[BSP][ls1c]Add can driver and lib
This commit is contained in:
sundm75
parent
b08ff9eee2
commit
d08ce950e5
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@ -0,0 +1,542 @@
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/*
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* File : drv_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 <rtthread.h>
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#include <rtdevice.h>
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#include <board.h>
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#include <rthw.h>
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#include <Drv_can.h>
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#include "ls1c.h"
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#include "ls1c_public.h"
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#include "ls1c_regs.h"
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#include "ls1c_clock.h"
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#include "ls1c_can.h"
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#include "ls1c_pin.h"
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#ifdef RT_USING_CAN
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CanRxMsg RxMessage;
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struct ls1c_bxcan
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{
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CAN_TypeDef *reg;
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void * irq;
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};
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static rt_err_t bxmodifyfilter(struct ls1c_bxcan *pbxcan, struct rt_can_filter_item *pitem, rt_uint32_t actived)
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{
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rt_int32_t fcase;
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rt_err_t res;
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rt_int32_t hdr, fbase, foff;
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CAN_TypeDef* CANx;
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CANx = pbxcan->reg;
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/*pitem->mode 1-掩码模式; 0- 滤波器模式 SJA1000中使用以下方式*/
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/*SJA1000中AFM 1-单滤波器模式; 0- 双滤波器模式 */
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fcase = pitem->mode;/*1-单滤波器模式; 0- 双滤波器模式*/
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{
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if (!actived)
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{
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return RT_EOK;
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}
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else if (pitem->hdr == -1)
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{
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res = -1;
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if (res != RT_EOK)
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{
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return res;
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}
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}
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else if (pitem->hdr >= 0)
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{
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rt_enter_critical();
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res = RT_EOK;
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if (res != RT_EOK)
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{
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return res;
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}
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hdr = pitem->hdr;
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rt_exit_critical();
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}
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}
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CAN_FilterInitTypeDef CAN_FilterInitStruct;
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unsigned char ide, rtr, id , idmask, mode;
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ide = (unsigned char) pitem->ide;
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rtr = (unsigned char) pitem->rtr;
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id = pitem->id;
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idmask = pitem->mask;
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mode = (unsigned char) pitem->mode;
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CAN_FilterInitStruct.IDE = ide;
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CAN_FilterInitStruct.RTR = rtr;
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CAN_FilterInitStruct.ID = id;
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CAN_FilterInitStruct.IDMASK = idmask;
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CAN_FilterInitStruct.MODE = mode;
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CAN_FilterInit(CANx, &CAN_FilterInitStruct);
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return RT_EOK;
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}
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static rt_err_t setfilter(struct ls1c_bxcan *pbxcan, struct rt_can_filter_config *pconfig)
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{
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struct rt_can_filter_item *pitem = pconfig->items;
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rt_uint32_t count = pconfig->count;
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rt_err_t res;
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while (count)
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{
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res = bxmodifyfilter(pbxcan, pitem, pconfig->actived);
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if (res != RT_EOK)
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{
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return res;
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}
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pitem++;
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count--;
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}
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return RT_EOK;
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}
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static void bxcan0_filter_init(struct rt_can_device *can)
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{
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struct ls1c_bxcan *pbxcan;
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pbxcan = (struct ls1c_bxcan *) can->parent.user_data;
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}
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static void bxcan1_filter_init(struct rt_can_device *can)
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{
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struct ls1c_bxcan *pbxcan;
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pbxcan = (struct ls1c_bxcan *) can->parent.user_data;
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}
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static void bxcan_init(CAN_TypeDef *pcan, rt_uint32_t baud, rt_uint32_t mode)
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{
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CAN_InitTypeDef CAN_InitStructure;
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Ls1c_CanBPS_t bps ;
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switch(baud)
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{
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case CAN1MBaud:
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bps = LS1C_CAN1MBaud;
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break;
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case CAN800kBaud:
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bps = LS1C_CAN800kBaud;
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break;
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case CAN500kBaud:
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bps = LS1C_CAN500kBaud;
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break;
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case CAN250kBaud:
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bps = LS1C_CAN250kBaud;
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break;
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case CAN125kBaud:
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bps = LS1C_CAN125kBaud;
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break;
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case CAN50kBaud:
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bps = LS1C_CAN40kBaud;
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break;
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default:
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bps = LS1C_CAN250kBaud;
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break;
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}
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switch (mode)
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{
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case RT_CAN_MODE_NORMAL:
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CAN_InitStructure.CAN_Mode = 0x00;
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break;
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case RT_CAN_MODE_LISEN:
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CAN_InitStructure.CAN_Mode = CAN_Mode_LOM;
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break;
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case RT_CAN_MODE_LOOPBACK:
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CAN_InitStructure.CAN_Mode = CAN_Mode_STM;
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break;
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case RT_CAN_MODE_LOOPBACKANLISEN:
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CAN_InitStructure.CAN_Mode = CAN_Mode_STM|CAN_Mode_LOM;
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break;
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}
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CAN_InitStructure.CAN_SJW = CAN_SJW_1tq;
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switch (bps)
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{
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case LS1C_CAN1MBaud:
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CAN_InitStructure.CAN_Prescaler = 9;
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CAN_InitStructure.CAN_BS1 = CAN_BS1_4tq;
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CAN_InitStructure.CAN_BS2 = CAN_BS2_2tq;
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break;
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case LS1C_CAN800kBaud:
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CAN_InitStructure.CAN_Prescaler = 8;
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CAN_InitStructure.CAN_BS1 = CAN_BS1_7tq;
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CAN_InitStructure.CAN_BS2 = CAN_BS2_2tq;
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break;
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case LS1C_CAN500kBaud:
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CAN_InitStructure.CAN_Prescaler = 9;
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CAN_InitStructure.CAN_BS1 = CAN_BS1_11tq;
