461 lines
14 KiB
C
461 lines
14 KiB
C
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/*
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* File : ls1c_can.c
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* This file is part of RT-Thread RTOS
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* COPYRIGHT (C) 2006 - 2018, RT-Thread Development Team
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*
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* This program is free software; you can redistribute it and/or modify
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* it under the terms of the GNU General Public License as published by
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* the Free Software Foundation; either version 2 of the License, or
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* (at your option) any later version.
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*
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* This program is distributed in the hope that it will be useful,
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* but WITHOUT ANY WARRANTY; without even the implied warranty of
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* MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
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* GNU General Public License for more details.
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*
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* You should have received a copy of the GNU General Public License along
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* with this program; if not, write to the Free Software Foundation, Inc.,
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* 51 Franklin Street, Fifth Floor, Boston, MA 02110-1301 USA.
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*
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* Change Logs:
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* Date Author Notes
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* 2018-01-06 sundm75 first version
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*/
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#include "ls1c.h"
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#include "ls1c_public.h"
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#include "ls1c_can.h"
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unsigned char set_reset_mode(CAN_TypeDef* CANx)
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{
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unsigned char status;
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int i;
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/*检查复位标志*/
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status = CANx->MOD;
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/* 关闭中断 */
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CANx->IER = 0x00;
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for (i = 0; i < 100; i++)
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{
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if((status & CAN_Mode_RM) == CAN_Mode_RM)
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return 1;
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/* 设置复位*/
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CANx->MOD |= ((unsigned char)CAN_Mode_RM);
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/*延时*/
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delay_us(10);
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/*检查复位标志*/
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status = CANx->MOD;
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}
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rt_kprintf("\r\nSetting SJA1000 into reset mode failed!\r\n");
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return 0;
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}
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static unsigned char set_normal_mode(CAN_TypeDef* CANx)
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{
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unsigned char status;
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int i;
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/*检查复位标志*/
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status = CANx->MOD;
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for (i = 0; i < 100; i++)
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{
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if((status & CAN_Mode_RM) != CAN_Mode_RM)
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{
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/*开所有中断 （总线错误中断不开）*/
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CANx->IER |= (~(unsigned char)CAN_IR_BEI);
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return 1;
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}
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/* 设置正常工作模式*/
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CANx->MOD &= (~(unsigned char) CAN_Mode_RM);
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/*延时*/
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delay_us(10);
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status = CANx->MOD;
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}
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rt_kprintf("\r\nSetting SJA1000 into normal mode failed!\r\n");
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return 0;
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}
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unsigned char set_start(CAN_TypeDef* CANx)
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{
