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[BSP][ls1c]Add can driver and lib

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sundm75
2018-02-09 07:10:56 +08:00
parent b08ff9eee2
commit d08ce950e5
5 changed files with 1272 additions and 11 deletions
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542
bsp/ls1cdev/drivers/drv_can.c Normal file
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bsp/ls1cdev/drivers/drv_can.h Normal file
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/*
* File : bxcan.h
* This file is part of RT-Thread RTOS
* COPYRIGHT (C) 2006 - 2018, RT-Thread Development Team
*
* This program is free software; you can redistribute it and/or modify
* it under the terms of the GNU General Public License as published by
* the Free Software Foundation; either version 2 of the License, or
* (at your option) any later version.
*
* This program is distributed in the hope that it will be useful,
* but WITHOUT ANY WARRANTY; without even the implied warranty of
* MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
* GNU General Public License for more details.
*
* You should have received a copy of the GNU General Public License along
* with this program; if not, write to the Free Software Foundation, Inc.,
* 51 Franklin Street, Fifth Floor, Boston, MA 02110-1301 USA.
*
* Change Logs:
* Date Author Notes
* 2018-01-06 sundm75 first version
*/
#ifndef LS1C_DRV_CAN_H
#define LS1C_DRV_CAN_H
extern int ls1c_bxcan_init(void);
#endif /*DRV_CAN_H_*/

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bsp/ls1cdev/libraries/Ls1c_can.c Normal file
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/*
* File : ls1c_can.c
* This file is part of RT-Thread RTOS
* COPYRIGHT (C) 2006 - 2018, RT-Thread Development Team
*
* This program is free software; you can redistribute it and/or modify
* it under the terms of the GNU General Public License as published by
* the Free Software Foundation; either version 2 of the License, or
* (at your option) any later version.
*
* This program is distributed in the hope that it will be useful,
* but WITHOUT ANY WARRANTY; without even the implied warranty of
* MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
* GNU General Public License for more details.
*
* You should have received a copy of the GNU General Public License along
* with this program; if not, write to the Free Software Foundation, Inc.,
* 51 Franklin Street, Fifth Floor, Boston, MA 02110-1301 USA.
*
* Change Logs:
* Date Author Notes
* 2018-01-06 sundm75 first version
*/
#include "ls1c.h"
#include "ls1c_public.h"
#include "ls1c_can.h"
unsigned char set_reset_mode(CAN_TypeDef* CANx)
{
unsigned char status;
int i;
/*检查复位标志*/
status = CANx->MOD;
/* 关闭中断 */
CANx->IER = 0x00;
for (i = 0; i < 100; i++)
{
if((status & CAN_Mode_RM) == CAN_Mode_RM)
return 1;
