源码

test_can.c

/** File      : test_can.c
测试硬件can驱动
1.test_cansend() 初始化CAN口（100K）后，以速率100K, 发送标准数据帧（1-8 共8个数据）和扩展数据帧（1-8 共8个数据)
2. candump() 打印出当前CAN寄存器值
3. 当收到数据，打印出来。*/#include "../lib/ls1c_public.h"
#include "../lib/ls1c_regs.h"
#include "../lib/ls1c_clock.h"
#include "../lib/ls1c_can.h"
#include "../lib/ls1c_pin.h"
#include "../lib/ls1c_irq.h"CanRxMsg RxMessage;
CanTxMsg TxMessage;void candump(void)
{CAN_TypeDef* CANx;unsigned char temp;CANx =  CAN0;temp =  CANx->MOD;printf("\r\ncan0->MOD= 0x%02x  \r\n",temp);   temp =  CANx->CMR;printf("\ncan0->CMR = 0x%02x  \r\n",temp);  temp =  CANx->SR;printf("\ncan0->SR = 0x%02x  \r\n",temp); temp =  CANx->IR;printf("\ncan0->IR = 0x%02x  \r\n",temp); temp =  CANx->IER;printf("\ncan0->IER = 0x%02x  \r\n",temp); temp =  CANx->BTR0;printf("\ncan0->BTR0 = 0x%02x  \r\n",temp); temp =  CANx->BTR1;printf("\ncan0->BTR1 = 0x%02x  \r\n",temp); temp =  CANx->CDR;printf("\ncan0->CDR = 0x%02x  \r\n",temp); temp =  CANx->RMCR;printf("\ncan0->RMCR = 0x%02x  \r\n",temp); printf("\r\n验收代码:");temp =  CANx->IDE_RTR_DLC;printf("  0x%02x ",temp); temp =  CANx->ID[0];printf("  0x%02x ",temp); temp =  CANx->ID[1];printf("  0x%02x ",temp); temp =  CANx->ID[2];printf("  0x%02x ",temp); printf("\r\n验收屏蔽:");temp =  CANx->ID[3];printf("  0x%02x ",temp); temp =  CANx->BUF[0];printf("  0x%02x ",temp); temp =  CANx->BUF[1];printf("  0x%02x ",temp); temp =  CANx->BUF[2];printf("  0x%02x ",temp); }void ls1c_can0_irqhandler(int irq, void *param)
{  CAN_TypeDef* CANx;int i;unsigned char status;CANx =  CAN0;/*读寄存器清除中断*/status = CANx->IR;printf("\r\ncan0 int happened!\r\n");/*接收中断*/if (( status & CAN_IR_RI) == CAN_IR_RI) {/*清除RI 中断*/CAN_Receive(CANx, &RxMessage);CANx->CMR |= CAN_CMR_RRB; CANx->CMR |= CAN_CMR_CDO; printf("\r\ncan0 receive:\r\n");printf(" IDE=%d   RTR = %d DLC=%d  ",RxMessage.IDE, RxMessage.RTR ,RxMessage.DLC);if(RxMessage.IDE == CAN_Id_Standard){printf("\r\n Standard ID= %02X  ",RxMessage.StdId);}else if(RxMessage.IDE == CAN_Id_Extended){printf("\r\n Extended ID= %02X  ",RxMessage.ExtId);}if(RxMessage.RTR== CAN_RTR_DATA){printf("\r\ndata= ");for(i=0;i<RxMessage.DLC;i++){printf("0x%02X  ",RxMessage.Data[i]);}}else if(RxMessage.IDE == CAN_RTR_Remote){printf("\r\nCAN_RTR_Remote  no data!");}printf("\r\n");}/*发送中断*/else if (( status  & CAN_IR_TI) == CAN_IR_TI) {printf("\r\ncan0 send success! \r\n");}
