CAN控制器通过两根线上的电位差来判断总线电平- \; n ~; A5 Q) D
7 X8 e7 i# h P8 n& c3 scan.h
' x! o k8 l! ~! g6 _9 [1 @: P- #can.h; y) Y6 S3 A$ v$ c K4 ?( U
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- #include"stm32f2xx.h" 1 Z( E) z& { ]8 w
4 w& t2 F9 |: C u" B4 Q( o- #ifndef __CAN_H_- Q- w1 G5 N( i! ?% P) J
- #define __CAN_H_
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- void CAN_Mode_Config(u8 CAN_BS1_xtq, u8 CAN_BS2_ytq, u16 Prescaler);* T5 U# ^9 K: S8 J% t& |0 x- Y% P
4 Z' r8 K4 b. ]( U- U+ J- u8 CAN_Send_Msg(u8 *msg, u8 len);) ~2 ~) y$ J* D
- ' `4 ^4 Y. @& H
- u8 CAN_Receive_Msg(u8 *buf); O- c' T+ o8 P
7 U1 G% ^. d0 y9 V- #endif
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can.c: R0 _/ { O1 Q" H/ n* q/ B- @/ o
- #include"stm32f2xx.h"" p+ |9 W/ A' _; ]
- #include"stm32f2xx_can.h"1 k6 i; }( S. o3 `! t& D9 p
- #include"can.h"
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8 q9 ]- R! R- o; G- void CAN_Mode_Config(u8 CAN_BS1_xtq, u8 CAN_BS2_ytq, u16 Prescaler)
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4 e/ s$ F! T; a" Q - GPIO_InitTypeDef GPIO_InitStructure;4 a2 P2 e9 y; j
- CAN_InitTypeDef CAN_InitStructure;
, ]& H9 u5 f4 `! D- [* _ - CAN_FilterInitTypeDef CAN_FilterInitStructure;
9 g7 T* A3 S1 z0 C6 q/ b$ I* b) ? - NVIC_InitTypeDef NVIC_InitStructure;
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! a5 O' ^0 E O* G* f+ M- w5 H! Y- RCC_AHB1PeriphClockCmd(RCC_AHB1Periph_GPIOD, ENABLE); //使能AHB1外设时钟
2 d1 G& I- X( m: ~' B8 x - RCC_APB1PeriphClockCmd(RCC_APB1Periph_CAN1, ENABLE); //使能CAN1时钟# l7 }. m Q/ q
0 V' o" Y6 H- l) D& n( a) o- //GPIO初始化
5 R9 ?9 `6 T8 m. [5 G+ P9 S - GPIO_InitStructure.GPIO_Pin = GPIO_Pin_0|GPIO_Pin_1;. S- ]( J8 A# l
- GPIO_InitStructure.GPIO_Mode = GPIO_Mode_AF;0 {7 p8 i/ F+ q. M
- GPIO_InitStructure.GPIO_OType = GPIO_OType_PP; ! z3 _& d: a( `! l5 y( o0 H# X
- GPIO_InitStructure.GPIO_Speed = GPIO_Speed_100MHz;
* S; ~* s0 ?2 a - GPIO_InitStructure.GPIO_PuPd = GPIO_PuPd_UP;7 y0 A$ w& t4 V# u& z! h* ]
- GPIO_Init(GPIOD, &GPIO_InitStructure);4 ]0 i9 K6 |( L' b7 O) C" k
& |% ^* ^6 {8 e. M0 ]* `- GPIO_PinAFConfig(GPIOD, GPIO_PinSource0, GPIO_AF_CAN1); . Z$ X; J- ^3 k0 h2 E; X: e
- GPIO_PinAFConfig(GPIOD, GPIO_PinSource1, GPIO_AF_CAN1);% N9 @" U/ R; M+ w
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! p ?# v, p- @+ Z. V- //CAN初始化
) d* Z; F2 y, ]& z% e - CAN_InitStructure.CAN_ABOM = DISABLE; //软件自动离线管理 - H6 }7 h. V- s9 W& z" }
- CAN_InitStructure.CAN_AWUM = DISABLE; //睡眠模式通过软件唤醒(清除CAN->MCR的SLEEP位)
7 {: N8 Z# r8 j. x7 P0 f - 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" W" I2 } d* ~( e' K5 }
- 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
! _( ~& d* w/ Z8 V: e" {' @ - CAN_InitStructure.CAN_Mode = CAN_Mode_Normal; //模式设置,普通模式! [% n5 O1 X' v# @