/* 设置复位*/
CANx->MOD |= ((unsigned char)CAN_Mode_RM);
/*延时*/
delay_us(10);
/*检查复位标志*/
status = CANx->MOD;
}
rt_kprintf("\r\nSetting SJA1000 into reset mode failed!\r\n");
return 0;
}
static unsigned char set_normal_mode(CAN_TypeDef* CANx)
{
unsigned char status;
int i;
/*检查复位标志*/
status = CANx->MOD;
for (i = 0; i < 100; i++)
{
if((status & CAN_Mode_RM) != CAN_Mode_RM)
{
/*开所有中断 （总线错误中断不开）*/
CANx->IER |= (~(unsigned char)CAN_IR_BEI);
return 1;
}
/* 设置正常工作模式*/
CANx->MOD &= (~(unsigned char) CAN_Mode_RM);
/*延时*/
delay_us(10);
status = CANx->MOD;
}
rt_kprintf("\r\nSetting SJA1000 into normal mode failed!\r\n");
return 0;
}
unsigned char set_start(CAN_TypeDef* CANx)
{
/*复位TX错误计数器*/
CANx->TXERR = 0;
/*复位RX错误计数器*/
CANx->RXERR = 0;
/*时钟分频寄存器: PeliCAN模式; CBP=1,中止输入比较器, RX0激活*/
CANx->CDR = 0xC0;
return set_normal_mode(CANx);
}
unsigned char CAN_Init(CAN_TypeDef* CANx, CAN_InitTypeDef* CAN_InitStruct)
{
unsigned char InitStatus = CAN_InitStatus_Failed;
unsigned long wait_ack = 0x00000000;
unsigned char status;
status = CANx->MOD;
if( status == 0xFF)
{
rt_kprintf("\n Probe can0 failed \r\n");
return CAN_InitStatus_Failed;
}
/* 进入复位模式 */
InitStatus = set_reset_mode(CANx);
if((CAN_InitStruct->CAN_Mode & CAN_Mode_SM) == CAN_Mode_SM)
{
/* 睡眠模式 1: 睡眠 0: 唤醒*/
CANx->MOD|= (unsigned char)CAN_Mode_SM;
}
else
{
CANx->MOD&=~ (unsigned char)CAN_Mode_SM;
}
if((CAN_InitStruct->CAN_Mode & CAN_Mode_LOM) == CAN_Mode_LOM)
{
/*只听模式 1:只听 0:正常 */
CANx->MOD|= (unsigned char)CAN_Mode_LOM;
}
else
{
CANx->MOD&=~ (unsigned char)CAN_Mode_LOM;
}
if((CAN_InitStruct->CAN_Mode & CAN_Mode_AFM) == CAN_Mode_AFM)
{
/*单滤波模式 1:单 0: 双*/
CANx->MOD |= (unsigned char)CAN_Mode_AFM;
}
else
{
CANx->MOD&=~ (unsigned char)CAN_Mode_AFM;
}
if((CAN_InitStruct->CAN_Mode & CAN_Mode_STM) == CAN_Mode_STM)
{
/*自检测模式 1:自检测 0:正常 */
CANx->MOD |= (unsigned char)CAN_Mode_STM;
}
else
{
CANx->MOD&=~ (unsigned char)CAN_Mode_STM;
}
/* 配置时钟频率 */
CANx->BTR0 = (( unsigned char )( unsigned char )CAN_InitStruct->CAN_Prescaler -1) | \
(unsigned char)CAN_InitStruct->CAN_SJW << 6;
CANx->BTR1 = ((unsigned char)CAN_InitStruct->CAN_BS1) | \
((unsigned char)CAN_InitStruct->CAN_BS2 << 4) | \
((unsigned char)CAN_InitStruct->CAN_SJW<<7);
/* 进入工作模式 */
set_start(CANx);
/* 返回初始化结果 */
return InitStatus;
}
void CAN_FilterInit(CAN_TypeDef* CANx, CAN_FilterInitTypeDef * CAN_FilterInitStruct)
{
unsigned long rtr;
unsigned long fcase;
unsigned long ide;
unsigned long thisid, thisid1, thisid2;
unsigned long thismask, thismask1, thismask2;
unsigned long firstdata;
unsigned long datamask;
unsigned char CAN_FilterId0, CAN_FilterId1, CAN_FilterId2, CAN_FilterId3 ;
unsigned char CAN_FilterMaskId0, CAN_FilterMaskId1, CAN_FilterMaskId2, CAN_FilterMaskId3;
thisid = CAN_FilterInitStruct->ID;
thismask = CAN_FilterInitStruct->IDMASK;
thisid1 = (CAN_FilterInitStruct->ID & 0xFFFF0000 )>>16;
