can使用还是比较广泛的，之前有网友在龙芯1b和龙芯1c上已经测试过了在裸机编程中使用CAN接口，这里把他们分享的程序贴上来，供大家参考。
龙芯1b上的测试程序在https://gitee.com/caogos/OpenLoongsonLib1b
龙芯1c上的测试程序在https://gitee.com/caogos/OpenLoongsonLib1c
据说，淘宝上的CAN模块TJA1050可以用。
这里，把龙芯1c的测试程序和封装的接口函数都贴上来
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 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: //100K
CAN_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/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
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 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