE NUTZUNG MIT USB MÖGLICH!!!
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3 | // Mikrocontroller: STM32F103RE
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4 | // Speicher: 512KB FLASH, 64KB SRAM
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5 | // Taktfrequenz: 8MHz, PLL: 72MHz
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6 |
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7 | // System-Inlude
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8 | #include <stddef.h>
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9 | #include "stm32f10x.h"
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10 |
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11 | #include <string.h> // Stringfunktion
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12 | #include <stdio.h> // Standardfunktion
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13 | #include <stdlib.h> // Standardbibliothek
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14 |
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15 | //***********************************************************************************************
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16 | // CAN Initialisierung
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17 | //***********************************************************************************************
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18 | void init_can (void) {
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19 | CAN_InitTypeDef CAN_InitStructure;
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20 | CAN_FilterInitTypeDef CAN_FilterInitStructure;
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21 | NVIC_InitTypeDef NVIC_InitStructure;
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22 |
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23 | // CAN RX0 Interrupt
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24 | NVIC_InitStructure.NVIC_IRQChannel = USB_LP_CAN1_RX0_IRQn;
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25 | NVIC_InitStructure.NVIC_IRQChannelPreemptionPriority = 0;
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26 | NVIC_InitStructure.NVIC_IRQChannelSubPriority = 0;
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27 | NVIC_InitStructure.NVIC_IRQChannelCmd = ENABLE;
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28 | NVIC_Init(&NVIC_InitStructure);
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29 |
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30 |
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31 | // CAN1 Periph clock enable
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32 | RCC_APB1PeriphClockCmd(RCC_APB1Periph_CAN1, ENABLE); // CAN1 Takt freigeben
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33 | RCC_APB2PeriphClockCmd(RCC_APB2Periph_AFIO, ENABLE); // AFIO Takt freigeben (für Remapping)
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34 |
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35 | // PB8 als GPIO_Mode_IPU, PB9 als GPIO_Mode_AF_PP definiert (50MHz!)
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36 | // Remapping CANRX und CANTX von PA11 und PA12 auf PB8 und PB9
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37 | // (PA11/12 sind die USB-Pins)
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38 | GPIO_PinRemapConfig(GPIO_Remap1_CAN1, ENABLE);
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39 |
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40 | // CAN Register init
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41 | CAN_DeInit(CAN1);
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42 | CAN_StructInit(&CAN_InitStructure);
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43 |
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44 | // CAN cell init
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45 | CAN_InitStructure.CAN_TTCM=DISABLE;
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46 | CAN_InitStructure.CAN_ABOM=DISABLE;
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47 | CAN_InitStructure.CAN_AWUM=DISABLE;
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48 | CAN_InitStructure.CAN_NART=DISABLE;
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49 | CAN_InitStructure.CAN_RFLM=DISABLE;
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50 | CAN_InitStructure.CAN_TXFP=DISABLE;
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51 | CAN_InitStructure.CAN_Mode=CAN_Mode_LoopBack;
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52 | //CAN_InitStructure.CAN_Mode = CAN_Mode_Normal;
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53 |
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54 | // CAN Bitrate
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55 | CAN_InitStructure.CAN_SJW=CAN_SJW_1tq; // SJW (1 bis 4 möglich)
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56 | CAN_InitStructure.CAN_BS1=CAN_BS1_12tq; // Samplepoint 72%
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57 | CAN_InitStructure.CAN_BS2=CAN_BS2_5tq; // Samplepoint 72%
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58 |
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59 | //CAN_InitStructure.CAN_Prescaler=1; // 2000 kbit/s
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60 | //CAN_InitStructure.CAN_Prescaler=2; // 1000 kbit/s
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61 | //CAN_InitStructure.CAN_Prescaler=4; // 500 kbit/s
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62 | //CAN_InitStructure.CAN_Prescaler=5; // 400 kbit/s
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63 | //CAN_InitStructure.CAN_Prescaler=8; // 250 kbit/s
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64 | //CAN_InitStructure.CAN_Prescaler=10; // 200 kbit/s
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65 | //CAN_InitStructure.CAN_Prescaler=16; // 125 kbit/s
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66 | CAN_InitStructure.CAN_Prescaler=20; // 100 kbit/s
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67 | //CAN_InitStructure.CAN_Prescaler=40; // 50 kbit/s
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68 | //CAN_InitStructure.CAN_Prescaler=80; // 40 kbit/s
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69 | //CAN_InitStructure.CAN_Prescaler=200; // 10 kbit/s
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70 | //CAN_InitStructure.CAN_Prescaler=1023; // ganz langsam
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71 |
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72 | CAN_Init(CAN1, &CAN_InitStructure);
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73 |
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74 | // CAN filter init
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75 | CAN_FilterInitStructure.CAN_FilterNumber=1;
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76 | CAN_FilterInitStructure.CAN_FilterMode=CAN_FilterMode_IdMask;
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77 | CAN_FilterInitStructure.CAN_FilterScale=CAN_FilterScale_32bit;
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78 | CAN_FilterInitStructure.CAN_FilterIdHigh=0x0000;
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79 | CAN_FilterInitStructure.CAN_FilterIdLow=0x0000;
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80 | CAN_FilterInitStructure.CAN_FilterMaskIdHigh=0x0000;
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81 | CAN_FilterInitStructure.CAN_FilterMaskIdLow=0x0000;
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82 | CAN_FilterInitStructure.CAN_FilterFIFOAssignment=CAN_FIFO0;
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83 | CAN_FilterInitStructure.CAN_FilterActivation=ENABLE;
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84 | CAN_FilterInit(&CAN_FilterInitStructure);