thismask1 = (CAN_FilterInitStruct->IDMASK & 0xFFFF0000 )>>16;
thisid2 = (CAN_FilterInitStruct->ID & 0x0000FFFF );
thismask2 = ( CAN_FilterInitStruct->IDMASK& 0x0000FFFF );
rtr = CAN_FilterInitStruct->RTR;
ide = CAN_FilterInitStruct->IDE;
firstdata = CAN_FilterInitStruct->First_Data;
datamask = CAN_FilterInitStruct->Data_Mask;
fcase = CAN_FilterInitStruct->MODE;
if(ide == 0)//标准帧
{
if(fcase == 0)// 0- 双滤波器模式
{
CAN_FilterId0 = thisid1>>3;
CAN_FilterMaskId0 = thismask1>>3;
CAN_FilterId1 = thisid1<<5 | firstdata>>4| rtr<<4;
CAN_FilterMaskId1 = thismask1<<4 | datamask>>4 ;
CAN_FilterId2 = thisid2 >> 3;
CAN_FilterMaskId2 = thismask2 >>3;
CAN_FilterId3 = firstdata & 0x0F | thisid2 <<5 | rtr<<4;
CAN_FilterMaskId3 = datamask <<4 ;
}
else if(fcase == 1)// 1-单滤波器模式
{
CAN_FilterId0 = thisid>>3;
CAN_FilterMaskId0 = thismask>>3;
CAN_FilterId1 = thisid<<5 | rtr<<4;
CAN_FilterMaskId1 = thismask<<5 ;
CAN_FilterMaskId1 |= 0x0F ;
CAN_FilterId2 = 0x00;
CAN_FilterMaskId2 = 0xFF;
CAN_FilterId3 = 0x00;
CAN_FilterMaskId3 = 0xFF ;
}
}
else if(ide == 1)//扩展帧
{
if(fcase == 0)// 0- 双滤波器模式
{
CAN_FilterId0 = thisid1>>8;
CAN_FilterMaskId0 = thismask1>>8;
CAN_FilterId1 = thisid1 ;
CAN_FilterMaskId1 = thismask1 ;
CAN_FilterId2 = thisid2>>8;
CAN_FilterMaskId2 = thismask2>>8;
CAN_FilterId3 = thisid2 ;
CAN_FilterMaskId3 = thismask2 ;
}
else if(fcase == 1)// 1-单滤波器模式
{
CAN_FilterId0 = thisid>>21;
CAN_FilterMaskId0 = thismask>>21;
CAN_FilterId1 = thisid>>13 ;
CAN_FilterMaskId1 = thismask>>13 ;
CAN_FilterId2 = thisid>>5;
CAN_FilterMaskId2 = thismask>>5;
CAN_FilterId3 = thisid<<3 | rtr<<2;
CAN_FilterMaskId3 = thismask<<3;
CAN_FilterMaskId3 |= 0x03;
}
}
/* 进入复位模式 */
set_reset_mode(CANx);
if(fcase == 1)// 1-单滤波器模式
{
/*单滤波模式 */
CANx->MOD |= (unsigned char)CAN_Mode_AFM;
}
else if(fcase == 1)// 0- 双滤波器模式
{
/*双滤波模式 */
CANx->MOD &=(~ (unsigned char) CAN_Mode_AFM);
}
CANx->IDE_RTR_DLC = CAN_FilterId0;
CANx->ID[0] = CAN_FilterId1;
CANx->ID[1] = CAN_FilterId2;
CANx->ID[2] = CAN_FilterId3;
CANx->ID[3] = CAN_FilterMaskId0;
CANx->BUF[0] = CAN_FilterMaskId1;
CANx->BUF[1] = CAN_FilterMaskId2;
CANx->BUF[2] = CAN_FilterMaskId3;
/* 进入工作模式 */
set_start(CANx);
}
unsigned char CAN_SetBps(CAN_TypeDef* CANx, Ls1c_CanBPS_t Bps)
{
unsigned char InitStatus = CAN_InitStatus_Failed;
unsigned char CAN_Prescaler, CAN_BS1, CAN_BS2, CAN_SJW;
CAN_SJW = CAN_SJW_1tq;
/* 进入复位模式 */
InitStatus = set_reset_mode(CANx);
if( InitStatus == CAN_InitStatus_Failed)
return CAN_InitStatus_Failed;
/* 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 16 8
*/
switch (Bps)
{
case LS1C_CAN1MBaud:
CAN_Prescaler = 9;
CAN_BS1 = CAN_BS1_4tq;
CAN_BS2 = CAN_BS2_2tq;
break;
case LS1C_CAN800kBaud:
CAN_Prescaler = 8;
CAN_BS1 = CAN_BS1_7tq;
CAN_BS2 = CAN_BS2_2tq;
break;
case LS1C_CAN500kBaud:
CAN_Prescaler = 9;
CAN_BS1 = CAN_BS1_11tq;
CAN_BS2 = CAN_BS2_2tq;
break;