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CAN_InitStructure.CAN_BS2 = CAN_BS2_2tq;
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break;
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case LS1C_CAN250kBaud:
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CAN_InitStructure.CAN_Prescaler = 36;
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CAN_InitStructure.CAN_BS1 = CAN_BS1_4tq;
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CAN_InitStructure.CAN_BS2 = CAN_BS2_2tq;
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break;
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case LS1C_CAN125kBaud:
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CAN_InitStructure.CAN_Prescaler = 36;
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CAN_InitStructure.CAN_BS1 = CAN_BS1_11tq;
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CAN_InitStructure.CAN_BS2 = CAN_BS2_2tq;
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break;
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case LS1C_CAN100kBaud:
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CAN_InitStructure.CAN_Prescaler = 63;
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CAN_InitStructure.CAN_BS1 = CAN_BS1_7tq;
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CAN_InitStructure.CAN_BS2 = CAN_BS2_2tq;
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break;
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case LS1C_CAN50kBaud:
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CAN_InitStructure.CAN_Prescaler = 63;
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CAN_InitStructure.CAN_BS1 = CAN_BS1_16tq;
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CAN_InitStructure.CAN_BS2 = CAN_BS2_3tq;
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break;
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default: //250K
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CAN_InitStructure.CAN_Prescaler = 36;
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CAN_InitStructure.CAN_BS1 = CAN_BS1_4tq;
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CAN_InitStructure.CAN_BS2 = CAN_BS2_2tq;
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break;
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}
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CAN_Init(pcan, &CAN_InitStructure);
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}
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#ifdef USING_BXCAN0
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static void bxcan0_hw_init(void)
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{
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pin_set_purpose(54, PIN_PURPOSE_OTHER);
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pin_set_purpose(55, PIN_PURPOSE_OTHER);
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pin_set_remap(54, PIN_REMAP_THIRD);
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pin_set_remap(55, PIN_REMAP_THIRD);
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}
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#endif
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#ifdef USING_BXCAN1
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static void bxcan1_hw_init(void)
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{
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pin_set_purpose(56, PIN_PURPOSE_GPIO);
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pin_set_purpose(57, PIN_PURPOSE_GPIO);
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pin_set_remap(56, PIN_REMAP_DEFAULT);
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pin_set_remap(57, PIN_REMAP_DEFAULT);
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}
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#endif
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static rt_err_t configure(struct rt_can_device *can, struct can_configure *cfg)
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{
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CAN_TypeDef *pbxcan;
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pbxcan = ((struct ls1c_bxcan *) can->parent.user_data)->reg;
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if (pbxcan == CAN0)
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{
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#ifdef USING_BXCAN0
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bxcan0_hw_init();
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bxcan_init(pbxcan, cfg->baud_rate, cfg->mode);
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#endif
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}
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else if (pbxcan == CAN1)
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{
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#ifdef USING_BXCAN1
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bxcan1_hw_init();
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bxcan_init(pbxcan, cfg->baud_rate, cfg->mode);
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#endif
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}
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return RT_EOK;
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}
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static rt_err_t control(struct rt_can_device *can, int cmd, void *arg)
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{
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struct ls1c_bxcan *pbxcan;
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rt_uint32_t argval;
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pbxcan = (struct ls1c_bxcan *) can->parent.user_data;
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switch (cmd)
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{
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case RT_CAN_CMD_SET_FILTER:
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return setfilter(pbxcan, (struct rt_can_filter_config *) arg);
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break;
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case RT_CAN_CMD_SET_MODE:
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argval = (rt_uint32_t) arg;
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if (argval != RT_CAN_MODE_NORMAL ||
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argval != RT_CAN_MODE_LISEN ||
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argval != RT_CAN_MODE_LOOPBACK ||
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argval != RT_CAN_MODE_LOOPBACKANLISEN)
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{
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return RT_ERROR;
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}
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if (argval != can->config.mode)
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{
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can->config.mode = argval;
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return CAN_SetMode(pbxcan->reg, argval);
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}
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break;
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case RT_CAN_CMD_SET_BAUD:
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argval = (rt_uint32_t) arg;
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if (argval != CAN1MBaud &&
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argval != CAN800kBaud &&
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argval != CAN500kBaud &&
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argval != CAN250kBaud &&
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argval != CAN125kBaud &&
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argval != CAN100kBaud &&
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argval != CAN50kBaud )
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{
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return RT_ERROR;
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}
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if (argval != can->config.baud_rate)
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{
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can->config.baud_rate = argval;
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Ls1c_CanBPS_t bps;
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switch(argval)
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{
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case CAN1MBaud:
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bps = LS1C_CAN1MBaud;
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break;
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case CAN800kBaud:
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bps = LS1C_CAN800kBaud;
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break;
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case CAN500kBaud:
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bps = LS1C_CAN500kBaud;
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break;
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case CAN250kBaud:
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bps = LS1C_CAN250kBaud;
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break;
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case CAN125kBaud:
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bps = LS1C_CAN125kBaud;
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break;
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case CAN50kBaud:
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bps = LS1C_CAN40kBaud;
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break;
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default:
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bps = LS1C_CAN250kBaud;
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break;
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}
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return CAN_SetBps( pbxcan->reg, bps);
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}
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break;
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case RT_CAN_CMD_GET_STATUS:
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{
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rt_uint32_t errtype;
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errtype = pbxcan->reg->RXERR;
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can->status.rcverrcnt = errtype ;
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errtype = pbxcan->reg->TXERR;
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can->status.snderrcnt = errtype ;
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errtype = pbxcan->reg->ECC;
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can->status.errcode = errtype ;
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if (arg != &can->status)
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{
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rt_memcpy(arg, &can->status, sizeof(can->status));
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}
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}
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break;
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}
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return RT_EOK;
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}
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static int sendmsg(struct rt_can_device *can, const void *buf, rt_uint32_t boxno)
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{
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CAN_TypeDef *pbxcan;
