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[MM32软件] MM32 L0 CAN驱动

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 楼主| stm32jy 发表于 2020-4-19 20:20 | 显示全部楼层 |阅读模式
CAN驱动, ni, pi, struct
初始化CAN外设
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  1. u8 CAN_Init(CAN_TypeDef* CANx, CAN_Basic_InitTypeDef* pInitStruct)
    

  2. {
    

  3.     u8 InitStatus = CANINITFAILED;
    


  4. 

  5.     CANx->BTR0 = ((u32)(pInitStruct->SJW) << 6) | ((u32)(pInitStruct->BRP));
    

  6.     CANx->BTR1 = ((u32)(pInitStruct->SAM) << 7) | ((u32)(pInitStruct->TESG2) << 4) | ((u32)(pInitStruct->TESG1));
    


  7. 

  8.     if (pInitStruct->GTS == ENABLE) {
    

  9.         CANx->CMR |= (uint32_t)CAN_SleepMode;
    

  10.         InitStatus = CANINITFAILED;
    

  11.     }
    

  12.     else {
    

  13.         CANx->CMR &= ~(uint32_t)CAN_SleepMode;
    

  14.         InitStatus = CANINITOK;
    

  15.     }
    


  16. 

  17.     (pInitStruct->GTS == ENABLE) ? (CANx->CMR |= (u32)CAN_SleepMode) : (CANx->CMR &= ~(u32)CAN_SleepMode);
    


  18. 

  19.     CANx->CDR |=
    

  20.         ((pInitStruct->CBP) << 6) | ((pInitStruct->RXINTEN) << 5) | ((pInitStruct->CLOSE_OPEN_CLK) << 3) | (pInitStruct->CDCLK);
    


  21. 

  22.     return InitStatus;
    

  23. }


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 楼主| stm32jy 发表于 2020-4-19 20:20 | 显示全部楼层
初始化CAN结构体
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  1. void CAN_StructInit(CAN_Basic_InitTypeDef* pInitStruct)
    

  2. {
    

  3.     // Reset CAN_Basic init structure parameters values
    


  4. 

  5.     // initialize the BRP member(where can be set with (0..63))
    

  6.     pInitStruct->BRP = 0x0;
    

  7.     // initialize the SJW member(where can be set with (0..3))
    

  8.     pInitStruct->SJW = 0x0;
    

  9.     // Initialize the TESG1 member(where can be set with (0..15))
    

  10.     pInitStruct->TESG1 = 0x0;
    

  11.     // Initialize the TESG2 member(where can be set with(0..7))
    

  12.     pInitStruct->TESG2 = 0x0;
    

  13.     // Initialize the SAM member(where can be set (SET or RESET))
    

  14.     pInitStruct->SAM = RESET;
    

  15.     // Initialize the GTS member to Sleep Mode(where can be set (ENABLE or
    

  16.     // DISABLE))
    

  17.     pInitStruct->GTS = DISABLE;
    

  18.     // Initialize the external pin CLKOUT frequence
    

  19.     pInitStruct->CDCLK = 0x0;
    

  20.     // Initialize the external clk is open or close
    

  21.     pInitStruct->CLOSE_OPEN_CLK = 0x0;
    

  22.     // Initialize the TX1 pin work as rx interrupt output
    

  23.     pInitStruct->RXINTEN = 0x0;
    

  24.     // Initialize the CBP of CDR register
    

  25.     pInitStruct->CBP = 0x0;
    

  26. }


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 楼主| stm32jy 发表于 2020-4-19 20:21 | 显示全部楼层
CAN 邮箱发送函数
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  1. u8 CAN_Transmit(CAN_TypeDef* CANx, CanBasicTxMsg* BasicTxMessage)
    