- CAN_InitStructure.CAN_NART = ENABLE; //禁止报文自动传送 % j0 u5 ^! H$ e
- CAN_InitStructure.CAN_Prescaler = Prescaler; //分频系数(Fdiv)为brp+1
3 y u) {8 {+ s1 a - CAN_InitStructure.CAN_RFLM = DISABLE; //报文不锁定,新的覆盖旧的
4 V( E- X4 E' k1 S/ z) L3 r - CAN_InitStructure.CAN_SJW = CAN_SJW_1tq; //重新同步跳跃时间单元,CAN_SJW_1tq~CAN_SJW_4tq
/ x; [9 ~' P4 b. W5 ]3 r - CAN_InitStructure.CAN_TTCM = DISABLE; //非时间触发通信模式 1 @) U- x1 ~- t; K/ ^4 p! H \
- CAN_InitStructure.CAN_TXFP = DISABLE; //优先级由报文标识符决定 ) \/ G' l# D& |5 S+ E
- CAN_Init(CAN1, &CAN_InitStructure);
& ]0 m: z& R& ?% W
7 e# G! l+ X6 U- //筛选初始化
# E" a$ o, y! ~6 X' C - CAN_FilterInitStructure.CAN_FilterActivation = ENABLE; 激活过滤器0/ p4 B* t$ w* m1 {; |
- CAN_FilterInitStructure.CAN_FilterFIFOAssignment = CAN_FilterFIFO0; //过滤器0关联到FIFO0+ t, r. s0 i$ Q2 S% u9 X9 X$ ?/ j/ i( _
- CAN_FilterInitStructure.CAN_FilterIdHigh = 0x0000; //32位ID* r( \( ]! u3 q1 q
- CAN_FilterInitStructure.CAN_FilterIdLow = 0x0000;7 W- f4 [1 ]1 b4 }: |% ?
- CAN_FilterInitStructure.CAN_FilterMaskIdHigh = 0x0000; //32位MASK. M3 p* T5 I% k1 F# P6 c
- CAN_FilterInitStructure.CAN_FilterMaskIdLow = 0x0000;3 m4 U( Q, a1 W6 _1 v- Y) @
- CAN_FilterInitStructure.CAN_FilterMode = CAN_FilterMode_IdMask; //屏蔽模式8 S1 k) Z3 j* N& F$ I# J1 U
- CAN_FilterInitStructure.CAN_FilterNumber = 0; //过滤器0" }1 U6 B o7 C- r) h! X
- CAN_FilterInitStructure.CAN_FilterScale = CAN_FilterScale_32bit; //5 v( B/ L; ]. \8 v! @
- CAN_FilterInit(&CAN_FilterInitStructure);
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& ?! f% F# P4 D- CAN_ITConfig(CAN1, CAN_IT_FMP0, ENABLE); //fifo0的中断( h3 ?% G7 u6 h* E( f# [
- NVIC_InitStructure.NVIC_IRQChannel = CAN1_TX_IRQn; //stm..xx.h,发送中断" e8 \! t: V) O' x9 S% L
- NVIC_InitStructure.NVIC_IRQChannelCmd = ENABLE; 1 [2 [1 o3 @6 C; P# ^: \# V' t$ r
- NVIC_InitStructure.NVIC_IRQChannelPreemptionPriority = 0x01;
. s$ H( F( x( x1 R4 Q - NVIC_InitStructure.NVIC_IRQChannelSubPriority = 0x01;
7 e3 ~& K7 r2 C: ~ - NVIC_Init(&NVIC_InitStructure);' |* G" ^' d1 ?' h1 |4 F
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9 ~9 J P- q0 E2 f! [& j- //开始发送 $ \4 N, G) M3 P9 A& {) q
- u8 CAN_Send_Msg(u8 *msg, u8 len) //msg为数据,len为长度
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- u8 mbox; //邮箱
* ^, I5 m. x7 `% R6 H: U- i; k - u16 i = 0; 8 K2 C0 d( t2 h, [; M7 a( Z
-
( ~& S/ e9 p! g6 r; j5 S - CanTxMsg TXmessage; //can发送结构体
D9 v* H+ R m8 F, B* ? - 9 w. L6 r8 I' W2 R3 Z* i# \6 u) F
- TXmessage.DLC = len; //数据个数,不能超过8个
- G. G. S, q" I( t+ d& C9 R - TXmessage.ExtId = 0x12; //扩展标示符
6 V9 l+ J4 w4 \( q7 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: p/ U4 }' V- o( \2 Y( L: p, I
- //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( j" Z: \# A3 ]3 ^
