芯耀
2016
1 CAN配置
注：本文以GD32E508x为例，其他MCU可能有差异。
1.1 GPIO配置
CAN0、CAN1和CAN2都可以映射到多个GPIO使用，但是配置有所差异。
其中CAN0和CAN1通过配置REMAP寄存器的值来选择对应的GPIO，如下图所示：
而CAN2是通过AFIO配置，参考代码如下：
gpio_afio_port_config(AFIO_PB10_CAN2_CFG, ENABLE);gpio_afio_port_config(AFIO_PB11_CAN2_CFG, ENABLE);// gpio_afio_port_config(AFIO_PA9_CAN2_CFG, ENABLE);// gpio_afio_port_config(AFIO_PA10_CAN2_CFG, ENABLE);GPIO配置参考代码如下：
void can0_gpio_config(void){ /* enable CAN0 clock */ rcu_periph_clock_enable(RCU_CAN0); rcu_periph_clock_enable(CAN0RX_CLOCK); rcu_periph_clock_enable(RCU_AF); /* configure CAN0 GPIO */ gpio_init(CAN0RX_PORT, GPIO_MODE_IPU, GPIO_OSPEED_50MHZ, CAN0RX_PIN); gpio_init(CAN0TX_PORT, GPIO_MODE_AF_PP, GPIO_OSPEED_50MHZ, CAN0TX_PIN); gpio_pin_remap_config(GPIO_CAN0_PARTIAL_REMAP, ENABLE);}void can1_gpio_config(void){ /* enable CAN1 clock */ rcu_periph_clock_enable(RCU_CAN1); rcu_periph_clock_enable(CAN1RX_CLOCK); rcu_periph_clock_enable(RCU_AF); /* configure CAN1 GPIO */ gpio_init(CAN1RX_PORT, GPIO_MODE_IPU, GPIO_OSPEED_50MHZ, CAN1RX_PIN); gpio_init(CAN1TX_PORT, GPIO_MODE_AF_PP, GPIO_OSPEED_50MHZ, CAN1TX_PIN); gpio_pin_remap_config(GPIO_CAN1_REMAP, ENABLE);}void can2_gpio_config(void){ /* enable CAN2 clock */ rcu_periph_clock_enable(RCU_CAN2); rcu_periph_clock_enable(CAN2RX_CLOCK); rcu_periph_clock_enable(RCU_AF); /* configure CAN2 GPIO */ gpio_init(CAN2RX_PORT, GPIO_MODE_IPU, GPIO_OSPEED_50MHZ, CAN2RX_PIN); gpio_init(CAN2TX_PORT, GPIO_MODE_AF_PP, GPIO_OSPEED_50MHZ, CAN2TX_PIN); gpio_afio_port_config(AFIO_PB10_CAN2_CFG, ENABLE); gpio_afio_port_config(AFIO_PB11_CAN2_CFG, ENABLE);}1.2 CAN配置
CAN配置除了CAN本身的参数，还需要注意接收过滤器的分配，如下图所示，CAN0和CAN1共用28个过滤器，CAN2独立使用14个过滤器。
CAN配置参考代码如下：
void can0_config(void){ can_parameter_struct can_parameter; can_fdframe_struct can_fd_parameter; can_fd_tdc_struct can_fd_tdc_parameter; can_filter_parameter_struct can_filter; can_struct_para_init(CAN_INIT_STRUCT, &can_parameter); /* initialize CAN register */ can_deinit(CAN0);#if 0 // CAN配置 /* initialize CAN parameters */ can_parameter.time_triggered = DISABLE; can_parameter.auto_bus_off_recovery = DISABLE; can_parameter.auto_wake_up = DISABLE; can_parameter.auto_retrans = DISABLE; can_parameter.rec_fifo_overwrite = DISABLE; can_parameter.trans_fifo_order = DISABLE; can_parameter.working_mode = CAN_NORMAL_MODE; /* CAN波特率 = 时钟频率 / 分频系数 / (1 + TSG1 + TSG2) */ /* 仲裁段波特率 = 90M / 9 / (1 + 7 + 2) = 1M */ /* configure CAN baud rate 1MBps, sample point at 80% */ can_parameter.resync_jump_width = CAN_BT_SJW_1TQ; can_parameter.time_segment_1 = CAN_BT_BS1_7TQ; // TSG1 can_parameter.time_segment_2 = CAN_BT_BS2_2TQ; // TSG2 can_parameter.prescaler = 9U; // 分频系数 /* initialize CAN */ can_init(CAN0, &can_parameter);#else // CANFD配置 /* initialize CAN parameters */ can_parameter.time_triggered = DISABLE; can_parameter.auto_bus_off_recovery = DISABLE; can_parameter.auto_wake_up = DISABLE; can_parameter.auto_retrans = ENABLE; can_parameter.rec_fifo_overwrite = ENABLE; can_parameter.trans_fifo_order = ENABLE; can_parameter.working_mode = CAN_NORMAL_MODE; /* baudrate 1Mbps, sample piont at 80% */ can_parameter.resync_jump_width = CAN_BT_SJW_1TQ; can_parameter.time_segment_1 = CAN_BT_BS1_7TQ; can_parameter.time_segment_2 = CAN_BT_BS2_2TQ; can_parameter.prescaler = 9U; /* initialize CAN */ can_init(CAN0, &can_parameter); can_struct_para_init(CAN_FD_FRAME_STRUCT, &can_fd_parameter); can_fd_parameter.fd_frame = ENABLE; can_fd_parameter.excp_event_detect = ENABLE; can_fd_parameter.delay_compensation = ENABLE; can_fd_tdc_parameter.tdc_filter = 0x04U; can_fd_tdc_parameter.tdc_mode = CAN_TDCMOD_CALC_AND_OFFSET; can_fd_tdc_parameter.tdc_offset = 0x04U; can_fd_parameter.p_delay_compensation = &can_fd_tdc_parameter; can_fd_parameter.iso_bosch = CAN_FDMOD_ISO; can_fd_parameter.esi_mode = CAN_ESIMOD_HARDWARE; /* CAN波特率 = 时钟频率 / 分频系数 / (1 + TSG1 + TSG2) */ /* 数据段波特率 = 90M / 3 / (1 + 4 + 1) = 5M */ can_fd_parameter.data_resync_jump_width = CAN_BT_SJW_1TQ; can_fd_parameter.data_time_segment_1 = CAN_BT_BS1_4TQ; // TSG1 can_fd_parameter.data_time_segment_2 = CAN_BT_BS2_1TQ; // TSG2 /* CAN-FD data segement prescaler should be the same as non-data segement prescaler */ can_fd_parameter.data_prescaler = 3; // 分频系数 /* initialize CAN-FD */ can_fd_init(CAN0, &can_fd_parameter);#endif /* initialize filter */ /* configure filter mode */ can_filter.filter_mode = CAN_FILTERMODE_MASK; can_filter.filter_bits = CAN_FILTERBITS_32BIT; /* configure filter ID */ can_filter.filter_list_high = 0x0000U; can_filter.filter_list_low = 0x0000U; /* configure filter mask */ can_filter.filter_mask_high = 0x0000U; can_filter.filter_mask_low = 0x0000U; /* select receiver fifo */ can_filter.filter_fifo_number = CAN_FIFO0; can_filter.filter_number = 0U; can_filter.filter_enable = ENABLE; can_filter_init(CAN0, &can_filter); /* configure CAN0 NVIC */ nvic_irq_enable(CAN0_RX0_IRQn, 0U, 0U); /* enable can receive FIFO0 not empty interrupt */ can_interrupt_enable(CAN0, CAN_INTEN_RFNEIE0);}void can1_config(void){ can_parameter_struct can_parameter; can_fdframe_struct can_fd_parameter; can_fd_tdc_struct can_fd_tdc_parameter; can_filter_parameter_struct can_filter; can_struct_para_init(CAN_INIT_STRUCT, &can_parameter); /* initialize CAN register */ can_deinit(CAN1); /* initialize CAN parameters */ can_parameter.time_triggered = DISABLE; can_parameter.auto_bus_off_recovery = DISABLE; can_parameter.auto_wake_up = DISABLE; can_parameter.auto_retrans = ENABLE; can_parameter.rec_fifo_overwrite = ENABLE; can_parameter.trans_fifo_order = ENABLE; can_parameter.working_mode = CAN_NORMAL_MODE; /* CAN波特率 = 时钟频率 / 分频系数 / (1 + TSG1 + TSG2) */ /* 仲裁段波特率 = 90M / 9 / (1 + 7 + 2) = 1M */ /* CAN采样率 = (1 + TSG1) / (1 + TSG1 + TSG2) = (1 + 7) / (1 + 7 + 2) = 80% */ /* baudrate 1Mbps, sample piont at 80% */ can_parameter.resync_jump_width = CAN_BT_SJW_1TQ; can_parameter.time_segment_1 = CAN_BT_BS1_7TQ; // TSG1 can_parameter.time_segment_2 = CAN_BT_BS2_2TQ; // TSG2 can_parameter.prescaler = 9U; // 分频系数 /* initialize CAN */ can_init(CAN1, &can_parameter); can_struct_para_init(CAN_FD_FRAME_STRUCT, &can_fd_parameter); can_fd_parameter.fd_frame = ENABLE; can_fd_parameter.excp_event_detect = ENABLE; can_fd_parameter.delay_compensation = ENABLE; can_fd_tdc_parameter.tdc_filter = 0x04U; can_fd_tdc_parameter.tdc_mode = CAN_TDCMOD_CALC_AND_OFFSET; can_fd_tdc_parameter.tdc_offset = 0x04U; can_fd_parameter.p_delay_compensation = &can_fd_tdc_parameter; can_fd_parameter.iso_bosch = CAN_FDMOD_ISO; can_fd_parameter.esi_mode = CAN_ESIMOD_HARDWARE; /* CAN波特率 = 时钟频率 / 分频系数 / (1 + TSG1 + TSG2) */#if 1 /* 数据段波特率 = 90M / 3 / (1 + 4 + 1) = 5M */ /* CAN采样率 = (1 + TSG1) / (1 + TSG1 + TSG2) = (1 + 4) / (1 + 4 + 1) = 83.3% */ can_fd_parameter.data_resync_jump_width = CAN_BT_SJW_1TQ; can_fd_parameter.data_time_segment_1 = CAN_BT_BS1_4TQ; // TSG1 can_fd_parameter.data_time_segment_2 = CAN_BT_BS2_1TQ; // TSG2 /* CAN-FD data segement prescaler should be the same as non-data segement prescaler */ can_fd_parameter.data_prescaler = 3; // 分频系数#else /* 数据段波特率 = 90M / 2 / (1 + 6 + 2) = 5M */ /* CAN采样率 = (1 + TSG1) / (1 + TSG1 + TSG2) = (1 + 6) / (1 + 6 + 2) = 77.77% */ can_fd_parameter.data_resync_jump_width = CAN_BT_SJW_1TQ; can_fd_parameter.data_time_segment_1 = CAN_BT_BS1_7TQ; // TSG1 can_fd_parameter.data_time_segment_2 = CAN_BT_BS2_1TQ; // TSG2 /* CAN-FD data segement prescaler should be the same as non-data segement prescaler */ can_fd_parameter.data_prescaler = 2; // 分频系数#endif /* initialize CAN-FD */ can_fd_init(CAN1, &can_fd_parameter); /* initialize filter */ /* configure filter mode */ can_filter.filter_mode = CAN_FILTERMODE_MASK; can_filter.filter_bits = CAN_FILTERBITS_32BIT; /* configure filter ID */ can_filter.filter_list_high = 0x0000U; can_filter.filter_list_low = 0x0000U; /* configure filter mask */ can_filter.filter_mask_high = 0x0000U; can_filter.filter_mask_low = 0x0000U; /* select receiver fifo */ can_filter.filter_fifo_number = CAN_FIFO1; can_filter.filter_number = 15U; // CAN_FCTL默认定义了CAN0和CAN1过滤器序号的分配数量，CAN0使用0-13序号，CAN1使用14-27，可以通过can1_filter_start_bank()修改 can_filter.filter_enable = ENABLE; can_filter_init(CAN1, &can_filter); /* configure CAN1 NVIC */ nvic_irq_enable(CAN1_RX1_IRQn, 1U, 1U); /* enable can receive FIFO0 not empty interrupt */ can_interrupt_enable(CAN1, CAN_INTEN_RFNEIE1);}void can2_config(void){ can_parameter_struct can_parameter; can_fdframe_struct can_fd_parameter; can_fd_tdc_struct can_fd_tdc_parameter; can_filter_parameter_struct can_filter; can_struct_para_init(CAN_INIT_STRUCT, &can_parameter); /* initialize CAN register */ can_deinit(CAN2); /* initialize CAN parameters */ can_parameter.time_triggered = DISABLE; can_parameter.auto_bus_off_recovery = DISABLE; can_parameter.auto_wake_up = DISABLE; can_parameter.auto_retrans = ENABLE; can_parameter.rec_fifo_overwrite = ENABLE; can_parameter.trans_fifo_order = ENABLE; can_parameter.working_mode = CAN_NORMAL_MODE; /* baudrate 1Mbps, sample piont at 80% */ can_parameter.resync_jump_width = CAN_BT_SJW_1TQ; can_parameter.time_segment_1 = CAN_BT_BS1_7TQ; can_parameter.time_segment_2 = CAN_BT_BS2_2TQ; can_parameter.prescaler = 9U; /* initialize CAN */ can_init(CAN2, &can_parameter); can_struct_para_init(CAN_FD_FRAME_STRUCT, &can_fd_parameter); can_fd_parameter.fd_frame = ENABLE; can_fd_parameter.excp_event_detect = ENABLE; can_fd_parameter.delay_compensation = ENABLE; can_fd_tdc_parameter.tdc_filter = 0x04U; can_fd_tdc_parameter.tdc_mode = CAN_TDCMOD_CALC_AND_OFFSET; can_fd_tdc_parameter.tdc_offset = 0x04U; can_fd_parameter.p_delay_compensation = &can_fd_tdc_parameter; can_fd_parameter.iso_bosch = CAN_FDMOD_ISO; can_fd_parameter.esi_mode = CAN_ESIMOD_HARDWARE; /* CAN波特率 = 时钟频率 / 分频系数 / (1 + TSG1 + TSG2) */ /* 数据段波特率 = 90M / 3 / (1 + 4 + 1) = 5M */ can_fd_parameter.data_resync_jump_width = CAN_BT_SJW_1TQ; can_fd_parameter.data_time_segment_1 = CAN_BT_BS1_4TQ; // TSG1 can_fd_parameter.data_time_segment_2 = CAN_BT_BS2_1TQ; // TSG2 /* CAN-FD data segement prescaler should be the same as non-data segement prescaler */ can_fd_parameter.data_prescaler = 3; // 分频系数 /* initialize CAN-FD */ can_fd_init(CAN2, &can_fd_parameter); /* initialize filter */ /* configure filter mode */ can_filter.filter_mode = CAN_FILTERMODE_MASK; can_filter.filter_bits = CAN_FILTERBITS_32BIT; /* configure filter ID */ can_filter.filter_list_high = 0x0000U; can_filter.filter_list_low = 0x0000U; /* configure filter mask */ can_filter.filter_mask_high = 0x0000U; can_filter.filter_mask_low = 0x0000U; /* select receiver fifo */ can_filter.filter_fifo_number = CAN_FIFO0; can_filter.filter_number = 1U; can_filter.filter_enable = ENABLE; can_filter_init(CAN2, &can_filter); /* configure CAN2 NVIC */ nvic_irq_enable(CAN2_RX0_IRQn, 0U, 0U); /* enable can receive FIFO0 not empty interrupt */ can_interrupt_enable(CAN2, CAN_INTEN_RFNEIE0);}1.3 CAN发送
CAN发送参考代码如下：
