头文件：
/*****************************************************************************
* hhf_can.h: Header file for HHD32F1xx Family Microprocessors
*
* Copyright(C) 2015, tech. Ltd.
* All rights reserved.
*
* History
* 2015 ver 1.00 Prelimnary version, first Release
*
******************************************************************************/
#include "hhd32f1xx.h"
#define ENABLECAN1CLK (SYSCON->SYSAPB1CLKCTRL.all |= (1<<25))
#define ENABLECAN2CLK (SYSCON->SYSAPB1CLKCTRL.all |= (1<<26))
#define DISABLECAN1CLK (SYSCON->SYSAPB1CLKCTRL.all &= ~(1<<25))
#define DISABLECAN2CLK (SYSCON->SYSAPB1CLKCTRL.all &= ~(1<<26))
#define CAN1_TX_PA12 0x15
#define CAN1_TX_PB9 0x15
#define CAN1_RX_PA11 0x15
#define CAN1_RX_PB8 0x15
//Mode bit
#define SleepMode 0x10
#define ACCFMode 0x08
#define SelfTestMode 0x04
#define ListenOnlyMode 0x02
#define ResetMode 0x01
#define ActiveMode 0x00
//Interrupt enable bit
#define BEIE 0x80
#define ALIE 0x40
#define EPIE 0x20
#define WUIE 0x10
#define DOIE 0x08
#define EIE 0x04
#define TIE 0x02
#define RIE 0x01
//CMD bit
#define SelfRecReq 0x10
#define ClearDataOverrun 0x08
#define ReleaseRecBuf 0x04
#define AbortTrans 0x02
#define TransReq 0x01
//Status Register bit
#define BusSt 0x80
#define ErrorSt 0x40
#define TranSt 0x20
#define RecSt 0x10
#define TranComplete 0x08
#define TranBufSt 0x04
#define DataOvSt 0x02
#define RecBufSt 0x01
#if 1
//--CAN Registers BITS Field---------------------------------------------------------------------------------------
struct CAN_MOD_BITS {
uint32_t RM:1; // sleep mode
uint32_t LOM:1; // Acceptance filter mode
uint32_t STM:1; // Self test mode
uint32_t AFM:1; // Listen only mode
uint32_t SM:1; // Reset mode
uint32_t RSVD:27; // 31:5 reserved
};
union CAN_MOD_REG {
uint32_t all;
struct CAN_MOD_BITS bit;
};
struct CAN_CMR_BITS{
uint32_t TR:1; //Transmission Request
uint32_t AT:1; //Abort Transmission
uint32_t RRB:1; //Release Receive Buffer
uint32_t CDO:1; //Clear Data Overrun
uint32_t SRR:1; //Self Reception Request
uint32_t RSVD:27; //31:5 reserved
};
union CAN_CMR_REG {
uint32_t all;
struct CAN_CMR_BITS bit;
};
struct CAN_SR_BITS{
uint32_t RBS:1; //Receive Buffer Staus
uint32_t DOS:1; //Data Overrun Status
uint32_t TBS:1; //Transmit Buffer Status
uint32_t TCS:1; //Transmission Complete Status
uint32_t RS:1; //Receive Status
uint32_t TS:1; //Transmit Status
uint32_t ES:1; //Error Status
uint32_t BS:1; //Bus Status
uint32_t RSVD:24; //31:8 reserved
};
union CAN_SR_REG {
uint32_t all;
struct CAN_SR_BITS bit;
};
struct CAN_IR_BITS{
uint32_t RI:1; //Receive Interrupt
uint32_t TI:1; //Transmit Interrupt
uint32_t EI:1; //Error Warning Interrupt
uint32_t DOI:1; //Data Overrun Interrupt
uint32_t WUI:1; //Wake-Up Interrupt
uint32_t EPI:1; //Error Passive Interrupt
uint32_t ALI:1; //Arbitration Lost Interrupt
uint32_t BEI:1; //Bus Error Interrupt
uint32_t RSVD:24; //31:8 reserved
};
union CAN_IR_REG {
uint32_t all;
struct CAN_IR_BITS bit;
};
struct CAN_IER_BITS{
uint32_t RIEN:1; //Receive Interrupt Enable
uint32_t TIEN:1; //Transmit Interrupt Enable
uint32_t EIEN:1; //Error Warning Interrupt Enable
uint32_t DOIEN:1; //Data Overrun Interrupt Enable
uint32_t WUIEN:1; //Wake-Up Interrupt Enable
uint32_t EPIEN:1; //Error Passive Interrupt Enable
uint32_t ALIEN:1; //Arbitration Lost Interrupt Enable
uint32_t BEIEN:1; //Bus Error Interrupt Enable
uint32_t RSVD:24; //31:8 reserved
};
union CAN_IER_REG {
uint32_t all;
struct CAN_IER_BITS bit;
};
struct CAN_BTR0_BITS{
uint32_t BRP:6; //Baud Rate Prescaler (BRP).
