【龙芯1c库】封装CAN接口和使用示例

can使用还是比较广泛的，之前有网友在龙芯1b和龙芯1c上已经测试过了在裸机编程中使用CAN接口，这里把他们分享的程序贴上来，供大家参考。

龙芯1b上的测试程序在https://gitee.com/caogos/OpenLoongsonLib1b

龙芯1c上的测试程序在https://gitee.com/caogos/OpenLoongsonLib1c

据说，淘宝上的CAN模块TJA1050可以用。

这里，把龙芯1c的测试程序和封装的接口函数都贴上来

源码

test_can.c

/*
 * File      : test_can.c
测试硬件can驱动
1.test_cansend() 初始化CAN口（100K）后，以速率100K, 发送标准数据帧（1-8 共8个数据）和扩展数据帧（1-8 共8个数据)
2. candump() 打印出当前CAN寄存器值
3. 当收到数据，打印出来。
 */


#include "../lib/ls1c_public.h"
#include "../lib/ls1c_regs.h"
#include "../lib/ls1c_clock.h"
#include "../lib/ls1c_can.h"
#include "../lib/ls1c_pin.h"
#include "../lib/ls1c_irq.h"


CanRxMsg RxMessage;
CanTxMsg TxMessage;

void candump(void)
{
    CAN_TypeDef* CANx;
    unsigned char temp;
    CANx =  CAN0;

    temp =  CANx->MOD;
    printf("\r\ncan0->MOD= 0x%02x  \r\n",temp);   

    temp =  CANx->CMR;
    printf("\ncan0->CMR = 0x%02x  \r\n",temp);  

    temp =  CANx->SR;
    printf("\ncan0->SR = 0x%02x  \r\n",temp); 

    temp =  CANx->IR;
    printf("\ncan0->IR = 0x%02x  \r\n",temp); 

    temp =  CANx->IER;
    printf("\ncan0->IER = 0x%02x  \r\n",temp); 

    temp =  CANx->BTR0;
    printf("\ncan0->BTR0 = 0x%02x  \r\n",temp); 

    temp =  CANx->BTR1;
    printf("\ncan0->BTR1 = 0x%02x  \r\n",temp); 

    temp =  CANx->CDR;
    printf("\ncan0->CDR = 0x%02x  \r\n",temp); 

    temp =  CANx->RMCR;
    printf("\ncan0->RMCR = 0x%02x  \r\n",temp); 

    printf("\r\n验收代码:");
    temp =  CANx->IDE_RTR_DLC;
    printf("  0x%02x ",temp); 
    temp =  CANx->ID[0];
    printf("  0x%02x ",temp); 
    temp =  CANx->ID[1];
    printf("  0x%02x ",temp); 
    temp =  CANx->ID[2];
    printf("  0x%02x ",temp); 

    printf("\r\n验收屏蔽:");
    temp =  CANx->ID[3];
    printf("  0x%02x ",temp); 
    temp =  CANx->BUF[0];
    printf("  0x%02x ",temp); 
    temp =  CANx->BUF[1];
    printf("  0x%02x ",temp); 
    temp =  CANx->BUF[2];
    printf("  0x%02x ",temp); 

}

void ls1c_can0_irqhandler(int irq, void *param)  
{  
    CAN_TypeDef* CANx;
    int i;
    unsigned char status;
    CANx =  CAN0;
    /*读寄存器清除中断*/
   status = CANx->IR;
   printf("\r\ncan0 int happened!\r\n");
    /*接收中断*/
    if (( status & CAN_IR_RI) == CAN_IR_RI) 
    {
        /*清除RI 中断*/
       CAN_Receive(CANx, &RxMessage);
       CANx->CMR |= CAN_CMR_RRB; 
       CANx->CMR |= CAN_CMR_CDO; 
       printf("\r\ncan0 receive:\r\n");
       printf(" IDE=%d   RTR = %d DLC=%d  ",RxMessage.IDE, RxMessage.RTR ,RxMessage.DLC);
       if(RxMessage.IDE == CAN_Id_Standard)
       {
         printf("\r\n Standard ID= %02X  ",RxMessage.StdId);
       }
       else if(RxMessage.IDE == CAN_Id_Extended)
       {
         printf("\r\n Extended ID= %02X  ",RxMessage.ExtId);
       }