typedef struct{ uint32_t id; // CAN ID uint8_t frame_format; // format of frame | 0：standard | 1：extended format uint8_t can_type; // CAN type | 0：CAN | 1：CANFD | 2：CANFD加速 uint8_t buf[64]; // CAN buf uint8_t buf_len; // CAN buf len} can_trasnmit_data_t;int can_send_message(uint8_t ch, can_trasnmit_data_t can_data){ uint8_t i; can_trasnmit_message_struct *can_tx_message; switch (ch) { case 0: #ifdef CAN0_ENABLE can_tx_message = &can0_tx_message; #endif break; case 1: #ifdef CAN1_ENABLE can_tx_message = &can1_tx_message; #endif break; case 2: #ifdef CAN2_ENABLE can_tx_message = &can2_tx_message; #endif break; default: break; } if(can_data.frame_format == 0) {// 标准帧 can_tx_message->tx_sfid = can_data.id; } else {// 扩展帧 can_tx_message->tx_efid = can_data.id; } if(can_data.can_type == 0) {// CAN can_tx_message->fd_flag = 0; can_tx_message->fd_brs = 0; } else if(can_data.can_type == 1) {// CANFD can_tx_message->fd_flag = 1; } else if(can_data.can_type == 2) {// CANFD加速 can_tx_message->fd_flag = 1; can_tx_message->fd_brs = 1; } can_tx_message->fd_esi = 0; memcpy(can_tx_message->tx_data, can_data.buf, can_data.buf_len); // CANFD模式下，数据长度只能为0 - 8, 12, 16, 20, 24, 32, 48, 64 if(can_data.buf_len > 48) { can_tx_message->tx_dlen = 64; } else if(can_data.buf_len > 32) { can_tx_message->tx_dlen = 48; } else if(can_data.buf_len > 24) { can_tx_message->tx_dlen = 32; } else if(can_data.buf_len > 20) { can_tx_message->tx_dlen = 24; } else if(can_data.buf_len > 16) { can_tx_message->tx_dlen = 20; } else if(can_data.buf_len > 12) { can_tx_message->tx_dlen = 16; } else if(can_data.buf_len > 8) { can_tx_message->tx_dlen = 12; } else { can_tx_message->tx_dlen = can_data.buf_len; }#if 1 printf("rn can(%d) transmit data(id: 0x%x): ", ch, can_tx_message->tx_sfid); for(i = 0U; i < can_tx_message->tx_dlen; i++) { printf(" %02x", can_tx_message->tx_data[i]); }#endif /* transmit message */ if(can_message_transmit(CAN2, can_tx_message) != CAN_NOMAILBOX) {// 发送成功 return 1; } return 0;}1.4 CAN接收
CAN接收参考代码如下：
void CAN0_RX0_IRQHandler(void){ /* check the receive message */ can_message_receive(CAN0, CAN_FIFO0, &can0_rx_message);#if 1 printf("rn can0 receive(id=0x%X) data: ", can0_rx_message.rx_sfid); for(int i = 0U; i < can0_rx_message.rx_dlen; i++) { printf(" %02x", can0_rx_message.rx_data[i]); }#endif}void CAN1_RX1_IRQHandler(void){ /* check the receive message */ can_message_receive(CAN1, CAN_FIFO1, &can1_rx_message);#if 1 printf("rn can1 receive(id=0x%X) data: ", can1_rx_message.rx_sfid); for(int i = 0U; i < can1_rx_message.rx_dlen; i++) { printf(" %02x", can1_rx_message.rx_data[i]); }#endif}void CAN2_RX0_IRQHandler(void){ /* check the receive message */ can_message_receive(CAN2, CAN_FIFO0, &can2_rx_message);#if 1 printf("rn can2 receive(id=0x%X) data: ", can2_rx_message.rx_sfid); for(int i = 0U; i < can2_rx_message.rx_dlen; i++) { printf(" %02x", can2_rx_message.rx_data[i]); }#endif}2 代码编写
参考代码如下：
can.c：
#include "main.h"#include "can.h"#include "string.h"// CAN收发缓存#ifdef CAN0_ENABLEcan_trasnmit_message_struct can0_tx_message;can_receive_message_struct can0_rx_message;#endif#ifdef CAN1_ENABLEcan_trasnmit_message_struct can1_tx_message;can_receive_message_struct can1_rx_message;#endif#ifdef CAN2_ENABLEcan_trasnmit_message_struct can2_tx_message;can_receive_message_struct can2_rx_message;#endif#ifdef CAN0_ENABLEvoid can0_gpio_config(void){ /* enable CAN0 clock */ rcu_periph_clock_enable(RCU_CAN0); rcu_periph_clock_enable(CAN0RX_CLOCK); rcu_periph_clock_enable(RCU_AF); /* configure CAN0 GPIO */ gpio_init(CAN0RX_PORT, GPIO_MODE_IPU, GPIO_OSPEED_50MHZ, CAN0RX_PIN); gpio_init(CAN0TX_PORT, GPIO_MODE_AF_PP, GPIO_OSPEED_50MHZ, CAN0TX_PIN); gpio_pin_remap_config(GPIO_CAN0_PARTIAL_REMAP, ENABLE);}void can0_config(void){ can_parameter_struct can_parameter; can_fdframe_struct can_fd_parameter; can_fd_tdc_struct can_fd_tdc_parameter; can_filter_parameter_struct can_filter; can_struct_para_init(CAN_INIT_STRUCT, &can_parameter); /* initialize CAN register */ can_deinit(CAN0);#if 0 // CAN配置 /* initialize CAN parameters */ can_parameter.time_triggered = DISABLE; can_parameter.auto_bus_off_recovery = DISABLE; can_parameter.auto_wake_up = DISABLE; can_parameter.auto_retrans = DISABLE; can_parameter.rec_fifo_overwrite = DISABLE; can_parameter.trans_fifo_order = DISABLE; can_parameter.working_mode = CAN_NORMAL_MODE; /* CAN波特率 = 时钟频率 / 分频系数 / (1 + TSG1 + TSG2) */ /* 仲裁段波特率 = 90M / 9 / (1 + 7 + 2) = 1M */ /* configure CAN baud rate 1MBps, sample point at 80% */ can_parameter.resync_jump_width = CAN_BT_SJW_1TQ; can_parameter.time_segment_1 = CAN_BT_BS1_7TQ; // TSG1 can_parameter.time_segment_2 = CAN_BT_BS2_2TQ; // TSG2 can_parameter.prescaler = 9U; // 分频系数 /* initialize CAN */ can_init(CAN0, &can_parameter);#else // CANFD配置 /* initialize CAN parameters */ can_parameter.time_triggered = DISABLE; can_parameter.auto_bus_off_recovery = DISABLE; can_parameter.auto_wake_up = DISABLE; can_parameter.auto_retrans = ENABLE; can_parameter.rec_fifo_overwrite = ENABLE; can_parameter.trans_fifo_order = ENABLE; can_parameter.working_mode = CAN_NORMAL_MODE; /* baudrate 1Mbps, sample piont at 80% */ can_parameter.resync_jump_width = CAN_BT_SJW_1TQ; can_parameter.time_segment_1 = CAN_BT_BS1_7TQ; can_parameter.time_segment_2 = CAN_BT_BS2_2TQ; can_parameter.prescaler = 9U; /* initialize CAN */ can_init(CAN0, &can_parameter); can_struct_para_init(CAN_FD_FRAME_STRUCT, &can_fd_parameter); can_fd_parameter.fd_frame = ENABLE; can_fd_parameter.excp_event_detect = ENABLE; can_fd_parameter.delay_compensation = ENABLE; can_fd_tdc_parameter.tdc_filter = 0x04U; can_fd_tdc_parameter.tdc_mode = CAN_TDCMOD_CALC_AND_OFFSET; can_fd_tdc_parameter.tdc_offset = 0x04U; can_fd_parameter.p_delay_compensation = &can_fd_tdc_parameter; can_fd_parameter.iso_bosch = CAN_FDMOD_ISO; can_fd_parameter.esi_mode = CAN_ESIMOD_HARDWARE; /* CAN波特率 = 时钟频率 / 分频系数 / (1 + TSG1 + TSG2) */ /* 数据段波特率 = 90M / 3 / (1 + 4 + 1) = 5M */ can_fd_parameter.data_resync_jump_width = CAN_BT_SJW_1TQ; can_fd_parameter.data_time_segment_1 = CAN_BT_BS1_4TQ; // TSG1 can_fd_parameter.data_time_segment_2 = CAN_BT_BS2_1TQ; // TSG2 /* CAN-FD data segement prescaler should be the same as non-data segement prescaler */ can_fd_parameter.data_prescaler = 3; // 分频系数 /* initialize CAN-FD */ can_fd_init(CAN0, &can_fd_parameter);#endif /* initialize filter */ /* configure filter mode */ can_filter.filter_mode = CAN_FILTERMODE_MASK; can_filter.filter_bits = CAN_FILTERBITS_32BIT; /* configure filter ID */ can_filter.filter_list_high = 0x0000U; can_filter.filter_list_low = 0x0000U; /* configure filter mask */ can_filter.filter_mask_high = 0x0000U; can_filter.filter_mask_low = 0x0000U; /* select receiver fifo */ can_filter.filter_fifo_number = CAN_FIFO0; can_filter.filter_number = 0U; can_filter.filter_enable = ENABLE; can_filter_init(CAN0, &can_filter); /* configure CAN0 NVIC */ nvic_irq_enable(CAN0_RX0_IRQn, 0U, 0U); /* enable can receive FIFO0 not empty interrupt */ can_interrupt_enable(CAN0, CAN_INTEN_RFNEIE0);}void CAN0_RX0_IRQHandler(void){ /* check the receive message */ can_message_receive(CAN0, CAN_FIFO0, &can0_rx_message);#if 1 printf("rn can0 receive(id=0x%X) data: ", can0_rx_message.rx_sfid); for(int i = 0U; i < can0_rx_message.rx_dlen; i++) { printf(" %02x", can0_rx_message.rx_data[i]); }#endif}#endif#ifdef CAN1_ENABLEvoid can1_gpio_config(void){ /* enable CAN1 clock */ rcu_periph_clock_enable(RCU_CAN1); rcu_periph_clock_enable(CAN1RX_CLOCK); rcu_periph_clock_enable(RCU_AF); /* configure CAN1 GPIO */ gpio_init(CAN1RX_PORT, GPIO_MODE_IPU, GPIO_OSPEED_50MHZ, CAN1RX_PIN); gpio_init(CAN1TX_PORT, GPIO_MODE_AF_PP, GPIO_OSPEED_50MHZ, CAN1TX_PIN); gpio_pin_remap_config(GPIO_CAN1_REMAP, ENABLE);}void can1_config(void){ can_parameter_struct can_parameter; can_fdframe_struct can_fd_parameter; can_fd_tdc_struct can_fd_tdc_parameter; can_filter_parameter_struct can_filter; can_struct_para_init(CAN_INIT_STRUCT, &can_parameter); /* initialize CAN register */ can_deinit(CAN1); /* initialize