lpc2400can.c

周立功公司 LPC2478 TFT真彩色液晶+can的源代码

/****************************************Copyright (c)*****************************************************
**                                    广州致远电子有限公司
**                                     工业通信网络事业部
**                                http://www.embedcontrol.com
**-------------------------------------文件信息--------------------------------------------------------
**	文   件  	名:	LPC2400CAN.c
** 	当  前  版  本:	v1.0
** 	日		    期:	2007年5月06日
**	描		    述:	
**-------------------------------------历史创建--------------------------------------------------------
**	文   件  	名:	LPC2400CAN.c
** 	版  		本:	v1.0
** 	日		    期:	2008年4月26日
**	创    建    人:	刘彦龙
**	描		    述:	LPC2400开发板实验教程实例代码
**-------------------------------------历史修改--------------------------------------------------------
**	文   件  	名:	
** 	版  		本:	
** 	日		    期:	
**	修   改     人:	
**	描		    述:	
**********************************************************************************************************/
#include "LPC2400CAN.h"
static struct _MessageDetail MessageDetailT;

/**********************************************************************************************************
**函数原型		:  	unsigned char Enter_SWRst(unsigned char Ch);
**参数说明		:  	Ch:CAN控制器号，0表示第一路CAN
**返回值		:	0：失败
**				:	1: 成功	
**说	明		:	CAN控制器进入软件复位模式
**********************************************************************************************************/
unsigned char Enter_SWRst(unsigned char Ch)
{
	unsigned long regaddr;
	REG_CANMOD regmod;
	regaddr = (unsigned long)(&CAN1MOD)+(unsigned long)Ch*CANOFFSET;			
	regmod.DWord = RGE(regaddr);										/*	读取CAN1MOD寄存器			 */
	regmod.Bits.RM = 1;													/*	RM位置“1”					 */
	RGE(regaddr) = regmod.DWord;										/*	回写CAN1MOD寄存器			 */
	regmod.DWord = RGE(regaddr);										/*	验证写入值					 */	
	return (unsigned char)((0 != regmod.Bits.RM)? 1:0); 
}
/**********************************************************************************************************
**函数原型		:  	unsigned char Quit_SWRst(unsigned char Ch);
**参数说明		:  	Ch:CAN控制器号，0表示第一路CAN
**返回值		:	0：失败
**				:	1: 成功	
**说	明		:	CAN控制器退出软件复位模式
**********************************************************************************************************/
unsigned char Quit_SWRst(unsigned char Ch)
{
	unsigned long regaddr;
	REG_CANMOD regmod;
	regaddr = (unsigned long)(&CAN1MOD)+(unsigned long)Ch*CANOFFSET;			
	regmod.DWord = RGE(regaddr);										/*	读取CAN1MOD寄存器			 */
	regmod.Bits.RM = 0;													/*	RM位置“0”					 */
	RGE(regaddr) = regmod.DWord;										/*	回写CAN1MOD寄存器			 */
	regmod.DWord = RGE(regaddr);										/*	验证写入值					 */	
	return (unsigned char)((0 != regmod.Bits.RM)? 0:1); 
}
/**********************************************************************************************************
**函数原型		:  	unsigned char CAN_Init(unsigned char Ch, unsigned long Baud);
**参数说明		:  	Ch:CAN控制器号，0表示第一路CAN
**				:	Baud:CAN波特率值
**返回值		:	无
**说	明		:	CAN控制器退出软件复位模式
**********************************************************************************************************/
void CAN_Init(unsigned char Ch, unsigned long Baud)
{
	unsigned long regaddr;
	
	switch(Ch) {														/*	配置CAN控制器引脚			 */
		case 0:
			PCONP |= 1 << 13;											/*	打开CAN控制器电源			 */
			
			PINSEL0 = PINSEL0 & (~0x0F) | 0x05;
			
			#if 0
			PINSEL0 &= ~(0x03L<<0);										/*	RD1							 */
			PINSEL0 |= (0x01L<<0);
			PINSEL0 &= ~(0x03L<<2);										/*	TD1							 */
			PINSEL0 |= (0x01L<<2);
			