       if(RxMessage.RTR== CAN_RTR_DATA)
       {
         printf("\r\ndata= ");
         for(i=0;i<RxMessage.DLC;i++)
         {
           printf("0x%02X  ",RxMessage.Data[i]);
         }
       }
       else if(RxMessage.IDE == CAN_RTR_Remote)
       {
         printf("\r\nCAN_RTR_Remote  no data!");
       }
       printf("\r\n");
    }
    /*发送中断*/
    else if (( status  & CAN_IR_TI) == CAN_IR_TI) 
    {
       printf("\r\ncan0 send success! \r\n");
    }
}  

void ls1c_can1_irqhandler(int irq, void *param)  
{  
    CAN_TypeDef* CANx;
    int i;
    unsigned char status;
    CANx =  (CAN_TypeDef* )LS1C_REG_BASE_CAN1;
    /*读寄存器清除中断*/
   status = CANx->IR;
   printf("\r\ncan1 int happened!\r\n");
    /*接收中断*/
    if (( status & CAN_IR_RI) == CAN_IR_RI) 
    {
        /*清除RI 中断*/
       CAN_Receive(CANx, &RxMessage);
       CANx->CMR |= CAN_CMR_RRB; 
       CANx->CMR |= CAN_CMR_CDO; 
       printf("\r\ncan1 receive:\r\n");
       printf(" IDE=%d   RTR = %d DLC=%d  ",RxMessage.IDE, RxMessage.RTR ,RxMessage.DLC);
       if(RxMessage.IDE == CAN_Id_Standard)
       {
         printf("\r\n Standard ID= %02X  ",RxMessage.StdId);
       }
       else if(RxMessage.IDE == CAN_Id_Extended)
       {
         printf("\r\n Extended ID= %02X  ",RxMessage.ExtId);
       }

       if(RxMessage.RTR== CAN_RTR_DATA)
       {
         printf("\r\ndata= ");
         for(i=0;i<RxMessage.DLC;i++)
         {
           printf("0x%02X  ",RxMessage.Data[i]);
         }
       }
       else if(RxMessage.IDE == CAN_RTR_Remote)
       {
         printf("\r\nCAN_RTR_Remote  no data!");
       }
       printf("\r\n");
    }
    /*发送中断*/
    else if (( status  & CAN_IR_TI) == CAN_IR_TI) 
    {
       printf("\r\ncan1 send success! \r\n");
    }
}  

void Can_Config(CAN_TypeDef* CANx, Ls1c_CanBPS_t bps)
{
    unsigned char initresult;

    pin_set_purpose(54, PIN_PURPOSE_OTHER);
    pin_set_purpose(55, PIN_PURPOSE_OTHER);
    pin_set_remap(54, PIN_REMAP_THIRD);
    pin_set_remap(55, PIN_REMAP_THIRD);
    
    CAN_InitTypeDef        CAN_InitStructure;
  
    CAN_InitStructure.CAN_Mode = CAN_Mode_STM;
    CAN_InitStructure.CAN_SJW = CAN_SJW_1tq;

    /* BaudRate= f(APB)/((1+BS1+BS2)(SJW*2*Prescaler))=126000000/[(1+7+2)*1*2*63]=100000=100K*/
    /* BPS     PRE   BS1   BS2   最低40K
       1M      9       4       2   
       800K    8       7       2   
       500K    9       11      2   
       250K    36      4       2   
       125K    36      11      2   
       100K    63      7       2   
       50K     63      16      3`  
       40K     63