From b4dc4fad2123ba5aa321ccc8b9488141daa9133c Mon Sep 17 00:00:00 2001 From: 孙冬梅 Date: Fri, 9 Feb 2018 13:06:10 +0800 Subject: Rename Ls1c_can.c to ls1c_can.c --- bsp/ls1cdev/libraries/Ls1c_can.c | 460 --------------------------------------- bsp/ls1cdev/libraries/ls1c_can.c | 460 +++++++++++++++++++++++++++++++++++++++ 2 files changed, 460 insertions(+), 460 deletions(-) delete mode 100644 bsp/ls1cdev/libraries/Ls1c_can.c create mode 100644 bsp/ls1cdev/libraries/ls1c_can.c (limited to 'bsp/ls1cdev') diff --git a/bsp/ls1cdev/libraries/Ls1c_can.c b/bsp/ls1cdev/libraries/Ls1c_can.c deleted file mode 100644 index f113e60990..0000000000 --- a/bsp/ls1cdev/libraries/Ls1c_can.c +++ /dev/null @@ -1,460 +0,0 @@ -/* - * 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;iDLC; 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;iDLC-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]; - } -} - 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;iDLC; 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;iDLC-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]; + } +} + -- cgit v1.3.1