case LS1C_CAN250kBaud:
CAN_Prescaler = 36;
CAN_BS1 = CAN_BS1_4tq;
CAN_BS2 = CAN_BS2_2tq;
break;
case LS1C_CAN125kBaud:
CAN_Prescaler = 36;
CAN_BS1 = CAN_BS1_11tq;
CAN_BS2 = CAN_BS2_2tq;
break;
case LS1C_CAN100kBaud:
CAN_Prescaler = 63;
CAN_BS1 = CAN_BS1_7tq;
CAN_BS2 = CAN_BS2_2tq;
break;
case LS1C_CAN50kBaud:
CAN_Prescaler = 63;
CAN_BS1 = CAN_BS1_16tq;
CAN_BS2 = CAN_BS2_3tq;
break;
case LS1C_CAN40kBaud:
CAN_Prescaler = 63;
CAN_BS1 = CAN_BS1_16tq;
CAN_BS2 = CAN_BS2_8tq;
break;
default: //100K
CAN_Prescaler = 63;
CAN_BS1 = CAN_BS1_7tq;
CAN_BS2 = CAN_BS2_2tq;
break;
}
/* 配置时钟频率 */
CANx->BTR0 = (( unsigned char )CAN_Prescaler -1) | \
(unsigned char)CAN_SJW << 6;
CANx->BTR1 = ((unsigned char)CAN_BS1) | \
((unsigned char)CAN_BS2 << 4) | \
((unsigned char)CAN_SJW<<7);
/* 进入工作模式 */
set_start(CANx);
/* 返回初始化结果 */
return CAN_InitStatus_Failed;
}
unsigned char CAN_SetMode(CAN_TypeDef* CANx, unsigned char mode)
{
unsigned char InitStatus = CAN_InitStatus_Failed;
unsigned long wait_ack = 0x00000000;
CAN_InitTypeDef CAN_InitStructure;
/* 进入复位模式 */
InitStatus = set_reset_mode(CANx);
if( InitStatus == CAN_InitStatus_Failed)
return CAN_InitStatus_Failed;
switch( mode )
{
case 0://正常
CANx->MOD &= ~(unsigned char)CAN_Mode_STM;
CANx->MOD &= ~(unsigned char)CAN_Mode_LOM;
break;
case 1://只听
CANx->MOD &= ~(unsigned char)CAN_Mode_STM;
CANx->MOD |= (unsigned char)CAN_Mode_LOM;
break;
case 2://回环
CANx->MOD |= (unsigned char)CAN_Mode_STM;
CANx->MOD &= ~(unsigned char)CAN_Mode_LOM;
break;
case 3://只听回环
CANx->MOD |= (unsigned char)CAN_Mode_STM;
CANx->MOD |= (unsigned char)CAN_Mode_LOM;
break;
}
/* 进入工作模式 */
set_start(CANx);
/* 返回初始化结果 */
return CAN_InitStatus_Failed;
}
unsigned char CAN_Transmit(CAN_TypeDef* CANx, CanTxMsg* TxMessage)
{
int i;
if (TxMessage->IDE == CAN_Id_Extended)
{
CANx->ID[0]= TxMessage ->ExtId>> 21;
CANx->ID[1]= TxMessage ->ExtId>> 13;
CANx->ID[2]= TxMessage ->ExtId>> 5;
CANx->ID[3]= TxMessage ->ExtId<<3;
CANx->IDE_RTR_DLC= (TxMessage ->IDE & 0x01) << 7 |\
(TxMessage ->RTR & 0x01) << 6 |\
(TxMessage ->DLC & 0x0F);
for( i=0;i<TxMessage ->DLC; i++)
{
CANx->BUF[i]= TxMessage->Data[i];
}
}
else if (TxMessage->IDE ==CAN_Id_Standard)
{
CANx->ID[0]= TxMessage ->StdId>> 3;
CANx->ID[1]= TxMessage ->StdId<< 5;
CANx->IDE_RTR_DLC= (TxMessage ->IDE & 0x01) << 7 |\
(TxMessage ->RTR & 0x01) << 6 |\
(TxMessage ->DLC & 0x0F);
CANx->ID[2]= TxMessage ->Data[0];
CANx->ID[3]= TxMessage ->Data[1];
for( i=0;i<TxMessage ->DLC-2; i++)
{
CANx->BUF[i]= TxMessage->Data[i+2];
}
}
CANx->CMR = CAN_CMR_TR ;
}
void CAN_Receive(CAN_TypeDef* CANx, CanRxMsg* RxMessage)
{
/* 获取 IDE */
RxMessage->IDE = (CANx->IDE_RTR_DLC & 0x80)>>7;
/* 获取 RTR */
RxMessage->RTR = (CANx->IDE_RTR_DLC & 0x40)>>4;
/* 获取 DLC */
RxMessage->DLC= (CANx->IDE_RTR_DLC & 0x0F);
if (RxMessage->IDE == CAN_Id_Standard)
{
RxMessage->StdId = CANx->ID[0]<<3 |CANx->ID[1]>>5 ;