  2. {
    

  3.     CANx->TXID0 = (BasicTxMessage->IDH);
    

  4.     CANx->TXID1 = (BasicTxMessage->IDL << 5) | (BasicTxMessage->RTR << 4) | (BasicTxMessage->DLC);
    

  5.     if ((FunctionalState)(BasicTxMessage->RTR) != ENABLE) {
    

  6.         CANx->TXDR0 = BasicTxMessage->Data[0];
    

  7.         CANx->TXDR1 = BasicTxMessage->Data[1];
    

  8.         CANx->TXDR2 = BasicTxMessage->Data[2];
    

  9.         CANx->TXDR3 = BasicTxMessage->Data[3];
    

  10.         CANx->TXDR4 = BasicTxMessage->Data[4];
    

  11.         CANx->TXDR5 = BasicTxMessage->Data[5];
    

  12.         CANx->TXDR6 = BasicTxMessage->Data[6];
    

  13.         CANx->TXDR7 = BasicTxMessage->Data[7];
    

  14.     }
    


  15. 

  16.     CANx->CMR = CAN_CMR_TR;
    


  17. 

  18.     return (CANx->SR & 0x01);
    

  19. }


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 楼主| stm32jy 发表于 2020-4-19 20:22 | 显示全部楼层
CAN接收函数
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  1. void CAN_Receive(CAN_TypeDef* CANx, CanBasicRxMsg* BasicRxMessage)
    

  2. {
    

  3.     u16 tempid;
    


  4. 

  5.     BasicRxMessage->RTR = (u8)((CANx->RXID1) >> 4) & 0x1;
    

  6.     BasicRxMessage->DLC = (u8)((CANx->RXID1) & 0xf);
    

  7.     tempid              = (u16)(((CANx->RXID1) & 0xe0) >> 5);
    

  8.     tempid |= (u16)(CANx->RXID0 << 3);
    

  9.     BasicRxMessage->ID      = tempid;
    

  10.     BasicRxMessage->Data[0] = CAN1->RXDR0;
    

  11.     BasicRxMessage->Data[1] = CAN1->RXDR1;
    

  12.     BasicRxMessage->Data[2] = CAN1->RXDR2;
    

  13.     BasicRxMessage->Data[3] = CAN1->RXDR3;
    

  14.     BasicRxMessage->Data[4] = CAN1->RXDR4;
    

  15.     BasicRxMessage->Data[5] = CAN1->RXDR5;
    

  16.     BasicRxMessage->Data[6] = CAN1->RXDR6;
    

  17.     BasicRxMessage->Data[7] = CAN1->RXDR7;
    

  18.     CAN_FIFORelease(CANx);
    

  19. }


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 楼主| stm32jy 发表于 2020-4-19 20:23 | 显示全部楼层
CAN休眠和唤醒函数：
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  1. u8 CAN_Sleep(CAN_TypeDef* CANx)
    

  2. {
    

  3.     CANx->CMR |= CAN_SleepMode;
    

  4.     // At this step, sleep mode status
    

  5.     return (u8)((CANx->CMR & 0x10) == CAN_SleepMode) ? CANSLEEPOK : CANSLEEPFAILED;
    

  6. }
    


  7. 

  8. ////////////////////////////////////////////////////////////////////////////////
    

  9. u8 CAN_WakeUp(CAN_TypeDef* CANx)
    

  10. {
    

  11.     // Wake up request
    

  12.     CANx->CMR &= ~CAN_SleepMode;
    

  13.     return (u8)((CANx->CMR & 0x01) == 0) ? CANWAKEUPOK : CANWAKEUPFAILED;
    

  14. }


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 楼主| stm32jy 发表于 2020-4-19 20:25 | 显示全部楼层
CAN Peli模式初始化;
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  1. void CAN_Peli_Init(CAN_Peli_InitTypeDef* pInitStruct)
    

  2. {
    

  3.     CAN1_PELI->BTR0 = ((u32)pInitStruct->SJW << 6) | ((u32)pInitStruct->BRP);
    

  4.     CAN1_PELI->BTR1 = ((u32)pInitStruct->SAM << 7) | ((u32)pInitStruct->TESG2 << 4) | ((u32)pInitStruct->TESG1);
    

  5.     if (pInitStruct->LOM == ENABLE)
    

