Rename Ls1c_can.c to ls1c_can.c

1 files changed, 460 insertions, 0 deletions

diff --git a/bsp/ls1cdev/libraries/ls1c_can.c b/bsp/ls1cdev/libraries/ls1c_can.c
new file mode 100644
index 0000000000..f113e60990
--- /dev/null
+++ b/bsp/ls1cdev/libraries/ls1c_can.c
@@ -0,0 +1,460 @@
+/*
+ * 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.h"
+#include "ls1c_public.h"
+#include "ls1c_can.h"
+
+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;
+  }
+  rt_kprintf("\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;	
+  }
+  rt_kprintf("\r\nSetting SJA1000 into normal mode failed!\r\n");
+  return 0;
+}
+
+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)
+  {
+    rt_kprintf("\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
+  {
+     CANx->MOD&=~ (unsigned char)CAN_Mode_SM; 
+  }
+
+ 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
+  {
+     CANx->MOD&=~ (unsigned char)CAN_Mode_LOM; 
+  }
+
+  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
+  {
+     CANx->MOD&=~ (unsigned char)CAN_Mode_AFM; 
+  }
+
+  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;    
+  }
+  else
+  {
+     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)
+{
+    unsigned long rtr;
+    unsigned long fcase;
+    unsigned long ide;
+    unsigned long thisid, thisid1, thisid2;
+    unsigned long thismask, thismask1, thismask2;
+    unsigned long firstdata;
+    unsigned long datamask;
+    unsigned char CAN_FilterId0, CAN_FilterId1, CAN_FilterId2, CAN_FilterId3 ;
+    unsigned char CAN_FilterMaskId0, CAN_FilterMaskId1, CAN_FilterMaskId2, CAN_FilterMaskId3;
+
+    thisid = CAN_FilterInitStruct->ID;
+    thismask = CAN_FilterInitStruct->IDMASK;
+    thisid1 = (CAN_FilterInitStruct->ID & 0xFFFF0000 )>>16;
+    thismask1 = (CAN_FilterInitStruct->IDMASK & 0xFFFF0000 )>>16;
+    thisid2 = (CAN_FilterInitStruct->ID & 0x0000FFFF );
+    thismask2 = ( CAN_FilterInitStruct->IDMASK& 0x0000FFFF  );
+    rtr = CAN_FilterInitStruct->RTR; 
+    ide = CAN_FilterInitStruct->IDE;
+    firstdata = CAN_FilterInitStruct->First_Data;
+    datamask = CAN_FilterInitStruct->Data_Mask;
+    fcase = CAN_FilterInitStruct->MODE; 
+
+    if(ide == 0)//标准帧
+    {
+        if(fcase == 0)// 0- 双滤波器模式
+        {
+            CAN_FilterId0  = thisid1>>3;
+            CAN_FilterMaskId0 = thismask1>>3;
+            CAN_FilterId1  = thisid1<<5 | firstdata>>4| rtr<<4;
+            CAN_FilterMaskId1 = thismask1<<4 | datamask>>4 ;
+            CAN_FilterId2  = thisid2 >> 3;
+            CAN_FilterMaskId2 = thismask2 >>3;
+            CAN_FilterId3  = firstdata & 0x0F | thisid2 <<5 | rtr<<4;
+            CAN_FilterMaskId3 = datamask <<4  ;
+        }
+        else if(fcase == 1)// 1-单滤波器模式
+        {
+            CAN_FilterId0  = thisid>>3;
+            CAN_FilterMaskId0 = thismask>>3;
+            CAN_FilterId1  = thisid<<5 | rtr<<4;
+            CAN_FilterMaskId1 = thismask<<5  ;
+            CAN_FilterMaskId1 |= 0x0F ;
+            CAN_FilterId2  = 0x00;
+            CAN_FilterMaskId2 = 0xFF;
+            CAN_FilterId3  = 0x00;
+            CAN_FilterMaskId3 = 0xFF  ;
+        }
+    }
+    else if(ide == 1)//扩展帧
+    {
+        if(fcase == 0)// 0- 双滤波器模式
+        {
+            CAN_FilterId0  = thisid1>>8;
+            CAN_FilterMaskId0 = thismask1>>8;
+            CAN_FilterId1  = thisid1 ;
+            CAN_FilterMaskId1 = thismask1 ;
+            CAN_FilterId2  = thisid2>>8;
+            CAN_FilterMaskId2 = thismask2>>8;
+            CAN_FilterId3  = thisid2 ;
+            CAN_FilterMaskId3 = thismask2 ;
+        }
+        else if(fcase == 1)// 1-单滤波器模式
+        {
+            CAN_FilterId0  = thisid>>21;
+            CAN_FilterMaskId0 = thismask>>21;
+            CAN_FilterId1  = thisid>>13 ;
+            CAN_FilterMaskId1 = thismask>>13 ;
+            CAN_FilterId2  = thisid>>5;
+            CAN_FilterMaskId2 = thismask>>5;
+            CAN_FilterId3  = thisid<<3 | rtr<<2;
+            CAN_FilterMaskId3 = thismask<<3;