uint32_t SJW:2; //Synchronization Jump Width (SJW)
uint32_t RSVD:24; //31:8 reserved
};
union CAN_BTR0_REG {
uint32_t all;
struct CAN_BTR0_BITS bit;
};
struct CAN_BTR1_BITS{
uint32_t TSEG1:4; //
uint32_t TSEG2:3; //
uint32_t SAM:1; //Sampling
uint32_t RSVD:24; //31:8 reserved
};
union CAN_BTR1_REG {
uint32_t all;
struct CAN_BTR1_BITS bit;
};
struct CAN_OCR_BITS{
uint32_t OCMODE:2; //Selection of two possible output driver configurations:
uint32_t RSVD:30; //31:3 reserved
};
union CAN_OCR_REG {
uint32_t all;
struct CAN_OCR_BITS bit;
};
struct CAN_ALC_BITS{
uint32_t ALC:5; //This read-only register records the bit position at which arbitration was lost
uint32_t RSVD:27; //31:5 reserved
};
union CAN_ALC_REG {
uint32_t all;
struct CAN_ALC_BITS bit;
};
struct CAN_ECC_BITS{
uint32_t SEGMENTCODE:5; //Segment coede err
uint32_t DIRECTION:1; //If ‘1’, the error occurred during reception. If ‘0’, the error occurred during transmission.
uint32_t ERRORCODE:2; //00:Bit erro, 01:Bit Form erro, 10:Stuff error 11:Some other type of error
uint32_t RSVD:24; //31:8 reserved
};
union CAN_ECC_REG {
uint32_t all;
struct CAN_ECC_BITS bit;
};
struct CAN_EWLR_BITS{
uint32_t EWL:8; // Defines the number of errors after which an Error Warning Interrupt should be generated
uint32_t RSVD:24;
};
union CAN_EWLR_REG {
uint32_t all;
struct CAN_EWLR_BITS bit;
};
struct CAN_RXERR_BITS{
uint32_t RXERR:8; // Receive error counter
uint32_t RSVD:24;
};
union CAN_RXERR_REG {
uint32_t all;
struct CAN_RXERR_BITS bit;
};
struct CAN_TXERR_BITS{
uint32_t TXERR_:8; // Transmit error counter
uint32_t RSVD:24;
};
union CAN_TXERR_REG {
uint32_t all;
struct CAN_RXERR_BITS bit;
};
struct CAN_FRAMEINFO_BITS{
uint32_t DLC:4; //Specify the number of data bytes included in the message being sent.
uint32_t RSVD0:2; //4:5 reserved
uint32_t RTR:1; //Remote transmission request.
