228 lines
12 KiB
C
228 lines
12 KiB
C
|
|
/*
|
|
* 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
|
|
|