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/*复位TX错误计数器*/
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CANx->TXERR = 0;
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/*复位RX错误计数器*/
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CANx->RXERR = 0;
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/*时钟分频寄存器: PeliCAN模式; CBP=1,中止输入比较器, RX0激活*/
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CANx->CDR = 0xC0;
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return set_normal_mode(CANx);
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}
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unsigned char CAN_Init(CAN_TypeDef* CANx, CAN_InitTypeDef* CAN_InitStruct)
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{
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unsigned char InitStatus = CAN_InitStatus_Failed;
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unsigned long wait_ack = 0x00000000;
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unsigned char status;
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status = CANx->MOD;
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if( status == 0xFF)
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{
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rt_kprintf("\n Probe can0 failed \r\n");
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return CAN_InitStatus_Failed;
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}
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/* 进入复位模式 */
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InitStatus = set_reset_mode(CANx);
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if((CAN_InitStruct->CAN_Mode & CAN_Mode_SM) == CAN_Mode_SM)
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{
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/* 睡眠模式 1: 睡眠 0: 唤醒*/
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CANx->MOD|= (unsigned char)CAN_Mode_SM;
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}
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else
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{
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CANx->MOD&=~ (unsigned char)CAN_Mode_SM;
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}
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if((CAN_InitStruct->CAN_Mode & CAN_Mode_LOM) == CAN_Mode_LOM)
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{
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/*只听模式 1:只听 0:正常 */
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CANx->MOD|= (unsigned char)CAN_Mode_LOM;
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}
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else
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{
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CANx->MOD&=~ (unsigned char)CAN_Mode_LOM;
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}
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if((CAN_InitStruct->CAN_Mode & CAN_Mode_AFM) == CAN_Mode_AFM)
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{
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/*单滤波模式 1:单 0: 双*/
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CANx->MOD |= (unsigned char)CAN_Mode_AFM;
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}
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else
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{
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CANx->MOD&=~ (unsigned char)CAN_Mode_AFM;
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}
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if((CAN_InitStruct->CAN_Mode & CAN_Mode_STM) == CAN_Mode_STM)
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{
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/*自检测模式 1:自检测 0:正常 */
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CANx->MOD |= (unsigned char)CAN_Mode_STM;
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}
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else
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{
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CANx->MOD&=~ (unsigned char)CAN_Mode_STM;
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}
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/* 配置时钟频率 */
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CANx->BTR0 = (( unsigned char )( unsigned char )CAN_InitStruct->CAN_Prescaler -1) | \
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(unsigned char)CAN_InitStruct->CAN_SJW << 6;
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CANx->BTR1 = ((unsigned char)CAN_InitStruct->CAN_BS1) | \
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((unsigned char)CAN_InitStruct->CAN_BS2 << 4) | \
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((unsigned char)CAN_InitStruct->CAN_SJW<<7);
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/* 进入工作模式 */
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set_start(CANx);
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/* 返回初始化结果 */
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return InitStatus;
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}
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void CAN_FilterInit(CAN_TypeDef* CANx, CAN_FilterInitTypeDef * CAN_FilterInitStruct)
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{
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unsigned long rtr;
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unsigned long fcase;
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unsigned long ide;
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unsigned long thisid, thisid1, thisid2;
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unsigned long thismask, thismask1, thismask2;
