/****************************************Copyright (c)**************************************************** ** Guangzhou ZHIYUAN electronics Co.,LTD. ** ** http://www.embedtools.com ** **--------------File Info--------------------------------------------------------------------------------- ** File Name: zlg_can.c ** Last modified Date: 2010.02.25 ** Last Version: 1.0 ** Description: CAN API驱动程序,适用于具有多路CAN控制器的CPU **-------------------------------------------------------------------------------------------------------- ** Created By: 张展威 ** Created date: 2010.02.25 ** Version: 1.0 ** Descriptions: The original version 初始版本 **-------------------------------------------------------------------------------------------------------- *********************************************************************************************************/ #include "LPC11xx.h" /* LPC11xx Peripheral Registers */ #include "zlg_can.h" #include "can.h" #include "can_reg_cfg.h" //#include "interrupt.h" /********************************************************************************************************* 波特率参数表 第一项：传输段及相位缓冲段1的和，取值范围：2～16 第二项：相位缓冲段2，取值范围：1～8 第三项：同步跳转宽度，取值范围1～4 第四项：分频值，取值范围1～1024 *********************************************************************************************************/ const CAN_BIT_CLK_PARM CANBitClkSettings[] = { /* * Fcan = 50MHz */ #if FCAN == FCAN48M {15, 8, 4, 2}, /* CANBAUD_1M */ {15, 8, 4, 4}, /* CANBAUD_500K */ {15, 8, 4, 8}, /* CANBAUD_250K */ {15, 8, 4, 16}, /* CANBAUD_125K */ {15, 8, 4, 20}, /* CANBAUD_100k */ {15, 8, 4, 40}, /* CANBAUD_50k */ {15, 8, 4, 80}, /* CANBAUD_25k */ {15, 8, 4, 100}, /* CANBAUD_20k */ {15, 8, 4, 200}, /* CANBAUD_10k */ {15, 8, 4, 400}, /* CANBAUD_5k */ {15, 8, 4, 800}, /* CANBAUD_2k5 */ #elif FCAN == FCAN6M /* * Fcan = 6MHz */ {3, 2, 2, 1}, /* CANBAUD_1M */ {6, 5, 4, 1}, /* CANBAUD_500K */ {6, 5, 4, 2}, /* CANBAUD_250K */ {15, 8, 4, 2}, /* CANBAUD_125K */ {11, 8, 4, 3}, /* CANBAUD_100k */ {15, 8, 4, 5}, /* CANBAUD_50k */ {15, 8, 4, 10}, /* CANBAUD_25k */ {16, 8, 4, 12}, /* CANBAUD_20k */ {15, 8, 4, 25}, /* CANBAUD_10k */ {15, 8, 4, 50}, /* CANBAUD_5k */ {15, 8, 4, 100}, /* CANBAUD_2k5 */ #elif FCAN == FCAN2M /* * Fcan = 2MHz */ {0, 0, 0, 0}, /* CANBAUD_1M （无法达到） */ {2, 1, 1, 1}, /* CANBAUD_500K */ {4, 3, 3, 1}, /* CANBAUD_250K */ {4, 3, 3, 2}, /* CANBAUD_125K */ {5, 4, 4, 2}, /* CANBAUD_100k */ {5, 4, 4, 4}, /* CANBAUD_50k */ {5, 4, 3, 8}, /* CANBAUD_25k */ {5, 4, 3, 10}, /* CANBAUD_20k */ {5, 4, 3, 20}, /* CANBAUD_10k */ {5, 4, 3, 40}, /* CANBAUD_5k */ {5, 4, 3, 80}, /* CANBAUD_2k5 */ #else /* * Fcan = 8MHz */ {4, 3, 3, 1}, /* CANBAUD_1M */ {8, 7, 4, 1}, /* CANBAUD_500K */ {8, 7, 4, 2}, /* CANBAUD_250K */ {11, 4, 4, 4}, /* CANBAUD_125K */ {11, 4, 4, 5}, /* CANBAUD_100k */ {11, 4, 4, 10}, /* CANBAUD_50k */ {11, 4, 4, 20}, /* CANBAUD_25k */ {11, 4, 4, 25}, /* CANBAUD_20k */ {11, 4, 4, 50}, /* CANBAUD_10k */ {11, 4, 4, 100}, /* CANBAUD_5k */ {11, 4, 4, 200}, /* CANBAUD_2k5 */ #endif }; /********************************************************************************************************* ** 用于初始化CAN缓存块的数据 *********************************************************************************************************/ const CANFRAME GtCanFrameInit = { BUF_BLANK, /* 空白帧 */ 0, /* 数据域长度为0 */ 0, /* 报文ID为 */ {0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00} /* 数据域内容 */ }; /********************************************************************************************************* ** Function name: canCirBufInit ** Descriptions: 初始化帧接收软件FIFO ** input parameters: ptBuf 指向接收循环队列的指针 ** output parameters: 无 ** Returned value: 无 ** Created By: 张展威 ** Created date: 2008.09.03 **-------------------------------------------------------------------------------------------------------- ** Modified by: 张展威 ** Modified date: 2009.04.29 ** Descriptions: 将帧类型格式初始化为BUF_BLANK，用于防止误读 **-------------------------------------------------------------------------------------------------------- *********************************************************************************************************/ void canCirBufInit(CANCIRBUF *ptCanCirBuf, CANFRAME *ptCanFrameBuf, INT8U ucLength) { unsigned int i; ptCanCirBuf->ulWriteIndex = 0; /* Buffer[]写下标清零 */ ptCanCirBuf->ulReadIndex = 0; /* Buffer[]读下标清零 */ ptCanCirBuf->bIsFull = false; /* 循环队列不满 */ ptCanCirBuf->ulLength = ucLength; /* 记录长度,此值不允再许更改 */ ptCanCirBuf->ptCanFramBuf = ptCanFrameBuf; /* 指向数据缓存区首地址 */ for (i = 0; i < ucLength; i++) { ptCanCirBuf->ptCanFramBuf[i] = GtCanFrameInit; /* 初始化为空帧 */ } } /********************************************************************************************************* ** Function name: canCirBufMalloc ** Descriptions: 向循环队列（软件FIFO）申请一块帧缓存区域 帧类型格式将被初始化为BUF_BLANK ** input parameters: ptBuf 指向循环队列的指针 ** output parameters: 无 ** Returned value: ptCanFrame 帧缓存地址，若为0则表示循环队列满 ** Created By: 张展威 ** Created date: 2008.09.02 **-------------------------------------------------------------------------------------------------------- ** Modified by: 张展威 ** Modified date: 2009.04.29 ** Descriptions: 添加临界区保护 **-------------------------------------------------------------------------------------------------------- *********************************************************************************************************/ static CANFRAME *canCirBufMalloc(CANCIRBUF *ptCanCirBuf) { CANFRAME *ptCanFrame; unsigned char ucEnable = 0; if (ptCanCirBuf == (CANCIRBUF *)0) { return 0; /* 队列错误 */ } if (ptCanCirBuf->bIsFull == true) { return 0; /* 队列满,则返回 0 */ } ucEnable = __ENTER_CIRTICAL(); /* 进入临界区 */ ptCanFrame = &(ptCanCirBuf->ptCanFramBuf[ptCanCirBuf->ulWriteIndex++]); /* 取得需要返回的地址 */ if (ptCanCirBuf->ulWriteIndex == ptCanCirBuf->ulLength) { ptCanCirBuf->ulWriteIndex = 0; /* 构成循环队列 */ } if (ptCanCirBuf->ulWriteIndex == ptCanCirBuf->ulReadIndex) { /* 写指针赶上读指针，队列满 */ ptCanCirBuf->bIsFull = true; /* 置位队列满标志 */ } __EXIT_CIRTICAL(ucEnable); /* 退出临界区 */ *ptCanFrame = GtCanFrameInit; /* 初始化申请的存储空间 */ return ptCanFrame; } /********************************************************************************************************* ** Function name: canCirBufRead ** Descriptions: 从循环队列读取一帧数据 ** input parameters: ptCanBuf 指向循环队列的指针 ** output parameters: ptFrame 数据输出指针 ** Returned value: EMPTY 循环队列为空，循环队列中无可用数据 ** NOT_EMPTY 循环队列非空 ** CAN_ERROR 循环队列错误，操作失败 ** Created By: 张展威 ** Created date: 2008.09.02 **-------------------------------------------------------------------------------------------------------- ** Modified by: 张展威 ** Modified date: 2009.04.29 ** Descriptions: 添加临界区保护及误读保护 **-------------------------------------------------------------------------------------------------------- *********************************************************************************************************/ INT8U canCirBufRead(CANCIRBUF *ptCanCirBuf, CANFRAME *ptCanFrame) { INT8U ucReturn = CAN_ERROR; unsigned long ulIndex; unsigned char ucEnable = 0; if (ptCanCirBuf == (CANCIRBUF *)0) { return CAN_ERROR; /* 队列错误 */ } ucEnable = __ENTER_CIRTICAL(); /* 进入临界区 */ if ((ptCanCirBuf->ulReadIndex != ptCanCirBuf->ulWriteIndex) || (ptCanCirBuf->bIsFull == true)) { ulIndex = ptCanCirBuf->ulReadIndex; /* 缓存下标 */ if (ptCanCirBuf->ptCanFramBuf[ulIndex].ucTtypeFormat != BUF_BLANK) { //帧允许读（帧写结束之前ucTtypeFormat = BUF_BLANK） *ptCanFrame = ptCanCirBuf->ptCanFramBuf[ulIndex]; ptCanCirBuf->ulReadIndex += 1; /* 读指针加1 */ if (ptCanCirBuf->ulReadIndex == ptCanCirBuf->ulLength) { ptCanCirBuf->ulReadIndex = 0; /* 形成环形缓冲器 */ } ptCanCirBuf->bIsFull = false; /* 清零缓冲区满标志 */ ucReturn = CAN_OK; } } __EXIT_CIRTICAL(ucEnable); /* 退出临界区 */ return ucReturn; } /********************************************************************************************************* ** Function name: canCirBufWrite ** Descriptions: 往循环队列写一帧数据 ** input parameters: ptCanBuf 