- TXmessage.RTR = CAN_RTR_DATA; //...can.h,传送的是数据帧" L! g1 Y- F0 I- f- ]+ c, ?& V) }/ W
- TXmessage.StdId = 0x12; //标准标示符5 P! @5 f( G- j3 B" |
- 8 h$ L! G. g3 D/ C
- for(i = 0; i < len; i++)
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2 Z# p: `! C6 z- p5 Y7 K7 T. W - TXmessage.Data<i> = msg;
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-
* ]6 ]! G" O' k) n: i - mbox = CAN_Transmit(CAN1, &TXmessage); //返回当前邮箱" F3 i( p# p' Z U
5 q! S7 p; ]' n; ?- g- while((CAN_TransmitStatus(CAN1, mbox) == CAN_TxStatus_Failed)&&(i < 0xFFF))2 Q! z+ ?: x9 b4 i2 c0 Q
- {- n5 I) s6 n! Q9 o* Z! ` ]
- i++; //等待发送结束完成
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- if(i >= 0xFFF)
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- return 1;
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$ i2 y7 C0 e: h1 k6 ` - return 0;
- z2 H* o X: e& q" G - }
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) [7 z# u7 r: w& V- u8 CAN_Receive_Msg(u8 *buf)
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- CanRxMsg RXmessage; //can接收结构体
1 y' _; {1 b9 k9 I" J: ? - u16 i = 0;
& S i# C5 D E
, V. k% e6 A* P- 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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( L* D: {9 k& ]# Y( n9 v1 S( k - 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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- 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. e( C" P Q. r
-
# J. O% X6 \6 e0 E. I1 p9 I - for(i = 0; i < RXmessage.DLC; i++)4 I3 N$ H0 D: A6 d) u
- {
u. A8 j: H: X( Q - buf<span style="font-style: italic;"><span style="font-style: normal;"> = RXmessage.Data</span><span style="font-style: normal;">;% t; ?+ z. g2 ^( ^( d* f2 b! b
- }
- B1 }- m- {% C& A
( M& \9 n$ O2 v- `- return RXmessage.DLC; ; S% U! x E+ o8 \$ \
- }</span></span>
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3 B3 o* C( e9 O$ Q- D$ wled.h
' l, t6 ?* X# e& i, C$ B! W" ]- #include"stm32f2xx.h"
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& o# Q9 }' ^6 r; W' r0 p2 K* C5 T- #ifndef __LED_H
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- #define __LED_H
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- void LED_Init(void);
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* s" u2 G: W8 g) G- void Delay(vu32 nCount);. m; _; `% c# I: l m4 X- r* l
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- void CTL_LED(u8 LED_NUM, u8 OFF_ON);
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+ M9 Y/ A$ x5 i8 J8 r - #endif
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led.c! M0 X n0 _; T* U" R
- #include"led.h"
" b0 M, A9 Z" i$ v5 D8 p - #include"stm32f2xx.h"0 Q8 }# ?5 f" w
( D! Z% {, V# w, Y5 N- void LED_Init(void)
/ p2 w* [# k. S" @+ ~: A- x3 N - {4 e0 z4 n. i( O0 c
- GPIO_InitTypeDef GPIO_InitStructure;