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unsigned long firstdata;
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unsigned long datamask;
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unsigned char CAN_FilterId0, CAN_FilterId1, CAN_FilterId2, CAN_FilterId3 ;
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unsigned char CAN_FilterMaskId0, CAN_FilterMaskId1, CAN_FilterMaskId2, CAN_FilterMaskId3;
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thisid = CAN_FilterInitStruct->ID;
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thismask = CAN_FilterInitStruct->IDMASK;
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thisid1 = (CAN_FilterInitStruct->ID & 0xFFFF0000 )>>16;
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thismask1 = (CAN_FilterInitStruct->IDMASK & 0xFFFF0000 )>>16;
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thisid2 = (CAN_FilterInitStruct->ID & 0x0000FFFF );
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thismask2 = ( CAN_FilterInitStruct->IDMASK& 0x0000FFFF );
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rtr = CAN_FilterInitStruct->RTR;
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ide = CAN_FilterInitStruct->IDE;
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firstdata = CAN_FilterInitStruct->First_Data;
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datamask = CAN_FilterInitStruct->Data_Mask;
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fcase = CAN_FilterInitStruct->MODE;
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if(ide == 0)//标准帧
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{
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if(fcase == 0)// 0- 双滤波器模式
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{
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CAN_FilterId0 = thisid1>>3;
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CAN_FilterMaskId0 = thismask1>>3;
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CAN_FilterId1 = thisid1<<5 | firstdata>>4| rtr<<4;
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CAN_FilterMaskId1 = thismask1<<4 | datamask>>4 ;
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CAN_FilterId2 = thisid2 >> 3;
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CAN_FilterMaskId2 = thismask2 >>3;
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CAN_FilterId3 = firstdata & 0x0F | thisid2 <<5 | rtr<<4;
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CAN_FilterMaskId3 = datamask <<4 ;
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}
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else if(fcase == 1)// 1-单滤波器模式
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{
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CAN_FilterId0 = thisid>>3;
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CAN_FilterMaskId0 = thismask>>3;
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CAN_FilterId1 = thisid<<5 | rtr<<4;
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CAN_FilterMaskId1 = thismask<<5 ;
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CAN_FilterMaskId1 |= 0x0F ;
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CAN_FilterId2 = 0x00;
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CAN_FilterMaskId2 = 0xFF;
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CAN_FilterId3 = 0x00;
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CAN_FilterMaskId3 = 0xFF ;
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}
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}
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else if(ide == 1)//扩展帧
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{
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if(fcase == 0)// 0- 双滤波器模式
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{
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CAN_FilterId0 = thisid1>>8;
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CAN_FilterMaskId0 = thismask1>>8;
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CAN_FilterId1 = thisid1 ;
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CAN_FilterMaskId1 = thismask1 ;
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CAN_FilterId2 = thisid2>>8;
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CAN_FilterMaskId2 = thismask2>>8;
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CAN_FilterId3 = thisid2 ;
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CAN_FilterMaskId3 = thismask2 ;
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}
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else if(fcase == 1)// 1-单滤波器模式
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{
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CAN_FilterId0 = thisid>>21;
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CAN_FilterMaskId0 = thismask>>21;
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CAN_FilterId1 = thisid>>13 ;
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CAN_FilterMaskId1 = thismask>>13 ;
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CAN_FilterId2 = thisid>>5;
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CAN_FilterMaskId2 = thismask>>5;
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CAN_FilterId3 = thisid<<3 | rtr<<2;
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CAN_FilterMaskId3 = thismask<<3;
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CAN_FilterMaskId3 |= 0x03;
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}
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}
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/* 进入复位模式 */
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set_reset_mode(CANx);
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if(fcase == 1)// 1-单滤波器模式
