CAN是控制器局域网络(Controller Area Network)的简称,是一种多主方式的串行通讯总线,是国际上应用最广泛的现场总线之一。车载,医疗,船舶等等行业应用十分广泛,基于CAN在汽车行业也逐渐衍生了一套标准协议,本章不扩展讲解,具体通过网络搜索吧。
开发前准备
- 硬件平台:nxp rt10xx单片机
- IDE: Keil
1.Kconfig 修改和menuconfig配置
在Env环境menuconfig中 RT-Thread Components->Device Drivers 设备驱动默认为n,所以需要开启。
先在Kconfig中添加如下语句,然后在Env环境menuconfig中 Hardware Drivers Config->On-Chip Peripheral Drivers 使能CAN,本章使用CAN2
2.工程添加CAN驱动框架和BSP驱动接口
设备驱动框架:can.c BSP接口:drv_can.c fsl_flexcan.c
3.添加或修改drv_can.c
笔者查阅文件,基本不用改动啥,笔者只是调整了下时钟源,其他保持不变
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
#ifdef RT_CAN_USING_BUS_HOOK
rt_can_bus_hook bus_hook;
#endif /*RT_CAN_USING_BUS_HOOK*/
struct rt_mutex lock;
void *can_rx;
void *can_tx;
};
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);
};
static struct rt_can_ops imxrt_can_ops =
{
.configure = can_cfg,
.control = can_control,
.sendmsg = can_send,
.recvmsg = can_recv,
};
int rt_hw_can_init(void)
{
int i;
rt_err_t ret = RT_EOK;
struct can_configure config = CANDEFAULTCONFIG;
config.privmode = 0;
config.ticks = 50;
config.sndboxnumber = 16; /* send Mailbox count */
config.msgboxsz = RX_MB_COUNT; /* RX msg buffer count */
#ifdef RT_CAN_USING_HDR
config.maxhdr = RX_MB_COUNT; /* filter count,one filter per MB */
#endif
for (i = 0; i < sizeof(flexcans) / sizeof(flexcans[0]); i++)
{
flexcans[i].can_dev.config = config;
ret = rt_hw_can_register(&flexcans[i].can_dev, flexcans[i].name, &imxrt_can_ops, &flexcans[i]);
}
return ret;
}
INIT_BOARD_EXPORT(rt_hw_can_init);
/* Select 60M clock divided by USB1 PLL (480 MHz) as master flexcan clock source */
#define FLEXCAN_CLOCK_SOURCE_SELECT (0U)
/* Clock divider for master flexcan clock source */
#define FLEXCAN_CLOCK_SOURCE_DIVIDER (2U)
/* Get frequency of flexcan clock */
#define EXAMPLE_CAN_CLK_FREQ ((CLOCK_GetFreq(kCLOCK_Usb1PllClk) / 8) / (FLEXCAN_CLOCK_SOURCE_DIVIDER + 1U))
static void flexcan_callback(CAN_Type *base, flexcan_handle_t *handle, status_t status, uint32_t result, void *userData)
{
struct imxrt_can *can;
flexcan_mb_transfer_t rxXfer;
can = (struct imxrt_can *)userData;
switch (status)
{
case kStatus_FLEXCAN_RxIdle:
rt_hw_can_isr(&can->can_dev, RT_CAN_EVENT_RX_IND | result << 8);
rxXfer.frame = &frame[result - 1];
rxXfer.mbIdx = result;
FLEXCAN_TransferReceiveNonBlocking(can->base, &can->handle, &rxXfer);
break;
case kStatus_FLEXCAN_TxIdle:
rt_hw_can_isr(&can->can_dev, RT_CAN_EVENT_TX_DONE | (63 - result) << 8);
break;
case kStatus_FLEXCAN_WakeUp:
case kStatus_FLEXCAN_ErrorStatus:
if ((result >= 47) && (result <= 63))
{
rt_hw_can_isr(&can->can_dev, RT_CAN_EVENT_TX_FAIL | (63 - result) << 8);
}
break;
case kStatus_FLEXCAN_TxSwitchToRx:
break;
default:
break;
}
}
static rt_err_t can_cfg(struct rt_can_device *can_dev, struct can_configure *cfg)
{
struct imxrt_can *can;
flexcan_config_t config;
rt_uint32_t res = RT_EOK;
flexcan_rx_mb_config_t mbConfig;
flexcan_mb_transfer_t rxXfer;
rt_uint8_t i, mailbox;
RT_ASSERT(can_dev != RT_NULL);
RT_ASSERT(cfg != RT_NULL);
can = (struct imxrt_can *)can_dev->parent.user_data;
RT_ASSERT(can != RT_NULL);
/*Clock setting for FLEXCAN*/
CLOCK_SetMux(kCLOCK_CanMux, FLEXCAN_CLOCK_SOURCE_SELECT);