+            CAN_FilterMaskId3 |= 0x03;
+        }
+    }
+
+    /* 进入复位模式 */
+    set_reset_mode(CANx);
+  
+    if(fcase == 1)// 1-单滤波器模式
+    {
+        /*单滤波模式 */
+        CANx->MOD |= (unsigned char)CAN_Mode_AFM;
+    }
+    else if(fcase == 1)// 0- 双滤波器模式
+    {
+        /*双滤波模式 */
+        CANx->MOD &=(~ (unsigned char) CAN_Mode_AFM);
+    }
+
+    CANx->IDE_RTR_DLC = CAN_FilterId0;
+    CANx->ID[0] =  CAN_FilterId1;
+    CANx->ID[1] =  CAN_FilterId2;
+    CANx->ID[2] =  CAN_FilterId3;
+    CANx->ID[3] =  CAN_FilterMaskId0;
+    CANx->BUF[0] = CAN_FilterMaskId1;
+    CANx->BUF[1] = CAN_FilterMaskId2;
+    CANx->BUF[2] = CAN_FilterMaskId3;
+   /* 进入工作模式 */
+    set_start(CANx);
+}
+
+unsigned char CAN_SetBps(CAN_TypeDef* CANx, Ls1c_CanBPS_t  Bps)
+{
+    unsigned char InitStatus = CAN_InitStatus_Failed;
+    unsigned char  CAN_Prescaler, CAN_BS1, CAN_BS2, CAN_SJW; 
+    CAN_SJW = CAN_SJW_1tq;
+   /* 进入复位模式 */
+  InitStatus = set_reset_mode(CANx);
+  if( InitStatus == CAN_InitStatus_Failed)
+  	return CAN_InitStatus_Failed;
+
+    /* 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 LS1C_CAN1MBaud: 
+            CAN_Prescaler = 9;
+            CAN_BS1 = CAN_BS1_4tq;
+            CAN_BS2 = CAN_BS2_2tq;
+        break;
+        case LS1C_CAN800kBaud: 
+            CAN_Prescaler = 8;
+            CAN_BS1 = CAN_BS1_7tq;
+            CAN_BS2 = CAN_BS2_2tq;
+        break;
+        case LS1C_CAN500kBaud: 
+            CAN_Prescaler = 9;
+            CAN_BS1 = CAN_BS1_11tq;
+            CAN_BS2 = CAN_BS2_2tq;
+        break;
+        case LS1C_CAN250kBaud: 
+            CAN_Prescaler = 36;
+            CAN_BS1 = CAN_BS1_4tq;
+            CAN_BS2 = CAN_BS2_2tq;
+        break;
+        case LS1C_CAN125kBaud: 
+            CAN_Prescaler = 36;
+            CAN_BS1 = CAN_BS1_11tq;
+            CAN_BS2 = CAN_BS2_2tq;
+        break;
+        case LS1C_CAN100kBaud: 
+            CAN_Prescaler = 63;
+            CAN_BS1 = CAN_BS1_7tq;
+            CAN_BS2 = CAN_BS2_2tq;
+        break;
+        case LS1C_CAN50kBaud: 
+            CAN_Prescaler = 63;
+            CAN_BS1 = CAN_BS1_16tq;
+            CAN_BS2 = CAN_BS2_3tq;
+        break;
+        case LS1C_CAN40kBaud: 
+            CAN_Prescaler = 63;
+            CAN_BS1 = CAN_BS1_16tq;
+            CAN_BS2 = CAN_BS2_8tq;
+        break;
+        default: //100K
+            CAN_Prescaler = 63;
+            CAN_BS1 = CAN_BS1_7tq;
+            CAN_BS2 = CAN_BS2_2tq;
+        break;
+    }
+  /* 配置时钟频率 */
+  CANx->BTR0 = (( unsigned char )CAN_Prescaler -1) | \
+               (unsigned char)CAN_SJW << 6;
+  
+  CANx->BTR1 = ((unsigned char)CAN_BS1) | \
+               ((unsigned char)CAN_BS2 << 4) | \
+               ((unsigned char)CAN_SJW<<7);
+
+   /* 进入工作模式 */
+  set_start(CANx);    
+  /* 返回初始化结果 */
+  return CAN_InitStatus_Failed;
+}
+
+
+unsigned char CAN_SetMode(CAN_TypeDef* CANx, unsigned char  mode)
+{
+  unsigned char InitStatus = CAN_InitStatus_Failed;
+  unsigned long wait_ack = 0x00000000;
+  CAN_InitTypeDef        CAN_InitStructure;
+
+   /* 进入复位模式 */
+  InitStatus = set_reset_mode(CANx);
+  if( InitStatus == CAN_InitStatus_Failed)
+  	return CAN_InitStatus_Failed;
+
+  switch( mode )
+  {
+    case 0://正常
+        CANx->MOD &= ~(unsigned char)CAN_Mode_STM;  
+        CANx->MOD &= ~(unsigned char)CAN_Mode_LOM;  
+      break;
+    case 1://只听
+        CANx->MOD &= ~(unsigned char)CAN_Mode_STM;  
+        CANx->MOD |= (unsigned char)CAN_Mode_LOM;  
+      break;
+    case 2://回环
+        CANx->MOD |= (unsigned char)CAN_Mode_STM;  
+        CANx->MOD &= ~(unsigned char)CAN_Mode_LOM;  
+      break;
+    case 3://只听回环
+        CANx->MOD |= (unsigned char)CAN_Mode_STM;  
+        CANx->MOD |= (unsigned char)CAN_Mode_LOM;  
+      break;
+  }
+   /* 进入工作模式 */
+  set_start(CANx);    
+  
+  /* 返回初始化结果 */
+  return CAN_InitStatus_Failed;
+ }
+
+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];
+  }  
+}
+