			#endif
			
			break;
		case 1:
			PCONP |= 0x01L<<14;											/*	打开CAN控制器电源			 */
			PINSEL0 &= ~(0x03L<<8);										/*	RD2							 */
			PINSEL0 |= (0x02L<<8);
			PINSEL0 &= ~(0x03L<<10);									/*	TD2							 */
			PINSEL0 |= (0x02L<<10);
			break;
		default:
			break;
	}
	Enter_SWRst(Ch);
	regaddr = (unsigned long)(&CAN1BTR)+(unsigned long)Ch*CANOFFSET;
	RGE(regaddr) = Baud;
	CAN_AFMR &= ~0x07;													/*	设置为旁路模式				 */
	CAN_AFMR|=(1<<1); 
	Quit_SWRst(Ch);
}
/**********************************************************************************************************
**函数原型		:  	unsigned char CANRCVANDSEND(unsigned char Ch, unsigned char BUFNum);
**参数说明		:  	Ch:CAN控制器号，0表示第一路CAN
**				:	BUFNum 选择缓冲区
**返回值		:	无
**说	明		:	CAN将收到的信息再发送出去 
**********************************************************************************************************/
unsigned char CANRCVANDSEND(unsigned char Ch, unsigned char BUFNum)
{
	unsigned long mes,CAN32reg;
	unsigned long regaddr;
	unsigned char i=5;
	BUFNum-=1;															/* 	计算地址方便。				 */
	
	
	regaddr = (unsigned long)(&CAN1RFS)+(unsigned long)Ch*CANOFFSET;	/*	处理DLC、RTR、FF			 */
	mes = RGE(regaddr);
	mes &= 0Xffff0000;
	regaddr = (unsigned long)(&CAN1TFI1)+(unsigned long)Ch*CANOFFSET+(unsigned long)0X10*BUFNum;
	RGE(regaddr)=mes;
	
	
	regaddr = (unsigned long)(&CAN1RID)+(unsigned long)Ch*CANOFFSET;	/*	处理ID						 */
	mes = RGE(regaddr);
	regaddr = (unsigned long)(&CAN1TID1)+(unsigned long)Ch*CANOFFSET+(unsigned long)0X10*BUFNum;
	RGE(regaddr)=mes;
	
	
	regaddr = (unsigned long)(&CAN1RDA)+(unsigned long)Ch*CANOFFSET;	/*	处理 数据A					 */
	mes = RGE(regaddr);
	regaddr = (unsigned long)(&CAN1TDA1)+(unsigned long)Ch*CANOFFSET+(unsigned long)0X10*BUFNum;
	RGE(regaddr)=mes;
	regaddr = (unsigned long)(&CAN1RDB)+(unsigned long)Ch*CANOFFSET;	/*	处理 数据B					 */
	mes = RGE(regaddr);
	regaddr = (unsigned long)(&CAN1TDB1)+(unsigned long)Ch*CANOFFSET+(unsigned long)0X10*BUFNum;
	RGE(regaddr)=mes;

	regaddr = (unsigned long)(&CAN1CMR)+(unsigned long)Ch*CANOFFSET;	/*	写控制寄存器，发送			 */
	CAN32reg = RGE(regaddr);
	CAN32reg &= ~0x03;
	CAN32reg |= 0x03;
	CAN32reg &= ~((1<<5)|(1<<6)|(1<<7));
	switch(BUFNum) {
		case 0: CAN32reg |= 01<<5;break;
		case 1: CAN32reg |= 01<<6;break;
		case 2: CAN32reg |= 01<<7;break;
		default: break;
	}
	RGE(regaddr)=CAN32reg;
		
	regaddr = (unsigned long)(&CAN1GSR)+(unsigned long)Ch*CANOFFSET;	/*	查 接收缓冲区状态			 */
	mes = RGE(regaddr);
	while(mes&(1<<0)) {													/*	RBS为1 接收缓冲区满			 */
	
		regaddr = (unsigned long)(&CAN1CMR)+(unsigned long)Ch*CANOFFSET;				
		mes=RGE(regaddr);
		mes |= (1<<2);													/*	释放接收缓冲区				 */
		RGE(regaddr)=mes;
		if(!(i--)) {
				return(0);
		}
	}
	regaddr = (unsigned long)(&CAN1CMR)+(unsigned long)Ch*CANOFFSET;				
	mes=RGE(regaddr);
	mes &= (~(1<<2));												
	RGE(regaddr)=mes;
	