/* 获取数据 */
RxMessage->Data[0] = (unsigned char)CANx->ID[2];
RxMessage->Data[1] = (unsigned char)CANx->ID[3];
RxMessage->Data[2] = (unsigned char)CANx->BUF[0];
RxMessage->Data[3] = (unsigned char)CANx->BUF[1];
RxMessage->Data[4] = (unsigned char)CANx->BUF[2];
RxMessage->Data[5] = (unsigned char)CANx->BUF[3];
RxMessage->Data[6] = (unsigned char)CANx->BUF[4];
RxMessage->Data[7] = (unsigned char)CANx->BUF[5];
}
else if (RxMessage->IDE == CAN_Id_Extended)
{
RxMessage->ExtId= CANx->ID[0]<<21 |CANx->ID[1]<<13|CANx->ID[2]<<5|CANx->ID[3]>>3 ;
/* 获取数据 */
RxMessage->Data[0] = (unsigned char)CANx->BUF[0];
RxMessage->Data[1] = (unsigned char)CANx->BUF[1];
RxMessage->Data[2] = (unsigned char)CANx->BUF[2];
RxMessage->Data[3] = (unsigned char)CANx->BUF[3];
RxMessage->Data[4] = (unsigned char)CANx->BUF[4];
RxMessage->Data[5] = (unsigned char)CANx->BUF[5];
RxMessage->Data[6] = (unsigned char)CANx->BUF[6];
RxMessage->Data[7] = (unsigned char)CANx->BUF[7];
}
}

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bsp/ls1cdev/libraries/Ls1c_can.h Normal file
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/*
* File : ls1c_can.h
* This file is part of RT-Thread RTOS
* COPYRIGHT (C) 2006 - 2018, RT-Thread Development Team
*
* This program is free software; you can redistribute it and/or modify
* it under the terms of the GNU General Public License as published by
* the Free Software Foundation; either version 2 of the License, or
* (at your option) any later version.
*
* This program is distributed in the hope that it will be useful,
* but WITHOUT ANY WARRANTY; without even the implied warranty of
* MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
* GNU General Public License for more details.
*
* You should have received a copy of the GNU General Public License along
* with this program; if not, write to the Free Software Foundation, Inc.,
* 51 Franklin Street, Fifth Floor, Boston, MA 02110-1301 USA.
*
* Change Logs: (Pelican Mode)
* Date Author Notes
* 2018-01-06 sundm75 first version
*/
#ifndef __OPENLOONGSON_CAN_H
#define __OPENLOONGSON_CAN_H
#define CAN0 ( (CAN_TypeDef* )LS1C_REG_BASE_CAN0)
#define CAN1 ( (CAN_TypeDef* )LS1C_REG_BASE_CAN1)
#define CAN_InitStatus_Failed ((unsigned char)0x00) /*!< CAN initialization failed */
#define CAN_InitStatus_Success ((unsigned char)0x01) /*!< CAN initialization OK */
#define CAN_SJW_1tq ((unsigned char)0x00) /*!< 1 time quantum */
#define CAN_SJW_2tq ((unsigned char)0x01) /*!< 2 time quantum */
#define CAN_SJW_3tq ((unsigned char)0x02) /*!< 3 time quantum */
#define CAN_SJW_4tq ((unsigned char)0x03) /*!< 4 time quantum */
#define CAN_BS1_1tq ((unsigned char)0x00) /*!< 1 time quantum */
#define CAN_BS1_2tq ((unsigned char)0x01) /*!< 2 time quantum */
#define CAN_BS1_3tq ((unsigned char)0x02) /*!< 3 time quantum */
