Cortex-M3 LM3S9B92 CAN总线编程例子

Cortex-M3 LM3S9B92 CAN总线编程例子，该例子完成收到什么发送什么。。。。

代码：

//CAN Demo for LM3S9B92
//该例子完成将CAN0收到的数据又发送出去
//Created by Robin
//2012-02-06
//使用PB4和PB5作为CAN0RX和CAN0TX


#include "hw_memmap.h"
#include "hw_types.h"
#include "hw_can.h"
#include "hw_ints.h"
#include "can.h"
#include "interrupt.h"
#include "sysctl.h"
#include "gpio.h"


tCANMsgObject msgObject;
unsigned char databuf[8];


//延时函数
void delay()
{
    unsigned long ulLoop;
    for(ulLoop = 0; ulLoop < 40000; ulLoop++)
    {
    }
}

void goon()
{
	//下面设置为接收来等待数据的到来

	msgObject.pucMsgData = databuf;	//缓冲区

	msgObject.ulMsgID = 0x000;
	//下面两条设置成接收所有数据
	msgObject.ulMsgIDMask = 0x000;	//设置过滤掩码为“不对任何数据进行过滤”
	msgObject.ulFlags = MSG_OBJ_USE_ID_FILTER;	//使用过滤
	msgObject.ulMsgLen = 8; //最大长度为8

	CANMessageSet(CAN0_BASE, 1, &msgObject, MSG_OBJ_TYPE_RX);	//设置接收结构体

	while((CANStatusGet(CAN0_BASE, CAN_STS_NEWDAT) & 1) == 0);	//一直等待数据的道来

	CANMessageGet(CAN0_BASE, 1, &msgObject, true);	//读出数据，并相关的中断标志

	//至此接收完毕
	//下面开始发送数据
	CANMessageSet(CAN0_BASE, 1, &msgObject, MSG_OBJ_TYPE_TX);	//把接收到的数据又发送出去
}

int main()
{
    //系统初始化
    SysCtlClockSet(SYSCTL_SYSDIV_1 | SYSCTL_USE_OSC | SYSCTL_OSC_MAIN | SYSCTL_XTAL_16MHZ);

    //使能端口B
    SysCtlPeripheralEnable(SYSCTL_PERIPH_GPIOB);

    //PB4和PB5用作CAN
    GPIOPinConfigure(GPIO_PB4_CAN0RX);
    GPIOPinConfigure(GPIO_PB5_CAN0TX);

    //PB4 PB5作为CAN引脚
    GPIOPinTypeCAN(GPIO_PORTB_BASE, GPIO_PIN_4 | GPIO_PIN_5);

    //使能外设CAN0
    SysCtlPeripheralEnable(SYSCTL_PERIPH_CAN0);

    //初始化CAN0
    CANInit(CAN0_BASE);
    //设置通信速率125kbps
    CANBitRateSet(CAN0_BASE, SysCtlClockGet(), 125000);
    //使能CAN0
    CANEnable(CAN0_BASE);


    for(;;)
    {
        goon();
        delay();
    }
}