指向循环队列的指针 ** output parameters: ptFrame 数据输出指针 ** Returned value: CAN_OK 操作成功 ** CAN_ERROR 操作失败 ** Created By: 张展威 ** Created date: 2008.09.02 **-------------------------------------------------------------------------------------------------------- ** Modified by: 张展威 ** Modified date: 2009.04.29 ** Descriptions: 将帧类型格式的保存放到最后来操作，防止误读 **-------------------------------------------------------------------------------------------------------- *********************************************************************************************************/ INT8U canCirBufWrite(CANCIRBUF *ptCanCirBuf, CANFRAME *ptCanFrame) { CANFRAME *ptCanFrameObject; INT8U i = 0; ptCanFrameObject = canCirBufMalloc(ptCanCirBuf); /* 从缓冲区申请一帧报文的存储 */ /* 空间 */ if (ptCanFrameObject == (CANFRAME *)0) { /* 缓冲区未满，申请成功 */ return CAN_ERROR; } ptCanFrameObject->ucDLC = ptCanFrame->ucDLC; /* 报文数据场长度 */ ptCanFrameObject->ulID = ptCanFrame->ulID; /* 报文ID（标志字符） */ for (i= 0; i < 8; i++) { ptCanFrameObject->ucDatBuf[i] = ptCanFrame->ucDatBuf[i]; /* 读出数据场内容 */ } ptCanFrameObject->ucTtypeFormat = ptCanFrame->ucTtypeFormat; /* 写报文类型，使这帧报文有效 */ return CAN_OK; /* 返回操作成功 */ } /********************************************************************************************************* ** Function name: canNodeCreate ** Descriptions: 初始化一个包含CAN节点信息的结构体变量 ** input parameters: ptCanNode:指向节点结构的指针 ** ulBaseAddr:节点对应的CAN控制器基址 ** ulBaudIn:节点通信波特率（波特率表的索引） ** ulDaReObjMsk:按位选通用于接收数据帧的报文对象 ** ulRmReObjMsk:按位选通用于接收远程帧的报文对象 ** ulTxMsgObjNr:发送的报文编号 ** ptRecvList:指向本节点的接收"缓存"（链表结构） ** pfCanHandlerCallBack:指向canHandler()回调函数的指针 ** output parameters: *ptCanNode被初始化 ** Returned value: 无 ** Created By: 张展威 ** Created date: 2009.10.23 **-------------------------------------------------------------------------------------------------------- ** Modified by: ** Modified date: **-------------------------------------------------------------------------------------------------------- *********************************************************************************************************/ void canNodeCreate(CANNODEINFO *ptCanNode, unsigned long ulBaseAddr, unsigned char ucBaudIndex, unsigned long ulDaReObjMsk, unsigned long ulRmReObjMsk, unsigned long ulTxMsgObjNr, CANCIRBUF *ptReCirBuf, void (*pfCanHandlerCallBack)(unsigned long ulMessage, long lParam1, long lParam2), void (*pfIsrHandler)(void)) { if (ptCanNode == 0) { /* 检查节点的有效性 */ return; } // 软件环境初始化 ptCanNode->ulBaseAddr = ulBaseAddr; /* CAN控制器基地址 */ ptCanNode->ucNodeState = CAN_NO_ERROR; ptCanNode->ucBaudIndex = ucBaudIndex; /* CAN控制器波特率索引 */ ptCanNode->ulBofTimer = 0; ptCanNode->ulDaReObjMsk = ulDaReObjMsk; /* 接收数据帧报文对象 */ ptCanNode->ulRmReObjMsk = ulRmReObjMsk; ptCanNode->ulTxMsgObjNr = ulTxMsgObjNr; /* 发送报文对象 */ ptCanNode->ptCanReCirBuf = ptReCirBuf; /* 指向接收数据链表 */ ptCanNode->ptCanTxCirBuf = 0; /* 清空发送数据链表 */ ptCanNode->pfCanHandlerCallBack = pfCanHandlerCallBack; /* 初始化回调函数 */ ptCanNode->pfIsrHandler = pfIsrHandler; /* 中断服务函数 */ } /********************************************************************************************************* ** Function name: canNodeCallBackSet ** Descriptions: 设置节点回调函数 ** input parameters: ptCanNode 指向节点结构的指针 ** pfCanHandlerCallBack 指向回调函数的函数指针 ** output parameters: 无 ** Returned value: 无 ** Created By: 张展威 ** Created date: 2009.05.22 **-------------------------------------------------------------------------------------------------------- ** Modified by: ** Modified date: **-------------------------------------------------------------------------------------------------------- *********************************************************************************************************/ void canNodeCallBackSet(CANNODEINFO *ptCanNode, void (*pfCanHandlerCallBack)(unsigned long ulMessage, long lParam1, long lParam2)) { if (ptCanNode == 0) { /* 检查节点的有效性 */ return; } ptCanNode->pfCanHandlerCallBack = pfCanHandlerCallBack; } /********************************************************************************************************* ** Function name: canFrameSend ** Descriptions: 发送一帧CAN报文至总线 ** input parameters: pCAN 指向发送报文结构体指针 ** pFrame 数据块指针 ** output parameters: 无 ** Returned value: 无 ** Created By: 曾维勇 ** Created date: 2007.09.16 **-------------------------------------------------------------------------------------------------------- ** Modified by: Ni Likao 倪力考 ** Modified date: 2007.11.02 **-------------------------------------------------------------------------------------------------------- ** Modified by: 张展威 ** Modified date: 2008.11.07 ** Descriptions: 增加远程帧发送功能 **-------------------------------------------------------------------------------------------------------- *********************************************************************************************************/ void canFrameSend(CANNODEINFO *ptCanNode, CANFRAME *ptCANFrame) { CAN_MSG_OBJ tMsgObjectTx; unsigned char ucEnable = 0; if (ptCanNode == 0) { /* 检查节点的有效性 */ return; } ucEnable = __ENTER_CIRTICAL(); /* 进入临界区 */ tMsgObjectTx.ulMsgID = ptCANFrame->ulID; /* 取得报文标识符 */ if ((ptCANFrame->ucTtypeFormat & XTD_MASK) != 0){ tMsgObjectTx.ulFlags = MSG_OBJ_EXTENDED_ID; /* 扩展格式帧 */ } else { tMsgObjectTx.ulFlags = MSG_OBJ_NO_FLAGS; /* 标准格式帧 */ } tMsgObjectTx.ulFlags |= MSG_OBJ_TX_INT_ENABLE; /* 标记发送中断使能 */ tMsgObjectTx.ulMsgLen = (unsigned long)ptCANFrame->ucDLC; /* 标记数据域长度 */ tMsgObjectTx.pucMsgData = ptCANFrame->ucDatBuf; /* 传递数据存放指针 */ CANRetrySet(ptCanNode->ulBaseAddr, true); /* 启动发送失败重发 */ if ((ptCANFrame->ucTtypeFormat & RMRQS_MASK) != 0) { CANMessageSet(ptCanNode->ulBaseAddr, /* CAN控制器基址 */ ptCanNode->ulTxMsgObjNr, /* 发送报文对象编号 */ &tMsgObjectTx, MSG_OBJ_TYPE_TX_REMOTE); /* 配置远程帧发送报文对象 */ } else { CANMessageSet(ptCanNode->ulBaseAddr, /* CAN控制器基址 */ ptCanNode->ulTxMsgObjNr, /* 发送报文对象编号 */ &tMsgObjectTx, MSG_OBJ_TYPE_TX); /* 配置数据帧发送报文对象 */ } __EXIT_CIRTICAL(ucEnable); /* 退出临界区 */ } /********************************************************************************************************* ** Function name: canReMsgObjSet ** Descriptions: 设置接收数据帧及远程帧的报文对象,若选通多个报文对象则将报文对象串连成FIFO缓冲器 ** input parameters: ulBaseAddr CAN模块基址 ** ulMsgObjMask 按位选通要设置的报文对象 ** ulFrameID 接收帧ID ** ulFrameIDMsk 接收帧屏蔽码 ** ucFramType STD_ID_FILTER 过滤接收标准格式的报文 ** EXT_ID_FILTER 过滤接收扩展格式的报文 ** STD_EXT_FILTER 过滤接收标准及扩展格式的报文，不使用ID掩码 ** ucMsgType MSG_OBJ_TYPE_RX 接收报文对象 ** MSG_OBJ_TYPE_RX_REMOTE 接收远程帧报文对象 ** output parameters: 无 ** Returned value: 无 ** Created By: 张展威 ** Created date: 2008.08.28 **-------------------------------------------------------------------------------------------------------- ** Modified by: ** Modified date: **-------------------------------------------------------------------------------------------------------- *********************************************************************************************************/ void canReMsgObjSet(CANNODEINFO *ptCanNode, unsigned long ulMsgObjMask, unsigned long ulFrameID, unsigned long ulFrameIDMsk, unsigned char ucFramType, unsigned char ucMsgType) { CAN_MSG_OBJ tMsgObj; //unsigned long ulBaseAddr; LPC_CAN_TypeDef *ptCanBase; unsigned char ucDataBuf[8]; unsigned short usCmdMaskReg; unsigned short usMaskReg[2]; unsigned short usArbReg[2]; unsigned short usMsgCtrl; tBoolean bUseExtendedID = false; tBoolean bEob = false; int i; if (ptCanNode == 0) { /* 检查节点的有效性 */ return; } ptCanBase = (LPC_CAN_TypeDef *)(ptCanNode->ulBaseAddr); if (ulMsgObjMask == 0) { return; /* 没有选定报文对象 */ } if (ucMsgType == MSG_OBJ_TYPE_RX) { /* 数据帧接收报文对象 */ ptCanNode->ulDaReObjMsk |= ulMsgObjMask; /* 按位标记接收报文对象 */ } else if (ucMsgType == MSG_OBJ_TYPE_RX_REMOTE){ /* 远程帧报文接收对象 */ ptCanNode->ulRmReObjMsk |= ulMsgObjMask; /* 按位标记"发送"报文对象 */ } else { return; /* 参数非法，直接退出此函数 */ } tMsgObj.ulMsgID = ulFrameID; /* 报文滤波ID */ tMsgObj.ulMsgIDMask = ulFrameIDMsk; /* ID掩码*/ /* 接收报文对象处理 */ switch (ucFramType) { /* 帧类型处理 */ case STD_ID_FILTER: { /* 标准帧 */ tMsgObj.ulFlags = (MSG_OBJ_RX_INT_ENABLE | /* 允许接收中断 */ MSG_OBJ_USE_ID_FILTER | /* 使用报文ID滤波 */ MSG_OBJ_USE_EXT_FILTER | /* Xtd参与滤波 */ MSG_OBJ_USE_DIR_FILTER); /* Dir参与滤波 */ bUseExtendedID = false; /* 不是扩展帧 */ break; } case EXT_ID_FILTER: { /* 扩展帧 */ tMsgObj.ulFlags = (MSG_OBJ_RX_INT_ENABLE | /* 允许接收中断 */ MSG_OBJ_EXTENDED_ID | /* 扩展ID */ MSG_OBJ_USE_ID_FILTER | /* 使用报文ID滤波 */ MSG_OBJ_USE_EXT_FILTER | /* Xtd参与滤波 */ MSG_OBJ_USE_DIR_FILTER); /* Dir参与滤波 */ bUseExtendedID = true; /* 是扩展帧 */ break; } case STD_EXT_FILTER: { /* 只对接收报文对象有意义 */ tMsgObj.ulFlags = (MSG_OBJ_RX_INT_ENABLE | /* 允许接收中断 */ MSG_OBJ_USE_ID_FILTER | /* 使用报文ID滤波 */ MSG_OBJ_USE_DIR_FILTER); /* Dir参与滤波 */ ulFrameIDMsk = 0x00000000UL; /* 不对ID进行接收滤波 */ bUseExtendedID = false; /* 不是扩展帧(这里没影响) */ break; } default: { return; } } tMsgObj.pucMsgData = ucDataBuf; /* 指向数据存储空间 */ tMsgObj.ulMsgLen = 8; /* 设置数据域长度 */ while(__canRegRead((unsigned long)&ptCanBase->IF1_CMDREQ) & CAN_IF1CRQ_BUSY) {;} /* 等待报文处理器空闲 */ usCmdMaskReg = CAN_IF1CMSK_WRNRD | /* 写数据到报文对象存储器 */ CAN_IF1CMSK_DATAA | /* 传输数据字节 0～3 */ CAN_IF1CMSK_DATAB | /* 传输数据字节 4～7 */ CAN_IF1CMSK_CONTROL | /* 传输控制位 */ CAN_IF1CMSK_ARB; /* 传输ID+Dir+Xtd+MsgVal到MsgObj*/ usArbReg[0] = 0; usMsgCtrl = 0; usMaskReg[0] = 0; usMaskReg[1] = 0; switch(ucMsgType) { /* 报文对象类型处理 */ case MSG_OBJ_TYPE_RX: { /* 接收数据帧类型 */ usArbReg[1] = 0; break; } case MSG_OBJ_TYPE_RX_REMOTE: { /* 接收远程帧类型 */ usArbReg[1] = CAN_IF1ARB2_DIR; /* 置位报文方向位,发送方向 */ usMsgCtrl = CAN_IF1MCTL_UMASK; /* Msk、MXtd、MDir用于接收滤波 */ usMaskReg[0] = 0xffff; usMaskReg[1] = 0x1fff; usCmdMaskReg |= CAN_IF1CMSK_MASK; break; } default: { return; } } if(tMsgObj.ulFlags & MSG_OBJ_USE_ID_FILTER) { /* 使用报文ID滤波 */ if(bUseExtendedID) { /* 扩展帧 */ usMaskReg[0] = ulFrameIDMsk & CAN_IF1MSK1_IDMSK_M; usMaskReg[1] = (ulFrameIDMsk >> 16) & CAN_IF1MSK2_IDMSK_M; } else { /* 标准帧 */ usMaskReg[0] = 0; /* 低十六位MSK[15:0]为0 */ usMaskReg[1] = (ulFrameIDMsk << 2) & CAN_IF1MSK2_IDMSK_M; /* MSK[28:18]为标准帧ID MSK */ } } if((tMsgObj.ulFlags & MSG_OBJ_USE_EXT_FILTER) == MSG_OBJ_USE_EXT_FILTER) { usMaskReg[1] |= CAN_IF1MSK2_MXTD; /* 扩展标识符Xtd参与验收滤波 */ } if((tMsgObj.ulFlags & MSG_OBJ_USE_DIR_FILTER) == MSG_OBJ_USE_DIR_FILTER) { usMaskReg[1] |= CAN_IF1MSK2_MDIR; /* 报文方向Dir参与验收滤波 */ } if(tMsgObj.ulFlags & (MSG_OBJ_USE_ID_FILTER | MSG_OBJ_USE_DIR_FILTER | MSG_OBJ_USE_EXT_FILTER)) { usMsgCtrl |= CAN_IF1MCTL_UMASK; /* Msk、MXtd、MDir用于接收滤波 */ usCmdMaskReg |= CAN_IF1CMSK_MASK; /* 传输IDMask+Dir+Mxtd 到MsgObj */ } if(bUseExtendedID) { /* 扩展帧验收ID */ usArbReg[0] |= ulFrameID & CAN_IF1ARB1_ID_M; usArbReg[1] |= (ulFrameID >> 16) & CAN_IF1ARB2_ID_M; usArbReg[1] |= CAN_IF1ARB2_MSGVAL | CAN_IF1ARB2_XTD; } else { /* 标准帧验收ID */ usArbReg[0] = 0; usArbReg[1] |= (ulFrameID << 2) & CAN_IF1ARB2_ID_M; usArbReg[1] |= CAN_IF1ARB2_MSGVAL; } usMsgCtrl |= (tMsgObj.ulMsgLen & CAN_IF1MCTL_DLC_M) | CAN_IF1MCTL_EOB; /* Eob = 1 */ if(tMsgObj.ulFlags & MSG_OBJ_RX_INT_ENABLE) { usMsgCtrl |= CAN_IF1MCTL_RXIE; /* 使能接收中断 */ } __canRegWrite((unsigned long)&ptCanBase->IF1_CMDMSK, usCmdMaskReg); __canRegWrite((unsigned long)&ptCanBase->IF1_MSK1, usMaskReg[0]); __canRegWrite((unsigned long)&ptCanBase->IF1_MSK2, usMaskReg[1]); __canRegWrite((unsigned long)&ptCanBase->IF1_ARB1, usArbReg[0]); __canRegWrite((unsigned long)&ptCanBase->IF1_ARB2, usArbReg[1]); __canRegWrite((unsigned long)&ptCanBase->IF1_MCTRL, usMsgCtrl); bEob = false; for (i = 0; i < 32; i++){ if (ulMsgObjMask & 0x80000000) { if (bEob == false) { __canRegWrite((unsigned long)&ptCanBase->IF1_MCTRL, (usMsgCtrl | CAN_IF1MCTL_EOB)); bEob = true; /* End of the FIFO */ } else { __canRegWrite((unsigned long)&ptCanBase->IF1_MCTRL, (usMsgCtrl & (~CAN_IF1MCTL_EOB))); } __canRegWrite((unsigned long)&ptCanBase->IF1_CMDREQ, ((32 - i) & CAN_IF1CRQ_MNUM_M)); /* 更新到报文对象 */ while(__canRegRead((unsigned long)&ptCanBase->IF1_CMDREQ) & CAN_IF1CRQ_BUSY) { ; /* 等待报文处理器空闲 */ } } ulMsgObjMask = ulMsgObjMask << 1; /* 更形报文对象屏蔽选择 */ if (ulMsgObjMask == 0) { break; /* 提前退出循环 */ } } return; } /********************************************************************************************************* ** Function name: canAcceptFilterSet ** Descriptions: 验收滤波设置 ** input parameters: ptCanNode 指向节点的指针 ** ulFrameID 接收帧ID ** ulFrameIDMsk 接收帧ID屏蔽码 ** ucFramType STD_ID_FILTER 过滤接收标准格式的报文 ** EXT_ID_FILTER 过滤接收扩展格式的报文 ** STD_EXT_FILTER 过滤接收标准及扩展格式的报文，不使用ID掩码 ** output parameters: 无 ** Returned value: 无 ** Created By: 张展威 ** Created date: 2008.08.28 **-------------------------------------------------------------------------------------------------------- ** Modified by: ** Modified date: **-------------------------------------------------------------------------------------------------------- *********************************************************************************************************/ void canAcceptFilterSet(CANNODEINFO *ptCanNode, unsigned long ulFrameID, unsigned long ulFrameIDMsk, unsigned char ucFramType) { if (ptCanNode == 0) { /* 检查节点的有效性 */ return; } canReMsgObjSet(ptCanNode, ptCanNode->ulDaReObjMsk, ulFrameID, ulFrameIDMsk, ucFramType, MSG_OBJ_TYPE_RX); /* 配置数据帧接收报文对象 */ canReMsgObjSet(ptCanNode, ptCanNode->ulRmReObjMsk, ulFrameID, ulFrameIDMsk, ucFramType, MSG_OBJ_TYPE_RX_REMOTE); /* 配置远程帧接收报文对象 */ } /********************************************************************************************************* ** Function name: canIntEnable ** Descriptions: 使能CAN中断 ** input parameters: pCAN 指向节点的指针 ** output parameters: 无 ** Returned value: 无 ** Created By: 张展威 ** Created date: 2009.11.10 **-------------------------------------------------------------------------------------------------------- ** Modified by: ** Modified date: **-------------------------------------------------------------------------------------------------------- *********************************************************************************************************/ void canIntEnable (CANNODEINFO *ptCanNode) { unsigned long ulIntNum; if(ptCanNode == 0) { /* 节点有效性判断 */ return ; } if (ptCanNode->pfIsrHandler) { /* 中断服务函数存在则注册ISR */ CANIntRegister(ptCanNode->ulBaseAddr, ptCanNode->pfIsrHandler); } else { ulIntNum = __canIntNumberGet(ptCanNode->ulBaseAddr); IntEnable(ulIntNum); /* 使能CAN节点中断(to CPU) */ } CANIntEnable(ptCanNode->ulBaseAddr, CAN_INT_MASTER | CAN_INT_ERROR); /* 允许挂起中断及错误中断并使能 */ /* CAN 控制器中断源 */ } /********************************************************************************************************* ** Function name: canApplyInit ** Descriptions: CAN应用初始化（设置中断服务函数及初始化CAN控制器，设定波特率及验收滤波条件等） ** input parameters: ptCanNode 指向软件CAN节点结构体变量的指针 ** ulFrameID 报文的验收ID ** ulFrameIDMsk 报文验收ID屏蔽码（对应位为1时，表示验收ID的对应位参与验收滤波） ** ucFramType 验收的帧类型： ** STD_ID_FILTER 过滤接收标准格式的报文 ** EXT_ID_FILTER 过滤接收扩展格式的报文 ** STD_EXT_FILTER 过滤接收标准及扩展格式的报文，使用此类型 ** 时ulFrameID及ulFrameIDMsk的配置为无效，即接收所有格式的报文 ** pfun 指向中断服务函数的函数指针 ** output parameters: 无 ** Returned value: 无 ** Created By: 曾维勇 ** Created date: 2007.09.16 **-------------------------------------------------------------------------------------------------------- ** Modified by: Ni Likao 倪力考 ** Modified date: 2007.11.02 **-------------------------------------------------------------------------------------------------------- ** Modified by: 张展威 ** Modified date: 2008.11.11 **-------------------------------------------------------------------------------------------------------- *********************************************************************************************************/ INT8U canApplyInit(CANNODEINFO *ptCanNode, unsigned long ulFrameID, unsigned long ulFrameIDMsk, unsigned char ucFramType) { if (ptCanNode == 0) { /* 检查节点的有效性 */ return CAN_ERROR; } // 硬件初始化 LPC_SYSCON->PRESETCTRL |= (0x1<<3); /* Peripheral reset control */ LPC_SYSCON->SYSAHBCLKCTRL |= (1<<17); /* System AHB clock control */ LPC_CAN->CLKDIV = 0x00; /* Divided by 6 */ CANInit(ptCanNode->ulBaseAddr); /* 初始化CAN控制器 */ CANBitTimingSet(ptCanNode->ulBaseAddr, (CAN_BIT_CLK_PARM *)(&CANBitClkSettings[ptCanNode->ucBaudIndex])); /* 设定节点波特率 */ CANEnable(ptCanNode->ulBaseAddr); /* 退出初始化模式，启动CAN节点 */ // 验收滤波设置 canAcceptFilterSet(ptCanNode, ulFrameID, ulFrameIDMsk, ucFramType); /* 验收滤波设置 */ // 中断使能 canIntEnable(ptCanNode); /* 注册中断服务函数并使能CAN中断*/ return CAN_OK; } /********************************************************************************************************* ** Function name: canCirBufSend ** Descriptions: 触发指定循环队列中的帧数据的发送工作 ** input parameters: ptBuf 指向循环队列的指针 ** global variable: GptCanCirBuf:待发送的缓冲区入口地址 ** GbCanCirBufSend:标志是否将缓冲区数据发送出去 ** Returned value: EMPTY 缓存为空 ** NOT_EMPTY 缓存不空 ** CAN_ERROR 循环队列错误，操作失败 ** ** Created By: 张展威 ** Created date: 2008.09.10 **-------------------------------------------------------------------------------------------------------- ** Modified by: ** Modified date: **-------------------------------------------------------------------------------------------------------- *********************************************************************************************************/ INT8U canCirBufSend(CANNODEINFO *ptCanNode, CANCIRBUF *ptCanCirBuf) { CANFRAME tCanFrame; unsigned char ucEnable = 0; if (ptCanNode == 0) { /* 检查节点的有效性 */ return CAN_ERROR; } if (ptCanNode->ptCanTxCirBuf != (CANCIRBUF *)0) { /* 已有"缓存区"在发送队列 */ return BUSY; } /* 给需要发送的CAN节点 */ if (canCirBufRead(ptCanCirBuf, &tCanFrame) != CAN_OK) { /* 缓存区不为空,继续发送 */ return CAN_ERROR; } ucEnable = __ENTER_CIRTICAL(); /* 进入临界区 */ ptCanNode->ptCanTxCirBuf = ptCanCirBuf; /* 将要发送的缓冲区首地址传递 */ ptCanNode->ucNodeState &= ~CAN_FRAM_SEND; /* 状态更新为“发送未完成” */ canFrameSend(ptCanNode, &tCanFrame); /* 发送一帧数据，其余数据将 */ /* 在中断中继续发送 */ __EXIT_CIRTICAL(ucEnable); /* 退出临界区 */ return CAN_OK; /* 返回操作结果 */ } /********************************************************************************************************* ** Function name: canHandler ** Descriptions: 实现中断接收一帧或多帧CAN报文，以及发送成功的标志设置 ** input parameters: ptCanNode：指向CAN软件节点的指针 ** output parameters: 无 ** Returned value: 无 ** Modified by: 张展威 ** Modified date: 2008.09.20 ** Descriptions: CAN中断处理函数 **-------------------------------------------------------------------------------------------------------- ** Modified by: ** Modified date: **-------------------------------------------------------------------------------------------------------- *********************************************************************************************************/ void canHandler(CANNODEINFO *ptCanNode) { CANFRAME *ptCanFrame; CANFRAME tCanFrame; CAN_MSG_OBJ tMsgObjBuf; unsigned long ulMsgObjID; unsigned long ulNewData; unsigned long ulTxObjMask = 1UL << (ptCanNode->ulTxMsgObjNr - 1); INT32U ulStatus = 0; INT32U ulTxReq = 0; INT32U ulBit = 0; INT8U i = 0; unsigned long ulCallBackMsg = CAN_NO_ERROR; ulMsgObjID = CANIntStatus(ptCanNode->ulBaseAddr,CAN_INT_STS_OBJECT); /* 读取中断标志,用于分析状态中断*/ ulStatus = CANStatusGet(ptCanNode->ulBaseAddr, CAN_STS_CONTROL); ulNewData = CANStatusGet(ptCanNode->ulBaseAddr, CAN_STS_NEWDAT); ulTxReq = CANStatusGet(ptCanNode->ulBaseAddr, CAN_STS_TXREQUEST); ulNewData &= ~ulTxObjMask; /* 忽略发送报文对象的NewDat */ if (ulStatus & CAN_STATUS_LEC_MSK ) { ptCanNode->ucNodeState |= CAN_SEND_FAIL; /* 发送失败,传输产生了错误 */ } else { ptCanNode->ucNodeState &= ~CAN_SEND_FAIL; /* 通信成功，清除错误标志 */ } if (ulStatus & CAN_STATUS_BUS_OFF) { CANIntDisable(ptCanNode->ulBaseAddr, CAN_INT_MASTER | CAN_INT_ERROR); /* 关闭CAN中断 */ ptCanNode->ucNodeState |= CAN_BUS_OFF; /* 脱离总线 */ ptCanNode->ulBofTimer = 0; ulCallBackMsg |= CAN_BUS_OFF; /* 脱离总线 */ } ulStatus = ulNewData; if (ulMsgObjID != 0) { /* 存在挂起中断 */ for (i = 0; i < 32; i++) { ulBit = 1UL << i; if ((ptCanNode->ulDaReObjMsk & ulNewData & ulBit) != 0){ /* 收到数据帧 */ ptCanFrame = canCirBufMalloc(ptCanNode->ptCanReCirBuf); /* 