CLOCK_SetDiv(kCLOCK_CanDiv, FLEXCAN_CLOCK_SOURCE_DIVIDER);
FLEXCAN_GetDefaultConfig(&config);
config.baudRate = cfg->baud_rate;
config.maxMbNum = 64; /* all series have 64 MB */
config.enableIndividMask = true; /* one filter per MB */
switch (cfg->mode)
{
case RT_CAN_MODE_NORMAL:
/* default mode */
break;
case RT_CAN_MODE_LISEN:
break;
case RT_CAN_MODE_LOOPBACK:
config.enableLoopBack = true;
break;
case RT_CAN_MODE_LOOPBACKANLISEN:
break;
}
FLEXCAN_Init(can->base, &config, EXAMPLE_CAN_CLK_FREQ);
/* Create FlexCAN handle structure and set call back function. */
FLEXCAN_TransferCreateHandle(can->base, &can->handle, flexcan_callback, can);
/* init RX_MB_COUNT RX MB to default status */
mbConfig.format = kFLEXCAN_FrameFormatStandard; /* standard ID */
mbConfig.type = kFLEXCAN_FrameTypeData; /* data frame */
mbConfig.id = FLEXCAN_ID_STD(0); /* default ID is 0 */
for (i = 0; i < RX_MB_COUNT; i++)
{
/* the used MB index from 1 to RX_MB_COUNT */
mailbox = i + 1;
/* all ID bit in the filter is "don't care" */
FLEXCAN_SetRxIndividualMask(can->base, mailbox, FLEXCAN_RX_MB_STD_MASK(0, 0, 0));
FLEXCAN_SetRxMbConfig(can->base, mailbox, &mbConfig, true);
/* one frame buffer per MB */
rxXfer.frame = &frame[i];
rxXfer.mbIdx = mailbox;
FLEXCAN_TransferReceiveNonBlocking(can->base, &can->handle, &rxXfer);
}
NVIC_SetPriority(CAN1_IRQn, CAN_ISR_PRE);
NVIC_SetPriority(CAN2_IRQn, CAN_ISR_PRE);
return res;
}
static rt_err_t can_control(struct rt_can_device *can_dev, int cmd, void *arg)
{
struct imxrt_can *can;
rt_uint32_t argval, mask;
rt_uint32_t res = RT_EOK;
flexcan_rx_mb_config_t mbConfig;
struct rt_can_filter_config *cfg;
struct rt_can_filter_item *item;
rt_uint8_t i, count, index;
RT_ASSERT(can_dev != RT_NULL);
can = (struct imxrt_can *)can_dev->parent.user_data;
RT_ASSERT(can != RT_NULL);
switch (cmd)
{
case RT_DEVICE_CTRL_SET_INT:
argval = (rt_uint32_t) arg;
if (argval == RT_DEVICE_FLAG_INT_RX)
{
mask = kFLEXCAN_RxWarningInterruptEnable;
}
else if (argval == RT_DEVICE_FLAG_INT_TX)
{
mask = kFLEXCAN_TxWarningInterruptEnable;
}
else if (argval == RT_DEVICE_CAN_INT_ERR)
{
mask = kFLEXCAN_ErrorInterruptEnable;
}
FLEXCAN_EnableInterrupts(can->base, mask);
NVIC_SetPriority(can->irqn, NVIC_EncodePriority(NVIC_GetPriorityGrouping(), 5, 0));
EnableIRQ(can->irqn);
break;
case RT_DEVICE_CTRL_CLR_INT:
/* each CAN device have one IRQ number. */
DisableIRQ(can->irqn);
break;
case RT_CAN_CMD_SET_FILTER:
cfg = (struct rt_can_filter_config *)arg;
item = cfg->items;
count = cfg->count;
if (filter_mask == 0xffffffff)
{
LOG_E("%s filter is full!\n", can->name);
res = RT_ERROR;
break;
}
else if (filter_mask == 0)
{
/* deinit all init RX MB */
for (i = 0; i < RX_MB_COUNT; i++)
{
FLEXCAN_SetRxMbConfig(can->base, i + 1, RT_NULL, false);
}
}
while (count)
{
if (item->ide)
{
mbConfig.format = kFLEXCAN_FrameFormatExtend;
mbConfig.id = FLEXCAN_ID_EXT(item->id);
mask = FLEXCAN_RX_MB_EXT_MASK(item->mask, 0, 0);
}
else
{
mbConfig.format = kFLEXCAN_FrameFormatStandard;
mbConfig.id = FLEXCAN_ID_STD(item->id);
mask = FLEXCAN_RX_MB_STD_MASK(item->mask, 0, 0);
}
if (item->rtr)
{