uint32_t FF:1; //The FF bit selects the type of frame format to be transmitted
uint32_t RSVD1:24; //31:8 reserved
};
union CAN_FRAMEINFO_REG {
uint32_t all;
struct CAN_FRAMEINFO_BITS bit;
};
struct CAN_DATAINFO_BITS{
uint32_t DATA:8; //
uint32_t RSVD:24; //31:8 reserved
};
union CAN_DATAINFO_REG {
uint32_t all;
struct CAN_DATAINFO_BITS bit;
};
struct CAN_ACR_BITS{
uint32_t ACR:8; //
uint32_t RSVD:24; //31:8 reserved
};
union CAN_ACR_REG {
uint32_t all;
struct CAN_ACR_BITS bit;
};
struct CAN_AMR_BITS{
uint32_t AMR:8; //
uint32_t RSVD:24; //31:8 reserved
};
union CAN_AMR_REG {
uint32_t all;
struct CAN_AMR_BITS bit;
};
struct CAN_RMC_BITS{
uint32_t RMC:5; //Receive message counter
uint32_t RSVD:27; //31:5 reserved
};
union CAN_RMC_REG {
uint32_t all;
struct CAN_RMC_BITS bit;
};
struct CAN_RBSA_BITS{
uint32_t RBSA:6; //Receive buffer start address
uint32_t RSVD:26; //31:6 reserved
};
union CAN_RBSA_REG {
uint32_t all;
struct CAN_RBSA_BITS bit;
};
struct CAN_CDR_BITS{
uint32_t CDR:3; //The bits CD.2 to CD.0 define the frequency at the external CLKOUT pin
uint32_t CLKOFF:1; //Setting this bit allows the external CLKOUT signal to be disabled
uint32_t RSVD:28; //31:4 reserved
};
union CAN_CDR_REG {
uint32_t all;
struct CAN_CDR_BITS bit;
};
struct CAN_RXFIFO_BITS{
uint32_t RX_DATA:8;
uint32_t RSVD:24;
};
union CAN_RXFIFO_REG {
uint32_t all;
struct CAN_RXFIFO_BITS bit;
};
struct CAN_TB_BITS{
uint32_t TX_DATA:8;
uint32_t RSVD:24;
};
union CAN_TB_REG {
uint32_t all;
struct CAN_TB_BITS bit;
};
// struct CAN_ACR_BITS{
// uint32_t ACR:8;
// uint32_t RSVD:24;
// };
// union CAN_ACR_REG{
// uint32_t all;
// struct CAN_ACR_BITS bit;
// };
// struct CAN_AMR_BITS{
// uint32_t ACR:8;
// uint32_t RSVD:24;
// };
// union CAN_AMR_REG{
// uint32_t all;
// struct CAN_AMR_BITS bit;
// };
struct CAN_ACCEPTANCE_FILTER
{
union CAN_ACR_REG ACR[4];
union CAN_AMR_REG AMR[4];
};
struct CAN_TxDATAINFO
{
union CAN_FRAMEINFO_REG TxFRAME;
union CAN_DATAINFO_REG TxDATA[12];
};
struct CAN_RxDATAINFO
{
union CAN_FRAMEINFO_REG RxFRAME;
union CAN_DATAINFO_REG RxDATA[12];
};
typedef struct
{
__IO union CAN_MOD_REG MOD; /*!< Offset: 0x000 MOD Register (R/W) */
__IO union CAN_CMR_REG CMR; /*!< Offset: 0x004 Command Register (W) */
__IO union CAN_SR_REG SR; /*!< Offset: 0x008 Status Register (R) */
__IO union CAN_IR_REG IR; /*!< Offset: 0x00C Interrupt Register (R) */
__IO union CAN_IER_REG IER; /*!< Offset: 0x010 Interrupt Enable Register (R/W) */
uint32_t RESERVED1;
__IO union CAN_BTR0_REG BTR0; /*!< Offset: 0x018 Bus Timing 0 Register (R) */
__IO union CAN_BTR1_REG BTR1; /*!< Offset: 0x01C Bus Timing 1 Register (R) */
__IO union CAN_OCR_REG OCR; /*!< Offset: 0x020 Output Control Register (R) */
uint32_t RESERVED2[2];
__IO union CAN_ALC_REG ALC; /*!< Offset: 0x02C Arbitration Lost Capture Register (R) */
__IO union CAN_ECC_REG ECC; /*!< Offset: 0x030 Error Code Capture Register (R) */
__IO union CAN_EWLR_REG EWLR; /*!< Offset: 0x034 Error Warning Register (R) */
__IO union CAN_RXERR_REG RXERR; /*!< Offset: 0x038 Receive Error Counter Register (R) */
__IO union CAN_TXERR_REG TXERR; /*!< Offset: 0x03C Transmit Error Register (R) */
//__IO union CAN_FRAMEINFO_REG FRAMEINFO; /*!< Offset: 0x040 Transmit Buffer (Frame Information) Register (W) */
// __IO union CAN_DATAINFO_REG DATAINFO[12]; /*!< Offset: 0x044 - 0x70 Transmit Buffer (Frame Information) Register (W) */
union {
__IO struct CAN_ACCEPTANCE_FILTER FILTER;
__O struct CAN_TxDATAINFO TxDATAINFO;
__I struct CAN_RxDATAINFO RxDATAINFO;
}DATAINFO;
__I union CAN_RMC_REG RMC; /*!< Offset: 0x074 Receive Message Count Register (R) */
__I union CAN_RBSA_REG RBSA; /*!< Offset: 0x078 Receive Buffer Start Address Register (R) */
__IO union CAN_CDR_REG CDR; /*!< Offset: 0x07C Clock Divider Register (R/W) */
__I union CAN_RXFIFO_REG RXFIFO[64]; /*!< Offset: 0x080 - 0x Receive FFIO (R) */
__O union CAN_TB_REG TB[13]; /*!< Offset: 0x000 Transmit Buffer (R) */
}HHD32F1_CAN_TypeDef;