  6.         CAN1_PELI->MOD |= (u32)CAN_ListenOnlyMode;
    

  7.     else
    

  8.         CAN1_PELI->MOD &= ~(u32)CAN_ListenOnlyMode;
    

  9.     if (pInitStruct->STM == ENABLE)
    

  10.         CAN1_PELI->MOD |= (u32)CAN_SeftTestMode;
    

  11.     else
    

  12.         CAN1_PELI->MOD &= ~(u32)CAN_SeftTestMode;
    

  13.     if (pInitStruct->SM == ENABLE)
    

  14.         CAN1_PELI->MOD |= (u32)CAN_SleepMode;
    

  15.     else
    

  16.         CAN1_PELI->MOD &= ~(u32)CAN_SleepMode;
    

  17.     CAN1_PELI->EWLR = (u32)pInitStruct->EWLR;
    

  18. }


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 楼主| stm32jy 发表于 2020-4-19 20:25 | 显示全部楼层
CAN Peli 滤波初始化
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  1. void CAN_Peli_FilterInit(CAN_Peli_FilterInitTypeDef* CAN_Peli_FilterInitStruct)
    

  2. {
    

  3.     (CAN_Peli_FilterInitStruct->AFM == CAN_FilterMode_Singal) ? (CAN1_PELI->MOD |= (u32)CAN_FilterMode_Singal)
    

  4.     : (CAN1_PELI->MOD &= (u32)CAN_FilterMode_Double);
    


  5. 

  6.     CAN1_PELI->FF    = CAN_Peli_FilterInitStruct->CAN_FilterId0;
    

  7.     CAN1_PELI->ID0   = CAN_Peli_FilterInitStruct->CAN_FilterId1;
    

  8.     CAN1_PELI->ID1   = CAN_Peli_FilterInitStruct->CAN_FilterId2;
    

  9.     CAN1_PELI->DATA0 = CAN_Peli_FilterInitStruct->CAN_FilterId3;
    


  10. 

  11.     CAN1_PELI->DATA1 = CAN_Peli_FilterInitStruct->CAN_FilterMaskId0;
    

  12.     CAN1_PELI->DATA2 = CAN_Peli_FilterInitStruct->CAN_FilterMaskId1;
    

  13.     CAN1_PELI->DATA3 = CAN_Peli_FilterInitStruct->CAN_FilterMaskId2;
    

  14.     CAN1_PELI->DATA4 = CAN_Peli_FilterInitStruct->CAN_FilterMaskId3;
    

  15. }


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 楼主| stm32jy 发表于 2020-4-19 20:26 | 显示全部楼层
CAN Peli 滤波结构体初始化
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  1. void CAN_Peli_FilterStructInit(CAN_Peli_FilterInitTypeDef* CAN_Peli_FilterInitStruct)
    

  2. {
    

  3.     CAN_Peli_FilterInitStruct->CAN_FilterId0 = 0;
    

  4.     CAN_Peli_FilterInitStruct->CAN_FilterId1 = 0;
    

  5.     CAN_Peli_FilterInitStruct->CAN_FilterId2 = 0;
    

  6.     CAN_Peli_FilterInitStruct->CAN_FilterId3 = 0;
    


  7. 

