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[MM32软件]

MM32 L0 CAN驱动

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stm32jy|  楼主 | 2020-4-19 20:20 | 只看该作者 回帖奖励 |倒序浏览 |阅读模式
CAN驱动, ni, pi, struct
初始化CAN外设
复制
u8 CAN_Init(CAN_TypeDef* CANx, CAN_Basic_InitTypeDef* pInitStruct)

{

    u8 InitStatus = CANINITFAILED;



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

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



    if (pInitStruct->GTS == ENABLE) {

        CANx->CMR |= (uint32_t)CAN_SleepMode;

        InitStatus = CANINITFAILED;

    }

    else {

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

        InitStatus = CANINITOK;

    }



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



    CANx->CDR |=

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



    return InitStatus;

}


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沙发
stm32jy|  楼主 | 2020-4-19 20:20 | 只看该作者
初始化CAN结构体
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void CAN_StructInit(CAN_Basic_InitTypeDef* pInitStruct)

{

    // Reset CAN_Basic init structure parameters values



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

    pInitStruct->BRP = 0x0;

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

    pInitStruct->SJW = 0x0;

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

    pInitStruct->TESG1 = 0x0;

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

    pInitStruct->TESG2 = 0x0;

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

    pInitStruct->SAM = RESET;

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

    // DISABLE))

    pInitStruct->GTS = DISABLE;

    // Initialize the external pin CLKOUT frequence

    pInitStruct->CDCLK = 0x0;

    // Initialize the external clk is open or close

    pInitStruct->CLOSE_OPEN_CLK = 0x0;

    // Initialize the TX1 pin work as rx interrupt output

    pInitStruct->RXINTEN = 0x0;

    // Initialize the CBP of CDR register

    pInitStruct->CBP = 0x0;

}


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板凳
stm32jy|  楼主 | 2020-4-19 20:21 | 只看该作者
CAN 邮箱发送函数
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u8 CAN_Transmit(CAN_TypeDef* CANx, CanBasicTxMsg* BasicTxMessage)

{

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

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

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

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

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

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

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

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

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

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

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

    }



    CANx->CMR = CAN_CMR_TR;



    return (CANx->SR & 0x01);

}


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地板
stm32jy|  楼主 | 2020-4-19 20:22 | 只看该作者
CAN接收函数
复制
void CAN_Receive(CAN_TypeDef* CANx, CanBasicRxMsg* BasicRxMessage)

{

    u16 tempid;



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

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

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

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

    BasicRxMessage->ID      = tempid;

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

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

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

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

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

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

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

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

    CAN_FIFORelease(CANx);

}


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5楼
stm32jy|  楼主 | 2020-4-19 20:23 | 只看该作者
CAN休眠和唤醒函数：
复制
u8 CAN_Sleep(CAN_TypeDef* CANx)

{

    CANx->CMR |= CAN_SleepMode;

    // At this step, sleep mode status

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

}



////////////////////////////////////////////////////////////////////////////////

u8 CAN_WakeUp(CAN_TypeDef* CANx)

{

    // Wake up request

    CANx->CMR &= ~CAN_SleepMode;

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

}


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6楼
stm32jy|  楼主 | 2020-4-19 20:25 | 只看该作者
CAN Peli模式初始化;
复制
void CAN_Peli_Init(CAN_Peli_InitTypeDef* pInitStruct)

{

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

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

    if (pInitStruct->LOM == ENABLE)

        CAN1_PELI->MOD |= (u32)CAN_ListenOnlyMode;

    else

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

    if (pInitStruct->STM == ENABLE)

        CAN1_PELI->MOD |= (u32)CAN_SeftTestMode;

    else

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

    if (pInitStruct->SM == ENABLE)

        CAN1_PELI->MOD |= (u32)CAN_SleepMode;

    else

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

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

}


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7楼
stm32jy|  楼主 | 2020-4-19 20:25 | 只看该作者
CAN Peli 滤波初始化
复制
void CAN_Peli_FilterInit(CAN_Peli_FilterInitTypeDef* CAN_Peli_FilterInitStruct)

{

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

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



    CAN1_PELI->FF    = CAN_Peli_FilterInitStruct->CAN_FilterId0;