mbConfig.type = kFLEXCAN_FrameTypeRemote;
}
else
{
mbConfig.type = kFLEXCAN_FrameTypeData;
}
/* user does not specify hdr index,set hdr from RX MB 1 */
if (item->hdr == -1)
{
for (i = 0; i < 32; i++)
{
if (!(filter_mask & (1 << i)))
{
index = i;
break;
}
}
}
else /* use user specified hdr */
{
if (filter_mask & (1 << item->hdr))
{
res = RT_ERROR;
LOG_E("%s hdr%d filter already set!\n", can->name, item->hdr);
break;
}
else
{
index = item->hdr;
}
}
/* RX MB index from 1 to 32,hdr index 0~31 map RX MB index 1~32. */
FLEXCAN_SetRxIndividualMask(can->base, index + 1, mask);
FLEXCAN_SetRxMbConfig(can->base, index + 1, &mbConfig, true);
filter_mask |= 1 << index;
item++;
count--;
}
break;
case RT_CAN_CMD_SET_BAUD:
res = RT_ERROR;
break;
case RT_CAN_CMD_SET_MODE:
res = RT_ERROR;
break;
case RT_CAN_CMD_SET_PRIV:
res = RT_ERROR;
break;
case RT_CAN_CMD_GET_STATUS:
FLEXCAN_GetBusErrCount(can->base, (rt_uint8_t *)(&can->can_dev.status.snderrcnt), (rt_uint8_t *)(&can->can_dev.status.rcverrcnt));
rt_memcpy(arg, &can->can_dev.status, sizeof(can->can_dev.status));
break;
default:
res = RT_ERROR;
break;
}
return res;
}
static int can_send(struct rt_can_device *can_dev, const void *buf, rt_uint32_t boxno)
{
struct imxrt_can *can;
struct rt_can_msg *msg;
status_t ret;
flexcan_frame_t frame;
flexcan_mb_transfer_t txXfer;
rt_uint8_t sendMB;
RT_ASSERT(can_dev != RT_NULL);
RT_ASSERT(buf != RT_NULL);
can = (struct imxrt_can *)can_dev->parent.user_data;
msg = (struct rt_can_msg *) buf;
RT_ASSERT(can != RT_NULL);
RT_ASSERT(msg != RT_NULL);
/* use the last 16 MB to send msg */
sendMB = 63 - boxno;
FLEXCAN_SetTxMbConfig(can->base, sendMB, true);
if (RT_CAN_STDID == msg->ide)
{
frame.id = FLEXCAN_ID_STD(msg->id);
frame.format = kFLEXCAN_FrameFormatStandard;
}
else if (RT_CAN_EXTID == msg->ide)
{
frame.id = FLEXCAN_ID_EXT(msg->id);
frame.format = kFLEXCAN_FrameFormatExtend;
}
if (RT_CAN_DTR == msg->rtr)
{
frame.type = kFLEXCAN_FrameTypeData;
}
else if (RT_CAN_RTR == msg->rtr)
{
frame.type = kFLEXCAN_FrameTypeRemote;
}
frame.length = msg->len;
frame.dataByte0 = msg->data[0];
frame.dataByte1 = msg->data[1];
frame.dataByte2 = msg->data[2];
frame.dataByte3 = msg->data[3];
frame.dataByte4 = msg->data[4];
frame.dataByte5 = msg->data[5];
frame.dataByte6 = msg->data[6];
frame.dataByte7 = msg->data[7];
txXfer.mbIdx = sendMB;
txXfer.frame = &frame;
ret = FLEXCAN_TransferSendNonBlocking(can->base, &can->handle, &txXfer);
switch (ret)
{
case kStatus_Success:
ret = RT_EOK;
break;
case kStatus_Fail:
ret = RT_ERROR;
break;
case kStatus_FLEXCAN_TxBusy:
ret = RT_EBUSY;
break;
}
return ret;
}
static int can_recv(struct rt_can_device *can_dev, void *buf, rt_uint32_t boxno)
{
struct imxrt_can *can;
struct rt_can_msg *pmsg;
rt_uint8_t index;
RT_ASSERT(can_dev != RT_NULL);
can = (struct imxrt_can *)can_dev->parent.user_data;
pmsg = (struct rt_can_msg *) buf;
RT_ASSERT(can != RT_NULL);
index = boxno - 1;
if (frame[index].format == kFLEXCAN_FrameFormatStandard)
{
pmsg->ide = RT_CAN_STDID;
pmsg->id = frame[index].id >> CAN_ID_STD_SHIFT;
}
else
{
pmsg->ide = RT_CAN_EXTID;
pmsg->id = frame[index].id >> CAN_ID_EXT_SHIFT;