  8.     CAN_Peli_FilterInitStruct->CAN_FilterMaskId0 = 0;
    

  9.     CAN_Peli_FilterInitStruct->CAN_FilterMaskId1 = 0;
    

  10.     CAN_Peli_FilterInitStruct->CAN_FilterMaskId2 = 0;
    

  11.     CAN_Peli_FilterInitStruct->CAN_FilterMaskId3 = 0;
    

  12. }


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 楼主| stm32jy 发表于 2020-4-19 20:27 | 显示全部楼层
CAN Peli模式传输数据
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  1. void CAN_Peli_Transmit(CanPeliTxMsg* PeliTxMessage)
    

  2. {
    

  3.     CAN1_PELI->FF = (PeliTxMessage->FF << 7) | (PeliTxMessage->RTR << 6) | (PeliTxMessage->DLC);
    

  4.     if (((FunctionalState)PeliTxMessage->FF) != ENABLE) {
    

  5.         CAN1_PELI->ID0 = (PeliTxMessage->IDHH);
    

  6.         // CAN1_PELI->ID1 = ((PeliTxMessage->IDHL)<<5);
    

  7.         CAN1_PELI->ID1 = (PeliTxMessage->IDHL & 0xE0);
    

  8.         if ((FunctionalState)(PeliTxMessage->RTR) != ENABLE) {
    

  9.             CAN1_PELI->DATA0 = PeliTxMessage->Data[0];
    

  10.             CAN1_PELI->DATA1 = PeliTxMessage->Data[1];
    

  11.             CAN1_PELI->DATA2 = PeliTxMessage->Data[2];
    

  12.             CAN1_PELI->DATA3 = PeliTxMessage->Data[3];
    

  13.             CAN1_PELI->DATA4 = PeliTxMessage->Data[4];
    

  14.             CAN1_PELI->DATA5 = PeliTxMessage->Data[5];
    

  15.             CAN1_PELI->DATA6 = PeliTxMessage->Data[6];
    

  16.             CAN1_PELI->DATA7 = PeliTxMessage->Data[7];
    

  17.         }
    

  18.     }
    

  19.     else {
    

  20.         CAN1_PELI->ID0   = PeliTxMessage->IDHH;
    

  21.         CAN1_PELI->ID1   = PeliTxMessage->IDHL;
    

  22.         CAN1_PELI->DATA0 = PeliTxMessage->IDLH;
    

  23.         CAN1_PELI->DATA1 = PeliTxMessage->IDLL;
    

  24.         if ((FunctionalState)(PeliTxMessage->RTR) != ENABLE) {
    

  25.             CAN1_PELI->DATA2 = PeliTxMessage->Data[0];
    

  26.             CAN1_PELI->DATA3 = PeliTxMessage->Data[1];
    

  27.             CAN1_PELI->DATA4 = PeliTxMessage->Data[2];
    

  28.             CAN1_PELI->DATA5 = PeliTxMessage->Data[3];
    

  29.             CAN1_PELI->DATA6 = PeliTxMessage->Data[4];
    

  30.             CAN1_PELI->DATA7 = PeliTxMessage->Data[5];
    

  31.             CAN1_PELI->DATA8 = PeliTxMessage->Data[6];
    

  32.             CAN1_PELI->DATA9 = PeliTxMessage->Data[7];
    

  33.         }
    

  34.     }
    


  35. 

  36.     (CAN1_PELI->MOD & CAN_MOD_STM) ? (CAN1->CMR = CAN_CMR_GTS | CAN_CMR_AT) : (CAN1->CMR = CAN_CMR_TR | CAN_CMR_AT);
    

  37. }


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 楼主| stm32jy 发表于 2020-4-19 20:29 | 显示全部楼层
CAN Peli 模式接收函数

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  1. void CAN_Peli_Receive(CanPeliRxMsg* PeliRxMessage)
    

  2. {
    

  3.     u32 tempid;
    

  4.     PeliRxMessage->FF  = (CAN1_PELI->FF) >> 7;
    

  5.     PeliRxMessage->RTR = ((CAN1_PELI->FF) >> 6) & 0x1;
    

  6.     PeliRxMessage->DLC = (CAN1_PELI->FF) & 0xf;
    


  7. 