#define CAN_BS1_4tq ((unsigned char)0x03) /*!< 4 time quantum */
#define CAN_BS1_5tq ((unsigned char)0x04) /*!< 5 time quantum */
#define CAN_BS1_6tq ((unsigned char)0x05) /*!< 6 time quantum */
#define CAN_BS1_7tq ((unsigned char)0x06) /*!< 7 time quantum */
#define CAN_BS1_8tq ((unsigned char)0x07) /*!< 8 time quantum */
#define CAN_BS1_9tq ((unsigned char)0x08) /*!< 9 time quantum */
#define CAN_BS1_10tq ((unsigned char)0x09) /*!< 10 time quantum */
#define CAN_BS1_11tq ((unsigned char)0x0A) /*!< 11 time quantum */
#define CAN_BS1_12tq ((unsigned char)0x0B) /*!< 12 time quantum */
#define CAN_BS1_13tq ((unsigned char)0x0C) /*!< 13 time quantum */
#define CAN_BS1_14tq ((unsigned char)0x0D) /*!< 14 time quantum */
#define CAN_BS1_15tq ((unsigned char)0x0E) /*!< 15 time quantum */
#define CAN_BS1_16tq ((unsigned char)0x0F) /*!< 16 time quantum */
#define CAN_BS2_1tq ((unsigned char)0x00) /*!< 1 time quantum */
#define CAN_BS2_2tq ((unsigned char)0x01) /*!< 2 time quantum */
#define CAN_BS2_3tq ((unsigned char)0x02) /*!< 3 time quantum */
#define CAN_BS2_4tq ((unsigned char)0x03) /*!< 4 time quantum */
#define CAN_BS2_5tq ((unsigned char)0x04) /*!< 5 time quantum */
#define CAN_BS2_6tq ((unsigned char)0x05) /*!< 6 time quantum */
#define CAN_BS2_7tq ((unsigned char)0x06) /*!< 7 time quantum */
#define CAN_BS2_8tq ((unsigned char)0x07) /*!< 8 time quantum */
#define CAN_Id_Standard 0
#define CAN_Id_Extended 1
#define CAN_RTR_DATA 0
#define CAN_RTR_Remote 1
#define CAN_MODE_NORMAL 0
#define CAN_MODE_LISEN 1
#define CAN_MODE_LOOPBACK 2
#define CAN_MODE_LOOPBACKANLISEN 3
/*!< CAN 控制状态寄存器 */
/************************** CAN_MOD 寄存器位定义*******************************/
#define CAN_Mode_RM ((unsigned char)0x01) /*!< 复位模式 */
#define CAN_Mode_LOM ((unsigned char)0x02) /*!< 只听模式 1:只听 0:正常 */
#define CAN_Mode_STM ((unsigned char)0x04) /*!< 正常工作模式1:自检测 0:正常 */
#define CAN_Mode_AFM ((unsigned char)0x08) /*!< 单/双滤波模式 1:单 0: 双*/
#define CAN_Mode_SM ((unsigned char)0x10) /*!< 睡眠模式1: 睡眠 0: 唤醒 */
/************************** CAN_CMR 寄存器位定义*******************************/
#define CAN_CMR_TR ((unsigned char)0x01) /*!< 发送请求 1: 当前信息被发送 0: 空 */
#define CAN_CMR_AT ((unsigned char)0x02) /*!< 中止发送 1: 等待发送的信息取消 0: 空缺 */
#define CAN_CMR_RRB ((unsigned char)0x04) /*!< 释放接收缓冲器 1:释放 0: 无动作 */
#define CAN_CMR_CDO ((unsigned char)0x08) /*!< 清除数据溢出 1:清除 0: 无动作 */
//#define CAN_CMR_GTS ((unsigned char)0x10) /*!< STD模式< 睡眠: 1:进入睡眠 0: 唤醒 */
#define CAN_CMR_SRR ((unsigned char)0x10) /*!< 自接收请求 1: 0: */
#define CAN_CMR_EFF ((unsigned char)0x80) /*!< 扩展模式 1:扩展帧 0: 标准帧 */
/************************** CAN_SR 寄存器位定义********************************/
#define CAN_SR_BBS ((unsigned char)0x01) /*!< 接收缓存器状态1: 满 0: 空 */
#define CAN_SR_DOS ((unsigned char)0x02) /*!< 数据溢出状态 1: 溢出 0: 空缺 */
#define CAN_SR_TBS ((unsigned char)0x04) /*!< 发送缓存器状态1: 释放 0: 锁定 */