}  void ls1c_can1_irqhandler(int irq, void *param)
{  CAN_TypeDef* CANx;int i;unsigned char status;CANx =  (CAN_TypeDef* )LS1C_REG_BASE_CAN1;/*读寄存器清除中断*/status = CANx->IR;printf("\r\ncan1 int happened!\r\n");/*接收中断*/if (( status & CAN_IR_RI) == CAN_IR_RI) {/*清除RI 中断*/CAN_Receive(CANx, &RxMessage);CANx->CMR |= CAN_CMR_RRB; CANx->CMR |= CAN_CMR_CDO; printf("\r\ncan1 receive:\r\n");printf(" IDE=%d   RTR = %d DLC=%d  ",RxMessage.IDE, RxMessage.RTR ,RxMessage.DLC);if(RxMessage.IDE == CAN_Id_Standard){printf("\r\n Standard ID= %02X  ",RxMessage.StdId);}else if(RxMessage.IDE == CAN_Id_Extended){printf("\r\n Extended ID= %02X  ",RxMessage.ExtId);}if(RxMessage.RTR== CAN_RTR_DATA){printf("\r\ndata= ");for(i=0;i<RxMessage.DLC;i++){printf("0x%02X  ",RxMessage.Data[i]);}}else if(RxMessage.IDE == CAN_RTR_Remote){printf("\r\nCAN_RTR_Remote  no data!");}printf("\r\n");}/*发送中断*/else if (( status  & CAN_IR_TI) == CAN_IR_TI) {printf("\r\ncan1 send success! \r\n");}
}  void Can_Config(CAN_TypeDef* CANx, Ls1c_CanBPS_t bps)
{unsigned char initresult;pin_set_purpose(54, PIN_PURPOSE_OTHER);pin_set_purpose(55, PIN_PURPOSE_OTHER);pin_set_remap(54, PIN_REMAP_THIRD);pin_set_remap(55, PIN_REMAP_THIRD);CAN_InitTypeDef        CAN_InitStructure;CAN_InitStructure.CAN_Mode = CAN_Mode_STM;CAN_InitStructure.CAN_SJW = CAN_SJW_1tq;/* BaudRate= f(APB)/((1+BS1+BS2)(SJW*2*Prescaler))=126000000/[(1+7+2)*1*2*63]=100000=100K*//* BPS     PRE   BS1   BS2   最低40K1M      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 CAN1MBaud: CAN_InitStructure.CAN_Prescaler = 9;CAN_InitStructure.CAN_BS1 = CAN_BS1_4tq;CAN_InitStructure.CAN_BS2 = CAN_BS2_2tq;break;case CAN800kBaud: CAN_InitStructure.CAN_Prescaler = 8;CAN_InitStructure.CAN_BS1 = CAN_BS1_7tq;CAN_InitStructure.CAN_BS2 = CAN_BS2_2tq;break;case CAN500kBaud: CAN_InitStructure.CAN_Prescaler = 9;CAN_InitStructure.CAN_BS1 = CAN_BS1_11tq;CAN_InitStructure.CAN_BS2 = CAN_BS2_2tq;break;case CAN250kBaud: CAN_InitStructure.CAN_Prescaler = 