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CanTxMsg TxMessage;
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struct rt_can_msg *pmsg = (struct rt_can_msg *) buf;
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int i;
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pbxcan = ((struct ls1c_bxcan *) can->parent.user_data)->reg;
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TxMessage.StdId = pmsg->id;
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TxMessage.ExtId = pmsg->id;
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TxMessage.RTR = pmsg->rtr;
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TxMessage.IDE = pmsg->ide;
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TxMessage.DLC = pmsg->len;
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for( i=0; i<TxMessage.DLC ;i++)
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{
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TxMessage.Data[i] = pmsg->data[i];
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}
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CAN_Transmit(pbxcan, &TxMessage);
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return RT_EOK;
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}
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static int recvmsg(struct rt_can_device *can, void *buf, rt_uint32_t boxno)
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{
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CAN_TypeDef *pbxcan;
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struct rt_can_msg *pmsg = (struct rt_can_msg *) buf;
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int i;
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pbxcan = ((struct ls1c_bxcan *) can->parent.user_data)->reg;
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pmsg->ide = (rt_uint32_t) RxMessage.IDE;
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if(RxMessage.IDE == 1)
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pmsg->id = RxMessage.ExtId;
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else
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pmsg->id = RxMessage.StdId;
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pmsg->len = RxMessage.DLC;
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pmsg->rtr = RxMessage.RTR;
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pmsg->hdr = 0;
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for(i= 0;i< RxMessage.DLC; i++)
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{
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pmsg->data[i] = RxMessage.Data[i];
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}
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return RT_EOK;
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}
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static const struct rt_can_ops canops =
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{
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configure,
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control,
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sendmsg,
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recvmsg,
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};
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#ifdef USING_BXCAN0
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struct rt_can_device bxcan0;
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void ls1c_can0_irqhandler(int irq, void *param)
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{
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CAN_TypeDef* CANx;
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unsigned char status;
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CANx = CAN0;
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/*读寄存器清除中断*/
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status = CANx->IR;
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/*接收中断*/
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if (( status & CAN_IR_RI) == CAN_IR_RI)
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{
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/*清除RI 中断*/
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CAN_Receive(CANx, &RxMessage);
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CANx->CMR |= CAN_CMR_RRB;
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CANx->CMR |= CAN_CMR_CDO;
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rt_hw_can_isr(&bxcan0, RT_CAN_EVENT_RX_IND);
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rt_kprintf("\r\nCan0 int RX happened!\r\n");
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}
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/*发送中断*/
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else if (( status & CAN_IR_TI) == CAN_IR_TI)
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{
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rt_hw_can_isr(&bxcan0, RT_CAN_EVENT_TX_DONE | 0 << 8);
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rt_kprintf("\r\nCan0 int TX happened!\r\n");
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}
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/*数据溢出中断*/
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else if (( status & CAN_IR_TI) == CAN_IR_DOI)
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{
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rt_hw_can_isr(&bxcan0, RT_CAN_EVENT_RXOF_IND);
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rt_kprintf("\r\nCan0 int RX OF happened!\r\n");
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}
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}
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static struct ls1c_bxcan bxcan0data =
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{
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.reg = CAN0,
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.irq = ls1c_can0_irqhandler,
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};
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#endif /*USING_BXCAN0*/
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#ifdef USING_BXCAN1
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struct rt_can_device bxcan1;
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void ls1c_can1_irqhandler(int irq, void *param)
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{
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CAN_TypeDef* CANx;
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unsigned char status;
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CANx = CAN1;
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/*读寄存器清除中断*/
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status = CANx->IR;
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/*接收中断*/
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if (( status & CAN_IR_RI) == CAN_IR_RI)
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{
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/*清除RI 中断*/
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CAN_Receive(CANx, &RxMessage);
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CANx->CMR |= CAN_CMR_RRB;
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CANx->CMR |= CAN_CMR_CDO;
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rt_hw_can_isr(&bxcan1, RT_CAN_EVENT_RX_IND);
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rt_kprintf("\r\nCan1 int RX happened!\r\n");
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}
|
||||
/*发送中断*/
|
||||
else if (( status & CAN_IR_TI) == CAN_IR_TI)
|
||||
{
|
||||
rt_hw_can_isr(&bxcan1, RT_CAN_EVENT_TX_DONE | 0 << 8);
|
||||
rt_kprintf("\r\nCan1 int TX happened!\r\n");
|
||||
}
|
||||
/*数据溢出中断*/
|
||||
else if (( status & CAN_IR_TI) == CAN_IR_DOI)
|
||||
{
|
||||
rt_hw_can_isr(&bxcan1, RT_CAN_EVENT_RXOF_IND);
|
||||
rt_kprintf("\r\nCan1 int RX OF happened!\r\n");
|
||||
}
|
||||
}
|
||||
static struct ls1c_bxcan bxcan1data =
|
||||
{
|
||||
.reg = CAN1,
|
||||
.irq = ls1c_can1_irqhandler,
|
||||
};
|
||||
|
||||
#endif /*USING_BXCAN1*/
|
||||
|
||||
int ls1c_bxcan_init(void)
|
||||
{
|
||||
|
||||
#ifdef USING_BXCAN0
|
||||
bxcan0.config.baud_rate = CAN250kBaud;
|
||||
bxcan0.config.msgboxsz = 1;
|
||||
bxcan0.config.sndboxnumber = 1;
|
||||
bxcan0.config.mode = RT_CAN_MODE_NORMAL;
|
||||
bxcan0.config.privmode = 0;
|
||||
bxcan0.config.ticks = 50;
|
||||
#ifdef RT_CAN_USING_HDR
|
||||
bxcan0.config.maxhdr = 2;
|
||||
#endif
|
||||
rt_hw_can_register(&bxcan0, "bxcan0", &canops, &bxcan0data);
|
||||
rt_kprintf("\r\ncan0 register! \r\n");
|
||||
|
||||
rt_hw_interrupt_install(LS1C_CAN0_IRQ,( rt_isr_handler_t)bxcan0data.irq , RT_NULL, "can0");
|
||||
rt_hw_interrupt_umask(LS1C_CAN0_IRQ);
|
||||
#endif
|
||||
#ifdef USING_BXCAN1
|
||||
bxcan1.config.baud_rate = CAN250kBaud;
|
||||
bxcan1.config.msgboxsz = 1;
|
||||
bxcan1.config.sndboxnumber = 1;
|
||||
bxcan1.config.mode = RT_CAN_MODE_NORMAL;
|
||||
bxcan1.config.privmode = 0;
|
||||
bxcan1.config.ticks = 50;
|
||||
#ifdef RT_CAN_USING_HDR
|
||||
bxcan1.config.maxhdr = 2;
|
||||
#endif
|
||||
rt_hw_can_register(&bxcan1, "bxcan1", &canops, &bxcan1data);
|
||||
rt_kprintf("\r\ncan1 register! \r\n");
|
||||
|
||||
rt_hw_interrupt_install(LS1C_CAN1_IRQ,( rt_isr_handler_t)bxcan1data.irq , RT_NULL, "can1");
|
||||
rt_hw_interrupt_umask(LS1C_CAN1_IRQ);
|
||||
#endif
|
||||
return RT_EOK;
|
||||
}
|
||||
|
||||
INIT_BOARD_EXPORT(ls1c_bxcan_init);
|
||||
|
||||
#endif /*RT_USING_CAN*/
|
||||
|
|
@ -0,0 +1,30 @@
|
|||
/*
|
||||
* File : bxcan.h
|
||||
* This file is part of RT-Thread RTOS
|
||||
* COPYRIGHT (C) 2006 - 2018, RT-Thread Development Team
|
||||
*
|
||||
* This program is free software; you can redistribute it and/or modify
|
||||
* it under the terms of the GNU General Public License as published by
|
||||
* the Free Software Foundation; either version 2 of the License, or
|
||||
* (at your option) any later version.
|
||||
*
|
||||
* This program is distributed in the hope that it will be useful,
|
||||
* but WITHOUT ANY WARRANTY; without even the implied warranty of
|
||||
* MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
|
||||
* GNU General Public License for more details.
|
||||
*
|
||||
* You should have received a copy of the GNU General Public License along
|
||||
* with this program; if not, write to the Free Software Foundation, Inc.,
|
||||
* 51 Franklin Street, Fifth Floor, Boston, MA 02110-1301 USA.
|
||||
*
|
||||
* Change Logs:
|
||||
* Date Author Notes
|
||||
* 2018-01-06 sundm75 first version
|
||||
*/
|
||||
|
||||
#ifndef LS1C_DRV_CAN_H
|
||||
#define LS1C_DRV_CAN_H
|
||||
|
||||
extern int ls1c_bxcan_init(void);
|
||||
|
||||
#endif /*DRV_CAN_H_*/
|
||||
|
|
@ -0,0 +1,460 @@
|
|||
/*
|
||||
* File : ls1c_can.c
|
||||
* This file is part of RT-Thread RTOS
|
||||
* COPYRIGHT (C) 2006 - 2018, RT-Thread Development Team
|
||||
*
|
||||
* This program is free software; you can redistribute it and/or modify
|
||||
* it under the terms of the GNU General Public License as published by
|
||||
* the Free Software Foundation; either version 2 of the License, or
|
||||
* (at your option) any later version.
|
||||
*
|
||||
* This program is distributed in the hope that it will be useful,
|
||||
* but WITHOUT ANY WARRANTY; without even the implied warranty of
|
||||
* MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
|
||||
* GNU General Public License for more details.
|
||||
*
|
||||
* You should have received a copy of the GNU General Public License along
|
||||
* with this program; if not, write to the Free Software Foundation, Inc.,
|
||||
* 51 Franklin Street, Fifth Floor, Boston, MA 02110-1301 USA.