}
if (frame[index].type == kFLEXCAN_FrameTypeData)
{
pmsg->rtr = RT_CAN_DTR;
}
else if (frame[index].type == kFLEXCAN_FrameTypeRemote)
{
pmsg->rtr = RT_CAN_RTR;
}
pmsg->hdr = index; /* one hdr filter per MB */
pmsg->len = frame[index].length;
pmsg->data[0] = frame[index].dataByte0;
pmsg->data[1] = frame[index].dataByte1;
pmsg->data[2] = frame[index].dataByte2;
pmsg->data[3] = frame[index].dataByte3;
pmsg->data[4] = frame[index].dataByte4;
pmsg->data[5] = frame[index].dataByte5;
pmsg->data[6] = frame[index].dataByte6;
pmsg->data[7] = frame[index].dataByte7;
return 0;
}
4.搭建应用层demo
底层IO初始化
IOMUXC_SetPinMux(IOMUXC_GPIO_AD_B0_02_FLEXCAN2_TX, 1U);
IOMUXC_SetPinMux(IOMUXC_GPIO_AD_B0_03_FLEXCAN2_RX, 1U);
IOMUXC_SetPinConfig(IOMUXC_GPIO_AD_B0_02_FLEXCAN2_TX, 0x10B0u);
IOMUXC_SetPinConfig(IOMUXC_GPIO_AD_B0_03_FLEXCAN2_RX, 0x10B0u);
can 波特率设置为:500K (can.h文件中)
#define CANDEFAULTCONFIG \
{\
CAN500kBaud,\
RT_CANMSG_BOX_SZ,\
RT_CANSND_BOX_NUM,\
RT_CAN_MODE_NORMAL,\
};
应用基本拷贝官方提供demo测试就行了:demo主要测试CAN收发数据和帧过滤的应用
/**************************************************START OF FILE*****************************************************/
/*------------------------------------------------------------------------------------------------------------------
Includes
*/
#include <rtthread.h>
#include <rtdevice.h>
/*------------------------------------------------------------------------------------------------------------------
Macros
*/
#define CAN_DEV_NAME "can2" /* CAN 设备名称 */
/*------------------------------------------------------------------------------------------------------------------
Variables
*/
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 */
/*------------------------------------------------------------------------------------------------------------------
Functions
*/
/* 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);
/* 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);
rt_kprintf(" DATA:");
for (i = 0; i < 8; i++)
{
rt_kprintf("%2x", rxmsg.data[i]);
}
rt_kprintf("\n");
rt_thread_mdelay(2);
}
}
int can_sample(void)
{
struct rt_can_msg msg = {0};
rt_err_t res;
rt_size_t size;
rt_thread_t thread;
char can_name[RT_NAME_MAX];
/* 查找 CAN 设备 */
can_dev = rt_device_find(CAN_DEV_NAME);
if (!can_dev)
{
rt_kprintf("find %s failed!\n", CAN_DEV_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);
/* 创建数据接收线程 */
thread = rt_thread_create("t_can_rx", can_rx_thread, RT_NULL, 1024, 25, 10);
if (thread != RT_NULL)
{
rt_thread_startup(thread);
}
else
{
rt_kprintf("create can_rx thread failed!\n");
}
msg.id = 0x78; /* ID 为 0x78 */
msg.ide = RT_CAN_STDID; /* 标准格式 */
msg.rtr = RT_CAN_DTR; /* 数据帧 */
msg.len = 8; /* 数据长度为 8 */
/* 待发送的 8 字节数据 */
msg.data[0] = 0x00;
msg.data[1] = 0x11;
msg.data[2] = 0x22;
msg.data[3] = 0x33;
msg.data[4] = 0x44;
msg.data[5] = 0x55;
msg.data[6] = 0x66;
msg.data[7] = 0x77;
/* 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 res;
}
/****************************************************END OF FILE*****************************************************/
将CAN信号接入PCAN设备,然后打开PCAN-View上位机,复位MCU,使用PCAN-View上位机,向MCU发送参数,将会有如下结果: