S32K144开发笔记4 - CAN配置

1、CAN引脚配置

点击引脚配置

选择对应的引脚

2、添加CAN组件

点击Components

点击一下右侧的can_pal，左侧会有一个CAN组件。需要几个CAN就加入几个CAN组件。这里我使用三个CAN，加入了三个CAN组件

注意：有时候建立好工程，在右侧的库中会找不到can_pal。此时关闭一下软件，重新打开即可！

3、配置CAN组件信息

需要500K的波特率，默认配置即可！

注意一下can_pal0和can_pal0_Config0的名称。代码中依据这两个名称进行配置的。

4、代码

测试三路CAN的收发功能。通过向CAN发送数据，再通过CAN将数据发出来。

/* ###################################################################
**     Filename    : main.c
**     Processor   : S32K1xx
**     Abstract    :
**         Main module.
**         This module contains user's application code.
**     Settings    :
**     Contents    :
**         No public methods
**
** ###################################################################*/
/*!
** @file main.c
** @version 01.00
** @brief
**         Main module.
**         This module contains user's application code.
*/         
/*!
**  @addtogroup main_module main module documentation
**  @{
*/         
/* MODULE main */


/* Including necessary module. Cpu.h contains other modules needed for compiling.*/
#include "Cpu.h"

volatile int exit_code = 0;

/* User includes (#include below this line is not maintained by Processor Expert) */

/*! 
  \brief The main function for the project.
  \details The startup initialization sequence is the following:
 * - startup asm routine
 * - main()
*/

#define Rx_Filter  0x0
char IRQ_CAN0_RX;
char IRQ_CAN1_RX;
char IRQ_CAN2_RX;
can_message_t recvMsg_CAN0;
can_message_t recvMsg_CAN1;
can_message_t recvMsg_CAN2;

#define RX_MAILBOX_CAN0  (0UL)
#define TX_MAILBOX_CAN0  (1UL)

#define RX_MAILBOX_CAN1  (2UL)
#define TX_MAILBOX_CAN1  (3UL)

#define RX_MAILBOX_CAN2  (4UL)
#define TX_MAILBOX_CAN2  (5UL)



/*CAN0回调函数*/
void CAN0_Callback_Func (uint32_t instance,can_event_t event,uint32_t buffIdx,void *flexcanState)
  {
	(void)flexcanState; //此处防止警报
	(void)instance;
	(void)buffIdx;
	CAN_Receive(&can_pal0_instance, RX_MAILBOX_CAN0, &recvMsg_CAN0); //接收报文并重新注册回调函数
	switch(event) //回调事件
		{
			case CAN_EVENT_RX_COMPLETE: //接收完成 事件
				IRQ_CAN0_RX =1;
				break;
			case CAN_EVENT_TX_COMPLETE: //发送完成事件
				break;
			default:
				break;
		}
  }



void CAN1_Callback_Func (uint32_t instance,can_event_t event,uint32_t buffIdx,void *flexcanState)
  {
	(void)flexcanState;
	(void)instance;
	(void)buffIdx;
	CAN_Receive(&can_pal1_instance, RX_MAILBOX_CAN1, &recvMsg_CAN1);
	switch(event)
		{
		case CAN_EVENT_RX_COMPLETE:
			IRQ_CAN1_RX =1;
			break;
		case CAN_EVENT_TX_COMPLETE:
			break;
		default:
			break;
		}
  }



void CAN2_Callback_Func (uint32_t instance,can_event_t event,uint32_t buffIdx,void *flexcanState)
  {
	(void)flexcanState;
	(void)instance;
	(void)buffIdx;
	CAN_Receive(&can_pal2_instance, RX_MAILBOX_CAN2, &recvMsg_CAN2);
	switch(event)
	{
		case CAN_EVENT_RX_COMPLETE:
			IRQ_CAN2_RX =1;
			break;
		case CAN_EVENT_TX_COMPLETE:
			break;
		default:
			break;
		}
  }


void CAN0_Init(void)
{
	  CAN_Init(&can_pal0_instance, &can_pal0_Config0);
	  can_buff_config_t Rx_buffCfg =  {
	      .enableFD = false,
	      .enableBRS = false,
	      .fdPadding = 0U,
	      .idType = CAN_MSG_ID_STD,
	      .isRemote = false
	  };

	  can_buff_config_t Tx_buffCfg =  {
	      .enableFD = false,
	      .enableBRS = false,
	      .fdPadding = 0U,
	      .idType = CAN_MSG_ID_STD,
	      .isRemote = false
	  };
	  CAN_ConfigRxBuff(&can_pal0_instance, RX_MAILBOX_CAN0, &Rx_buffCfg, Rx_Filter); //注册接收配置和MSGID过滤器(如过滤器配置为0x1，则只接受msgid 0x1发来的报文)
	  CAN_ConfigTxBuff(&can_pal0_instance, TX_MAILBOX_CAN0, &Tx_buffCfg); //配置发送
	  /*设置MSGID的掩码，掩码粗略可以理解为对11bit MSGID地址的过滤
	   如果某bit位需要过滤设置为1,不过滤设置为0,例如掩码设置为0x7ff则过滤全部标准id,如果设置为0x7fe,这只能接受0x01的报文(不存在0x0的地址)*/
	  CAN_SetRxFilter(&can_pal0_instance,CAN_MSG_ID_STD,RX_MAILBOX_CAN0,0); //设置MSGID掩码，
	  CAN_InstallEventCallback(&can_pal0_instance,&CAN0_Callback_Func,(void*)0); //注册回调函数
	  CAN_Receive(&can_pal0_instance, RX_MAILBOX_CAN0, &recvMsg_CAN0); //*****重点****此函数不只有接收作用 还有续订回调函数的作用.
}

