CAN控制器通过两根线上的电位差来判断总线电平" z, t0 n9 a: H& b
% x$ a: s1 [1 m( f3 ocan.h0 t# {% p5 Y9 a8 [" o0 Q8 S! {
- #can.h
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2 }/ J* x& x" O, P4 F- #include"stm32f2xx.h"
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, ~ d: Q$ q7 r0 l' r- #ifndef __CAN_H_" O6 B% F" R' w1 J: F5 ^
- #define __CAN_H_
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- void CAN_Mode_Config(u8 CAN_BS1_xtq, u8 CAN_BS2_ytq, u16 Prescaler);
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- u8 CAN_Send_Msg(u8 *msg, u8 len);( f6 s# N+ ]' S j7 i; {" h% Y0 s
- 7 ]+ [3 N' s4 U6 v0 H( }
- u8 CAN_Receive_Msg(u8 *buf); ' E# N# w$ t+ [( O$ r$ D1 U$ i
4 J: J! ?2 e9 d2 x- #endif
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can.c
% y8 F6 {6 W2 A/ p- #include"stm32f2xx.h"
) z! O6 ^# z# ?1 F0 K5 P/ J& L - #include"stm32f2xx_can.h"/ q+ v N* A2 a5 D( r
- #include"can.h"
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7 t' `* Q: [9 y& j; f& V- void CAN_Mode_Config(u8 CAN_BS1_xtq, u8 CAN_BS2_ytq, u16 Prescaler)
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. N* f) `& F+ K: R* z - GPIO_InitTypeDef GPIO_InitStructure;! I+ P- x1 I9 K' _' d! g
- CAN_InitTypeDef CAN_InitStructure;
2 \# R2 S( s. q7 ^+ S9 f* G# F - CAN_FilterInitTypeDef CAN_FilterInitStructure; r% p7 W4 ?( U
- NVIC_InitTypeDef NVIC_InitStructure;
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- RCC_AHB1PeriphClockCmd(RCC_AHB1Periph_GPIOD, ENABLE); //使能AHB1外设时钟* U5 I s$ P3 y: ^& D
- RCC_APB1PeriphClockCmd(RCC_APB1Periph_CAN1, ENABLE); //使能CAN1时钟
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- //GPIO初始化
1 u& w+ U X9 X2 n - GPIO_InitStructure.GPIO_Pin = GPIO_Pin_0|GPIO_Pin_1;
: x s; l1 k" a+ q - GPIO_InitStructure.GPIO_Mode = GPIO_Mode_AF;
: `- K$ u7 }8 H+ M" Z - GPIO_InitStructure.GPIO_OType = GPIO_OType_PP;
$ ?0 @- j5 [+ J6 b* F - GPIO_InitStructure.GPIO_Speed = GPIO_Speed_100MHz;
* U+ Y# t: V: U# f# }) q: e4 x2 k+ \ - GPIO_InitStructure.GPIO_PuPd = GPIO_PuPd_UP;
0 B& s: U4 `' X9 f) }9 O - GPIO_Init(GPIOD, &GPIO_InitStructure);3 T8 X/ v- {% }! I3 T/ _
- 9 {1 s" q0 M# y
- GPIO_PinAFConfig(GPIOD, GPIO_PinSource0, GPIO_AF_CAN1); 0 m. p5 F" j" {: `! D6 t
- GPIO_PinAFConfig(GPIOD, GPIO_PinSource1, GPIO_AF_CAN1);5 \& a/ u% k7 l# E! Z5 J
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( ]- g8 a& m5 f- //CAN初始化* W% ?" _ Q( T0 V ^/ Y
- CAN_InitStructure.CAN_ABOM = DISABLE; //软件自动离线管理 0 g5 ?0 i2 W/ Z9 ~1 Z
- CAN_InitStructure.CAN_AWUM = DISABLE; //睡眠模式通过软件唤醒(清除CAN->MCR的SLEEP位)
. n9 K& c6 {/ ]# ?! W - CAN_InitStructure.CAN_BS1 = CAN_BS1_xtq; //时间段1的时间单元,取值在CAN_BS1_1tq~CAN_BS1_16tq
& y0 \$ L9 u) Z8 a% Q7 y$ s/ A - CAN_InitStructure.CAN_BS2 = CAN_BS2_ytq; //时间段2的时间单元,取值在CAN_BS2_1tq~CAN_BS2_8tq+ e+ O2 r, a- k8 ~# F