	return(1);
}
/**********************************************************************************************************
**函数原型		:  	unsigned char writedetail(unsigned char LEN,unsigned char FF, unsigned int ID,unsigned char *data);
**参数说明		:  	LEN:数据长度
**				:	*data 发送数据所在的数组 
				:   
**返回值		:	操作成功返回 1 失败返回 0
**说	明		:	 用户填写发送 帧信息
**********************************************************************************************************/
 unsigned char writedetail(unsigned char LEN,unsigned char FF, unsigned int ID,unsigned char *data)
{
	unsigned char i;
	if(LEN>8) {
		return(0);
	} else {
		MessageDetailT.LEN=LEN;
		MessageDetailT.FF=FF;
		MessageDetailT.CANID=ID;
		MessageDetailT.DATAA=0;											/*	先清零						 */
		MessageDetailT.DATAB=0;
	
		for(i=0;i<LEN;i++) {
			if(i<4) {
				MessageDetailT.DATAA |= (*(data+i)<<(i*8)); 
			} else {
				MessageDetailT.DATAB |= (*(data+i)<<((i-4)*8));
			}
		}
	return(1);
	}
}
/**********************************************************************************************************
**函数原型		:  	unsigned char CANSend(unsigned char Ch, unsigned char BUFNum);
**参数说明		:  	Ch:CAN控制器号，0表示第一路CAN
**				:	BUFNum 选择缓冲区
				:   MessageDetailT 报文的特征信息及数据
**返回值		:	无
**说	明		:	CAN控制器退出软件复位模式
**********************************************************************************************************/
unsigned char CANSend(unsigned char Ch, unsigned char BUFNum)
{
	unsigned long CAN32reg;
	unsigned long regaddr;
	unsigned char FFflag;
	
	BUFNum-=1;															/* 计算地址方便。				 */
	
																		/*	3缓冲区间地址差 0x10		 */ 
	regaddr = (unsigned long)(&CAN1TFI1)+(unsigned long)Ch*CANOFFSET+(unsigned long)0X10*BUFNum;	
	CAN32reg = RGE(regaddr);
	CAN32reg &= ~((0x0fL<<16) | (0x01L<<30) | (0x80000000));        	/*	清 DLC,RTR.FF位				 */
	CAN32reg |= ((unsigned long)MessageDetailT.LEN<<16) | ((unsigned long)MessageDetailT.FF<<31);
	RGE(regaddr)=CAN32reg;
	
	FFflag = MessageDetailT.FF;
																		/*	写帧ID						 */
	regaddr = (unsigned long)(&CAN1TID1)+(unsigned long)Ch*CANOFFSET+(unsigned long)0X10*BUFNum;	
	CAN32reg = RGE(regaddr);
	if(FFflag) {														/*	FF为1，ID为29位				 */
		CAN32reg &=0x70000000;
		CAN32reg |= (unsigned long)(MessageDetailT.CANID & 0x1fffffff);
	} else {
	
		CAN32reg &= 0xfffff800;											/*	FF为0 ，ID为11位			 */
		CAN32reg |= (unsigned long)(MessageDetailT.CANID & 0x000007ff);
	}
	RGE(regaddr)=CAN32reg;
																		/*	写帧数据A					 */ 
	regaddr = (unsigned long)(&CAN1TDA1)+(unsigned long)Ch*CANOFFSET+(unsigned long)0X10*BUFNum;	
	RGE(regaddr) = MessageDetailT.DATAA;
																		/* 写帧数据B					 */
	regaddr = (unsigned long)(&CAN1TDB1)+(unsigned long)Ch*CANOFFSET+(unsigned long)0X10*BUFNum;	
	RGE(regaddr) = MessageDetailT.DATAB;
	
	regaddr = (unsigned long)(&CAN1CMR)+(unsigned long)Ch*CANOFFSET;	/*	写控制寄存器，发送			 */
	CAN32reg = RGE(regaddr);
	CAN32reg &= ~0x03;
	CAN32reg |= 0x03;
	CAN32reg &= ~((1<<5)|(1<<6)|(1<<7));
	switch(BUFNum) {
		case 0: CAN32reg |= 01<<5;break;
		case 1: CAN32reg |= 01<<6;break;
		case 2: CAN32reg |= 01<<7;break;
		default: break;
	}
	RGE(regaddr)=CAN32reg;
	
	
	regaddr = (unsigned long)(&CAN1GSR)+(unsigned long)Ch*CANOFFSET;	/*	查询发送状态				 */
	CAN32reg = RGE(regaddr);

	if(CAN32reg&(1<<3)) {												/*	所有的请求已成功完成		 */
		return(1);														/*	发送成功返回 1				 */
	} else { return (0);}												/*	发送失败返回 0 				 */
			
	
}