CAN parameters */ can_parameter.time_triggered = DISABLE; can_parameter.auto_bus_off_recovery = DISABLE; can_parameter.auto_wake_up = DISABLE; can_parameter.auto_retrans = ENABLE; can_parameter.rec_fifo_overwrite = ENABLE; can_parameter.trans_fifo_order = ENABLE; can_parameter.working_mode = CAN_NORMAL_MODE; /* CAN波特率 = 时钟频率 / 分频系数 / (1 + TSG1 + TSG2) */ /* 仲裁段波特率 = 90M / 9 / (1 + 7 + 2) = 1M */ /* CAN采样率 = (1 + TSG1) / (1 + TSG1 + TSG2) = (1 + 7) / (1 + 7 + 2) = 80% */ /* baudrate 1Mbps, sample piont at 80% */ can_parameter.resync_jump_width = CAN_BT_SJW_1TQ; can_parameter.time_segment_1 = CAN_BT_BS1_7TQ; // TSG1 can_parameter.time_segment_2 = CAN_BT_BS2_2TQ; // TSG2 can_parameter.prescaler = 9U; // 分频系数 /* initialize CAN */ can_init(CAN1, &can_parameter); can_struct_para_init(CAN_FD_FRAME_STRUCT, &can_fd_parameter); can_fd_parameter.fd_frame = ENABLE; can_fd_parameter.excp_event_detect = ENABLE; can_fd_parameter.delay_compensation = ENABLE; can_fd_tdc_parameter.tdc_filter = 0x04U; can_fd_tdc_parameter.tdc_mode = CAN_TDCMOD_CALC_AND_OFFSET; can_fd_tdc_parameter.tdc_offset = 0x04U; can_fd_parameter.p_delay_compensation = &can_fd_tdc_parameter; can_fd_parameter.iso_bosch = CAN_FDMOD_ISO; can_fd_parameter.esi_mode = CAN_ESIMOD_HARDWARE; /* CAN波特率 = 时钟频率 / 分频系数 / (1 + TSG1 + TSG2) */#if 1 /* 数据段波特率 = 90M / 3 / (1 + 4 + 1) = 5M */ /* CAN采样率 = (1 + TSG1) / (1 + TSG1 + TSG2) = (1 + 4) / (1 + 4 + 1) = 83.3% */ can_fd_parameter.data_resync_jump_width = CAN_BT_SJW_1TQ; can_fd_parameter.data_time_segment_1 = CAN_BT_BS1_4TQ; // TSG1 can_fd_parameter.data_time_segment_2 = CAN_BT_BS2_1TQ; // TSG2 /* CAN-FD data segement prescaler should be the same as non-data segement prescaler */ can_fd_parameter.data_prescaler = 3; // 分频系数#else /* 数据段波特率 = 90M / 2 / (1 + 6 + 2) = 5M */ /* CAN采样率 = (1 + TSG1) / (1 + TSG1 + TSG2) = (1 + 6) / (1 + 6 + 2) = 77.77% */ can_fd_parameter.data_resync_jump_width = CAN_BT_SJW_1TQ; can_fd_parameter.data_time_segment_1 = CAN_BT_BS1_7TQ; // TSG1 can_fd_parameter.data_time_segment_2 = CAN_BT_BS2_1TQ; // TSG2 /* CAN-FD data segement prescaler should be the same as non-data segement prescaler */ can_fd_parameter.data_prescaler = 2; // 分频系数#endif /* initialize CAN-FD */ can_fd_init(CAN1, &can_fd_parameter); /* initialize filter */ /* configure filter mode */ can_filter.filter_mode = CAN_FILTERMODE_MASK; can_filter.filter_bits = CAN_FILTERBITS_32BIT; /* configure filter ID */ can_filter.filter_list_high = 0x0000U; can_filter.filter_list_low = 0x0000U; /* configure filter mask */ can_filter.filter_mask_high = 0x0000U; can_filter.filter_mask_low = 0x0000U; /* select receiver fifo */ can_filter.filter_fifo_number = CAN_FIFO1; can_filter.filter_number = 15U; // CAN_FCTL默认定义了CAN0和CAN1过滤器序号的分配数量，CAN0使用0-13序号，CAN1使用14-27，可以通过can1_filter_start_bank()修改 can_filter.filter_enable = ENABLE; can_filter_init(CAN1, &can_filter); /* configure CAN1 NVIC */ nvic_irq_enable(CAN1_RX1_IRQn, 1U, 1U); /* enable can receive FIFO0 not empty interrupt */ can_interrupt_enable(CAN1, CAN_INTEN_RFNEIE1);}void CAN1_RX1_IRQHandler(void){ /* check the receive message */ can_message_receive(CAN1, CAN_FIFO1, &can1_rx_message);#if 1 printf("rn can1 receive(id=0x%X) data: ", can1_rx_message.rx_sfid); for(int i = 0U; i < can1_rx_message.rx_dlen; i++) { printf(" %02x", can1_rx_message.rx_data[i]); }#endif}#endif#ifdef CAN2_ENABLEvoid can2_gpio_config(void){ /* enable CAN2 clock */ rcu_periph_clock_enable(RCU_CAN2); rcu_periph_clock_enable(CAN2RX_CLOCK); rcu_periph_clock_enable(RCU_AF); /* configure CAN2 GPIO */ gpio_init(CAN2RX_PORT, GPIO_MODE_IPU, GPIO_OSPEED_50MHZ, CAN2RX_PIN); gpio_init(CAN2TX_PORT, GPIO_MODE_AF_PP, GPIO_OSPEED_50MHZ, CAN2TX_PIN); gpio_afio_port_config(AFIO_PB10_CAN2_CFG, ENABLE); gpio_afio_port_config(AFIO_PB11_CAN2_CFG, ENABLE);}void can2_config(void){ can_parameter_struct can_parameter; can_fdframe_struct can_fd_parameter; can_fd_tdc_struct can_fd_tdc_parameter; can_filter_parameter_struct can_filter; can_struct_para_init(CAN_INIT_STRUCT, &can_parameter); /* initialize CAN register */ can_deinit(CAN2); /* initialize CAN parameters */ can_parameter.time_triggered = DISABLE; can_parameter.auto_bus_off_recovery = DISABLE; can_parameter.auto_wake_up = DISABLE; can_parameter.auto_retrans = ENABLE; can_parameter.rec_fifo_overwrite = ENABLE; can_parameter.trans_fifo_order = ENABLE; can_parameter.working_mode = CAN_NORMAL_MODE; /* baudrate 1Mbps, sample piont at 80% */ can_parameter.resync_jump_width = CAN_BT_SJW_1TQ; can_parameter.time_segment_1 = CAN_BT_BS1_7TQ; can_parameter.time_segment_2 = CAN_BT_BS2_2TQ; can_parameter.prescaler = 9U; /* initialize CAN */ can_init(CAN2, &can_parameter); can_struct_para_init(CAN_FD_FRAME_STRUCT, &can_fd_parameter); can_fd_parameter.fd_frame = ENABLE; can_fd_parameter.excp_event_detect = ENABLE; can_fd_parameter.delay_compensation = ENABLE; can_fd_tdc_parameter.tdc_filter = 0x04U; can_fd_tdc_parameter.tdc_mode = CAN_TDCMOD_CALC_AND_OFFSET; can_fd_tdc_parameter.tdc_offset = 0x04U; can_fd_parameter.p_delay_compensation = &can_fd_tdc_parameter; can_fd_parameter.iso_bosch = CAN_FDMOD_ISO; can_fd_parameter.esi_mode = CAN_ESIMOD_HARDWARE; /* CAN波特率 = 时钟频率 / 分频系数 / (1 + TSG1 + TSG2) */ /* 数据段波特率 = 90M / 3 / (1 + 4 + 1) = 5M */ can_fd_parameter.data_resync_jump_width = CAN_BT_SJW_1TQ; can_fd_parameter.data_time_segment_1 = CAN_BT_BS1_4TQ; // TSG1 can_fd_parameter.data_time_segment_2 = CAN_BT_BS2_1TQ; // TSG2 /* CAN-FD data segement prescaler should be the same as non-data segement prescaler */ can_fd_parameter.data_prescaler = 3; // 分频系数 /* initialize CAN-FD */ can_fd_init(CAN2, &can_fd_parameter); /* initialize filter */ /* configure filter mode */ can_filter.filter_mode = CAN_FILTERMODE_MASK; can_filter.filter_bits = CAN_FILTERBITS_32BIT; /* configure filter ID */ can_filter.filter_list_high = 0x0000U; can_filter.filter_list_low = 0x0000U; /* configure filter mask */ can_filter.filter_mask_high = 0x0000U; can_filter.filter_mask_low = 0x0000U; /* select receiver fifo */ can_filter.filter_fifo_number = CAN_FIFO0; can_filter.filter_number = 1U; can_filter.filter_enable = ENABLE; can_filter_init(CAN2, &can_filter); /* configure CAN2 NVIC */ nvic_irq_enable(CAN2_RX0_IRQn, 0U, 0U); /* enable can receive FIFO0 not empty interrupt */ can_interrupt_enable(CAN2, CAN_INTEN_RFNEIE0);}void CAN2_RX0_IRQHandler(void){ /* check the receive message */ can_message_receive(CAN2, CAN_FIFO0, &can2_rx_message);#if 1 printf("rn can2 receive(id=0x%X) data: ", can2_rx_message.rx_sfid); for(int i = 0U; i < can2_rx_message.rx_dlen; i++) { printf(" %02x", can2_rx_message.rx_data[i]); }#endif}#endif#if defined (CAN0_ENABLE) || defined (CAN1_ENABLE) || defined (CAN2_ENABLE)int can_send_message(uint8_t ch, can_trasnmit_data_t can_data){ uint8_t i; can_trasnmit_message_struct *can_tx_message; switch (ch) { case 0: #ifdef CAN0_ENABLE can_tx_message = &can0_tx_message; #endif break; case 1: #ifdef CAN1_ENABLE can_tx_message = &can1_tx_message; #endif break; case 2: #ifdef CAN2_ENABLE can_tx_message = &can2_tx_message; #endif break; default: break; } if(can_data.frame_format == 0) {// 标准帧 can_tx_message->tx_sfid = can_data.id; } else {// 扩展帧 can_tx_message->tx_efid = can_data.id; } if(can_data.can_type == 0) {// CAN can_tx_message->fd_flag = 0; can_tx_message->fd_brs = 0; } else if(can_data.can_type == 1) {// CANFD can_tx_message->fd_flag = 1; } else if(can_data.can_type == 2) {// CANFD加速 can_tx_message->fd_flag = 1; can_tx_message->fd_brs = 1; } can_tx_message->fd_esi = 