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Diffstat (limited to 'bsp/ls1cdev/libraries/ls1c_can.c')
-rw-r--r--bsp/ls1cdev/libraries/ls1c_can.c130
1 files changed, 65 insertions, 65 deletions
diff --git a/bsp/ls1cdev/libraries/ls1c_can.c b/bsp/ls1cdev/libraries/ls1c_can.c
index 437ef3ba84..4d45994e49 100644
--- a/bsp/ls1cdev/libraries/ls1c_can.c
+++ b/bsp/ls1cdev/libraries/ls1c_can.c
@@ -1,5 +1,5 @@
/*
- * Copyright (c) 2006-2018, RT-Thread Development Team
+ * Copyright (c) 2006-2021, RT-Thread Development Team
*
* SPDX-License-Identifier: Apache-2.0
*
@@ -23,15 +23,15 @@ unsigned char set_reset_mode(CAN_TypeDef* CANx)
/* 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);
@@ -39,7 +39,7 @@ unsigned char set_reset_mode(CAN_TypeDef* CANx)
status = CANx->MOD;
}
printf("\r\nSetting SJA1000 into reset mode failed!\r\n");
- return 0;
+ return 0;
}
static unsigned char set_normal_mode(CAN_TypeDef* CANx)
@@ -49,20 +49,20 @@ static unsigned char set_normal_mode(CAN_TypeDef* CANx)
/*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);
+ CANx->IER |= (~(unsigned char)CAN_IR_BEI);
return 1;
}
/* 设置正常工作模式*/
- CANx->MOD &= (~(unsigned char) CAN_Mode_RM);
+ CANx->MOD &= (~(unsigned char) CAN_Mode_RM);
/*延时*/
- delay_us(10);
- status = CANx->MOD;
+ delay_us(10);
+ status = CANx->MOD;
}
printf("\r\nSetting SJA1000 into normal mode failed!\r\n");
return 0;
@@ -75,9 +75,9 @@ unsigned char set_start(CAN_TypeDef* CANx)
/*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);
+ CANx->CDR = 0xC0;
+
+ return set_normal_mode(CANx);
}
unsigned char CAN_Init(CAN_TypeDef* CANx, CAN_InitTypeDef* CAN_InitStruct)
@@ -89,64 +89,64 @@ unsigned char CAN_Init(CAN_TypeDef* CANx, CAN_InitTypeDef* CAN_InitStruct)
status = CANx->MOD;
if( status == 0xFF)
{
- printf("\n Probe can0 failed \r\n");
+ 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)
+
+ 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;
+ CANx->MOD|= (unsigned char)CAN_Mode_SM;
}
else
{
- CANx->MOD&=~ (unsigned char)CAN_Mode_SM;
+ CANx->MOD&=~ (unsigned char)CAN_Mode_SM;
}
- if((CAN_InitStruct->CAN_Mode & CAN_Mode_LOM) == CAN_Mode_LOM)
+ 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;
+ CANx->MOD|= (unsigned char)CAN_Mode_LOM;
}
else
{
- CANx->MOD&=~ (unsigned char)CAN_Mode_LOM;
+ CANx->MOD&=~ (unsigned char)CAN_Mode_LOM;
}
- if((CAN_InitStruct->CAN_Mode & CAN_Mode_AFM) == CAN_Mode_AFM)
+ 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;
+ CANx->MOD |= (unsigned char)CAN_Mode_AFM;
}
else
{
- CANx->MOD&=~ (unsigned char)CAN_Mode_AFM;
+ CANx->MOD&=~ (unsigned char)CAN_Mode_AFM;
}
- if((CAN_InitStruct->CAN_Mode & CAN_Mode_STM) == CAN_Mode_STM)
+ 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;
+ 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);
-
+ set_start(CANx);
+
/* 返回初始化结果 */
return InitStatus;
}
@@ -169,11 +169,11 @@ void CAN_FilterInit(CAN_TypeDef* CANx, CAN_FilterInitTypeDef * CAN_FilterInit
thismask1 = (CAN_FilterInitStruct->IDMASK & 0xFFFF0000 )>>16;
