diff --git a/components/drivers/can/readme-zh.txt b/components/drivers/can/readme-zh.txt new file mode 100644 index 0000000000..3eb63d155f --- /dev/null +++ b/components/drivers/can/readme-zh.txt @@ -0,0 +1,132 @@ +说明: +本驱动完成了can控制器硬件抽象 +一 CAN Driver 注册 + Can driver注册需要填充以下几个数据结构: + 1、struct can_configure + { + rt_uint32_t baud_rate; + rt_uint32_t msgboxsz; + rt_uint32_t sndboxnumber; + rt_uint32_t mode :8; + rt_uint32_t privmode :8; + rt_uint32_t reserved :16; + #ifdef RT_CAN_USING_LED + const struct rt_can_led* rcvled; + const struct rt_can_led* sndled; + const struct rt_can_led* errled; + #endif /*RT_CAN_USING_LED*/ + rt_uint32_t ticks; + #ifdef RT_CAN_USING_HDR + rt_uint32_t maxhdr; + #endif + }; + struct can_configure 为can驱动的基本配置信息: + baud_rate : + enum CANBAUD + { + CAN1MBaud=0, // 1 MBit/sec + CAN800kBaud, // 800 kBit/sec + CAN500kBaud, // 500 kBit/sec + CAN250kBaud, // 250 kBit/sec + CAN125kBaud, // 125 kBit/sec + CAN100kBaud, // 100 kBit/sec + CAN50kBaud, // 50 kBit/sec + CAN20kBaud, // 20 kBit/sec + CAN10kBaud // 10 kBit/sec + }; + 配置Can的波特率。 + msgboxsz : Can接收邮箱缓冲数量,本驱动在软件层开辟msgboxsz个接收邮箱。 + sndboxnumber : can 发送通道数量,该配置为Can控制器实际的发送通道数量。 + mode : + #define RT_CAN_MODE_NORMAL 0 正常模式 + #define RT_CAN_MODE_LISEN 1 只听模式 + #define RT_CAN_MODE_LOOPBACK 2 自发自收模式 + #define RT_CAN_MODE_LOOPBACKANLISEN 3 自发自收只听模式 + 配置Can 的工作状态。 + privmode : + #define RT_CAN_MODE_PRIV 0x01 处于优先级模式,高优先级的消息优先发送。 + #define RT_CAN_MODE_NOPRIV 0x00 + 配置Can driver的优先级模式。 + #ifdef RT_CAN_USING_LED + const struct rt_can_led* rcvled; + const struct rt_can_led* sndled; + const struct rt_can_led* errled; + #endif /*RT_CAN_USING_LED*/ + 配置can led信息, 当前can驱动的led使用了 pin驱动, + 开启RT_CAN_USING_LED时要确保当前系统已实现pin驱动。 + rt_uint32_t ticks : 配置Can driver timer周期。 + #ifdef RT_CAN_USING_HDR + rt_uint32_t maxhdr; + #endif + 如果使用硬件过滤,则开启RT_CAN_USING_HDR, maxhdr 为Can控制器过滤表的数量。 + 2、struct rt_can_ops + { + rt_err_t (*configure)(struct rt_can_device *can, struct can_configure *cfg); + rt_err_t (*control)(struct rt_can_device *can, int cmd, void *arg); + int (*sendmsg)(struct rt_can_device *can, const void* buf, rt_uint32_t boxno); + int (*recvmsg)(struct rt_can_device *can,void* buf, rt_uint32_t boxno); + }; + struct rt_can_ops 为要实现的特定的can控制器操作。 + rt_err_t (*configure)(struct rt_can_device *can, struct can_configure *cfg); + configure根据配置信息初始化Can控制器工作模式。 + rt_err_t (*control)(struct rt_can_device *can, int cmd, void *arg); + control 当前接受以下cmd参数: + #define RT_CAN_CMD_SET_FILTER 0x13 + #define RT_CAN_CMD_SET_BAUD 0x14 + #define RT_CAN_CMD_SET_MODE 0x15 + #define RT_CAN_CMD_SET_PRIV 0x16 + #define RT_CAN_CMD_GET_STATUS 0x17 + #define RT_CAN_CMD_SET_STATUS_IND 0x18 + int (*sendmsg)(struct rt_can_device *can, const void* buf, rt_uint32_t boxno); + sendmsg向Can控制器发送数,boxno为发送通道号。 + int (*recvmsg)(struct rt_can_device *can,void* buf, rt_uint32_t boxno); + recvmsg从Can控制器接收数据,boxno为接收通道号。 + struct rt_can_device + { + struct rt_device parent; + + const struct rt_can_ops *ops; + struct can_configure config; + struct rt_can_status status; + rt_uint32_t timerinitflag; + struct rt_timer timer; + struct rt_can_status_ind_type status_indicate; + #ifdef RT_CAN_USING_HDR + struct rt_can_hdr* hdr; + #endif + void *can_rx; + void *can_tx; + }; + 填充完成后,便可调用rt_hw_can_register完成can驱动的注册。 +二、 CAN Driver 的添加: + 要添加一个新的Can驱动,至少要完成以下接口。 + 1、struct rt_can_ops + { + rt_err_t (*configure)(struct rt_can_device *can, struct can_configure *cfg); + rt_err_t (*control)(struct rt_can_device *can, int cmd, void *arg); + int (*sendmsg)(struct rt_can_device *can, const void* buf, rt_uint32_t boxno); + int (*recvmsg)(struct rt_can_device *can,void* buf, rt_uint32_t boxno); + }; + 2、 rt_err_t (*control)(struct rt_can_device *can, int cmd, void *arg); + 接口的 + #define RT_CAN_CMD_SET_FILTER 0x13 + #define RT_CAN_CMD_SET_BAUD 0x14 + #define RT_CAN_CMD_SET_MODE 0x15 + #define RT_CAN_CMD_SET_PRIV 0x16 + #define RT_CAN_CMD_GET_STATUS 0x17 + #define RT_CAN_CMD_SET_STATUS_IND 0x18 + 若干命令。 + 3、can口中断,要完接收,发送结束,以及错误中断。 + #define RT_CAN_EVENT_RX_IND 0x01 /* Rx indication */ + #define RT_CAN_EVENT_TX_DONE 0x02 /* Tx complete */ + #define RT_CAN_EVENT_TX_FAIL 0x03 /* Tx complete */ + #define RT_CAN_EVENT_RX_TIMEOUT 0x05 /* Rx timeout */ + #define RT_CAN_EVENT_RXOF_IND 0x06 /* Rx overflow */ + 中断产生后,调用rt_hw_can_isr(struct rt_can_device *can, int event) + 进入相应的操作,其中接收发送中断的event,最低8位为上面的事件,16到24位为通信通道号。 + 一个作为一个例子,参见bsp/stm32f10x/driver下的bxcan.c 。 +三、CAN Driver的使用: + 一个使用的例子,参数bsp/stm32f10x/applications下的canapp.c +四、当前Can驱动,没有实现轮模式,采用中断模式,bxcan驱动工作在loopback模式下的时候不能读数据。 + +五、当前Can驱动,在stm32f105上测试,暂无问题。