- CAN_InitStructure.CAN_Mode = CAN_Mode_Normal; //模式设置,普通模式
" @, J( y7 f- c; N - CAN_InitStructure.CAN_NART = ENABLE; //禁止报文自动传送 4 G3 J# [8 j; k3 @- d
- CAN_InitStructure.CAN_Prescaler = Prescaler; //分频系数(Fdiv)为brp+1 9 V/ W& E% j0 ^$ r: ^+ i1 P
- CAN_InitStructure.CAN_RFLM = DISABLE; //报文不锁定,新的覆盖旧的 - h4 o# d/ {5 a
- CAN_InitStructure.CAN_SJW = CAN_SJW_1tq; //重新同步跳跃时间单元,CAN_SJW_1tq~CAN_SJW_4tq* U) M% `% }! O8 f: I) G: p& R* d
- CAN_InitStructure.CAN_TTCM = DISABLE; //非时间触发通信模式 ' d( E$ w$ j/ G. O9 c& r. r
- CAN_InitStructure.CAN_TXFP = DISABLE; //优先级由报文标识符决定
9 {# h* J; M& B; ? - CAN_Init(CAN1, &CAN_InitStructure);
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9 B. n5 Z* M9 ]9 ]) {; u' c- //筛选初始化6 m0 |* p/ W& k1 z. n
- CAN_FilterInitStructure.CAN_FilterActivation = ENABLE; 激活过滤器02 ?5 A8 {8 x) U3 Q# z/ o- b
- CAN_FilterInitStructure.CAN_FilterFIFOAssignment = CAN_FilterFIFO0; //过滤器0关联到FIFO0
( C/ R1 V+ M* v3 C4 f z - CAN_FilterInitStructure.CAN_FilterIdHigh = 0x0000; //32位ID" H% \! W/ _5 K6 O
- CAN_FilterInitStructure.CAN_FilterIdLow = 0x0000;
- u) n+ L. C( [+ b, j! L - CAN_FilterInitStructure.CAN_FilterMaskIdHigh = 0x0000; //32位MASK: E6 _- p/ m/ g' N, A
- CAN_FilterInitStructure.CAN_FilterMaskIdLow = 0x0000;0 j. H4 F) l: n
- CAN_FilterInitStructure.CAN_FilterMode = CAN_FilterMode_IdMask; //屏蔽模式, N( O6 |( \, I2 f( q
- CAN_FilterInitStructure.CAN_FilterNumber = 0; //过滤器0
7 m! Z* K: G; z2 Q' | - CAN_FilterInitStructure.CAN_FilterScale = CAN_FilterScale_32bit; //
* j* M+ M% d$ }( F; G9 W1 b( }2 O - CAN_FilterInit(&CAN_FilterInitStructure);
}; r. f# E: u+ R/ B4 \ F% i) e - ' {# M0 u) c5 ]
- CAN_ITConfig(CAN1, CAN_IT_FMP0, ENABLE); //fifo0的中断
( i* r0 e: V" O$ g) y% Y6 q; T* O - NVIC_InitStructure.NVIC_IRQChannel = CAN1_TX_IRQn; //stm..xx.h,发送中断: @3 D3 E/ @: Z, z" T
- NVIC_InitStructure.NVIC_IRQChannelCmd = ENABLE; & L" E6 G9 O8 H( m% Z
- NVIC_InitStructure.NVIC_IRQChannelPreemptionPriority = 0x01;" O0 m( \# O5 Y$ k2 V' N
- NVIC_InitStructure.NVIC_IRQChannelSubPriority = 0x01;
; Q8 L5 O2 b" f$ | n - NVIC_Init(&NVIC_InitStructure);
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8 V9 e; K: `& h6 Z2 ]; Z- //开始发送 ! a/ s- B6 ]% o
- u8 CAN_Send_Msg(u8 *msg, u8 len) //msg为数据,len为长度
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- u8 mbox; //邮箱0 W7 T$ A/ o' u! P4 B
- u16 i = 0;
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- CanTxMsg TXmessage; //can发送结构体
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9 i/ p* O8 I8 q$ f! ~ - TXmessage.DLC = len; //数据个数,不能超过8个
* H7 Y) S9 U ?9 G' x0 G2 X# y% F - TXmessage.ExtId = 0x12; //扩展标示符$ N9 n$ U# ]* f( I* t8 t
- TXmessage.IDE = CAN_ID_STD; //帧类型是标准帧,与这里的标准标示符和扩展标示符无关