36;CAN_InitStructure.CAN_BS1 = CAN_BS1_4tq;CAN_InitStructure.CAN_BS2 = CAN_BS2_2tq;break;case CAN125kBaud: CAN_InitStructure.CAN_Prescaler = 36;CAN_InitStructure.CAN_BS1 = CAN_BS1_11tq;CAN_InitStructure.CAN_BS2 = CAN_BS2_2tq;break;case CAN100kBaud: CAN_InitStructure.CAN_Prescaler = 63;CAN_InitStructure.CAN_BS1 = CAN_BS1_7tq;CAN_InitStructure.CAN_BS2 = CAN_BS2_2tq;break;case CAN50kBaud: CAN_InitStructure.CAN_Prescaler = 63;CAN_InitStructure.CAN_BS1 = CAN_BS1_16tq;CAN_InitStructure.CAN_BS2 = CAN_BS2_3tq;break;case CAN40kBaud: CAN_InitStructure.CAN_Prescaler = 63;CAN_InitStructure.CAN_BS1 = CAN_BS1_16tq;CAN_InitStructure.CAN_BS2 = CAN_BS2_8tq;break;default: //100KCAN_InitStructure.CAN_Prescaler = 63;CAN_InitStructure.CAN_BS1 = CAN_BS1_7tq;CAN_InitStructure.CAN_BS2 = CAN_BS2_2tq;break;}initresult = CAN_Init(CANx, &CAN_InitStructure);// 配置成100K/*无验收屏蔽*/CAN_FilterInitTypeDef  CAN_FilterInitStructure;CAN_FilterInitStructure.CAN_FilterId0  = 0x00;CAN_FilterInitStructure.CAN_FilterMaskId0 = 0xFF;CAN_FilterInitStructure.CAN_FilterId1  = 0x00;CAN_FilterInitStructure.CAN_FilterMaskId1 = 0xFF;CAN_FilterInitStructure.CAN_FilterId2  = 0x00;CAN_FilterInitStructure.CAN_FilterMaskId2 = 0xFF;CAN_FilterInitStructure.CAN_FilterId3  = 0x00;CAN_FilterInitStructure.CAN_FilterMaskId3 = 0xFF;CAN_FilterInit(CANx, &CAN_FilterInitStructure);   if( (CAN_TypeDef* )LS1C_REG_BASE_CAN0 == CANx){/* 初始化CAN0接收中断*/irq_install(LS1C_CAN0_IRQ, ls1c_can0_irqhandler, NULL);  irq_enable(LS1C_CAN0_IRQ); }else if( (CAN_TypeDef* )LS1C_REG_BASE_CAN1 == CANx){/* 初始化CAN1接收中断*/irq_install(LS1C_CAN1_IRQ, ls1c_can1_irqhandler, NULL);  irq_enable(LS1C_CAN1_IRQ); }
}void test_cansend(void)
{unsigned char temp;Can_Config(CAN0, CAN100kBaud);int i;TxMessage.StdId = 1;TxMessage.ExtId = 1;TxMessage.RTR = CAN_RTR_DATA;TxMessage.IDE = CAN_Id_Standard;TxMessage.DLC = 8;for( i=0; i<8;i++){TxMessage.Data[i] = i+1;printf("%02x ",  TxMessage.Data[i]);}CAN_Transmit(CAN0, &TxMessage);TxMessage.StdId = 1;TxMessage.ExtId = 2;TxMessage.RTR = CAN_RTR_DATA;TxMessage.IDE = CAN_Id_Extended;TxMessage.DLC = 8;for( i=0; i<8;i++){TxMessage.Data[i] = i+1;printf("%02x ",  TxMessage.Data[i]);}CAN_Transmit(CAN0, &TxMessage);}