    CAN1_PELI->ID0   = CAN_Peli_FilterInitStruct->CAN_FilterId1;

    CAN1_PELI->ID1   = CAN_Peli_FilterInitStruct->CAN_FilterId2;

    CAN1_PELI->DATA0 = CAN_Peli_FilterInitStruct->CAN_FilterId3;



    CAN1_PELI->DATA1 = CAN_Peli_FilterInitStruct->CAN_FilterMaskId0;

    CAN1_PELI->DATA2 = CAN_Peli_FilterInitStruct->CAN_FilterMaskId1;

    CAN1_PELI->DATA3 = CAN_Peli_FilterInitStruct->CAN_FilterMaskId2;

    CAN1_PELI->DATA4 = CAN_Peli_FilterInitStruct->CAN_FilterMaskId3;

}


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8楼
stm32jy|  楼主 | 2020-4-19 20:26 | 只看该作者
CAN Peli 滤波结构体初始化
复制
void CAN_Peli_FilterStructInit(CAN_Peli_FilterInitTypeDef* CAN_Peli_FilterInitStruct)

{

    CAN_Peli_FilterInitStruct->CAN_FilterId0 = 0;

    CAN_Peli_FilterInitStruct->CAN_FilterId1 = 0;

    CAN_Peli_FilterInitStruct->CAN_FilterId2 = 0;

    CAN_Peli_FilterInitStruct->CAN_FilterId3 = 0;



    CAN_Peli_FilterInitStruct->CAN_FilterMaskId0 = 0;

    CAN_Peli_FilterInitStruct->CAN_FilterMaskId1 = 0;

    CAN_Peli_FilterInitStruct->CAN_FilterMaskId2 = 0;

    CAN_Peli_FilterInitStruct->CAN_FilterMaskId3 = 0;

}


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9楼
stm32jy|  楼主 | 2020-4-19 20:27 | 只看该作者
CAN Peli模式传输数据
复制
void CAN_Peli_Transmit(CanPeliTxMsg* PeliTxMessage)

{

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

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

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

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

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

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

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

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

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

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

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

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

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

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

        }

    }

    else {

        CAN1_PELI->ID0   = PeliTxMessage->IDHH;

        CAN1_PELI->ID1   = PeliTxMessage->IDHL;

        CAN1_PELI->DATA0 = PeliTxMessage->IDLH;

        CAN1_PELI->DATA1 = PeliTxMessage->IDLL;

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

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

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

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

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

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

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

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

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

        }

    }



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

}


使用特权

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10楼
stm32jy|  楼主 | 2020-4-19 20:29 | 只看该作者
CAN Peli 模式接收函数

复制
void CAN_Peli_Receive(CanPeliRxMsg* PeliRxMessage)

{

    u32 tempid;

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

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

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



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

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

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

        PeliRxMessage->ID      = tempid;

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

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

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

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

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

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

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

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

    }

    else {

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

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

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

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

        PeliRxMessage->ID      = tempid;

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

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

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

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

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

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

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

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

    }

    CAN_FIFORelease(CAN1);

}


使用特权

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11楼
stm32jy|  楼主 | 2020-4-19 20:30 | 只看该作者
自动初始化CAN波特率
复制
void CAN_AutoCfg_BaudParam(CAN_Peli_InitTypeDef* pInitStruct, u32 SrcClk, u32 baud)

{

    u32 i, value = baud, record = 1;

    u32 remain = 0, sumPrescaler = 0;

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

        ;

    sumPrescaler = SrcClk / baud;

    sumPrescaler = sumPrescaler / 2;

    for (i = 25; i > 3; i--) {

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

        if (remain == 0) {

            record = i;

            break;

        }

        else {

            if (remain < value) {

                value  = remain;

                record = i;

            }

        }

    }

    pInitStruct->SJW   = 0;

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

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

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

}


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12楼
caizhiwei| | 2020-4-23 12:48 | 只看该作者
有完整的工程吗？贴一份呗，谢了

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13楼
coslight| | 2020-4-23 13:21 | 只看该作者
请问楼主，这个测试遇到问题，请指点一下

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14楼
caizhiwei| | 2020-4-26 12:46 | 只看该作者
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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