smart-green-house/rtt-uart-nb/rt-thread/components/drivers/can/readme-zh.txt

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说明:
本驱动完成了can控制器硬件抽象
一 CAN Driver 注册
Can driver注册需要填充以下几个数据结构
1、struct can_configure
{
rt_uint32_t baud_rate;
rt_uint32_t msgboxsz;
rt_uint32_t sndboxnumber;
rt_uint32_t mode :8;
rt_uint32_t privmode :8;
rt_uint32_t reserved :16;
#ifdef RT_CAN_USING_LED
const struct rt_can_led* rcvled;
const struct rt_can_led* sndled;
const struct rt_can_led* errled;
#endif /*RT_CAN_USING_LED*/
rt_uint32_t ticks;
#ifdef RT_CAN_USING_HDR
rt_uint32_t maxhdr;
#endif
};
struct can_configure 为can驱动的基本配置信息:
baud_rate :
enum CANBAUD
{
CAN1MBaud=0, // 1 MBit/sec
CAN800kBaud, // 800 kBit/sec
CAN500kBaud, // 500 kBit/sec
CAN250kBaud, // 250 kBit/sec
CAN125kBaud, // 125 kBit/sec
CAN100kBaud, // 100 kBit/sec
CAN50kBaud, // 50 kBit/sec
CAN20kBaud, // 20 kBit/sec
CAN10kBaud // 10 kBit/sec
};
配置Can的波特率。
msgboxsz : Can接收邮箱缓冲数量本驱动在软件层开辟msgboxsz个接收邮箱。
sndboxnumber : can 发送通道数量该配置为Can控制器实际的发送通道数量。
mode
#define RT_CAN_MODE_NORMAL 0 正常模式
#define RT_CAN_MODE_LISEN 1 只听模式
#define RT_CAN_MODE_LOOPBACK 2 自发自收模式
#define RT_CAN_MODE_LOOPBACKANLISEN 3 自发自收只听模式
配置Can 的工作状态。
privmode :
#define RT_CAN_MODE_PRIV 0x01 处于优先级模式,高优先级的消息优先发送。
#define RT_CAN_MODE_NOPRIV 0x00
配置Can driver的优先级模式。
#ifdef RT_CAN_USING_LED
const struct rt_can_led* rcvled;
const struct rt_can_led* sndled;
const struct rt_can_led* errled;
#endif /*RT_CAN_USING_LED*/
配置can led信息, 当前can驱动的led使用了 pin驱动
开启RT_CAN_USING_LED时要确保当前系统已实现pin驱动。
rt_uint32_t ticks : 配置Can driver timer周期。
#ifdef RT_CAN_USING_HDR
rt_uint32_t maxhdr;
#endif
如果使用硬件过滤则开启RT_CAN_USING_HDR, maxhdr 为Can控制器过滤表的数量。
2、struct rt_can_ops
{
rt_err_t (*configure)(struct rt_can_device *can, struct can_configure *cfg);
rt_err_t (*control)(struct rt_can_device *can, int cmd, void *arg);
int (*sendmsg)(struct rt_can_device *can, const void* buf, rt_uint32_t boxno);
int (*recvmsg)(struct rt_can_device *can,void* buf, rt_uint32_t boxno);
};
struct rt_can_ops 为要实现的特定的can控制器操作。
rt_err_t (*configure)(struct rt_can_device *can, struct can_configure *cfg);
configure根据配置信息初始化Can控制器工作模式。
rt_err_t (*control)(struct rt_can_device *can, int cmd, void *arg);
control 当前接受以下cmd参数
#define RT_CAN_CMD_SET_FILTER 0x13
#define RT_CAN_CMD_SET_BAUD 0x14
#define RT_CAN_CMD_SET_MODE 0x15
#define RT_CAN_CMD_SET_PRIV 0x16
#define RT_CAN_CMD_GET_STATUS 0x17
#define RT_CAN_CMD_SET_STATUS_IND 0x18
int (*sendmsg)(struct rt_can_device *can, const void* buf, rt_uint32_t boxno);
sendmsg向Can控制器发送数boxno为发送通道号。
int (*recvmsg)(struct rt_can_device *can,void* buf, rt_uint32_t boxno);
recvmsg从Can控制器接收数据boxno为接收通道号。
struct rt_can_device
{
struct rt_device parent;
const struct rt_can_ops *ops;
struct can_configure config;
struct rt_can_status status;
rt_uint32_t timerinitflag;
struct rt_timer timer;
struct rt_can_status_ind_type status_indicate;
#ifdef RT_CAN_USING_HDR
struct rt_can_hdr* hdr;
#endif
void *can_rx;
void *can_tx;
};
填充完成后便可调用rt_hw_can_register完成can驱动的注册。
二、 CAN Driver 的添加:
要添加一个新的Can驱动至少要完成以下接口。
1、struct rt_can_ops
{
rt_err_t (*configure)(struct rt_can_device *can, struct can_configure *cfg);
rt_err_t (*control)(struct rt_can_device *can, int cmd, void *arg);
int (*sendmsg)(struct rt_can_device *can, const void* buf, rt_uint32_t boxno);
int (*recvmsg)(struct rt_can_device *can,void* buf, rt_uint32_t boxno);
};
2、 rt_err_t (*control)(struct rt_can_device *can, int cmd, void *arg);
接口的
#define RT_CAN_CMD_SET_FILTER 0x13
#define RT_CAN_CMD_SET_BAUD 0x14
#define RT_CAN_CMD_SET_MODE 0x15
#define RT_CAN_CMD_SET_PRIV 0x16
#define RT_CAN_CMD_GET_STATUS 0x17
#define RT_CAN_CMD_SET_STATUS_IND 0x18
若干命令。
3、can口中断要完接收发送结束以及错误中断。
#define RT_CAN_EVENT_RX_IND 0x01 /* Rx indication */
#define RT_CAN_EVENT_TX_DONE 0x02 /* Tx complete */
#define RT_CAN_EVENT_TX_FAIL 0x03 /* Tx complete */
#define RT_CAN_EVENT_RX_TIMEOUT 0x05 /* Rx timeout */
#define RT_CAN_EVENT_RXOF_IND 0x06 /* Rx overflow */
中断产生后调用rt_hw_can_isr(struct rt_can_device *can, int event)
进入相应的操作其中接收发送中断的event最低8位为上面的事件16到24位为通信通道号。
一个作为一个例子参见bsp/stm32f10x/driver下的bxcan.c 。
三、CAN Driver的使用
一个使用的例子参数bsp/stm32f10x/applications下的canapp.c
四、当前Can驱动没有实现轮模式采用中断模式bxcan驱动工作在loopback模式下的时候不能读数据。
五、当前Can驱动在stm32f105上测试暂无问题。