Ls1c_can.c

/** 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_delay.h"
#include "ls1c_public.h"
#include "ls1c_can.h"static 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;}printf("\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; }printf("\r\nSetting SJA1000 into normal mode failed!\r\n");return 0;
}static 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){printf("\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 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 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 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;    }/* 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)
{/* 进入复位模式 */set_reset_mode(CANx);CANx->IDE_RTR_DLC = CAN_FilterInitStruct->CAN_FilterId0;CANx->ID[0] = CAN_FilterInitStruct->CAN_FilterId1;CANx->ID[1] = CAN_FilterInitStruct->CAN_FilterId2;CANx->ID[2] = CAN_FilterInitStruct->CAN_FilterId3;CANx->ID[3] = CAN_FilterInitStruct->CAN_FilterMaskId0;CANx->BUF[0]= CAN_FilterInitStruct->CAN_FilterMaskId1;CANx->BUF[1]= CAN_FilterInitStruct->CAN_FilterMaskId2;CANx->BUF[2]= CAN_FilterInitStruct->CAN_FilterMaskId3;/* 进入工作模式 */set_start(CANx);
}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];}
}

Ls1c_can.h

/** 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 *//* 非应答溢出时间次数 */
#define INAK_TIMEOUT        ((unsigned long)0x00000FFF)#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/*!< 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
{CAN1MBaud=0,    // 1 MBit/secCAN800kBaud,    // 800 kBit/secCAN500kBaud,    // 500 kBit/secCAN250kBaud,    // 250 kBit/secCAN125kBaud,    // 125 kBit/secCAN100kBaud,    // 100 kBit/secCAN50kBaud,     // 50 kBit/secCAN40kBaud,     // 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  CAN_FilterId0;        /*验收代码0*/unsigned char  CAN_FilterMaskId0;    /*验收屏蔽0*/unsigned char  CAN_FilterId1;        /*验收代码1*/unsigned char  CAN_FilterMaskId1;    /*验收屏蔽1*/unsigned char  CAN_FilterId2;        /*验收代码2*/unsigned char  CAN_FilterMaskId2;    /*验收屏蔽2*/unsigned char  CAN_FilterId3;        /*验收代码3*/unsigned char  CAN_FilterMaskId3;    /*验收屏蔽3*/
} 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);
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);#endif

【龙芯1c库】封装CAN接口和使用示例相关推荐

【龙芯1c库】封装硬件pwm接口和使用示例
龙芯1c库是把龙芯1c的常用外设的常用功能封装为一个库,类似于STM32库.Git地址:https://gitee.com/caogos/OpenLoongsonLib1c 本文通过"龙芯1 ...
【龙芯1c库】封装模拟I2C接口和使用示例
龙芯1c库是把龙芯1c的常用外设的常用功能封装为一个库,类似于STM32库.Git地址:https://gitee.com/caogos/OpenLoongsonLib1c I2C接口是常用的接口之一 ...
【龙芯1c库】封装硬件定时器接口和使用示例
龙芯1c库是把龙芯1c的常用外设的常用功能封装为一个库,类似于STM32库.完整源码请移步到https://gitee.com/caogos/OpenLoongsonLib1c 龙芯1c库中硬件定时器 ...
用龙芯1c库实现无源蜂鸣器唱歌《送别》
龙芯1c库是把龙芯1c的常用外设的常用功能封装为一个库,可用于裸机编程和实时系统,类似于STM32库.Git地址:http://git.oschina.NET/caogos/OpenLoongsonL ...
【龙芯1c库】移植硬浮点FPU
龙芯1c库是把龙芯1c的常用外设的常用功能封装为一个库,类似于STM32库.完整源码请移步到https://gitee.com/caogos/OpenLoongsonLib1c 龙芯1C上有硬浮点协处 ...
在龙芯1C单片机上使用ESP8266 wifi透传模块
龙芯1C既可以运行linux,也可以当作单片机用.当用作linux时,可以通过USB wifi模块RTL8192C,RTL8188ETV等,当作单片机用时,可以像STM32那样使用串口透传wifi模块 ...
Buildroot 龙芯1C支持指南
本文转载自:https://github.com/pengphei/smartloong-sphinx/blob/master/source/cn/loongson1c_buildroot_guide ...
【龙印】用龙芯1c的硬件pwm产生单个脉冲来驱动步进电机
本文为在用龙芯1c做3D打印机过程中的笔记.龙芯1c做的3d打印机简称"龙印",Git地址"http://git.oschina.NET/caogos/marlin_ls ...
串口例程龙芯1c_Buildroot 龙芯1C支持指南
Buildroot 龙芯1C支持指南引子:从龙芯1C预订拿到板子已经很长一段时间了,因为各种事情,一直让它呆在角落的冷宫里.昨天,愤而出去骑行,有导航出错,入的一片幽静山林,正能量爆棚,一下午休息, ...

【龙芯1c库】封装CAN接口和使用示例

源码

test_can.c

Ls1c_can.c

Ls1c_can.h

【龙芯1c库】封装CAN接口和使用示例相关推荐

最新文章

热门文章