AC78013CAN模块收发测试1

CAN初始化代码

/*

设置采样点在81.25%

tseg1 = (S_SEG1 +2);

tseg2 = (S_SEG2+1);

BandRate = (48M/(S_PRESC +1) / ((S_SEG1+2)+(S_SEG2+1))))

SamplePoint  = (tseg1 /(tseg1 + tseg2));

*/

void SocCanPerhInit(void)

{

    CAN_ConfigType canConfig;

    CAN_BitrateConfigType canBandrateConfig; 

    memset((void *)&canConfig, 0, (uint32_t)sizeof(CAN_ConfigType));   

    memset((void *)&canBandrateConfig, 0, sizeof(CAN_BitrateConfigType));

    GPIO_SetFunc(SPORT_GPIOCANTX,SPIN_GPIOCANTX, GPIO_FUN1);

    GPIO_SetFunc(SPORT_GPIOCANRX,SPIN_GPIOCANRX, GPIO_FUN1);

     GPIO_SetFunc(CAN0_STB, GPIO_FUN0);

    GPIO_SetDir(CAN0_STB, GPIO_OUT);

    CAN0_TRASCVER_NML;

    GPIO_SetPinLevel(CAN0_STB, GPIO_LEVEL_LOW);

    

    canBandrateConfig.PRESC     = 5;

    canBandrateConfig.SEG_1     = 11;

    canBandrateConfig.SEG_2     = 2;

    canBandrateConfig.SJW         = 2;

    



    canConfig.interruptEn = ENABLE;

        canConfig.interruptMask = CAN_IRQ_ALL_ENABLE_MSK;   

    canConfig.canMode = CAN_MODE_NORMAL;

        canConfig.clockSrc = CAN_CLKSRC_AHB;

       canConfig.tpss = ENABLE;

       canConfig.tsss = ENABLE;

       canConfig.filterNum = 3;

      canConfig.filterList = canFilterControl; //过滤器设置

    canConfig.callback = CAN0_IRQnCallBack;

    canConfig.normalBitrate = &canBandrateConfig;

    

    g_sendCANMsgInfo.DATA = (uint8_t *)sendDataBuff;

    g_recvCANMsgInfo.DATA = (uint8_t *)recvDataBuff;

    

    CAN_Init(CAN0, &canConfig);





}



//CAN 报文发送函数

uint8_t  SocCANSendMsg(uint32_t ID,uint8_t IDE,uint8_t RTR,uint8_t *pDataBuf,uint8_t dataLen)

{

uint8_t ret = 0;

     g_sendCANMsgInfo.ID = ID;

        g_sendCANMsgInfo.IDE = IDE;

        g_sendCANMsgInfo.DLC = dataLen;

    memcpy(g_sendCANMsgInfo.DATA, pDataBuf, dataLen);

    ret = CAN_TransmitMessage(CAN0, &g_sendCANMsgInfo, CAN_TRANSMIT_SECONDARY);//·￠?íêy?Y



return ret;





}