void CAN1_Init(void)
{
	  CAN_Init(&can_pal1_instance, &can_pal1_Config0);
	  can_buff_config_t Rx_buffCfg =  {
	      .enableFD = false,
	      .enableBRS = false,
	      .fdPadding = 0U,
	      .idType = CAN_MSG_ID_STD,
	      .isRemote = false
	  };

	  can_buff_config_t Tx_buffCfg =  {
	      .enableFD = false,
	      .enableBRS = false,
	      .fdPadding = 0U,
	      .idType = CAN_MSG_ID_STD,
	      .isRemote = false
	  };
	  CAN_ConfigRxBuff(&can_pal1_instance, RX_MAILBOX_CAN1, &Rx_buffCfg, Rx_Filter);
	  CAN_ConfigTxBuff(&can_pal1_instance, TX_MAILBOX_CAN1, &Tx_buffCfg);
	  CAN_SetRxFilter(&can_pal1_instance,CAN_MSG_ID_STD,RX_MAILBOX_CAN1,0);
	  CAN_InstallEventCallback(&can_pal1_instance,&CAN1_Callback_Func,(void*)0);
	  CAN_Receive(&can_pal1_instance, RX_MAILBOX_CAN1, &recvMsg_CAN1);
}



void CAN2_Init(void)
{
	  CAN_Init(&can_pal2_instance, &can_pal2_Config0);
	  can_buff_config_t Rx_buffCfg =  {
	      .enableFD = false,
	      .enableBRS = false,
	      .fdPadding = 0U,
	      .idType = CAN_MSG_ID_STD,
	      .isRemote = false
	  };

	  can_buff_config_t Tx_buffCfg =  {
	      .enableFD = false,
	      .enableBRS = false,
	      .fdPadding = 0U,
	      .idType = CAN_MSG_ID_STD,
	      .isRemote = false
	  };
	  CAN_ConfigRxBuff(&can_pal2_instance, RX_MAILBOX_CAN2, &Rx_buffCfg, Rx_Filter);
	  CAN_ConfigTxBuff(&can_pal2_instance, TX_MAILBOX_CAN2, &Tx_buffCfg);
	  CAN_SetRxFilter(&can_pal2_instance,CAN_MSG_ID_STD,RX_MAILBOX_CAN2,0);
	  CAN_InstallEventCallback(&can_pal2_instance,&CAN2_Callback_Func,(void*)0);
	  CAN_Receive(&can_pal2_instance, RX_MAILBOX_CAN2, &recvMsg_CAN2);
}
int main(void)
{
  /* Write your local variable definition here */

  /*** 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_CALLBACK_CNT);
    CLOCK_SYS_UpdateConfiguration(0U, CLOCK_MANAGER_POLICY_AGREEMENT);
    PINS_DRV_Init(NUM_OF_CONFIGURED_PINS, g_pin_mux_InitConfigArr); //初始化IO
	CAN0_Init();
	CAN1_Init();
	CAN2_Init();
	for(;;)
	{
		if(IRQ_CAN0_RX ==1 )
		{
			can_message_t Tx_msg = {
						 .cs = 0U,
						 .id = recvMsg_CAN0.id,
						 .data[0] = recvMsg_CAN0.data[0],
						 .data[1] = recvMsg_CAN0.data[1],
						 .data[2] = recvMsg_CAN0.data[2],
						 .data[3] = recvMsg_CAN0.data[3],
						 .data[4] = recvMsg_CAN0.data[4],
						 .data[5] = recvMsg_CAN0.data[5],
						 .data[6] = recvMsg_CAN0.data[6],
						 .data[7] = recvMsg_CAN0.data[7],
						 .length = recvMsg_CAN0.length
					 };
			CAN_Send(&can_pal0_instance, TX_MAILBOX_CAN0, &Tx_msg);
			IRQ_CAN0_RX =0;
		}
		if(IRQ_CAN1_RX ==1 )
		{
			can_message_t Tx_msg = {
						 .cs = 0U,
						 .id = recvMsg_CAN1.id,
						 .data[0] = recvMsg_CAN1.data[0],
						 .data[1] = recvMsg_CAN1.data[1],
						 .data[2] = recvMsg_CAN1.data[2],
						 .data[3] = recvMsg_CAN1.data[3],
						 .data[4] = recvMsg_CAN1.data[4],
						 .data[5] = recvMsg_CAN1.data[5],
						 .data[6] = recvMsg_CAN1.data[6],
						 .data[7] = recvMsg_CAN1.data[7],
						 .length = recvMsg_CAN1.length
					 };
			CAN_Send(&can_pal1_instance, TX_MAILBOX_CAN1, &Tx_msg);
			IRQ_CAN1_RX =0;
		}
		if(IRQ_CAN2_RX ==1 )
		{
			can_message_t Tx_msg = {
						 .cs = 0U,
						 .id = recvMsg_CAN2.id,
						 .data[0] = recvMsg_CAN2.data[0],
						 .data[1] = recvMsg_CAN2.data[1],
						 .data[2] = recvMsg_CAN2.data[2],
						 .data[3] = recvMsg_CAN2.data[3],
						 .data[4] = recvMsg_CAN2.data[4],
						 .data[5] = recvMsg_CAN2.data[5],
						 .data[6] = recvMsg_CAN2.data[6],
						 .data[7] = recvMsg_CAN2.data[7],
						 .length = recvMsg_CAN2.length
					 };
			CAN_Send(&can_pal2_instance, TX_MAILBOX_CAN2, &Tx_msg);
			IRQ_CAN2_RX =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!!! ***/

/* END main */
/*!
** @}
*/
/*
** ###################################################################
**
**     This file was created by Processor Expert 10.1 [05.21]
**     for the NXP S32K series of microcontrollers.
**
** ###################################################################
*/