0; memcpy(can_tx_message->tx_data, can_data.buf, can_data.buf_len); // CANFD模式下，数据长度只能为0 - 8, 12, 16, 20, 24, 32, 48, 64 if(can_data.buf_len > 48) { can_tx_message->tx_dlen = 64; } else if(can_data.buf_len > 32) { can_tx_message->tx_dlen = 48; } else if(can_data.buf_len > 24) { can_tx_message->tx_dlen = 32; } else if(can_data.buf_len > 20) { can_tx_message->tx_dlen = 24; } else if(can_data.buf_len > 16) { can_tx_message->tx_dlen = 20; } else if(can_data.buf_len > 12) { can_tx_message->tx_dlen = 16; } else if(can_data.buf_len > 8) { can_tx_message->tx_dlen = 12; } else { can_tx_message->tx_dlen = can_data.buf_len; }#if 1 printf("rn can(%d) transmit data(id: 0x%x): ", ch, can_tx_message->tx_sfid); for(i = 0U; i < can_tx_message->tx_dlen; i++) { printf(" %02x", can_tx_message->tx_data[i]); }#endif /* transmit message */ if(can_message_transmit(CAN2, can_tx_message) != CAN_NOMAILBOX) {// 发送成功 return 1; } return 0;}#endifvoid can_tx_test(void){ uint8_t i; can_trasnmit_data_t can_data; for (i = 0; i < 64; i++) { can_data.buf[i] = i; }#ifdef CAN0_ENABLE can_data.id = 0x123; can_data.frame_format = 0; // 标准帧 can_data.can_type = 0; // CAN can_data.buf_len = 8; // 数据长度 can_send_message(0, can_data);#endif#ifdef CAN1_ENABLE can_data.id = 0x456; can_data.frame_format = 0; // 标准帧 can_data.can_type = 1; // CANFD can_data.buf_len = 16; // 数据长度 can_send_message(1, can_data);#endif#ifdef CAN2_ENABLE can_data.id = 0x789; can_data.frame_format = 0; // 标准帧 can_data.can_type = 2; // CANFD加速 can_data.buf_len = 64; // 数据长度 can_send_message(2, can_data);#endif}void can_user_init(void){#ifdef CAN0_ENABLE // CAN0 init can0_gpio_config(); can0_config(); /* initialize can0 transmit message */ can_struct_para_init(CAN_TX_MESSAGE_STRUCT, &can0_tx_message); /* initialize can0 receive message */ can_struct_para_init(CAN_RX_MESSAGE_STRUCT, &can0_rx_message);#endif#ifdef CAN1_ENABLE // CAN1 init can1_gpio_config(); can1_config(); /* initialize can1 transmit message */ can_struct_para_init(CAN_TX_MESSAGE_STRUCT, &can1_tx_message); /* initialize can1 receive message */ can_struct_para_init(CAN_RX_MESSAGE_STRUCT, &can1_rx_message);#endif#ifdef CAN2_ENABLE // CAN2 init can2_gpio_config(); can2_config(); /* initialize can2 transmit message */ can_struct_para_init(CAN_TX_MESSAGE_STRUCT, &can2_tx_message); /* initialize can2 receive message */ can_struct_para_init(CAN_RX_MESSAGE_STRUCT, &can2_rx_message);#endif printf("can init successrn");}can.h：
#ifndef __CAN_HANDLE_H#define __CAN_HANDLE_H#include "gd32e50x_can.h"#define CAN0_ENABLE#define CAN1_ENABLE#define CAN2_ENABLE#define CAN0RX_CLOCK RCU_GPIOB#define CAN0RX_PORT GPIOB#define CAN0RX_PIN GPIO_PIN_8#define CAN0TX_CLOCK RCU_GPIOB#define CAN0TX_PORT GPIOB#define CAN0TX_PIN GPIO_PIN_9#define CAN1RX_CLOCK RCU_GPIOB#define CAN1RX_PORT GPIOB#define CAN1RX_PIN GPIO_PIN_5#define CAN1TX_CLOCK RCU_GPIOB#define CAN1TX_PORT GPIOB#define CAN1TX_PIN GPIO_PIN_6#define CAN2RX_CLOCK RCU_GPIOB#define CAN2RX_PORT GPIOB#define CAN2RX_PIN GPIO_PIN_10#define CAN2TX_CLOCK RCU_GPIOB#define CAN2TX_PORT GPIOB#define CAN2TX_PIN GPIO_PIN_11typedef struct{ uint32_t id; // CAN ID uint8_t frame_format; // format of frame | 0：standard | 1：extended format uint8_t can_type; // CAN type | 0：CAN | 1：CANFD | 2：CANFD加速 uint8_t buf[64]; // CAN buf uint8_t buf_len; // CAN buf len} can_trasnmit_data_t;void can_user_init(void);void can_tx_test(void);#endifmain.c：
#include "main.h"#include "uart.h"#include "can.h"int main(void){ // systick_config(); uart_user_init(); can_user_init(); printf("app init success.n"); can_tx_test(); while(1) { }}3 测试验证
把MCU三路CAN接到一起，并接入CAN盒的同一通道。用CAN盒抓取数据如下图所示，MCU启动后一次通过3路CAN发送不同的数据。
MCU单路CAN接CAN盒，然后用CAN盒发送数据，MCU接收如下图所示：MCU收到数据并通过串口打印接收log。
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