MPC574x平台学习——CAN通信

前言

MPC574x是恩智浦公司出的一个系列的芯片，本人所接触的主要是MPC5742，最近在调试MPC5742的CAN通信，使用S32自带的SDK生成CAN驱动。通过网络的教程去完成，但是跟着教程走，不能跑通CAN的收发，下面就结合自己的学习过程，尽可能详细的将步骤复现出来，如有不对之处，还请指出。

创建项目

这里不做过多的解释，直接上图。
1.选择新建S32DS Application Project
2.选择芯片（我选择的是MPC5742）
3.选择SDK



这样我们就创建好我们的新项目了。

配置CAN

1.在状态栏中选择Processor Expert=》show views，打开配置界面

2.选择flexcan，双击或者右键选择Add to project

3.添加完成

4.配置CAN引脚，这里取决于实际的情况（根据芯片原理图选择）

5.打开StandBy（这个也取决于芯片原理图），将SIUL2/gpio/42勾选out。

6.配置时钟


7.CAN配置

8.生成代码

9.生成代码后都是驱动代码，需要自己去把驱动封装

封装源码

1.CAN初始化

void FlexCAN_Inital(void)
{
	uint32_t mailbox = 8;
	flexcan_id_table_t filterTable[8];
	status_t status = 0;
	status = FLEXCAN_DRV_Init(INST_CANCOM1,&canCom1_State,&canCom1_InitConfig0);

	flexcan_data_info_t dataInfo =
	{
			.data_length = 8U,
			.msg_id_type = FLEXCAN_MSG_ID_STD
	};

	FLEXCAN_DRV_ConfigRxFifo(INST_CANCOM1,FLEXCAN_RX_FIFO_ID_FORMAT_A,filterTable);

	FLEXCAN_DRV_SetRxFifoGlobalMask(INST_CANCOM1,FLEXCAN_RX_FIFO_ID_FORMAT_A,0);
}

2.发送

void FlexCAN_SendData(uint8_t *data,uint32_t len)
{
	uint32_t mailbox = 9;
	flexcan_data_info_t dataInfo =
	{
			.data_length = len,
			.msg_id_type = FLEXCAN_MSG_ID_STD
	};

	FLEXCAN_DRV_ConfigTxMb(INST_CANCOM1,mailbox,&dataInfo,SendID);
	FLEXCAN_DRV_Send(INST_CANCOM1,mailbox,&dataInfo,SendID,data);
}

3.接收

uint8_t FlexCAN_ReceiveData(uint8_t *data)
{
	flexcan_msgbuff_t recvBuff;
	volatile status_t Receive_status;
	Receive_status = FLEXCAN_DRV_RxFifo(INST_CANCOM1,&recvBuff);
	if(FLEXCAN_DRV_GetTransferStatus(INST_CANCOM1,0) == STATUS_BUSY)
	{
		if(recvBuff.msgId == ReceiveID)
		{
			uint8_t i;
			for(i = 0; i<recvBuff.dataLen;i++)
			{
				data[i] = recvBuff.data[i];
			}
			return recvBuff.dataLen;
		}
	}
	return 0;
}

4.main函数

#include "Cpu.h"
#include "FlexCAN.h"

volatile int exit_code = 0;
void ReceiveData(void)
{
	uint8_t data[8] = {0};
	uint8_t dataLen = 8;
	dataLen = FlexCAN_ReceiveData(data);
	if(dataLen != 0)
	{
		PINS_DRV_TogglePins(PTD,1<<1);
		data[0] += 1;
		FlexCAN_SendData(data,dataLen);
	}
}
uint32_t count = 0;
int main(void)
{
  /* Write your local variable definition here */
    uint8_t data[8] = {0};
    uint8_t dataLen = 8;
  /*** Processor Expert internal initialization. DON'T REMOVE THIS CODE!!! ***/
  #ifdef PEX_RTOS_INIT
    PEX_RTOS_INIT();                   /* Initialization of the selected RTOS. Macro is defined by the RTOS component. */
  #endif
  /*** End of Processor Expert internal initialization.                    ***/

  /* Write your code here */
  /* For example: for(;;) { } */

    CLOCK_SYS_Init(g_clockManConfigsArr,CLOCK_MANAGER_CONFIG_CNT,
    		g_clockManCallbacksArr,CLOCK_MANAGER_POLICY_AGREEMENT);
    CLOCK_SYS_UpdateConfiguration(0U,CLOCK_MANAGER_POLICY_AGREEMENT);
    CLOCK_DRV_Init(g_clockManConfigsArr[0]);
    PINS_DRV_Init(NUM_OF_CONFIGURED_PINS,g_pin_mux_InitConfigArr);
    FlexCAN_Inital();

    while(1)
    {
    	count++;
    	if(count > 800000){
    		ReceiveData();
//    		dataLen = FlexCAN_ReceiveData(data);
//    		if(dataLen != 0)
//    		{
//    			PINS_DRV_TogglePins(PTD,1<<1);
//    			data[0] += 1;
//    			FlexCAN_SendData(data,dataLen);
//    		}
    		count = 0;
    	}


    }

  /*** Don't write any code pass this line, or it will be deleted during code generation. ***/
  /*** RTOS startup code. Macro PEX_RTOS_START is defined by the RTOS component. DON'T MODIFY THIS CODE!!! ***/
  #ifdef PEX_RTOS_START
    PEX_RTOS_START();                  /* Startup of the selected RTOS. Macro is defined by the RTOS component. */
  #endif
  /*** End of RTOS startup code.  ***/
  /*** Processor Expert end of main routine. DON'T MODIFY THIS CODE!!! ***/
  for(;;) {
    if(exit_code != 0) {
      break;
    }
  }
  return exit_code;
  /*** Processor Expert end of main routine. DON'T WRITE CODE BELOW!!! ***/
} /*** End of main routine. DO NOT MODIFY THIS TEXT!!! ***/