0 k6 t. {- a5 v. _% _/ q - * s1 A1 u- {. M) R
- RCC_AHB1PeriphClockCmd(RCC_AHB1Periph_GPIOD, ENABLE);
) o/ p+ r3 ] h" a: h* ?; D - GPIO_InitStructure.GPIO_Pin = GPIO_Pin_12|GPIO_Pin_11;
, ^7 E: l" r1 B! J! O - GPIO_InitStructure.GPIO_Mode = GPIO_Mode_OUT; //led灯做输出,不用复用
4 b* x% b$ f4 a) Z% z9 Q - 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$ h/ O% g& R" v! p) D* d) l
- GPIO_InitStructure.GPIO_PuPd = GPIO_PuPd_UP;1 ?! H9 w9 p/ O W+ a
- GPIO_InitStructure.GPIO_Speed = GPIO_Speed_50MHz;
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" ]7 p& Z( H. p r- GPIO_Init(GPIOD, &GPIO_InitStructure);
T' {2 S$ m* Y& W - GPIO_SetBits(GPIOD, GPIO_Pin_12|GPIO_Pin_11);
# v$ `( m" p, i8 z* i, K4 Q - }0 @9 T e0 i- [. R8 S6 _, v
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- c3 H% D% ~9 z' i5 V' t- void Delay(vu32 nCount)" J% v9 Z4 [8 ?( c
- {/ a" o0 i6 M4 q; T
- for(; nCount != 0; nCount--);
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- ( R' U& G1 h: t/ a, b3 a
- #if 1' A( g( m# E- f5 Y. ?
- void CTL_LED(u8 LED_NUM, u8 OFF_ON)
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- switch(LED_NUM) h+ l- ]3 b [! H- O
- {
9 a" C G0 ~6 J! m1 i - case 0:, k$ K* N" X+ }9 H% \- o% T7 F
- if(OFF_ON == 1)
/ b4 T1 I9 u' A- w# p - {, M' ^: ~- V" E z
0 U- ^: x; v1 r- GPIO_ResetBits(GPIOD, GPIO_Pin_11); m# U3 T( f8 }4 R1 f5 x8 L4 e# g
- }
, K! z0 e' `, M+ n# N! F% C: S - else
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+ \4 ]. I& @+ I; e3 ?: X. J4 T - GPIO_SetBits(GPIOD, GPIO_Pin_11);( p! w, N# {- O
- }$ U, ~/ \% `# F6 [8 w5 E
- break;& P+ b6 E4 y' m" X
-
5 F7 ?; {. u* J - case 1:
$ G- s% ~+ u) V, ^5 k - if(OFF_ON == 1)5 a- \) {; O3 K1 b) |+ U# F5 _- u
- {1 x& Q, D; {. x- M! B6 [" _2 Z& ~3 M1 _
- ' o3 U- i% @; X7 ]( Q- p
- GPIO_ResetBits(GPIOD, GPIO_Pin_12);; W. }% j; b Z) j
- }) }! F G- v& \9 L& j0 e. p: z
- else
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- GPIO_SetBits(GPIOD, GPIO_Pin_12);- G$ t+ M1 e0 g B
- }8 j9 m, u* ^1 k8 [9 N. ~, U/ A' ]3 J1 D
- break;" S1 O- Y. U h5 N
- default:
# I" Z$ F+ B0 x) C8 ~7 d: _7 z - //GPIO_ResetBits(GPIOF,GPIO_Pin_7|GPIO_Pin_8|GPIO_Pin_9|GPIO_Pin_10);! H9 j" \4 V& x& H: ~! Z
- GPIO_SetBits(GPIOD,GPIO_Pin_11|GPIO_Pin_12);
. U# ^ e9 S9 {6 Z; c7 r8 B8 i - break;
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- #endif
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' w8 M* l8 f: t8 _) C0 Q4 ^% imain.c
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0 b3 P x' H- c# ^* ]- #include"stm32f2xx.h"
- V/ G i; F. C1 u$ u1 c: C4 A - #include"can.h"& J5 g6 a' C: F5 p; u2 W& k' y# @
- #include"led.h"0 N( g+ S9 t6 \+ [$ G1 x
- : }' h$ W3 z" m( a! M
- 7 u. r' U0 o% h9 M/ q
- int main(void)