|
||||
*
|
||||
* Change Logs:
|
||||
* Date Author Notes
|
||||
* 2018-01-06 sundm75 first version
|
||||
*/
|
||||
|
||||
#include "ls1c.h"
|
||||
#include "ls1c_public.h"
|
||||
#include "ls1c_can.h"
|
||||
|
||||
unsigned char set_reset_mode(CAN_TypeDef* CANx)
|
||||
{
|
||||
unsigned char status;
|
||||
int i;
|
||||
|
||||
/*检查复位标志*/
|
||||
status = CANx->MOD;
|
||||
|
||||
/* 关闭中断 */
|
||||
CANx->IER = 0x00;
|
||||
|
||||
for (i = 0; i < 100; i++)
|
||||
{
|
||||
if((status & CAN_Mode_RM) == CAN_Mode_RM)
|
||||
return 1;
|
||||
|
||||
/* 设置复位*/
|
||||
CANx->MOD |= ((unsigned char)CAN_Mode_RM);
|
||||
|
||||
/*延时*/
|
||||
delay_us(10);
|
||||
|
||||
/*检查复位标志*/
|
||||
status = CANx->MOD;
|
||||
}
|
||||
rt_kprintf("\r\nSetting SJA1000 into reset mode failed!\r\n");
|
||||
return 0;
|
||||
}
|
||||
|
||||
static unsigned char set_normal_mode(CAN_TypeDef* CANx)
|
||||
{
|
||||
unsigned char status;
|
||||
int i;
|
||||
|
||||
/*检查复位标志*/
|
||||
status = CANx->MOD;
|
||||
|
||||
for (i = 0; i < 100; i++)
|
||||
{
|
||||
if((status & CAN_Mode_RM) != CAN_Mode_RM)
|
||||
{
|
||||
/*开所有中断 （总线错误中断不开）*/
|
||||
CANx->IER |= (~(unsigned char)CAN_IR_BEI);
|
||||
return 1;
|
||||
}
|
||||
/* 设置正常工作模式*/
|
||||
CANx->MOD &= (~(unsigned char) CAN_Mode_RM);
|
||||
/*延时*/
|
||||
delay_us(10);
|
||||
status = CANx->MOD;
|
||||
}
|
||||
rt_kprintf("\r\nSetting SJA1000 into normal mode failed!\r\n");
|
||||
return 0;
|
||||
}
|
||||
|
||||
unsigned char set_start(CAN_TypeDef* CANx)
|
||||
{
|
||||
/*复位TX错误计数器*/
|
||||
CANx->TXERR = 0;
|
||||
/*复位RX错误计数器*/
|
||||
CANx->RXERR = 0;
|
||||
/*时钟分频寄存器: PeliCAN模式; CBP=1,中止输入比较器, RX0激活*/
|
||||
CANx->CDR = 0xC0;
|
||||
|
||||
return set_normal_mode(CANx);
|
||||
}
|
||||
|
||||
unsigned char CAN_Init(CAN_TypeDef* CANx, CAN_InitTypeDef* CAN_InitStruct)
|
||||
{
|
||||
unsigned char InitStatus = CAN_InitStatus_Failed;
|
||||
unsigned long wait_ack = 0x00000000;
|
||||
unsigned char status;
|
||||
|
||||
status = CANx->MOD;
|
||||
if( status == 0xFF)
|
||||
{
|
||||
rt_kprintf("\n Probe can0 failed \r\n");
|
||||
return CAN_InitStatus_Failed;
|
||||
}
|
||||
|
||||
/* 进入复位模式 */
|
||||
InitStatus = set_reset_mode(CANx);
|
||||
|
||||
if((CAN_InitStruct->CAN_Mode & CAN_Mode_SM) == CAN_Mode_SM)
|
||||
{
|
||||
/* 睡眠模式 1: 睡眠 0: 唤醒*/
|
||||
CANx->MOD|= (unsigned char)CAN_Mode_SM;
|
||||
}
|
||||
else
|
||||
{
|
||||
CANx->MOD&=~ (unsigned char)CAN_Mode_SM;
|
||||
}
|
||||
|
||||
if((CAN_InitStruct->CAN_Mode & CAN_Mode_LOM) == CAN_Mode_LOM)
|
||||
{
|
||||
/*只听模式 1:只听 0:正常 */
|
||||
CANx->MOD|= (unsigned char)CAN_Mode_LOM;
|
||||
}
|
||||
else
|
||||
{
|
||||
CANx->MOD&=~ (unsigned char)CAN_Mode_LOM;
|
||||
}
|
||||
|
||||
if((CAN_InitStruct->CAN_Mode & CAN_Mode_AFM) == CAN_Mode_AFM)
|
||||
{
|
||||
/*单滤波模式 1:单 0: 双*/
|
||||
CANx->MOD |= (unsigned char)CAN_Mode_AFM;
|
||||
}
|
||||
else
|
||||
{
|
||||
CANx->MOD&=~ (unsigned char)CAN_Mode_AFM;
|
||||
}
|
||||
|
||||
if((CAN_InitStruct->CAN_Mode & CAN_Mode_STM) == CAN_Mode_STM)
|
||||
{
|
||||
/*自检测模式 1:自检测 0:正常 */
|
||||
CANx->MOD |= (unsigned char)CAN_Mode_STM;
|
||||
}
|
||||
else
|
||||
{
|
||||
CANx->MOD&=~ (unsigned char)CAN_Mode_STM;
|
||||
}
|
||||
|
||||
/* 配置时钟频率 */
|
||||
CANx->BTR0 = (( unsigned char )( unsigned char )CAN_InitStruct->CAN_Prescaler -1) | \
|
||||
(unsigned char)CAN_InitStruct->CAN_SJW << 6;
|
||||
|
||||
CANx->BTR1 = ((unsigned char)CAN_InitStruct->CAN_BS1) | \
|
||||
((unsigned char)CAN_InitStruct->CAN_BS2 << 4) | \
|
||||
((unsigned char)CAN_InitStruct->CAN_SJW<<7);
|
||||
|
||||
/* 进入工作模式 */
|
||||
set_start(CANx);
|
||||
|
||||
/* 返回初始化结果 */
|
||||
return InitStatus;
|
||||
}
|
||||
|
||||
void CAN_FilterInit(CAN_TypeDef* CANx, CAN_FilterInitTypeDef * CAN_FilterInitStruct)
|
||||
{
|
||||
unsigned long rtr;
|
||||
unsigned long fcase;
|
||||
unsigned long ide;
|
||||
unsigned long thisid, thisid1, thisid2;
|
||||
unsigned long thismask, thismask1, thismask2;
|
||||
unsigned long firstdata;
|
||||
unsigned long datamask;
|
||||
unsigned char CAN_FilterId0, CAN_FilterId1, CAN_FilterId2, CAN_FilterId3 ;
|
||||
unsigned char CAN_FilterMaskId0, CAN_FilterMaskId1, CAN_FilterMaskId2, CAN_FilterMaskId3;
|
||||
|
||||
thisid = CAN_FilterInitStruct->ID;
|
||||
thismask = CAN_FilterInitStruct->IDMASK;
|
||||
thisid1 = (CAN_FilterInitStruct->ID & 0xFFFF0000 )>>16;
|
||||
thismask1 = (CAN_FilterInitStruct->IDMASK & 0xFFFF0000 )>>16;
|
||||
thisid2 = (CAN_FilterInitStruct->ID & 0x0000FFFF );
|
||||
thismask2 = ( CAN_FilterInitStruct->IDMASK& 0x0000FFFF );
|
||||
