2.RT-Thread CAN

1.CubeMX中配置时钟和CAN：只需要打开CAN Mode 即可，不需要配置参数。

注意：#define HAL_UART_MODULE_ENABLED

2.配置：

 

3. board.h中添加

#define BSP_USING_CAN

#define BSP_USING_CAN1

 4.确认drivers中添加了drv_can.c文件。

编译后会报错，因为drv_can.c中RT_CAN_MODE_LISTEN和RT_CAN_MODE_LOOPBACKANLISTEN拼写错误和can.h中#define RT_CAN_MODE_LISTEN不一致，需改成一致，且自动重发改为使能。

5.波特率在can.h中修改：

#define CANDEFAULTCONFIG 
{
CAN1MBaud,
RT_CANMSG_BOX_SZ,
RT_CANSND_BOX_NUM,
RT_CAN_MODE_NORMAL,
};

 6.can初始化、收发数据：

/*
 * 程序清单：这是一个 CAN 设备使用例程
 * 例程导出了 can_sample 命令到控制终端
 * 命令调用格式：can1_Send_Msh id data1 data2 ……
 * 程序功能：通过 CAN 设备发送一帧，并创建一个线程接收数据然后打印输出。
*/

#include <rtthread.h>
#include "rtdevice.h"
#include "can1.h"
#include "stdlib.h"

#define CAN_DEV_NAME       "can1"      /* CAN 设备名称 ,要与drv_can.c中.name = "can1",匹配*/

static struct rt_semaphore rx_sem;     /* 用于接收消息的信号量 */
static rt_device_t can_dev;            /* CAN 设备句柄 */

/* 接收数据回调函数 */
static rt_err_t can_rx_call(rt_device_t dev, rt_size_t size)
{
    /* CAN 接收到数据后产生中断，调用此回调函数，然后发送接收信号量 */
    rt_sem_release(&rx_sem);

    return RT_EOK;
}

static void can_rx_thread(void *parameter)
{
    int i;
    //rt_err_t res;
    struct rt_can_msg rxmsg = {0};

    /* 设置接收回调函数 */
    rt_device_set_rx_indicate(can_dev, can_rx_call);

#ifdef RT_CAN_USING_HDR
    struct rt_can_filter_item items[5] =
    {
        RT_CAN_FILTER_ITEM_INIT(0x100, 0, 0, 0, 0x700, RT_NULL, RT_NULL), /* std,match ID:0x100~0x1ff，hdr为-1，设置默认过滤表 */
        RT_CAN_FILTER_ITEM_INIT(0x300, 0, 0, 0, 0x700, RT_NULL, RT_NULL), /* std,match ID:0x300~0x3ff，hdr为-1 */
        RT_CAN_FILTER_ITEM_INIT(0x211, 0, 0, 0, 0x7ff, RT_NULL, RT_NULL), /* std,match ID:0x211，hdr为-1 */
        RT_CAN_FILTER_STD_INIT(0x486, RT_NULL, RT_NULL),                  /* std,match ID:0x486，hdr为-1 */
        {0x555, 0, 0, 0, 0x7ff, 7,}                                       /* std,match ID:0x555，hdr为7，指定设置7号过滤表 */
    };
    struct rt_can_filter_config cfg = {5, 1, items}; /* 一共有5个过滤表 */
    /* 设置硬件过滤表 */
    res = rt_device_control(can_dev, RT_CAN_CMD_SET_FILTER, &cfg);
    RT_ASSERT(res == RT_EOK);
#endif

    while (1)
    {
        /* hdr值为-1，表示直接从uselist链表读取数据 */
        rxmsg.hdr = -1;
        /* 阻塞等待接收信号量 */
        rt_sem_take(&rx_sem, RT_WAITING_FOREVER);//等待接收数据
        /* 从CAN读取一帧数据 */
        rt_device_read(can_dev, 0, &rxmsg, sizeof(rxmsg));
        /* 打印数据ID及内容 */
        rt_kprintf("ID:%x--", rxmsg.id);
        for (i = 0; i < rxmsg.len; i++)
        {
            rt_kprintf("%2x ", rxmsg.data[i]);
        }
        rt_kprintf("\n");
    }
}