( T( J! \: u7 V0 Z - //TXmessage.IDE = CAN_ID_EXT; //这里的帧类型也可以设置为扩展帧,在USB_CAN那里设置标准帧,传输记录中会有9 ?$ d5 b. u$ |
- TXmessage.RTR = CAN_RTR_DATA; //...can.h,传送的是数据帧
* Y/ v8 e1 p5 ?! a4 n5 o - TXmessage.StdId = 0x12; //标准标示符
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! _, n* f \" X) O6 C - for(i = 0; i < len; i++)
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/ L) r l6 b8 X' \1 \1 P K2 X - TXmessage.Data<i> = msg;
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- mbox = CAN_Transmit(CAN1, &TXmessage); //返回当前邮箱( r) r$ e1 Y" x/ ?
/ e8 v& p( ?, |* I) l) _1 @1 d: r$ n- while((CAN_TransmitStatus(CAN1, mbox) == CAN_TxStatus_Failed)&&(i < 0xFFF))& h, p; f0 \9 m$ P6 X7 G
- {$ W; n3 ?. N3 ^! _8 p1 p5 ^
- i++; //等待发送结束完成4 p) u# s0 c0 R; X
- }
) b' H# ?6 W9 x0 J8 Q! N$ A - if(i >= 0xFFF)
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- return 1;
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- return 0;1 p7 O% g, I* b( h
- }
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& j; g' T0 h+ A+ j4 {! m4 M- u8 CAN_Receive_Msg(u8 *buf), r: G+ V) k7 y; I
- {
) Y& y+ F9 E; |* v8 s, S - CanRxMsg RXmessage; //can接收结构体$ x( u6 a; a5 L0 Z8 {. p L/ |! b
- u16 i = 0;) R4 L! c- @7 J' H/ q$ L/ G
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- while(CAN_MessagePending(CAN1, CAN_FIFO0) == 0) //查询接收状态位,看是否由信息(报文)到达
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- return 0; //没有接收到数据,直接退出,看CAN_FIFO0中是否有数据
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& z8 X0 ^: u6 A k3 D5 n, P - CAN_Receive(CAN1, CAN_FIFO0, &RXmessage); //接收信息(报文),将CAN_FIFO0中的数据通过can1拷贝到RXmessage结构体中
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- for(i = 0; i < RXmessage.DLC; i++)+ M7 h9 B, I+ r( ?- @
- {
& H) K+ m. e4 c. [ - buf<span style="font-style: italic;"><span style="font-style: normal;"> = RXmessage.Data</span><span style="font-style: normal;">;
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- * R1 K4 M' Q6 t" ^2 C" u
- return RXmessage.DLC; ! h* ~8 T8 b8 @
- }</span></span>
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9 b) [9 }' S8 L0 d6 Eled.h
+ ~0 S; H& l9 C' x9 w4 L- #include"stm32f2xx.h"
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8 `" r2 V. B+ Y$ B- #ifndef __LED_H
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- #define __LED_H
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- void LED_Init(void);
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- void Delay(vu32 nCount);; ~6 g/ ?% T+ r+ a9 S# T! r9 `6 `/ N
4 X; f. ?2 l1 b. _. ^# T3 Y" Y+ n- void CTL_LED(u8 LED_NUM, u8 OFF_ON);
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-
" e/ p! H6 z m- ~9 T6 q - #endif
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led.c. H) f& C/ a' v" ?