取得缓存地址 */ if (ptCanFrame == (CANFRAME *)0) { /* 缓存申请失败,说明缓冲区已满 */ ptCanFrame = &tCanFrame; /* 用局部变量进行缓存,将被丢弃 */ } tMsgObjBuf.pucMsgData = ptCanFrame->ucDatBuf; /* 传递帧数据缓存地址 */ CANMessageGet(ptCanNode->ulBaseAddr, (i + 1), &tMsgObjBuf, 0); /* 读出接收数据 */ ptCanFrame->ucDLC = tMsgObjBuf.ulMsgLen; /* 记录数据场长度 */ if (tMsgObjBuf.ulFlags & MSG_OBJ_EXTENDED_ID) { /* 扩展帧 29 位标志字符 */ ptCanFrame->ulID = (tMsgObjBuf.ulMsgID & 0x1FFFFFFF); /* 记录CAN报文ID */ ptCanFrame->ucTtypeFormat = XTD_DATA; /* 记录为扩展数据帧 */ } else { /* 标准帧 11 位标志字符 */ ptCanFrame->ulID = (tMsgObjBuf.ulMsgID & 0x000007FF); /* 记录CAN报文ID */ ptCanFrame->ucTtypeFormat = STD_DATA; /* 记录为标准数据帧 */ } } else if ((ptCanNode->ulRmReObjMsk & ulNewData & ulBit) != 0) { /* 收到远程帧 */ ptCanFrame = canCirBufMalloc(ptCanNode->ptCanReCirBuf); /* 取得缓存地址 */ if (ptCanFrame == (CANFRAME *)0) { /* 缓存申请失败,说明缓冲区已满 */ ptCanFrame = &tCanFrame; /* 用局部变量进行缓存,将被丢弃 */ } tMsgObjBuf.pucMsgData = ptCanFrame->ucDatBuf; /* 传递帧数据缓存地址 */ CANMessageGet(ptCanNode->ulBaseAddr, (i + 1), &tMsgObjBuf, 0); ptCanFrame->ucDLC = tMsgObjBuf.ulMsgLen; /* 记录数据场长度 */ if (tMsgObjBuf.ulFlags & MSG_OBJ_EXTENDED_ID) { /* 扩展帧 29 位标志字符 */ ptCanFrame->ulID = (tMsgObjBuf.ulMsgID & 0x1FFFFFFF); ptCanFrame->ucTtypeFormat = XTD_RMRQS; /* 记录为扩展远程帧 */ } else { /* 标准帧 11 位标志字符 */ ptCanFrame->ulID = (tMsgObjBuf.ulMsgID & 0x000007FF); ptCanFrame->ucTtypeFormat = STD_RMRQS; /* 记录为标准远程帧 */ } } ulStatus &= ~ulBit; if (ulStatus == 0) { /* 剩余报文对象已经没有新数据了 */ break; } } ulStatus = ulMsgObjID; for (i = 0; i < 32; i++) { /* 清除中断标志 */ ulBit = 1UL << i; if (ulMsgObjID & ulBit) { CANIntClear(ptCanNode->ulBaseAddr, i + 1); } ulStatus &= ~ulBit; if (ulStatus == 0) { /* 剩余报文对象已经没有新数据了 */ break; } } if (ulNewData & ((ptCanNode->ulRmReObjMsk) |(ptCanNode->ulDaReObjMsk))) { /* 收到数据帧或远程帧 */ ptCanNode->ucNodeState |= CAN_FRAM_RECV; /* 收到数据 */ ulCallBackMsg |= CAN_FRAM_RECV; } if ((ulTxObjMask & ulMsgObjID) != 0) { /* 成功发送数据 */ ptCanNode->ucNodeState |= CAN_FRAM_SEND; /* 发送完成 */ ulCallBackMsg |= CAN_FRAM_SEND; } } // 检查是否有数据等待发送 ulTxReq = CANStatusGet(ptCanNode->ulBaseAddr, CAN_STS_TXREQUEST); if ((ulTxReq & ulTxObjMask) == 0) { /* 检查CAN控制器是否可以发送收据*/ if (ptCanNode->ptCanTxCirBuf != 0) { /* 检查是否有数据等待发送 */ if (canCirBufRead(ptCanNode->ptCanTxCirBuf, &tCanFrame) == CAN_OK) { ptCanNode->ucNodeState &= ~CAN_FRAM_SEND; /* 缓存区不为空,继续发送 */ canFrameSend(ptCanNode, &tCanFrame); /* 触发下一帧的发送工作 */ } else { ptCanNode->ptCanTxCirBuf = 0; /* 发送队列空闲 */ } } } if (ulCallBackMsg) { /* 回调函数的消息类型不为0 */ if (ptCanNode->pfCanHandlerCallBack) { /* 存在回调函数 */ ptCanNode->pfCanHandlerCallBack(ulCallBackMsg, ulNewData, ulMsgObjID); } } CANIntClear(ptCanNode->ulBaseAddr, CAN_INT_INTID_STATUS); /* 清除状态中断标志 */ } /********************************************************************************************************* ** Function name: canNodeBusOn ** Descriptions: CAN控制器重新接入总线（清零初始化位,使能相应的中断） ** input parameters: ptCanNode：指向CAN软件节点的指针 ** output parameters: 无 ** Returned value: 无 ** Modified by: 张展威 ** Modified date: 2008.09.20 ** Descriptions: **-------------------------------------------------------------------------------------------------------- ** Modified by: ** Modified date: **-------------------------------------------------------------------------------------------------------- *********************************************************************************************************/ void canNodeBusOn(CANNODEINFO *ptCanNode) { if (ptCanNode == 0) { /* 检查节点的有效性 */ return; } CANEnable(ptCanNode->ulBaseAddr); /* 退出初始化模式，启动CAN节点 */ CANIntClear(ptCanNode->ulBaseAddr, CAN_INT_INTID_STATUS); /* 清除状态中断标志 */ CANIntEnable(ptCanNode->ulBaseAddr, CAN_INT_MASTER | CAN_INT_ERROR);/* 设置中断源 */ } /********************************************************************************************************* END FILE *********************************************************************************************************/