int can1_Init(void)
{
    rt_err_t res;
    rt_thread_t thread;
    char can_name[RT_NAME_MAX];

    rt_strncpy(can_name, CAN_DEV_NAME, RT_NAME_MAX);
    can_dev = rt_device_find(can_name);
    if (!can_dev)
    {
        rt_kprintf("find %s failed!\n", can_name);
        return RT_ERROR;
    }

    /* 初始化CAN接收信号量 */
    rt_sem_init(&rx_sem, "rx_sem", 0, RT_IPC_FLAG_FIFO);

    /* 以中断接收及发送方式打开CAN设备 */
    res = rt_device_open(can_dev, RT_DEVICE_FLAG_INT_TX | RT_DEVICE_FLAG_INT_RX);
    RT_ASSERT(res == RT_EOK);

    thread = rt_thread_create("can_rx", can_rx_thread, RT_NULL, 1024, 8, 10);
    if (thread != RT_NULL)
    {
        rt_thread_startup(thread);
    }
    else
    {
        rt_kprintf("create can_rx thread failed!\n");
    }
    return res;
}
/* 导出到 msh 命令列表中 */
//MSH_CMD_EXPORT(can1_Init, can device sample);

int can1_Send(rt_uint32_t id,rt_uint8_t *data,rt_uint32_t len)
{
    struct rt_can_msg msg = {0};
    rt_uint32_t i=0;
    rt_size_t  size=0;
    msg.id =  id;              /* ID为0x78 */
    msg.ide = RT_CAN_STDID;    /* 标准格式 */
    msg.rtr = RT_CAN_DTR;      /* 数据帧 */
    msg.len = len;             /* 数据长度最大为8 */
    /* 待发送的8字节数据 */
    for(i=0;i<len;i++)
    {
        msg.data[i] = data[i];
    }

    /* 发送一帧CAN数据 */
    size = rt_device_write(can_dev, 0, &msg, sizeof(msg));
    if (size == 0)
    {
        rt_kprintf("can dev write data failed!\n");
    }

    return size;
}


int can1_Send_Msh(uint8_t argc, char *argv[])
{
    rt_uint32_t i=0,id=0,datalen=0;
    rt_uint8_t data[8]={0};
    datalen=argc-2;
    id=strtol(argv[i+1], NULL, 16);
    for (i = 0; i < datalen; i++)
    {
        data[i]=strtol(argv[i+2], NULL, 16);
    }
   return can1_Send(id,data,(datalen <=8) ? datalen : 8);
}
/* 导出到 msh 命令列表中 */
MSH_CMD_EXPORT(can1_Send_Msh, can1 send data);
//CMD           ID DATA1-8
//can1_Send_Msh 01 01 02 03 04 05 06 07 08

7.注意设备名字#define CAN_DEV_NAME "can1" 要与drv_can.c中.name = "can1",

因为int rtthread_startup(void)->rt_hw_board_init();->rt_components_board_init();

->(*fn_ptr)();->int rt_hw_can_init(void)->rt_hw_can_register(&drv_can1.device,drv_can1.name,&_can_ops,&drv_can1);

中初始化了用INIT_BOARD_EXPORT(rt_hw_can_init);定义的函数。

CAN硬件初始化流程：

rt_err_t rt_device_open(rt_device_t dev, rt_uint16_t oflag)->result = device_init(dev);->static rt_err_t rt_can_init(struct rt_device *dev)

->result = can->ops->configure(can, &can->config);->static rt_err_t _can_config(struct rt_can_device *can, struct can_configure *cfg)

->if (HAL_CAN_Init(&drv_can->CanHandle) != HAL_OK)->HAL_StatusTypeDef HAL_CAN_Init(CAN_HandleTypeDef *hcan)