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{
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/*单滤波模式 */
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CANx->MOD |= (unsigned char)CAN_Mode_AFM;
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}
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else if(fcase == 1)// 0- 双滤波器模式
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{
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/*双滤波模式 */
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CANx->MOD &=(~ (unsigned char) CAN_Mode_AFM);
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}
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CANx->IDE_RTR_DLC = CAN_FilterId0;
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CANx->ID[0] = CAN_FilterId1;
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CANx->ID[1] = CAN_FilterId2;
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CANx->ID[2] = CAN_FilterId3;
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CANx->ID[3] = CAN_FilterMaskId0;
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CANx->BUF[0] = CAN_FilterMaskId1;
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CANx->BUF[1] = CAN_FilterMaskId2;
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CANx->BUF[2] = CAN_FilterMaskId3;
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/* 进入工作模式 */
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set_start(CANx);
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}
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unsigned char CAN_SetBps(CAN_TypeDef* CANx, Ls1c_CanBPS_t Bps)
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{
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unsigned char InitStatus = CAN_InitStatus_Failed;
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unsigned char CAN_Prescaler, CAN_BS1, CAN_BS2, CAN_SJW;
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CAN_SJW = CAN_SJW_1tq;
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/* 进入复位模式 */
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InitStatus = set_reset_mode(CANx);
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if( InitStatus == CAN_InitStatus_Failed)
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return CAN_InitStatus_Failed;
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/* BaudRate= f(APB)/((1+BS1+BS2)(SJW*2*Prescaler))=126000000/[(1+7+2)*1*2*63]=100000=100K*/
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/* BPS PRE BS1 BS2 最低40K
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1M 9 4 2
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800K 8 7 2
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500K 9 11 2
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250K 36 4 2
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125K 36 11 2
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100K 63 7 2
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50K 63 16 3`
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40K 63 16 8
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*/
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switch (Bps)
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{
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case LS1C_CAN1MBaud:
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CAN_Prescaler = 9;
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CAN_BS1 = CAN_BS1_4tq;
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CAN_BS2 = CAN_BS2_2tq;
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break;
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case LS1C_CAN800kBaud:
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CAN_Prescaler = 8;
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CAN_BS1 = CAN_BS1_7tq;
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CAN_BS2 = CAN_BS2_2tq;
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break;
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case LS1C_CAN500kBaud:
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CAN_Prescaler = 9;
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CAN_BS1 = CAN_BS1_11tq;
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CAN_BS2 = CAN_BS2_2tq;
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break;
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case LS1C_CAN250kBaud:
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CAN_Prescaler = 36;
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CAN_BS1 = CAN_BS1_4tq;
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CAN_BS2 = CAN_BS2_2tq;
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break;
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case LS1C_CAN125kBaud:
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CAN_Prescaler = 36;
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CAN_BS1 = CAN_BS1_11tq;
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CAN_BS2 = CAN_BS2_2tq;
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break;
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case LS1C_CAN100kBaud:
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CAN_Prescaler = 63;
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CAN_BS1 = CAN_BS1_7tq;
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CAN_BS2 = CAN_BS2_2tq;
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break;
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case LS1C_CAN50kBaud:
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CAN_Prescaler = 63;
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CAN_BS1 = CAN_BS1_16tq;
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CAN_BS2 = CAN_BS2_3tq;
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break;
