瑞萨单片机之CAN

瑞萨RL78 的CAN设置

• CAN 设置 --- MCU原理框图

1. CAN0EN :  控制CAN的输入时钟/控制CAN的唤醒中断
2. CAN0MCKE:  Enables CAN X1 clock (fx) supply.

ＭＣＵ

 

• CAN 设置 --- CAN channel number 0

发送缓冲区 4个
独立buffer :  4个Buffer 只能作为发送Buffer 
---------发送buffer ：4 buffer (每个channel 4个buffer)
共享buffer ：16 buffer 可作为与以下功能共享
--------接收buffer ：0~16buffer
--------接收FIFO buffer；2个FIFO （ 每个FIFO最多可分配到16个buffer）
--------发送/接收 FIFO buffer0：每个channel有一个FIFO（ 每个FIFO最多可分配到16个buffer）
发送/接收 FIFO作为 发送FIFO时候，使用的是共享buffer，然后使用独立发送Buffe链接

• CAN 设置 --- MCU引脚设置

当GPIO作为CAN功能时候，需要设置为高电平，否者无法通讯

• CAN 设置 --- CAN时钟/CAN唤醒使能

void R_CAN_Create(void)
{	
      PER2 |= 0x01;   // Enable the CAN module. CAN0EN = 1;
}

• CAN 设置 --- CAN初始化 流程 R_CAN_Init()

• CAN设置 --- CAN驱动初始化

• void  CanDriver_Init(void)
  {
      Can_RtnType retval;
      R_CAN_Create();   /* CAN0EN = 1    */
      
      /* CAN Initialize */
      retval = CAN_RTN_RAM_INIT; 
      while (retval != CAN_RTN_OK) 
      {
          retval = R_CAN_Init();
      }
      /* Set global operating mode */
      retval = CAN_RTN_MODE_WAIT;
      while (retval == CAN_RTN_MODE_WAIT)
      {
          retval = R_CAN_GlobalStart();
      }
       /* CH0 -> Channel communication mode */
      retval = CAN_RTN_MODE_WAIT;
      while (retval == CAN_RTN_MODE_WAIT) 
      {
          retval = R_CAN_ChStart(CAN_CH0);
      }
      CanDriver_ClearFlag();
  }

  接收规则

• The number of receive rules for the entire CAN module is 16 in total.

1. Settings of IDE/RTR/ID
2. Setting of messages target for receive rules
3. Settings to mask IDE/RTR/ID
4. Setting of values to be compared with DLC values 
5. Setting of receive rule label
6. Setting of buffers to store messages

• IDL和IDH 请查阅寄存器 GAFLIDLj, GAFLIDHj，当帧小于 0x7FF 默认为标准帧 ，不做说明

• IDL_MASK和IDH_MASK，掩码，1表示有效，0 表示无效。请查看 GAFLMLj，GAFLMHj，不做说明

• Store 查看寄存器 GAFLPL，将对应的数据存储到对应的FIFO 和buffer 中

• data Filter查看寄存器 GAFLPH

const uint16_t g_rxrule_table[CAN_RX_RULE_NUM][6] = {
    /*IDL ， IDH ， IDL_MASK ， IDH_MASK ， Store  ， data filter  */
    { 0x0000U, 0x0000U, 0x0000U, 0x0000U, 0x0001U, 0x0000U },
    { 0x0000U, 0x0000U, 0x0000U, 0x0000U, 0x0001U, 0x0000U },
    { 0x0000U, 0x0000U, 0x0000U, 0x0000U, 0x0001U, 0x0000U },
    { 0x0000U, 0x0000U, 0x0000U, 0x0000U, 0x0001U, 0x0000U }
};

        /* ---- Copy Rx rule one by one ---- */
        p_RxRuleSfr = (volatile __near can_rxrule_sfr_t *)&GAFLIDL0;
        for (rxrule_idx = 0U; rxrule_idx < CAN_RX_RULE_NUM; rxrule_idx++)
        {
            /* Set a single Rx rule */
            p_RxRuleSfr->IDL = g_rxrule_table[rxrule_idx][0];
            p_RxRuleSfr->IDH = g_rxrule_table[rxrule_idx][1];
            p_RxRuleSfr->ML  = g_rxrule_table[rxrule_idx][2];
            p_RxRuleSfr->MH  = g_rxrule_table[rxrule_idx][3];
            p_RxRuleSfr->PL  = g_rxrule_table[rxrule_idx][4];
            p_RxRuleSfr->PH  = g_rxrule_table[rxrule_idx][5];