rtr = CAN_FilterInitStruct->RTR;
|
||||
ide = CAN_FilterInitStruct->IDE;
|
||||
firstdata = CAN_FilterInitStruct->First_Data;
|
||||
datamask = CAN_FilterInitStruct->Data_Mask;
|
||||
fcase = CAN_FilterInitStruct->MODE;
|
||||
|
||||
if(ide == 0)//标准帧
|
||||
{
|
||||
if(fcase == 0)// 0- 双滤波器模式
|
||||
{
|
||||
CAN_FilterId0 = thisid1>>3;
|
||||
CAN_FilterMaskId0 = thismask1>>3;
|
||||
CAN_FilterId1 = thisid1<<5 | firstdata>>4| rtr<<4;
|
||||
CAN_FilterMaskId1 = thismask1<<4 | datamask>>4 ;
|
||||
CAN_FilterId2 = thisid2 >> 3;
|
||||
CAN_FilterMaskId2 = thismask2 >>3;
|
||||
CAN_FilterId3 = firstdata & 0x0F | thisid2 <<5 | rtr<<4;
|
||||
CAN_FilterMaskId3 = datamask <<4 ;
|
||||
}
|
||||
else if(fcase == 1)// 1-单滤波器模式
|
||||
{
|
||||
CAN_FilterId0 = thisid>>3;
|
||||
CAN_FilterMaskId0 = thismask>>3;
|
||||
CAN_FilterId1 = thisid<<5 | rtr<<4;
|
||||
CAN_FilterMaskId1 = thismask<<5 ;
|
||||
CAN_FilterMaskId1 |= 0x0F ;
|
||||
CAN_FilterId2 = 0x00;
|
||||
CAN_FilterMaskId2 = 0xFF;
|
||||
CAN_FilterId3 = 0x00;
|
||||
CAN_FilterMaskId3 = 0xFF ;
|
||||
}
|
||||
}
|
||||
else if(ide == 1)//扩展帧
|
||||
{
|
||||
if(fcase == 0)// 0- 双滤波器模式
|
||||
{
|
||||
CAN_FilterId0 = thisid1>>8;
|
||||
CAN_FilterMaskId0 = thismask1>>8;
|
||||
CAN_FilterId1 = thisid1 ;
|
||||
CAN_FilterMaskId1 = thismask1 ;
|
||||
CAN_FilterId2 = thisid2>>8;
|
||||
CAN_FilterMaskId2 = thismask2>>8;
|
||||
CAN_FilterId3 = thisid2 ;
|
||||
CAN_FilterMaskId3 = thismask2 ;
|
||||
}
|
||||
else if(fcase == 1)// 1-单滤波器模式
|
||||
{
|
||||
CAN_FilterId0 = thisid>>21;
|
||||
CAN_FilterMaskId0 = thismask>>21;
|
||||
CAN_FilterId1 = thisid>>13 ;
|
||||
CAN_FilterMaskId1 = thismask>>13 ;
|
||||
CAN_FilterId2 = thisid>>5;
|
||||
CAN_FilterMaskId2 = thismask>>5;
|
||||
CAN_FilterId3 = thisid<<3 | rtr<<2;
|
||||
CAN_FilterMaskId3 = thismask<<3;
|
||||
CAN_FilterMaskId3 |= 0x03;
|
||||
}
|
||||
}
|
||||
|
||||
/* 进入复位模式 */
|
||||
set_reset_mode(CANx);
|
||||
|
||||
if(fcase == 1)// 1-单滤波器模式
|
||||
{
|
||||
/*单滤波模式 */
|
||||
CANx->MOD |= (unsigned char)CAN_Mode_AFM;
|
||||
}
|
||||
else if(fcase == 1)// 0- 双滤波器模式
|
||||
{
|
||||
/*双滤波模式 */
|
||||
CANx->MOD &=(~ (unsigned char) CAN_Mode_AFM);
|
||||
}
|
||||
|
||||
CANx->IDE_RTR_DLC = CAN_FilterId0;
|
||||
CANx->ID[0] = CAN_FilterId1;
|
||||
CANx->ID[1] = CAN_FilterId2;
|
||||
CANx->ID[2] = CAN_FilterId3;
|
||||
CANx->ID[3] = CAN_FilterMaskId0;
|
||||
CANx->BUF[0] = CAN_FilterMaskId1;
|
||||
CANx->BUF[1] = CAN_FilterMaskId2;
|
||||
CANx->BUF[2] = CAN_FilterMaskId3;
|
||||
/* 进入工作模式 */
|
||||
set_start(CANx);
|
||||
}
|
||||
|
||||
unsigned char CAN_SetBps(CAN_TypeDef* CANx, Ls1c_CanBPS_t Bps)
|
||||
{
|
||||
unsigned char InitStatus = CAN_InitStatus_Failed;
|
||||
unsigned char CAN_Prescaler, CAN_BS1, CAN_BS2, CAN_SJW;
|
||||
CAN_SJW = CAN_SJW_1tq;
|
||||
/* 进入复位模式 */
|
||||
InitStatus = set_reset_mode(CANx);
|
||||
if( InitStatus == CAN_InitStatus_Failed)
|
||||
return CAN_InitStatus_Failed;
|
||||
|
||||
/* BaudRate= f(APB)/((1+BS1+BS2)(SJW*2*Prescaler))=126000000/[(1+7+2)*1*2*63]=100000=100K*/
|
||||
/* BPS PRE BS1 BS2 最低40K
|
||||
1M 9 4 2
|
||||
800K 8 7 2
|
||||
500K 9 11 2
|
||||
250K 36 4 2
|
||||
125K 36 11 2
|
||||
100K 63 7 2
|
||||
50K 63 16 3`
|
||||
40K 63 16 8
|
||||
*/
|
||||
switch (Bps)
|
||||
{
|
||||
case LS1C_CAN1MBaud:
|
||||
CAN_Prescaler = 9;
|
||||
CAN_BS1 = CAN_BS1_4tq;
|
||||
CAN_BS2 = CAN_BS2_2tq;
|
||||
break;
|
||||
case LS1C_CAN800kBaud:
|
||||
CAN_Prescaler = 8;
|
||||
CAN_BS1 = CAN_BS1_7tq;
|
||||
CAN_BS2 = CAN_BS2_2tq;
|
||||
break;
|
||||
case LS1C_CAN500kBaud:
|
||||
CAN_Prescaler = 9;
|
||||
CAN_BS1 = CAN_BS1_11tq;
|
||||
CAN_BS2 = CAN_BS2_2tq;
|
||||
break;
|
||||
case LS1C_CAN250kBaud:
|
||||
CAN_Prescaler = 36;
|
||||
CAN_BS1 = CAN_BS1_4tq;
|
||||
CAN_BS2 = CAN_BS2_2tq;
|
||||
break;
|
||||
case LS1C_CAN125kBaud:
|
||||
CAN_Prescaler = 36;
|
||||
CAN_BS1 = CAN_BS1_11tq;
|
||||
CAN_BS2 = CAN_BS2_2tq;
|
||||
break;
|
||||
case LS1C_CAN100kBaud:
|
||||
CAN_Prescaler = 63;
|
||||
CAN_BS1 = CAN_BS1_7tq;
|
||||
CAN_BS2 = CAN_BS2_2tq;
|
||||
break;
|
||||
case LS1C_CAN50kBaud:
|
||||
CAN_Prescaler = 63;
|
||||
CAN_BS1 = CAN_BS1_16tq;
|
||||
CAN_BS2 = CAN_BS2_3tq;
|
||||
break;
|
||||
case LS1C_CAN40kBaud:
|
||||
CAN_Prescaler = 63;
|
||||
CAN_BS1 = CAN_BS1_16tq;
|
||||
CAN_BS2 = CAN_BS2_8tq;
|
||||
break;
|
||||
default: //100K
|
||||
CAN_Prescaler = 63;
|
||||
CAN_BS1 = CAN_BS1_7tq;
|
||||
CAN_BS2 = CAN_BS2_2tq;
|
||||
break;
|
||||
}
|
||||
/* 配置时钟频率 */
|
||||
CANx->BTR0 = (( unsigned char )CAN_Prescaler -1) | \
|
||||
