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/*
* Copyright (c) 2006-2018, RT-Thread Development Team
*
* SPDX-License-Identifier: Apache-2.0
*
* Change Logs:
* Date Author Notes
* 2018-01-06 sundm75 first version
*/
#include "ls1c.h"
#include "ls1c_public.h"
#include "ls1c_can.h"
#include "ls1c_delay.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;
}
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;
}
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
{
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];
}
}
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