/***********************************************************************************************
功能：CAN 发送一则消息
形参：CAN_Type: CAN结构
@arg CAN0 : CAN0模块
@arg CAN1 : CAN1模块
TxMessage : 发送消息结构
返回：0
详解：0
************************************************************************************************/
uint8_t CAN_Transmit(CAN_Type* CANx, CAN_TxMsgTypeDef* TxMessage)
{
uint32_t temp_id = 0;
uint16_t i,j;
uint32_t word[2] = {0};
//参数检查
assert_param(IS_CAN_MB_NUM(TxMessage->MBIndex));
assert_param(IS_CAN_RTR(TxMessage->RTR));
assert_param(IS_CAN_IDE(TxMessage->IDE));
assert_param(IS_CAN_ALL_PERIPH(CANx));
assert_param(IS_CAN_DLC(TxMessage->DLC));
assert_param(IS_CAN_IDE(TxMessage->IDE ));
//转换数据格式
for(i=0;i<TxMessage->DLC;i++)
{
if(i < 4)
{
word[0] |= ((TxMessage->Data[i])<<((3-i)*8));
}
else
{
word[1] |= ((TxMessage->Data[i])<<((7-i)*8));
}
}
//拓展帧还是普通帧
(TxMessage->IDE == CAN_IDE_Extended)?(temp_id = ((1<<29)|TxMessage->Id)):(temp_id = ((1<<29)|(TxMessage->Id << 18)));
//传输处理
CANx->MB[TxMessage->MBIndex].CS = CAN_CS_CODE(8); // 写非激活代码
CANx->MB[TxMessage->MBIndex].ID = temp_id;
CANx->MB[TxMessage->MBIndex].WORD0 = word[0];
CANx->MB[TxMessage->MBIndex].WORD1 = word[1];
for(i = 0;i < 50;i++); //延时处理，让硬件准备好
if(TxMessage->IDE == 1)
{
CANx->MB[TxMessage->MBIndex].CS = CAN_CS_CODE(12)|CAN_CS_IDE_MASK|CAN_CS_DLC(TxMessage->DLC)|CAN_CS_SRR_MASK;
}
else
{
CANx->MB[TxMessage->MBIndex].CS = CAN_CS_CODE(12)|CAN_CS_DLC(TxMessage->DLC);
}
//远程帧还是数据帧
(TxMessage->RTR == CAN_RTR_Remote)?(CANx->MB[TxMessage->MBIndex].CS |= CAN_CS_RTR_MASK):(CANx->MB[TxMessage->MBIndex].CS &= ~CAN_CS_RTR_MASK);
j=0;
//等待数据发送完成或则超时
while(!(CANx->IFLAG1 & (1<<TxMessage->MBIndex)))
{
if((j++)>0x1000)
return FALSE;
}
//清报文缓冲区中断标志
CANx->IFLAG1 = (1<<TxMessage->MBIndex); //必须清除
return TRUE;
}
void CAN_Init(void)
{
SIM_SCGC6|=SIM_SCGC6_FLEXCAN0_MASK;
PORTA_PCR13=PORT_PCR_MUX(0x02);
PORTA_PCR12=PORT_PCR_MUX(0x02);
CAN0_MCR|=CAN_MCR_FRZ_MASK;
CAN0_MCR&=~CAN_MCR_MDIS_MASK;
while(CAN0_MCR&CAN_MCR_LPMACK_MASK);
CAN0_MCR|=CAN_MCR_SOFTRST_MASK;
while(CAN0_MCR&CAN_MCR_SOFTRST_MASK);
while(!(CAN0_MCR&CAN_MCR_FRZACK_MASK));
CAN0_MCR|=CAN_MCR_SRXDIS_MASK;
CAN0_MCR|=CAN_MCR_RFEN_MASK;
CAN0_CTRL1=CAN_CTRL1_PROPSEG(2)|CAN_CTRL1_RJW(1)|CAN_CTRL1_PSEG1(7)|CAN_CTRL1_PSEG2(3)|CAN_CTRL1_PRESDIV(1); // 500KBPS
// CAN0_CTRL1=CAN_CTRL1_PROPSEG(2)|CAN_CTRL1_RJW(1)|CAN_CTRL1_PSEG1(7)|CAN_CTRL1_PSEG2(3)|CAN_CTRL1_PRESDIV(9); // 100KBPS
CAN0_CTRL1&=~CAN_CTRL1_LPB_MASK;
CAN0_RXIMR0=CAN_RXIMR_MI(0x1FFFFFFF);
CAN0_RXMGMASK=0;
CAN0_RXFGMASK=0;
CAN0_MCR&=~CAN_MCR_HALT_MASK;
while(CAN0_MCR&CAN_MCR_FRZACK_MASK);
while(CAN0_MCR&CAN_MCR_NOTRDY_MASK);
CAN0_CS(txb)=CAN_CS_CODE(0/*INACTIVE*/);
}
/***********************************************************************************************
功能：CAN 使能邮箱接收功能
形参：CAN_Type: CAN结构
@arg CAN0 : CAN0模块
@arg CAN1 : CAN1模块
RxMessage : 接收消息结构
返回：0
详解：0
************************************************************************************************/
void CAN_EnableReceiveMB(CAN_Type* CANx,CAN_RxMsgTypeDef* RxMessage)
{
//参数检查
assert_param(IS_CAN_ALL_PERIPH(CANx));
assert_param(IS_CAN_MB_NUM(RxMessage->MBIndex));
//不激活邮箱
CANx->MB[RxMessage->MBIndex].CS = CAN_CS_CODE(0);
//写入ID
//拓展帧还是普通帧
if(RxMessage->IDE == CAN_IDE_Extended)
{
CANx->MB[RxMessage->MBIndex].ID = RxMessage->Id;
CANx->MB[RxMessage->MBIndex].CS = (0|CAN_CS_CODE(4)|CAN_CS_IDE_MASK); // 激活这个 MB 作为接受数据
}
else
{
CANx->MB[RxMessage->MBIndex].ID = RxMessage->Id<<18;
CANx->MB[RxMessage->MBIndex].CS = CAN_CS_CODE(4);
}
}