#define CAN_SR_TCS ((unsigned char)0x08) /*!< 发送完毕状态1: 完毕 0: 未完毕 */
#define CAN_SR_RS ((unsigned char)0x10) /*!< 接收状态1: 接收 0: 空闲 */
#define CAN_SR_TS ((unsigned char)0x20) /*!< 发送状态1: 发送 0: 空闲*/
#define CAN_SR_ES ((unsigned char)0x40) /*!< 出错状态1:出错 0: 正常 */
#define CAN_SR_BS ((unsigned char)0x80) /*!< 总线状态1: 关闭 0: 开启 */
/************************** CAN_IR 中断寄存器位定义****************************/
#define CAN_IR_RI ((unsigned char)0x01) /*!< 接收中断 */
#define CAN_IR_TI ((unsigned char)0x02) /*!< 发送中断 */
#define CAN_IR_EI ((unsigned char)0x04) /*!< 错误中断 */
#define CAN_IR_DOI ((unsigned char)0x08) /*!< 数据溢出中断 */
#define CAN_IR_WUI ((unsigned char)0x10) /*!< 唤醒中断 */
#define CAN_IR_EPI ((unsigned char)0x20) /*!< 错误消极中断 */
#define CAN_IR_ALI ((unsigned char)0x40) /*!< 仲裁丢失中断 */
#define CAN_IR_BEI ((unsigned char)0x80) /*!< 总线错误中断 */
/************************* CAN_IER 中断使能寄存器位定义************************/
#define CAN_IER_RIE ((unsigned char)0x01) /*!< 接收中断使能 */
#define CAN_IER_TIE ((unsigned char)0x02) /*!< 发送中断使能 */
#define CAN_IER_EIE ((unsigned char)0x04) /*!< 错误中断使能 */
#define CAN_IER_DOIE ((unsigned char)0x08) /*!< 数据溢出中断使能 */
#define CAN_IER_WUIE ((unsigned char)0x10) /*!< 唤醒中断使能 */
#define CAN_IER_EPIE ((unsigned char)0x20) /*!< 错误消极中断使能 */
#define CAN_IER_ALIE ((unsigned char)0x40) /*!< 仲裁丢失中断使能 */
#define CAN_IER_BEIE ((unsigned char)0x80) /*!< 总线错误中断使能 */
typedef enum
{
LS1C_CAN1MBaud=0, // 1 MBit/sec
LS1C_CAN800kBaud, // 800 kBit/sec
LS1C_CAN500kBaud, // 500 kBit/sec
LS1C_CAN250kBaud, // 250 kBit/sec
LS1C_CAN125kBaud, // 125 kBit/sec
LS1C_CAN100kBaud, // 100 kBit/sec
LS1C_CAN50kBaud, // 50 kBit/sec
LS1C_CAN40kBaud, // 40 kBit/sec
}Ls1c_CanBPS_t;
typedef struct
{
unsigned char MOD;
unsigned char CMR;
unsigned char SR;
unsigned char IR;
unsigned char IER;
unsigned char reserved0;
unsigned char BTR0;
unsigned char BTR1;
unsigned char OCR;
unsigned char reserved[2];
unsigned char ALC;
unsigned char ECC ;
unsigned char EMLR;
unsigned char RXERR;
unsigned char TXERR;
unsigned char IDE_RTR_DLC;
unsigned char ID[4];
unsigned char BUF[8];
unsigned char RMCR;
unsigned char CDR;
} CAN_TypeDef;
typedef struct
{
unsigned char CAN_Prescaler; /* 波特率分频系数1 to 31. */
unsigned char CAN_Mode; /*0x10:睡眠0x08:单,双滤波 0x40:正常工作0x20:只听 0x01:复位*/
unsigned char CAN_SJW; /*同步跳转宽度 */
unsigned char CAN_BS1; /*时间段1计数值*/
unsigned char CAN_BS2; /*时间段2计数值*/
} CAN_InitTypeDef;
typedef struct
{
unsigned char IDE; /*0: 使用标准标识符1: 使用扩展标识符*/
unsigned char RTR; /*0: 数据帧 1: 远程帧*/
unsigned char MODE; /* 0- 双滤波器模式;1-单滤波器模式*/
unsigned long First_Data; /*双滤波器模式下信息第一个数据字节*/
unsigned long Data_Mask; /*双滤波器模式下信息第一个数据字节屏蔽*/
unsigned long ID; /*验收代码*/
/*
双滤波器- 扩展帧: 2个滤波器的前16位,分别放在ID 的前16位和 ID的后16位.
双滤波器- 标准帧: 2个滤波器的11位,分别放在ID 的前16位和 ID的后16位,第1个滤波器同时使用First_Data和Data_Mask
单滤波器- 扩展帧: 使用29位, 放在ID 的后29位.
单滤波器- 标准帧: 使用11位, 放在ID 的后11位.