(unsigned char)CAN_SJW << 6;
|
||||
|
||||
CANx->BTR1 = ((unsigned char)CAN_BS1) | \
|
||||
((unsigned char)CAN_BS2 << 4) | \
|
||||
((unsigned char)CAN_SJW<<7);
|
||||
|
||||
/* 进入工作模式 */
|
||||
set_start(CANx);
|
||||
/* 返回初始化结果 */
|
||||
return CAN_InitStatus_Failed;
|
||||
}
|
||||
|
||||
|
||||
unsigned char CAN_SetMode(CAN_TypeDef* CANx, unsigned char mode)
|
||||
{
|
||||
unsigned char InitStatus = CAN_InitStatus_Failed;
|
||||
unsigned long wait_ack = 0x00000000;
|
||||
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];
|
||||
}
|
||||
}
|
||||
|
||||
|
|
@ -0,0 +1,227 @@
|
|||
|
||||
/*
|
||||
* File : ls1c_can.h
|
||||
* This file is part of RT-Thread RTOS
|
||||
* COPYRIGHT (C) 2006 - 2018, RT-Thread Development Team
|
||||
*
|
||||
* This program is free software; you can redistribute it and/or modify
|
||||
* it under the terms of the GNU General Public License as published by
|
||||
* the Free Software Foundation; either version 2 of the License, or
|
||||
* (at your option) any later version.
|
||||
*
|
||||
* This program is distributed in the hope that it will be useful,
|
||||
* but WITHOUT ANY WARRANTY; without even the implied warranty of
|
||||
* MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
|
||||
* GNU General Public License for more details.
|
||||
*
|
||||
* You should have received a copy of the GNU General Public License along
|
||||
* with this program; if not, write to the Free Software Foundation, Inc.,
|
||||
* 51 Franklin Street, Fifth Floor, Boston, MA 02110-1301 USA.
|
||||
*
|
||||
* Change Logs: (Pelican Mode)
|
||||
* Date Author Notes
|
||||
* 2018-01-06 sundm75 first version
|
||||
*/
|
||||
|
||||
#ifndef __OPENLOONGSON_CAN_H
|
||||
#define __OPENLOONGSON_CAN_H
|
||||
|
||||
#define CAN0 ( (CAN_TypeDef* )LS1C_REG_BASE_CAN0)
|
||||
#define CAN1 ( (CAN_TypeDef* )LS1C_REG_BASE_CAN1)
|
||||
|
||||
#define CAN_InitStatus_Failed ((unsigned char)0x00) /*!< CAN initialization failed */
|
||||
#define CAN_InitStatus_Success ((unsigned char)0x01) /*!< CAN initialization OK */
|
||||
|
||||
#define CAN_SJW_1tq ((unsigned char)0x00) /*!< 1 time quantum */
|
||||
#define CAN_SJW_2tq ((unsigned char)0x01) /*!< 2 time quantum */
|
||||
#define CAN_SJW_3tq ((unsigned char)0x02) /*!< 3 time quantum */
|
||||
#define CAN_SJW_4tq ((unsigned char)0x03) /*!< 4 time quantum */
|
||||
|
||||
#define CAN_BS1_1tq ((unsigned char)0x00) /*!< 1 time quantum */
|
||||
#define CAN_BS1_2tq ((unsigned char)0x01) /*!< 2 time quantum */
|
||||
#define CAN_BS1_3tq ((unsigned char)0x02) /*!< 3 time quantum */
|
||||
#define CAN_BS1_4tq ((unsigned char)0x03) /*!< 4 time quantum */
|
||||
#define CAN_BS1_5tq ((unsigned char)0x04) /*!< 5 time quantum */
|
||||
#define CAN_BS1_6tq ((unsigned char)0x05) /*!< 6 time quantum */
|
||||
#define CAN_BS1_7tq ((unsigned char)0x06) /*!< 7 time quantum */
|
||||
#define CAN_BS1_8tq ((unsigned char)0x07) /*!< 8 time quantum */
|
||||
#define CAN_BS1_9tq ((unsigned char)0x08) /*!< 9 time quantum */
|
||||
#define CAN_BS1_10tq ((unsigned char)0x09) /*!< 10 time quantum */
|
||||
#define CAN_BS1_11tq ((unsigned char)0x0A) /*!< 11 time quantum */
|
||||
#define CAN_BS1_12tq ((unsigned char)0x0B) /*!< 12 time quantum */
|
||||
#define CAN_BS1_13tq ((unsigned char)0x0C) /*!< 13 time quantum */
|
||||
#define CAN_BS1_14tq ((unsigned char)0x0D) /*!< 14 time quantum */
|
||||
#define CAN_BS1_15tq ((unsigned char)0x0E) /*!< 15 time quantum */
|
||||
#define CAN_BS1_16tq ((unsigned char)0x0F) /*!< 16 time quantum */
|
||||
|
||||
#define CAN_BS2_1tq ((unsigned char)0x00) /*!< 1 time quantum */
|
||||
#define CAN_BS2_2tq ((unsigned char)0x01) /*!< 2 time quantum */
|
||||
#define CAN_BS2_3tq ((unsigned char)0x02) /*!< 3 time quantum */
|
||||
#define CAN_BS2_4tq ((unsigned char)0x03) /*!< 4 time quantum */
|
||||
#define CAN_BS2_5tq ((unsigned char)0x04) /*!< 5 time quantum */
|
||||
#define CAN_BS2_6tq ((unsigned char)0x05) /*!< 6 time quantum */
|
||||
#define CAN_BS2_7tq ((unsigned char)0x06) /*!< 7 time quantum */
|
||||
#define CAN_BS2_8tq ((unsigned char)0x07) /*!< 8 time quantum */
|
||||
|
||||
#define CAN_Id_Standard 0
|
||||
#define CAN_Id_Extended 1
|
||||
#define CAN_RTR_DATA 0
|
||||
#define CAN_RTR_Remote 1
|
||||
|
||||
#define CAN_MODE_NORMAL 0
|
||||
#define CAN_MODE_LISEN 1
|
||||
#define CAN_MODE_LOOPBACK 2
|
||||
#define CAN_MODE_LOOPBACKANLISEN 3
|
||||
|
||||
/*!< CAN 控制状态寄存器 */
|
||||
/************************** CAN_MOD 寄存器位定义*******************************/
|
||||