            /* Next sfr */
            p_RxRuleSfr++;
        }

 

•  

•  

• 

GAFLRMDP ：接受Buffer序号选择 ；表示接收Buffer的序号，若GAFLRMDP=0x03 表示 3号 buffer接收数据
        GAFLFDP4 ： 发送/接收FIFO 选择 ；当发送和接收 FIFO 作为 接收时候 使能
 

接受数据 -> 中断中接收到数据

• /* ---- CAN frame ----- */
  typedef struct
  {
      uint16_t IDL:16;   /* ID Data (low)                      */
      uint16_t IDH:13;   /* ID Data (high)                     */
      uint16_t THDSE :1; /* Transmit History Data Store Enable */
      uint16_t RTR :1;   /* RTR  0:Data 1:Remote               */
      uint16_t IDE :1;   /* IDE  0:Standard 1:Extend           */
      uint16_t TS :16;   /* Timestamp Data                     */
      uint16_t LBL :12;  /* Label Data                         */
      uint16_t DLC :4;   /* DLC Data                           */
      uint8_t  DB[8];    /* Data Byte                          */
  } can_frame_t;
  
  
  #pragma interrupt can_INTCANGREC_interrupt(vect=INTCANGRFR)
  typedef void (*pvIntEventFunc)(void);  // 定义函数指针
  
   void can_INTCANGREC_interrupt(void)  // 中断函数
  {
  	pvIntEventFunc prxCANCallback = CanSchm_CanBusRxMsgCallBack;
  
  	prxCANCallback();
  }
  void CanSchm_CanBusRxMsgCallBack(void) // 回调函数
  {
  	can_frame_t umrxFrame;
  	uint32_t u8state;
  
  	if((RFSTS0 & 0x0008) != 0)  //RFIF = 1  FIF0接受到数据， RFIF标志位变为１
  	{
  		RFSTS0 &= 0xFFF7; //clear RFIF 
  		u8state = R_CAN_ReadRxFIFO(0,&umrxFrame); // receive msg IDL IDH 
  		if((u8state == CAN_RTN_OK_WITH_LOST )||(u8state == CAN_RTN_OK ))//recive msg
  		{
  			g_umRxFrame = umrxFrame;
  			g_umSchmState.RxSucCnt++; //success  receive 
  		}
  	}
  }
  void RxFrame(CanFrame_t *pCanRxFrame)  // 接收到的参数拆包
  {
  	uint8_t i;
  	pCanRxFrame -> u32Id = (uint32_t)(((uint32_t)(g_umRxFrame.IDH&0x7fff)<<16)|(g_umRxFrame.IDL&0xffff));
  	pCanRxFrame -> u8Ide = g_umRxFrame.IDE;
  	pCanRxFrame -> u8Rtr = g_umRxFrame.RTR;
  	pCanRxFrame -> u8Dlc = g_umRxFrame.DLC;
  	for(i = 0; i < g_umRxFrame.DLC ;++i)
  	{
  		pCanRxFrame ->DataBuff[i]= g_umRxFrame.DB[i];
  	}
  }

  发送数据 -> 将接收/发送FIFO 作为发送FIFO

• 

• 注意点

• Note 9: Set 0 to the TMIEp bit corresponding to the transmit buffer linked to the transmit FIFO buffer.，对应的TMIE位被设置为0，这发送缓冲区与发送FIFO缓冲区连接

• Std_RtnType TxFrame(uint32_t u32MsgId, uint8_t *u8Data,uint8_t u8Len)
  {
  	int i=0;
  	if(u32MsgId <= 0x7FF) // stand ID 
  	{
  		g_umTxFrame.IDE = 0;
  	}
  	else      //extend ID
  	{
  		g_umTxFrame.IDE = 1;
  	}
  	g_umTxFrame.IDL = u32MsgId&0xFFFF;
  	g_umTxFrame.IDH = (uint16_t)((u32MsgId>>16)&0x7FFF);
  	g_umTxFrame.RTR = 0;
  	g_umTxFrame.DLC = u8Len;
  	for(i=0; i<u8Len; i++)
  	{
  		g_umTxFrame.DB[i] = u8Data[i];
  	}
  	if(CAN_RTN_OK == R_CAN_TrmByTRFIFO0_CH0((const can_frame_t *)&g_umTxFrame))//send message 
  	{
  		g_umSchmState.TxSucCnt++;   // send successful
  		return STD_E_OK;
  	}
  	return STD_E_NOK;
  }