  8.     if (((FunctionalState)PeliRxMessage->FF) != ENABLE) {
    

  9.         tempid = (u32)(CAN1_PELI->ID1 >> 5);
    

  10.         tempid |= (u32)(CAN1_PELI->ID0 << 3);
    

  11.         PeliRxMessage->ID      = tempid;
    

  12.         PeliRxMessage->Data[0] = CAN1_PELI->DATA0;
    

  13.         PeliRxMessage->Data[1] = CAN1_PELI->DATA1;
    

  14.         PeliRxMessage->Data[2] = CAN1_PELI->DATA2;
    

  15.         PeliRxMessage->Data[3] = CAN1_PELI->DATA3;
    

  16.         PeliRxMessage->Data[4] = CAN1_PELI->DATA4;
    

  17.         PeliRxMessage->Data[5] = CAN1_PELI->DATA5;
    

  18.         PeliRxMessage->Data[6] = CAN1_PELI->DATA6;
    

  19.         PeliRxMessage->Data[7] = CAN1_PELI->DATA7;
    

  20.     }
    

  21.     else {
    

  22.         tempid = (u32)((CAN1_PELI->DATA1 & 0xf8) >> 3);
    

  23.         tempid |= (u32)(CAN1_PELI->DATA0 << 5);
    

  24.         tempid |= (u32)(CAN1_PELI->ID1 << 13);
    

  25.         tempid |= (u32)(CAN1_PELI->ID0 << 21);
    

  26.         PeliRxMessage->ID      = tempid;
    

  27.         PeliRxMessage->Data[0] = CAN1_PELI->DATA2;
    

  28.         PeliRxMessage->Data[1] = CAN1_PELI->DATA3;
    

  29.         PeliRxMessage->Data[2] = CAN1_PELI->DATA4;
    

  30.         PeliRxMessage->Data[3] = CAN1_PELI->DATA5;
    

  31.         PeliRxMessage->Data[4] = CAN1_PELI->DATA6;
    

  32.         PeliRxMessage->Data[5] = CAN1_PELI->DATA7;
    

  33.         PeliRxMessage->Data[6] = CAN1_PELI->DATA8;
    

  34.         PeliRxMessage->Data[7] = CAN1_PELI->DATA9;
    

  35.     }
    

  36.     CAN_FIFORelease(CAN1);
    

  37. }


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 楼主| stm32jy 发表于 2020-4-19 20:30 | 显示全部楼层
自动初始化CAN波特率
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  1. void CAN_AutoCfg_BaudParam(CAN_Peli_InitTypeDef* pInitStruct, u32 SrcClk, u32 baud)
    

  2. {
    

  3.     u32 i, value = baud, record = 1;
    

  4.     u32 remain = 0, sumPrescaler = 0;
    

  5.     while ((baud == 0) || (SrcClk == 0))
    

  6.         ;
    

  7.     sumPrescaler = SrcClk / baud;
    

  8.     sumPrescaler = sumPrescaler / 2;
    

  9.     for (i = 25; i > 3; i--) {
    

  10.         remain = sumPrescaler - ((sumPrescaler / i) * i);
    

  11.         if (remain == 0) {
    

  12.             record = i;
    

  13.             break;
    

  14.         }
    

  15.         else {
    

  16.             if (remain < value) {
    

  17.                 value  = remain;
    

  18.                 record = i;
    

  19.             }
    

  20.         }
    

  21.     }
    

  22.     pInitStruct->SJW   = 0;
    

  23.     pInitStruct->BRP   = (sumPrescaler / record) - 1;
    

  24.     pInitStruct->TESG2 = (record - 3) / 3;
    

  25.     pInitStruct->TESG1 = (record - 3) - pInitStruct->TESG2;
    

  26. }


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caizhiwei 发表于 2020-4-23 12:48 | 显示全部楼层
有完整的工程吗？贴一份呗，谢了
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coslight 发表于 2020-4-23 13:21 | 显示全部楼层
请问楼主，这个测试遇到问题，请指点一下
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caizhiwei 发表于 2020-4-26 12:46 | 显示全部楼层
你这是把历程复制了一遍~
复制出来啥都没说，有问题嘛还是？
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