1
2
3
4
5
6
7
8
9
10
11
12
13
14
15
16
17
18
19
20
21
22
23
24
25
26
27
28
29
30
31
32
33
34
35
36
37
38
39
40
41
42
43
44
45
46
47
48
49
50
51
52
53
54
55
56
57
58
59
60
61
62
63
64
65
66
67
68
69
70
71
72
73
74
75
76
77
78
79
80
81
82
83
84
85
86
87
88
89
90
91
92
93
94
95
96
97
98
99
100
101
102
103
104
105
106
107
108
109
110
111
112
113
114
115
116
117
|
#ifndef __SWM341_CAN_H__
#define __SWM341_CAN_H__
typedef struct {
uint8_t Mode; //CAN_MODE_NORMAL、CAN_MODE_LISTEN、CAN_MODE_SELFTEST
uint8_t CAN_bs1; //CAN_BS1_1tq、CAN_BS1_2tq、... ... 、CAN_BS1_16tq
uint8_t CAN_bs2; //CAN_BS2_1tq、CAN_BS2_2tq、... ... 、CAN_BS2_8tq
uint8_t CAN_sjw; //CAN_SJW_1tq、CAN_SJW_2tq、CAN_SJW_3tq、CAN_SJW_4tq
uint32_t Baudrate; //波特率，即位传输速率，取值1--1000000
uint8_t RXNotEmptyIEn; //接收FIFO非空，有数据可读
uint8_t ArbitrLostIEn; //控制器丢失仲裁变成接收方
uint8_t ErrPassiveIEn; //接收/发送错误计数值达到127
} CAN_InitStructure;
#define CAN_MODE_NORMAL 0 //常规模式
#define CAN_MODE_LISTEN 1 //监听模式
#define CAN_MODE_SELFTEST 2 //自测模式
#define CAN_BS1_1tq 0
#define CAN_BS1_2tq 1
#define CAN_BS1_3tq 2
#define CAN_BS1_4tq 3
#define CAN_BS1_5tq 4
#define CAN_BS1_6tq 5
#define CAN_BS1_7tq 6
#define CAN_BS1_8tq 7
#define CAN_BS1_9tq 8
#define CAN_BS1_10tq 9
#define CAN_BS1_11tq 10
#define CAN_BS1_12tq 11
#define CAN_BS1_13tq 12
#define CAN_BS1_14tq 13
#define CAN_BS1_15tq 14
#define CAN_BS1_16tq 15
#define CAN_BS2_1tq 0
#define CAN_BS2_2tq 1
#define CAN_BS2_3tq 2
#define CAN_BS2_4tq 3
#define CAN_BS2_5tq 4
#define CAN_BS2_6tq 5
#define CAN_BS2_7tq 6
#define CAN_BS2_8tq 7
#define CAN_SJW_1tq 0
#define CAN_SJW_2tq 1
#define CAN_SJW_3tq 2
#define CAN_SJW_4tq 3
#define CAN_FRAME_STD 0
#define CAN_FRAME_EXT 1
#define CAN_FILTER_1 0
#define CAN_FILTER_2 1
#define CAN_FILTER_3 2
#define CAN_FILTER_4 3
#define CAN_FILTER_5 4
#define CAN_FILTER_6 5
#define CAN_FILTER_7 6
#define CAN_FILTER_8 7
#define CAN_FILTER_9 8
#define CAN_FILTER_10 9
#define CAN_FILTER_11 10
#define CAN_FILTER_12 11
#define CAN_FILTER_13 12
#define CAN_FILTER_14 13
#define CAN_FILTER_15 14
#define CAN_FILTER_16 15
#define CAN_INT_RX_NOTEMPTY (0x01 << 0) //RX Buffer Not Empty
#define CAN_INT_RX_OVERFLOW (0x01 << 3) //RX Buffer Overflow
#define CAN_INT_TX_EMPTY (0x01 << 1) //TX Buffer Empty
#define CAN_INT_ARBLOST (0x01 << 6) //Arbitration lost
#define CAN_INT_ERR (0x01 << 7)
#define CAN_INT_ERR_WARN (0x01 << 2) //TXERR/RXERR计数值达到Error Warning Limit
#define CAN_INT_ERR_PASS (0x01 << 5) //TXERR/RXERR计数值达到127
#define CAN_INT_WAKEUP (0x01 << 4)
typedef struct {
uint32_t id; //消息ID
uint8_t format; //帧格式：CAN_FRAME_STD、CAN_FRAME_EXT
uint8_t remote; //消息是否为远程帧
uint8_t size; //接收到的数据个数
uint8_t data[8]; //接收到的数据
} CAN_RXMessage;
void CAN_Init(CAN_TypeDef * CANx, CAN_InitStructure * initStruct);
void CAN_Open(CAN_TypeDef * CANx);
void CAN_Close(CAN_TypeDef * CANx);
void CAN_Transmit(CAN_TypeDef * CANx, uint32_t format, uint32_t id, uint8_t data[], uint32_t size, uint32_t once);
void CAN_TransmitRequest(CAN_TypeDef * CANx, uint32_t format, uint32_t id, uint32_t once);
void CAN_Receive(CAN_TypeDef * CANx, CAN_RXMessage *msg);
uint32_t CAN_TXComplete(CAN_TypeDef * CANx);
uint32_t CAN_TXSuccess(CAN_TypeDef * CANx);
void CAN_AbortTransmit(CAN_TypeDef * CANx);
uint32_t CAN_TXBufferReady(CAN_TypeDef * CANx);
uint32_t CAN_RXDataAvailable(CAN_TypeDef * CANx);
void CAN_SetBaudrate(CAN_TypeDef * CANx, uint32_t baudrate, uint32_t CAN_bs1, uint32_t CAN_bs2, uint32_t CAN_sjw);
void CAN_SetFilter32b(CAN_TypeDef * CANx, uint32_t filter, uint32_t check, uint32_t mask);
void CAN_SetFilter16b(CAN_TypeDef * CANx, uint32_t filter, uint16_t check1, uint16_t mask1, uint16_t check2, uint16_t mask2);
void CAN_INTEn(CAN_TypeDef * CANx, uint32_t it);
void CAN_INTDis(CAN_TypeDef * CANx, uint32_t it);
uint32_t CAN_INTStat(CAN_TypeDef * CANx);
#endif //__SWM341_CAN_H__
|