#define CAN ((HHD32F1_CAN_TypeDef *) HHD_CAN_BASE)
#endif
void CAN_SetMode(uint32_t mode);
void CAN_EnableInt(uint32_t intbit);
void CAN_DisableInt(uint32_t intbit);
int CAN_GetStatus(void);
void CAN_ClearStatus(uint32_t clrbit);
void CAN_SetCMD(uint32_t cmddata);
void CAN_ClrCMD(uint32_t cmddata);
/* end __CAN */
/*****************************************************************************
** End Of File
******************************************************************************/
源文件：
/*****************************************************************************
* hhd_can.C: Sourse file for MCU CAN application
*
* Copyright(C) 2015, Technology
* All rights reserved.
*
* History
* 2015.08.14 ver 1.00
*
******************************************************************************/
#include "hhd_can.h"
#include "hhd_sys.h"
/*****************************************************************************
Function Name CAN_SetMode
Function Definition void CAN_SetMode(uint32_t mod)
Function Description Set CAN mode
Input Parameters
Condition #include sys.h
Function called -
Last Change Date: 2015/12/12
*****************************************************************************/
void CAN_SetMode(uint32_t mode)
{
CAN->MOD.all = mode;
return;
}
/*****************************************************************************
Function Name CAN_GetStatus
Function Definition int CAN_GetStatus()
Function Description Get CAN SR status register
Input Parameters
Condition #include sys.h
Function called -
Last Change Date: 2015/12/12
*****************************************************************************/
int CAN_GetStatus(void)
{
return (CAN->SR.all);
}
/*****************************************************************************
Function Name CAN_ClearStatus
Function Definition int CAN_ClearStatus()
Function Description Clear CAN SR status register
Input Parameters
Condition #include sys.h
Function called -
Last Change Date: 2015/12/12
*****************************************************************************/
void CAN_ClearStatus(uint32_t clrbit)
{
CAN->SR.all &= ~clrbit;
return ;
}
/*****************************************************************************
Function Name CAN_SetCMD
Function Definition int CAN_SetCMD()
Function Description Set CAN command register
Input Parameters
Condition #include sys.h
Function called -
Last Change Date: 2015/12/12
*****************************************************************************/
void CAN_SetCMD(uint32_t cmddata)
{
CAN->CMR.all |= cmddata;
return;
}
/*****************************************************************************
Function Name CAN_ClrCMD
Function Definition int CAN_ClrCMD()
Function Description CAN command register
Input Parameters
Condition #include sys.h
Function called -
Last Change Date: 2015/12/12
*****************************************************************************/
void CAN_ClrCMD(uint32_t cmddata)
{
CAN->CMR.all &= ~cmddata;
return;
}
/*****************************************************************************
Function Name CAN_EnableInt
Function Definition void CAN_EnableInt(uint32_t intbit)
Function Description Setup CAN interrupt
Input Parameters
Condition #include sys.h
Function called -
Last Change Date: 2015/12/12
*****************************************************************************/
void CAN_EnableInt(uint32_t intbit)
{
CAN->IER.all |= intbit ; ///int enable
NVIC_EnableIRQ(CAN_IRQn);
return;
}
/*****************************************************************************
Function Name CAN_DisableInt
Function Definition void CAN_DisableInt(uint32_t intbit)
Condition #include sys.h
Function called -
Last Chang Date: 2015/12/12
*****************************************************************************/
void CAN_DisableInt(uint32_t intbit)
{
CAN->IER.all &= ~intbit ; ///int disable
NVIC_DisableIRQ(CAN_IRQn);
return;
}