thisid2 = (CAN_FilterInitStruct->ID & 0x0000FFFF );
thismask2 = ( CAN_FilterInitStruct->IDMASK& 0x0000FFFF );
- rtr = CAN_FilterInitStruct->RTR;
+ rtr = CAN_FilterInitStruct->RTR;
ide = CAN_FilterInitStruct->IDE;
firstdata = CAN_FilterInitStruct->First_Data;
datamask = CAN_FilterInitStruct->Data_Mask;
- fcase = CAN_FilterInitStruct->MODE;
+ fcase = CAN_FilterInitStruct->MODE;
if(ide == 0)//标准帧
{
@@ -230,7 +230,7 @@ void CAN_FilterInit(CAN_TypeDef* CANx, CAN_FilterInitTypeDef * CAN_FilterInit
/* 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 */
@@ -257,62 +257,62 @@ void CAN_FilterInit(CAN_TypeDef* CANx, CAN_FilterInitTypeDef * CAN_FilterInit
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;
+ 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;
+ 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
+ 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:
+ case LS1C_CAN1MBaud:
CAN_Prescaler = 9;
CAN_BS1 = CAN_BS1_4tq;
CAN_BS2 = CAN_BS2_2tq;
break;
- case LS1C_CAN800kBaud:
+ case LS1C_CAN800kBaud:
CAN_Prescaler = 8;
CAN_BS1 = CAN_BS1_7tq;
CAN_BS2 = CAN_BS2_2tq;
break;
- case LS1C_CAN500kBaud:
+ case LS1C_CAN500kBaud:
CAN_Prescaler = 9;
CAN_BS1 = CAN_BS1_11tq;
CAN_BS2 = CAN_BS2_2tq;
break;
- case LS1C_CAN250kBaud:
+ case LS1C_CAN250kBaud:
CAN_Prescaler = 36;
CAN_BS1 = CAN_BS1_4tq;
CAN_BS2 = CAN_BS2_2tq;
break;
- case LS1C_CAN125kBaud:
+ case LS1C_CAN125kBaud:
CAN_Prescaler = 36;
CAN_BS1 = CAN_BS1_11tq;
CAN_BS2 = CAN_BS2_2tq;
break;
- case LS1C_CAN100kBaud:
+ case LS1C_CAN100kBaud:
CAN_Prescaler = 63;
CAN_BS1 = CAN_BS1_7tq;
CAN_BS2 = CAN_BS2_2tq;
break;
- case LS1C_CAN50kBaud:
+ case LS1C_CAN50kBaud:
CAN_Prescaler = 63;
CAN_BS1 = CAN_BS1_16tq;
CAN_BS2 = CAN_BS2_3tq;
break;
- case LS1C_CAN40kBaud:
+ case LS1C_CAN40kBaud:
CAN_Prescaler = 63;
CAN_BS1 = CAN_BS1_16tq;
CAN_BS2 = CAN_BS2_8tq;
@@ -326,13 +326,13 @@ unsigned char CAN_SetBps(CAN_TypeDef* CANx, Ls1c_CanBPS_t Bps)
/* 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);
+ set_start(CANx);
/* 返回初始化结果 */
return CAN_InitStatus_Failed;
}
@@ -347,30 +347,30 @@ unsigned char CAN_SetMode(CAN_TypeDef* CANx, unsigned char mode)
/* 进入复位模式 */
InitStatus = set_reset_mode(CANx);
if( InitStatus == CAN_InitStatus_Failed)
- return 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;
+ 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;
+ 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;
+ 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;
+ CANx->MOD |= (unsigned char)CAN_Mode_STM;
+ CANx->MOD |= (unsigned char)CAN_Mode_LOM;
break;
}
/* 进入工作模式 */
- set_start(CANx);
-
+ set_start(CANx);
+
/* 返回初始化结果 */
return CAN_InitStatus_Failed;
}
@@ -442,6 +442,6 @@ void CAN_Receive(CAN_TypeDef* CANx, CanRxMsg* RxMessage)
RxMessage->Data[5] = (unsigned char)CANx->BUF[5];
RxMessage->Data[6] = (unsigned char)CANx->BUF[6];
RxMessage->Data[7] = (unsigned char)CANx->BUF[7];
- }
+ }
}
generated by cgit v1.3.1 (git 2.54.0) at 2026-10-24 12:05:09 +0000