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85 |
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86 | // CAN FIFO0 message pending interrupt enable
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87 | CAN_ITConfig(CAN1, CAN_IT_FMP0, ENABLE);
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88 | }
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89 |
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90 | //***********************************************************************************************
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91 | // CAN Messange senden
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92 | //***********************************************************************************************
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93 | void can_send_test (void) {
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94 | uint8_t CanMailBox;
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95 | uint8_t CanTxStatus;
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96 |
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97 | printf_tft(1,60,"CAN Test: Senden einer Message");
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98 |
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99 | // CAN Message senden
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100 | CanTxMessage.StdId=0x00;
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101 | CanTxMessage.ExtId=0x1234;
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102 | CanTxMessage.IDE=CAN_ID_EXT;
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103 | CanTxMessage.RTR=CAN_RTR_DATA;
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104 | CanTxMessage.DLC=3;
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105 | CanTxMessage.Data[0] = 'P';
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106 | CanTxMessage.Data[1] = 'R';
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107 | CanTxMessage.Data[2] = 'O';
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108 | CanMailBox = CAN_Transmit(CAN1, &CanTxMessage); // Rückgabe Mailbox-Nr. 0,1,3 (4=keine Mailbox frei)
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109 | if (CanMailBox == CAN_NO_MB) {
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110 | // Mailboxen voll mit ungesendeten Messages
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111 | printf_tft(1,75,"--> keine Mailbox frei");
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112 | } else {
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113 | // Mailbox verfügbar
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114 | // Sendevorgang läuft
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115 | sprintf(tft.buffer,"--> Mailbox-Nr.: %u",CanMailBox);
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116 | printf_tft(1,75,tft.buffer);
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117 | while(1) {
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118 | CanTxStatus = CAN_TransmitStatus(CAN1, CanMailBox); // Rückgabe 0=Fehler, 1=ok, 2=senden läuft noch
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119 |
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120 | sprintf(tft.buffer,"--> TxStatus: %u",CanTxStatus);
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121 | printf_tft(1,90,tft.buffer);
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122 | if (CanTxStatus == CANTXPENDING) {
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123 | // Message Sendevorgang läuft gerade
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124 | printf_tft(1,105,"--> Sendevorgang aktiv!");
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125 |
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126 | sprintf(tft.buffer,"EWG:%u EPV:%u BOF:%u TEC:%u",CAN_GetFlagStatus(CAN1, CAN_FLAG_EWG),CAN_GetFlagStatus(CAN1, CAN_FLAG_EPV), CAN_GetFlagStatus(CAN1, CAN_FLAG_BOF), (uint16_t)(CAN1->ESR >> 16) & 0x000000FF);
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127 | printf_tft(1,120,tft.buffer);
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128 |
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129 | }
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130 | if (CanTxStatus == CANTXFAILE) { // CANTXFAILED bis V3.4.0 - V3.5.0 dann CANTXFAILE
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131 | // Fehler Message nicht gesendet
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132 | printf_tft(1,135,"--> Senden nicht erfolgreich");
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133 | break;
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134 | }
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135 | if (CanTxStatus == CANTXOK) {
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136 | // Message gesendet und bestätigt
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137 | printf_tft(1,135,"--> Senden OK");
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138 | break;
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139 | }
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140 | }
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141 | }
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142 | }
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143 |
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144 | ...
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145 |
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146 | // Interrupt Handler
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147 | /*******************************************************************************
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148 | * USB_LP_CAN1_RX0_IRQHandler
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149 | *******************************************************************************/
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150 | void USB_LP_CAN1_RX0_IRQHandler(void) {
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151 |
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152 | /*
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153 | if (CAN_GetITStatus(CAN1, CAN_IT_FMP0) == SET) {
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154 | // CAN Fifo0 Receive
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155 | CAN_ClearITPendingBit(CAN1, CAN_IT_FMP0);
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156 | }
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157 | if (CAN_GetITStatus(CAN1, CAN_IT_FOV0) == SET) {
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158 | // CAN Fifo0 Receive Overrun
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159 | CAN_ClearITPendingBit(CAN1, CAN_IT_FOV0);
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160 | }
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161 | if (CAN_GetITStatus(CAN1, CAN_IT_FF0) == SET) {
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162 | // CAN Fifo0 Receive Buffer full
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163 | CAN_ClearITPendingBit(CAN1, CAN_IT_FF0);
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164 | }
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165 | */
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166 | CAN_Receive(CAN1, CAN_FIFO0, &CanRxMessage);
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167 |
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168 | // if((CanRxMessage.ExtId==0x1234) && (CanRxMessage.IDE==CAN_ID_EXT) && (CanRxMessage.DLC==3)) {
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169 | CanRxReady = 1;
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170 | // }
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171 | }
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