#define CAN_Mode_RM ((unsigned char)0x01) /*!< 复位模式 */
|
||||
#define CAN_Mode_LOM ((unsigned char)0x02) /*!< 只听模式 1:只听 0:正常 */
|
||||
#define CAN_Mode_STM ((unsigned char)0x04) /*!< 正常工作模式1:自检测 0:正常 */
|
||||
#define CAN_Mode_AFM ((unsigned char)0x08) /*!< 单/双滤波模式 1:单 0: 双*/
|
||||
#define CAN_Mode_SM ((unsigned char)0x10) /*!< 睡眠模式1: 睡眠 0: 唤醒 */
|
||||
|
||||
/************************** CAN_CMR 寄存器位定义*******************************/
|
||||
#define CAN_CMR_TR ((unsigned char)0x01) /*!< 发送请求 1: 当前信息被发送 0: 空 */
|
||||
#define CAN_CMR_AT ((unsigned char)0x02) /*!< 中止发送 1: 等待发送的信息取消 0: 空缺 */
|
||||
#define CAN_CMR_RRB ((unsigned char)0x04) /*!< 释放接收缓冲器 1:释放 0: 无动作 */
|
||||
#define CAN_CMR_CDO ((unsigned char)0x08) /*!< 清除数据溢出 1:清除 0: 无动作 */
|
||||
//#define CAN_CMR_GTS ((unsigned char)0x10) /*!< STD模式< 睡眠: 1:进入睡眠 0: 唤醒 */
|
||||
#define CAN_CMR_SRR ((unsigned char)0x10) /*!< 自接收请求 1: 0: */
|
||||
#define CAN_CMR_EFF ((unsigned char)0x80) /*!< 扩展模式 1:扩展帧 0: 标准帧 */
|
||||
|
||||
/************************** CAN_SR 寄存器位定义********************************/
|
||||
#define CAN_SR_BBS ((unsigned char)0x01) /*!< 接收缓存器状态1: 满 0: 空 */
|
||||
#define CAN_SR_DOS ((unsigned char)0x02) /*!< 数据溢出状态 1: 溢出 0: 空缺 */
|
||||
#define CAN_SR_TBS ((unsigned char)0x04) /*!< 发送缓存器状态1: 释放 0: 锁定 */
|
||||
#define CAN_SR_TCS ((unsigned char)0x08) /*!< 发送完毕状态1: 完毕 0: 未完毕 */
|
||||
#define CAN_SR_RS ((unsigned char)0x10) /*!< 接收状态1: 接收 0: 空闲 */
|
||||
#define CAN_SR_TS ((unsigned char)0x20) /*!< 发送状态1: 发送 0: 空闲*/
|
||||
#define CAN_SR_ES ((unsigned char)0x40) /*!< 出错状态1:出错 0: 正常 */
|
||||
#define CAN_SR_BS ((unsigned char)0x80) /*!< 总线状态1: 关闭 0: 开启 */
|
||||
|
||||
/************************** CAN_IR 中断寄存器位定义****************************/
|
||||
#define CAN_IR_RI ((unsigned char)0x01) /*!< 接收中断 */
|
||||
#define CAN_IR_TI ((unsigned char)0x02) /*!< 发送中断 */
|
||||
#define CAN_IR_EI ((unsigned char)0x04) /*!< 错误中断 */
|
||||
#define CAN_IR_DOI ((unsigned char)0x08) /*!< 数据溢出中断 */
|
||||
#define CAN_IR_WUI ((unsigned char)0x10) /*!< 唤醒中断 */
|
||||
#define CAN_IR_EPI ((unsigned char)0x20) /*!< 错误消极中断 */
|
||||
#define CAN_IR_ALI ((unsigned char)0x40) /*!< 仲裁丢失中断 */
|
||||
#define CAN_IR_BEI ((unsigned char)0x80) /*!< 总线错误中断 */
|
||||
|
||||
/************************* CAN_IER 中断使能寄存器位定义************************/
|
||||
#define CAN_IER_RIE ((unsigned char)0x01) /*!< 接收中断使能 */
|
||||
#define CAN_IER_TIE ((unsigned char)0x02) /*!< 发送中断使能 */
|
||||
#define CAN_IER_EIE ((unsigned char)0x04) /*!< 错误中断使能 */
|
||||
#define CAN_IER_DOIE ((unsigned char)0x08) /*!< 数据溢出中断使能 */
|
||||
#define CAN_IER_WUIE ((unsigned char)0x10) /*!< 唤醒中断使能 */
|
||||
#define CAN_IER_EPIE ((unsigned char)0x20) /*!< 错误消极中断使能 */
|
||||
#define CAN_IER_ALIE ((unsigned char)0x40) /*!< 仲裁丢失中断使能 */
|
||||
#define CAN_IER_BEIE ((unsigned char)0x80) /*!< 总线错误中断使能 */
|
||||
|
||||
typedef enum
|
||||
{
|
||||
LS1C_CAN1MBaud=0, // 1 MBit/sec
|
||||
LS1C_CAN800kBaud, // 800 kBit/sec
|
||||
LS1C_CAN500kBaud, // 500 kBit/sec
|
||||
LS1C_CAN250kBaud, // 250 kBit/sec
|
||||
LS1C_CAN125kBaud, // 125 kBit/sec
|
||||
LS1C_CAN100kBaud, // 100 kBit/sec
|
||||
LS1C_CAN50kBaud, // 50 kBit/sec
|
||||
LS1C_CAN40kBaud, // 40 kBit/sec
|
||||
}Ls1c_CanBPS_t;
|
||||
|
||||
typedef struct
|
||||
{
|
||||
unsigned char MOD;
|
||||
unsigned char CMR;
|
||||
unsigned char SR;
|
||||
unsigned char IR;
|
||||
unsigned char IER;
|
||||
unsigned char reserved0;
|
||||
unsigned char BTR0;
|
||||
unsigned char BTR1;
|
||||
unsigned char OCR;
|
||||
unsigned char reserved[2];
|
||||
unsigned char ALC;
|
||||
unsigned char ECC ;
|
||||
unsigned char EMLR;
|
||||
unsigned char RXERR;
|
||||
unsigned char TXERR;
|
||||
unsigned char IDE_RTR_DLC;
|
||||
unsigned char ID[4];
|
||||
unsigned char BUF[8];
|
||||
unsigned char RMCR;
|
||||
unsigned char CDR;
|
||||
} CAN_TypeDef;
|
||||
|
||||
typedef struct
|
||||
{
|
||||
unsigned char CAN_Prescaler; /* 波特率分频系数1 to 31. */
|
||||
unsigned char CAN_Mode; /*0x10:睡眠0x08:单,双滤波 0x40:正常工作0x20:只听 0x01:复位*/
|
||||
unsigned char CAN_SJW; /*同步跳转宽度 */
|
||||
unsigned char CAN_BS1; /*时间段1计数值*/
|
||||
unsigned char CAN_BS2; /*时间段2计数值*/
|
||||
|
||||
} CAN_InitTypeDef;
|
||||
|
||||
typedef struct
|
||||
{
|
||||
unsigned char IDE; /*0: 使用标准标识符1: 使用扩展标识符*/
|
||||
unsigned char RTR; /*0: 数据帧 1: 远程帧*/
|
||||
unsigned char MODE; /* 0- 双滤波器模式;1-单滤波器模式*/
|
||||
unsigned long First_Data; /*双滤波器模式下信息第一个数据字节*/
|
||||
unsigned long Data_Mask; /*双滤波器模式下信息第一个数据字节屏蔽*/
|
||||
unsigned long ID; /*验收代码*/
|
||||
/*
|
||||
双滤波器- 扩展帧: 2个滤波器的前16位,分别放在ID 的前16位和 ID的后16位.