- #include"led.h"" Q% N; I. K% D9 X' |; g; j
- #include"stm32f2xx.h"
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- void LED_Init(void)3 _; Y/ [) S* z @' N. V8 Y# x0 l
- {
# N# a/ |" t. P# g: a& V - GPIO_InitTypeDef GPIO_InitStructure; M; m$ z) y/ y0 }, M
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- RCC_AHB1PeriphClockCmd(RCC_AHB1Periph_GPIOD, ENABLE);- V9 j: }3 F4 o9 r
- GPIO_InitStructure.GPIO_Pin = GPIO_Pin_12|GPIO_Pin_11;
& d7 C& X" j L# T* | - GPIO_InitStructure.GPIO_Mode = GPIO_Mode_OUT; //led灯做输出,不用复用
( x& w. @% K' I! r, N( B! g - GPIO_InitStructure.GPIO_OType = GPIO_OType_PP; //GPIO_OType_PP表示推挽方式输出,GPIO_OType_OD表示开漏
2 M$ O" n4 B! D8 j& V5 H - GPIO_InitStructure.GPIO_PuPd = GPIO_PuPd_UP;
# V( m8 R4 M. [ - GPIO_InitStructure.GPIO_Speed = GPIO_Speed_50MHz;
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* K8 q4 {) i: N1 w- f4 \- GPIO_Init(GPIOD, &GPIO_InitStructure);' N F. S$ w6 L1 `4 S
- GPIO_SetBits(GPIOD, GPIO_Pin_12|GPIO_Pin_11);
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4 Z5 u0 _2 O+ G; k s- void Delay(vu32 nCount)
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- for(; nCount != 0; nCount--);
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|& E) {! \. F- q: F- #if 1. P% Z- U0 Q1 A8 m# k8 [7 P
- void CTL_LED(u8 LED_NUM, u8 OFF_ON)
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1 d" f' }- J! S# [6 v - switch(LED_NUM)
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: w/ E) ?9 d) }3 h! n) p - case 0:1 z9 y/ E0 r$ k1 [( o5 E. n% m
- if(OFF_ON == 1)
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- GPIO_ResetBits(GPIOD, GPIO_Pin_11);- w; s. x5 U" J, l- Z( H5 b# K. d
- }
* S7 P) s) }. X6 R9 a& S1 c - else0 a, t' T) y4 Y! [
- {
/ A% B2 Q) x2 o# o) t4 ?3 s4 {9 C - GPIO_SetBits(GPIOD, GPIO_Pin_11);
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6 w# d2 V4 ?3 J/ c - break;
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+ W8 q/ a: V: n/ U* Q6 n1 O - case 1:
% F4 \" B X, }3 V+ V$ |- F - if(OFF_ON == 1)
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0 [9 }/ O" D' T. \6 ^/ s D4 w- GPIO_ResetBits(GPIOD, GPIO_Pin_12);% G5 A1 I+ L2 H% T0 V; ]
- }8 s+ l7 @1 K" w% T2 J0 F3 H/ Q
- else
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1 n3 s& o8 H; u7 w* m - GPIO_SetBits(GPIOD, GPIO_Pin_12);1 r% W% e! I, @
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- break;+ _: H; J8 p! D' D& z. E
- default:' k2 t; s7 ]: P$ G
- //GPIO_ResetBits(GPIOF,GPIO_Pin_7|GPIO_Pin_8|GPIO_Pin_9|GPIO_Pin_10);1 ?" \/ E5 e: ^8 D
- GPIO_SetBits(GPIOD,GPIO_Pin_11|GPIO_Pin_12);1 M. v: m* w; A; b: x
- break;
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- }
, Z) H# L- u: M9 A) \% ^- i - #endif
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T2 \) a2 S. K* }2 @9 omain.c( H6 k* R K" J6 f! U
9 d9 v6 {" U( w- ?; \, {
- #include"stm32f2xx.h"0 @) v# z/ V5 z
- #include"can.h"
8 q! r* h& E) f# Y+ i3 N& ~ - #include"led.h"
