加入PID

Core/Src/can.c

@@ -83,6 +83,9 @@ void HAL_CAN_MspInit(CAN_HandleTypeDef* canHandle)
     GPIO_InitStruct.Alternate = GPIO_AF9_CAN1;
     HAL_GPIO_Init(GPIOD, &GPIO_InitStruct);
 
+    /* CAN1 interrupt Init */
+    HAL_NVIC_SetPriority(CAN1_RX0_IRQn, 5, 0);
+    HAL_NVIC_EnableIRQ(CAN1_RX0_IRQn);
   /* USER CODE BEGIN CAN1_MspInit 1 */
 
   /* USER CODE END CAN1_MspInit 1 */
@@ -106,6 +109,8 @@ void HAL_CAN_MspDeInit(CAN_HandleTypeDef* canHandle)
     */
     HAL_GPIO_DeInit(GPIOD, GPIO_PIN_0|GPIO_PIN_1);
 
+    /* CAN1 interrupt Deinit */
+    HAL_NVIC_DisableIRQ(CAN1_RX0_IRQn);
   /* USER CODE BEGIN CAN1_MspDeInit 1 */
 
   /* USER CODE END CAN1_MspDeInit 1 */