*/
unsigned long IDMASK; /*验收屏蔽*/
} CAN_FilterInitTypeDef;
typedef struct
{
unsigned long StdId; /* 11位ID*/
unsigned long ExtId; /*29位ID**/
unsigned char IDE; /*IDE: 标识符选择
该位决定发送邮箱中报文使用的标识符类型
0: 使用标准标识符
1: 使用扩展标识符*/
unsigned char RTR; /*远程发送请求
0: 数据帧
1: 远程帧*/
unsigned char DLC; /*数据帧长度*/
unsigned char Data[8]; /*8字节数据*/
} CanRxMsg;
typedef struct
{
unsigned long StdId; /* 11位ID*/
unsigned long ExtId; /*29位ID**/
unsigned char IDE; /*IDE: 标识符选择
该位决定发送邮箱中报文使用的标识符类型
0: 使用标准标识符
1: 使用扩展标识符*/
unsigned char RTR; /*远程发送请求
0: 数据帧
1: 远程帧*/
unsigned char DLC; /*数据帧长度*/
unsigned char Data[8]; /*8字节数据*/
} CanTxMsg;
unsigned char CAN_Init(CAN_TypeDef* CANx, CAN_InitTypeDef* CAN_InitStruct);
unsigned char CAN_SetBps(CAN_TypeDef* CANx, Ls1c_CanBPS_t Bps);
unsigned char CAN_SetMode(CAN_TypeDef* CANx, unsigned char mode);
void CAN_FilterInit(CAN_TypeDef* CANx, CAN_FilterInitTypeDef* CAN_FilterInitStruct);
unsigned char CAN_Transmit(CAN_TypeDef* CANx, CanTxMsg* TxMessage);
void CAN_Receive(CAN_TypeDef* CANx, CanRxMsg* RxMessage);
unsigned char set_reset_mode(CAN_TypeDef* CANx);
unsigned char set_start(CAN_TypeDef* CANx);
#endif

24
bsp/ls1cdev/libraries/ls1c_regs.h
View File

@@ -1,4 +1,4 @@
// 龙芯1c外设寄存器
// 龙芯1c外设寄存器
#ifndef __OPENLOONGSON_LS1C_REGS_H
@@ -7,12 +7,12 @@
// 时钟相关寄存器地址
// 时钟相关寄存器地址
#define LS1C_START_FREQ (0xbfe78030)
#define LS1C_CLK_DIV_PARAM (0xbfe78034)
// gpio相关寄存器地址
// gpio相关寄存器地址
#define LS1C_GPIO_CFG0 (0xbfd010c0)
#define LS1C_GPIO_EN0 (0xbfd010d0)
#define LS1C_GPIO_IN0 (0xbfd010e0)
@@ -35,7 +35,7 @@
// 复用相关寄存器
// 复用相关寄存器
#define LS1C_CBUS_FIRST0 (0xbfd011c0)
#define LS1C_CBUS_SECOND0 (0xbfd011d0)
#define LS1C_CBUS_THIRD0 (0xbfd011e0)
@@ -61,20 +61,22 @@
#define LS1C_CBUS_FIFTH3 (0xbfd0120c)
// PWM寄存器偏移
// PWM寄存器偏移
#define LS1C_PWM_CNTR (0x0)
#define LS1C_PWM_HRC (0x4)
#define LS1C_PWM_LRC (0x8)
#define LS1C_PWM_CTRL (0xC)
// PWM基地址
// PWM基地址
#define LS1C_REG_BASE_PWM0 (0xbfe5c000)
#define LS1C_REG_BASE_PWM1 (0xbfe5c010)
#define LS1C_REG_BASE_PWM2 (0xbfe5c020)
#define LS1C_REG_BASE_PWM3 (0xbfe5c030)
//CAN基地址
#define LS1C_REG_BASE_CAN0 (0xbfe50000)
#define LS1C_REG_BASE_CAN1 (0xbfe54000)
// 中断配置寄存器
// 中断配置寄存器
#define LS1C_INT0_SR (0xbfd01040)
#define LS1C_INT0_EN (0xbfd01044)
#define LS1C_INT0_SET (0xbfd01048)
@@ -111,18 +113,18 @@
#define LS1C_INT4_EDGE (0xbfd010b4)
// I2C寄存器
// I2C寄存器
#define LS1C_I2C0_BASE (0xbfe58000)
#define LS1C_I2C1_BASE (0xbfe68000)
#define LS1C_I2C2_BASE (0xbfe70000)
// SPI寄存器
// SPI寄存器
#define LS1C_SPI0_BASE (0xbfe80000)
#define LS1C_SPI1_BASE (0xbfec0000)
// 串口寄存器
// 串口寄存器
#define LS1C_UART0_BASE (0xbfe40000)
#define LS1C_UART1_BASE (0xbfe44000)
#define LS1C_UART2_BASE (0xbfe48000)