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; p! k6 P" f7 D - u8 res;' }7 w; Q1 q/ e. u n$ M/ Y
- u8 key;
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- 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' @% ^% ]% H b
- u8 a[8] = {02, 02, 02, 02, 02, 02, 02, 02}; //这里的02和2一样,12是0c
: s. l$ N" G+ b. R
" x' ^# s( S' i+ A/ u' ?- LED_Init();
. d4 m" ^, _3 v - Delay(168);
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- CAN_Mode_Config(CAN_BS1_8tq, CAN_BS2_6tq, 8); //此时CAN波特率为:30000/(1+8+6)*8 = 250kbps7 s* R( _' |7 V; e, H: \& o" a& {
- % U4 s$ _8 x) T3 @/ y8 M
- while(1) X* h! l- V" u
- {
7 N$ m5 n9 G* K' k3 K/ C& D/ X) y - //1.接收数据 [# B7 R5 b5 Q6 V$ e
- key = CAN_Receive_Msg(canbuf);
: i" B; N, A" Q
# O O2 `5 b' l8 h: r( H- //2.解析数据
z' i, K# H3 w$ Z+ h1 H d - if(key == 0)) |# p4 b3 n! G# S
- {0 w1 n0 q% d8 B5 @- q
- 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 T; A, y; K; f' M# b - 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
, \6 r! p. V$ [! h7 c - CTL_LED(1, 1); ! ~/ J# j: G% p0 T7 E' Q' @' t
- res = CAN_Send_Msg(a, 8); ' ~0 _8 ]: T; E: F4 `3 v
- if(res == 0)
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- CTL_LED(0, 1); //若数据发送成功,点亮led灯01 N2 K/ F5 r8 t) v
- }
# x% I+ n% Y4 k1 F" G - else
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' X6 i" l. ~8 t, V5 f0 q* l2 n, F+ a - CTL_LED(1, 0); //若数据发送失败,熄灭led灯1
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- } 5 R% c# Q' m: J4 t" N. {1 ?
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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,- N ^+ G$ Z- @7 c% j3 {
- //若数据发送失败,熄灭led灯1
! w5 k% y V) B - //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
- u! p8 c) e9 f0 {, Z( a/ I5 ?6 F7 d - //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,
+ G5 w e: B4 `' B' ] - //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?3 F4 q7 H' u @( S* j+ q" p" K
- /*% Z2 x# R1 A, t9 J1 ^8 ^6 a% @
- while(1)9 `3 L; B, i; C. @( O! `# P3 j
- {" f6 P* { c1 G) `+ ^8 }
- res = CAN_Send_Msg(a, 8);
' u% Z3 _# B3 N: O - if(res == 0)
5 s( ? O" i7 l! q - {
1 \6 A& u" k/ u( y - CTL_LED(0, 1); //若数据发送成功,点亮led灯0,即右边灯: `* N8 H; e3 T
- key = CAN_Receive_Msg(canbuf);
$ T8 A i2 v& G/ G' [) C - if(key == 0)
$ ^& O- a- M4 |9 `9 z" J9 f - {
; V) N# u. S/ J% h2 Q! Q. h - CTL_LED(1, 1); //实验结果是,执行这一步
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- else if(key > 0)
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- Delay(5000);/ g8 `" ~+ A8 q
- //CTL_LED(1, 1); //灯1为左边的灯
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- else z1 F* b# I: I) n% @* B# M
- {& h2 s+ x, M/ ~0 n ~* x# a
- Delay(5000);' M8 ^( @% a0 Z, b0 K3 U
- //CTL_LED(1, 0); //若数据发送失败,点亮led灯1( f7 B) H8 @1 J' X; i) K2 ?) M
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