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case LS1C_CAN40kBaud:
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CAN_Prescaler = 63;
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CAN_BS1 = CAN_BS1_16tq;
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CAN_BS2 = CAN_BS2_8tq;
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break;
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default: //100K
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CAN_Prescaler = 63;
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CAN_BS1 = CAN_BS1_7tq;
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CAN_BS2 = CAN_BS2_2tq;
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break;
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}
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/* 配置时钟频率 */
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CANx->BTR0 = (( unsigned char )CAN_Prescaler -1) | \
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(unsigned char)CAN_SJW << 6;
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CANx->BTR1 = ((unsigned char)CAN_BS1) | \
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((unsigned char)CAN_BS2 << 4) | \
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((unsigned char)CAN_SJW<<7);
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/* 进入工作模式 */
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set_start(CANx);
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/* 返回初始化结果 */
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return CAN_InitStatus_Failed;
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}
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unsigned char CAN_SetMode(CAN_TypeDef* CANx, unsigned char mode)
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{
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unsigned char InitStatus = CAN_InitStatus_Failed;
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unsigned long wait_ack = 0x00000000;
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|
CAN_InitTypeDef CAN_InitStructure;
|
||
|
|
|
||
|
|
/* 进入复位模式 */
|
||
|
|
InitStatus = set_reset_mode(CANx);
|
||
|
|
if( InitStatus == CAN_InitStatus_Failed)
|
||
|
|
return CAN_InitStatus_Failed;
|
||
|
|
|
||
|
|
switch( mode )
|
||
|
|
{
|
||
|
|
case 0://正常
|
||
|
|
CANx->MOD &= ~(unsigned char)CAN_Mode_STM;
|
||
|
|
CANx->MOD &= ~(unsigned char)CAN_Mode_LOM;
|
||
|
|
break;
|
||
|
|
case 1://只听
|
||
|
|
CANx->MOD &= ~(unsigned char)CAN_Mode_STM;
|
||
|
|
CANx->MOD |= (unsigned char)CAN_Mode_LOM;
|
||
|
|
break;
|
||
|
|
case 2://回环
|
||
|
|
CANx->MOD |= (unsigned char)CAN_Mode_STM;
|
||
|
|
CANx->MOD &= ~(unsigned char)CAN_Mode_LOM;
|
||
|
|
break;
|
||
|
|
case 3://只听回环
|
||
|
|
CANx->MOD |= (unsigned char)CAN_Mode_STM;
|
||
|
|
CANx->MOD |= (unsigned char)CAN_Mode_LOM;
|
||
|
|
break;
|
||
|
|
}
|
||
|
|
/* 进入工作模式 */
|
||
|
|
set_start(CANx);
|
||
|
|
|
||
|
|
/* 返回初始化结果 */
|
||
|
|
return CAN_InitStatus_Failed;
|
||
|
|
}
|
||
|
|
|
||
|
|
unsigned char CAN_Transmit(CAN_TypeDef* CANx, CanTxMsg* TxMessage)
|
||
|
|
{
|
||
|
|
int i;
|
||
|
|
if (TxMessage->IDE == CAN_Id_Extended)
|
||
|
|
{
|
||
|
|
CANx->ID[0]= TxMessage ->ExtId>> 21;
|
||
|
|
CANx->ID[1]= TxMessage ->ExtId>> 13;
|
||
|
|
CANx->ID[2]= TxMessage ->ExtId>> 5;
|
||
|
|
CANx->ID[3]= TxMessage ->ExtId<<3;
|
||
|
|
CANx->IDE_RTR_DLC= (TxMessage ->IDE & 0x01) << 7 |\
|
||
|
|
(TxMessage ->RTR & 0x01) << 6 |\
|
||
|
|
(TxMessage ->DLC & 0x0F);
|
||
|
|
for( i=0;i<TxMessage ->DLC; i++)
|
||
|
|
{
|
||
|
|
CANx->BUF[i]= TxMessage->Data[i];
|
||
|
|
}
|
||
|
|
}
|
||
|
|
else if (TxMessage->IDE ==CAN_Id_Standard)
|
||
|
|
{
|
||
|
|
CANx->ID[0]= TxMessage ->StdId>> 3;
|
||
|
|
CANx->ID[1]= TxMessage ->StdId<< 5;
|
||
|
|
CANx->IDE_RTR_DLC= (TxMessage ->IDE & 0x01) << 7 |\
|
||
|
|
(TxMessage ->RTR & 0x01) << 6 |\
|
||
|
|
(TxMessage ->DLC & 0x0F);
|
||
|
|
CANx->ID[2]= TxMessage ->Data[0];
|
||
|
|
CANx->ID[3]= TxMessage ->Data[1];
|
||
|
|
for( i=0;i<TxMessage ->DLC-2; i++)
|
||
|
|
{
|
||
|
|
CANx->BUF[i]= TxMessage->Data[i+2];
|
||
|
|
}
|
||
|
|
}
|
||
|
|
CANx->CMR = CAN_CMR_TR ;
|
||
|
|
}
|
||
|
|
|
||
|
|
void CAN_Receive(CAN_TypeDef* CANx, CanRxMsg* RxMessage)
|
||
|
|
{
|
||
|
|
/* 获取 IDE */
|
||
|
|
RxMessage->IDE = (CANx->IDE_RTR_DLC & 0x80)>>7;
|
||
|
|
/* 获取 RTR */
|
||
|
|
RxMessage->RTR = (CANx->IDE_RTR_DLC & 0x40)>>4;
|
||
|
|
/* 获取 DLC */
|
||
|
|
RxMessage->DLC= (CANx->IDE_RTR_DLC & 0x0F);
|
||
|
|
if (RxMessage->IDE == CAN_Id_Standard)
|
||
|
|
{
|
||
|
|
RxMessage->StdId = CANx->ID[0]<<3 |CANx->ID[1]>>5 ;
|
||
|
|
/* 获取数据 */
|
||
|
|
RxMessage->Data[0] = (unsigned char)CANx->ID[2];
|
||
|
|
RxMessage->Data[1] = (unsigned char)CANx->ID[3];
|
||
|
|
RxMessage->Data[2] = (unsigned char)CANx->BUF[0];
|
||
|
|
RxMessage->Data[3] = (unsigned char)CANx->BUF[1];
|
||
|
|
RxMessage->Data[4] = (unsigned char)CANx->BUF[2];
|
||
|
|
RxMessage->Data[5] = (unsigned char)CANx->BUF[3];
|
||
|
|
RxMessage->Data[6] = (unsigned char)CANx->BUF[4];
|
||
|
|
RxMessage->Data[7] = (unsigned char)CANx->BUF[5];
|
||
|
|
}
|
||
|
|
else if (RxMessage->IDE == CAN_Id_Extended)
|
||
|
|
{
|
||
|
|
RxMessage->ExtId= CANx->ID[0]<<21 |CANx->ID[1]<<13|CANx->ID[2]<<5|CANx->ID[3]>>3 ;
|
||
|
|
/* 获取数据 */
|
||
|
|
RxMessage->Data[0] = (unsigned char)CANx->BUF[0];
|
||
|
|
RxMessage->Data[1] = (unsigned char)CANx->BUF[1];
|
||
|
|
RxMessage->Data[2] = (unsigned char)CANx->BUF[2];
|
||
|
|
RxMessage->Data[3] = (unsigned char)CANx->BUF[3];
|
||
|
|
RxMessage->Data[4] = (unsigned char)CANx->BUF[4];
|
||
|
|
RxMessage->Data[5] = (unsigned char)CANx->BUF[5];
|
||
|
|
RxMessage->Data[6] = (unsigned char)CANx->BUF[6];
|
||
|
|
RxMessage->Data[7] = (unsigned char)CANx->BUF[7];
|
||
|
|
}
|
||
|
|
}
|
||
|
|
|