frtos下能单电机转

Core/Src/can.c

@@ -38,11 +38,11 @@ void MX_CAN1_Init(void)
 
   /* USER CODE END CAN1_Init 1 */
   hcan1.Instance = CAN1;
-  hcan1.Init.Prescaler = 16;
+  hcan1.Init.Prescaler = 3;
   hcan1.Init.Mode = CAN_MODE_NORMAL;
   hcan1.Init.SyncJumpWidth = CAN_SJW_1TQ;
-  hcan1.Init.TimeSeg1 = CAN_BS1_1TQ;
-  hcan1.Init.TimeSeg2 = CAN_BS2_1TQ;
+  hcan1.Init.TimeSeg1 = CAN_BS1_10TQ;
+  hcan1.Init.TimeSeg2 = CAN_BS2_3TQ;
   hcan1.Init.TimeTriggeredMode = DISABLE;
   hcan1.Init.AutoBusOff = DISABLE;
   hcan1.Init.AutoWakeUp = DISABLE;

Core/Src/freertos.c

@@ -25,7 +25,8 @@
 
 /* Private includes ----------------------------------------------------------*/
 /* USER CODE BEGIN Includes */
-
+#include "bsp_can.h"
+#include "CAN_receive.h"
 /* USER CODE END Includes */
 
 /* Private typedef -----------------------------------------------------------*/
@@ -128,6 +129,7 @@ void StartCAN_Receive_Task(void *argument)
   /* Infinite loop */
   for(;;)
   {
+    CAN_cmd_chassis(1000,0,0,0);
     osDelay(1);
   }
   /* USER CODE END StartCAN_Receive_Task */
@@ -154,5 +156,4 @@ void StartChassis_Control_Task(void *argument)
 /* Private application code --------------------------------------------------*/
 /* USER CODE BEGIN Application */
 
-/* USER CODE END Application */
-
+/* USER CODE END Application */

Core/Src/main.c

@@ -24,6 +24,8 @@
 
 /* Private includes ----------------------------------------------------------*/
 /* USER CODE BEGIN Includes */
+#include "bsp_can.h"
+#include "CAN_receive.h"
 
 /* USER CODE END Includes */
 
@@ -91,7 +93,7 @@ int main(void)
   MX_GPIO_Init();
   MX_CAN1_Init();
   /* USER CODE BEGIN 2 */
-
+  can_filter_init();
   /* USER CODE END 2 */
 
   /* Init scheduler */