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- int main(void)
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- u8 res;/ \, s4 V9 F% |
- u8 key;" [" M" A3 W# D1 E/ }/ |$ @
- ! o. Z6 ?5 n7 F6 C
- u8 canbuf[8] = {0}; //这里因为不知道从USB_CAN发的是什么,只需初始化为0即可. ~* w. F9 o4 M" \/ G
- u8 a[8] = {02, 02, 02, 02, 02, 02, 02, 02}; //这里的02和2一样,12是0c
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- O& a# z; A- X- LED_Init();
' x5 j( p% z4 j, n6 l/ I7 j9 J - Delay(168);- B% [6 L* D7 e& [* u
/ o" T* L4 i+ S. f- CAN_Mode_Config(CAN_BS1_8tq, CAN_BS2_6tq, 8); //此时CAN波特率为:30000/(1+8+6)*8 = 250kbps
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- while(1)
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- //1.接收数据2 Y. G7 I! Q+ p7 F# |
- key = CAN_Receive_Msg(canbuf);
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# `5 S1 O1 ]0 Y8 c2 K1 W! I- //2.解析数据9 E" e1 G: m- k0 {
- if(key == 0)" W) C5 L* }* \! I- G
- {
0 ] F g) K! A$ o$ s' F0 v+ O - CTL_LED(1, 0); //开始的时候,没有接收到数据,故左边灯亮
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4 B1 m$ B/ k% d - else if(key > 0) //当接收到数据时,开始执行这一步
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- //3.发送数据给PC+ o3 |. G! d4 R$ o
- CTL_LED(1, 1); * Y* v1 g T; A+ o/ T5 e
- res = CAN_Send_Msg(a, 8); w p0 w/ P3 ?7 b
- if(res == 0)
" A8 b" s, q: l' I6 V/ X3 B - {
3 O7 l1 f2 |7 Q - CTL_LED(0, 1); //若数据发送成功,点亮led灯05 ?2 M# r' ^, {0 j' o
- }
: X8 V5 {) D% n3 X - else ; ]& C" w5 f1 S8 X- g$ Y9 k3 d6 ~
- {; n: w9 L3 l1 o; b
- CTL_LED(1, 0); //若数据发送失败,熄灭led灯1
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- }
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- }
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- //开始的时候,没有接收到数据,故左边灯亮,当接收到数据时,开始执行发送数据函数,若发送成功,右边灯亮,
- c, u$ S; O1 x& e2 o4 } - //若数据发送失败,熄灭led灯1
5 X( i$ y8 E% `4 f3 K! R8 u - //问题:数据发送成功和失败的判断:是否合理?左边的灯会一直亮1 P" ~2 d1 a" {; _: Q
- //结合上面程序,将没有接收到数据时灯灭,数据发送时灯亮,可知数据发送成功,' `* S8 G" v# T' a1 I' F, t
- //问题:can程序实验代码不显示接收?而且和发送数据框的数据无关?
' U+ F. e7 S* v. Y - /*
7 f( J d1 o+ j# F7 C; M - while(1)
|# q$ ?1 Y9 } - {$ P$ u/ {* M* Q1 s3 k- o
- res = CAN_Send_Msg(a, 8);: ^% A+ L# E+ r1 ~5 f2 B
- if(res == 0)
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- CTL_LED(0, 1); //若数据发送成功,点亮led灯0,即右边灯
+ r9 N; b X9 P! N* {* M - key = CAN_Receive_Msg(canbuf);- M4 X3 P7 a. a {+ g
- if(key == 0), y& B7 r7 v* a8 z
- {
2 G6 n7 n8 @6 C% G f' B - CTL_LED(1, 1); //实验结果是,执行这一步 3 W8 s6 F }; j8 J
- }" P" h$ F) E a) q* x2 ^
- else if(key > 0)1 [0 F9 p2 j& h! f/ i7 O
- {' E9 \: h, P( O
- Delay(5000);" T" V/ y2 d) |* z4 ^$ q$ @3 J
- //CTL_LED(1, 1); //灯1为左边的灯2 `2 ~/ E! o( Z* j0 r
- }
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- else . ]/ X) J- I5 {: L4 y5 ?
- {
6 L4 E5 d2 W" ~, t4 B+ x+ x) m) L - Delay(5000);
% z; T9 Z* i: E- r( A - //CTL_LED(1, 0); //若数据发送失败,点亮led灯1
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- */ - c& q4 c Y/ D' Z
- }
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