|
||||
双滤波器- 标准帧: 2个滤波器的11位,分别放在ID 的前16位和 ID的后16位,第1个滤波器同时使用First_Data和Data_Mask
|
||||
单滤波器- 扩展帧: 使用29位, 放在ID 的后29位.
|
||||
单滤波器- 标准帧: 使用11位, 放在ID 的后11位.
|
||||
*/
|
||||
unsigned long IDMASK; /*验收屏蔽*/
|
||||
} CAN_FilterInitTypeDef;
|
||||
|
||||
typedef struct
|
||||
{
|
||||
unsigned long StdId; /* 11位ID*/
|
||||
unsigned long ExtId; /*29位ID**/
|
||||
unsigned char IDE; /*IDE: 标识符选择
|
||||
该位决定发送邮箱中报文使用的标识符类型
|
||||
0: 使用标准标识符
|
||||
1: 使用扩展标识符*/
|
||||
unsigned char RTR; /*远程发送请求
|
||||
0: 数据帧
|
||||
1: 远程帧*/
|
||||
unsigned char DLC; /*数据帧长度*/
|
||||
unsigned char Data[8]; /*8字节数据*/
|
||||
} CanRxMsg;
|
||||
|
||||
typedef struct
|
||||
{
|
||||
unsigned long StdId; /* 11位ID*/
|
||||
unsigned long ExtId; /*29位ID**/
|
||||
unsigned char IDE; /*IDE: 标识符选择
|
||||
该位决定发送邮箱中报文使用的标识符类型
|
||||
0: 使用标准标识符
|
||||
1: 使用扩展标识符*/
|
||||
unsigned char RTR; /*远程发送请求
|
||||
0: 数据帧
|
||||
1: 远程帧*/
|
||||
unsigned char DLC; /*数据帧长度*/
|
||||
unsigned char Data[8]; /*8字节数据*/
|
||||
} CanTxMsg;
|
||||
|
||||
unsigned char CAN_Init(CAN_TypeDef* CANx, CAN_InitTypeDef* CAN_InitStruct);
|
||||
unsigned char CAN_SetBps(CAN_TypeDef* CANx, Ls1c_CanBPS_t Bps);
|
||||
unsigned char CAN_SetMode(CAN_TypeDef* CANx, unsigned char mode);
|
||||
void CAN_FilterInit(CAN_TypeDef* CANx, CAN_FilterInitTypeDef* CAN_FilterInitStruct);
|
||||
unsigned char CAN_Transmit(CAN_TypeDef* CANx, CanTxMsg* TxMessage);
|
||||
void CAN_Receive(CAN_TypeDef* CANx, CanRxMsg* RxMessage);
|
||||
|
||||
unsigned char set_reset_mode(CAN_TypeDef* CANx);
|
||||
unsigned char set_start(CAN_TypeDef* CANx);
|
||||
|
||||
#endif
|
||||
|
||||
|
|
@ -1,4 +1,4 @@
|
|||
// 龙芯1c外设寄存器
|
||||
// 龙芯1c外设寄存器
|
||||
|
||||
|
||||
#ifndef __OPENLOONGSON_LS1C_REGS_H
|
||||
|
|
@ -7,12 +7,12 @@
|
|||
|
||||
|
||||
|
||||
// 时钟相关寄存器地址
|
||||
// 时钟相关寄存器地址
|
||||
#define LS1C_START_FREQ (0xbfe78030)
|
||||
#define LS1C_CLK_DIV_PARAM (0xbfe78034)
|
||||
|
||||
|
||||
// gpio相关寄存器地址
|
||||
// gpio相关寄存器地址
|
||||
#define LS1C_GPIO_CFG0 (0xbfd010c0)
|
||||
#define LS1C_GPIO_EN0 (0xbfd010d0)
|
||||
#define LS1C_GPIO_IN0 (0xbfd010e0)
|
||||
|
|
@ -35,7 +35,7 @@
|
|||
|
||||
|
||||
|
||||
// 复用相关寄存器
|
||||
// 复用相关寄存器
|
||||
#define LS1C_CBUS_FIRST0 (0xbfd011c0)
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#define LS1C_CBUS_SECOND0 (0xbfd011d0)
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#define LS1C_CBUS_THIRD0 (0xbfd011e0)
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|
@ -61,20 +61,22 @@
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#define LS1C_CBUS_FIFTH3 (0xbfd0120c)
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||||
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||||
// PWM寄存器偏移
|
||||
// PWM寄存器偏移
|
||||
#define LS1C_PWM_CNTR (0x0)
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||||
#define LS1C_PWM_HRC (0x4)
|
||||
#define LS1C_PWM_LRC (0x8)
|
||||
#define LS1C_PWM_CTRL (0xC)
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||||
// PWM基地址
|
||||
// PWM基地址
|
||||
#define LS1C_REG_BASE_PWM0 (0xbfe5c000)
|
||||
#define LS1C_REG_BASE_PWM1 (0xbfe5c010)
|
||||
#define LS1C_REG_BASE_PWM2 (0xbfe5c020)
|
||||
#define LS1C_REG_BASE_PWM3 (0xbfe5c030)
|
||||
|
||||
//CAN基地址
|
||||
#define LS1C_REG_BASE_CAN0 (0xbfe50000)
|
||||
#define LS1C_REG_BASE_CAN1 (0xbfe54000)
|
||||
|
||||
|
||||
// 中断配置寄存器
|
||||
// 中断配置寄存器
|
||||
#define LS1C_INT0_SR (0xbfd01040)
|
||||
#define LS1C_INT0_EN (0xbfd01044)
|
||||
#define LS1C_INT0_SET (0xbfd01048)
|
||||
|
|
@ -111,18 +113,18 @@
|
|||
#define LS1C_INT4_EDGE (0xbfd010b4)
|
||||
|
||||
|
||||
// I2C寄存器
|
||||
// I2C寄存器
|
||||
#define LS1C_I2C0_BASE (0xbfe58000)
|
||||
#define LS1C_I2C1_BASE (0xbfe68000)
|
||||
#define LS1C_I2C2_BASE (0xbfe70000)
|
||||
|
||||
|
||||
// SPI寄存器
|
||||
// SPI寄存器
|
||||
#define LS1C_SPI0_BASE (0xbfe80000)
|
||||
#define LS1C_SPI1_BASE (0xbfec0000)
|
||||
|
||||
|
||||
// 串口寄存器
|
||||
// 串口寄存器
|
||||
#define LS1C_UART0_BASE (0xbfe40000)
|
||||
#define LS1C_UART1_BASE (0xbfe44000)
|
||||
#define LS1C_UART2_BASE (0xbfe48000)
|
||||
|
|
|
|||
Loading…
Reference in New Issue