无死角、全功能对CANx统一初始化(STM32F1&F4通过)

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aiherong 发布时间：2019-3-25 20:25

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下面的CAN初始化函数感觉应该是覆盖了所有CAN功能设置(若有遗漏提醒我，我加进去)，无死角！
参数一定让你有些难受，但我觉得总比实现不了什么，过不去坎要好点

//---------------------------- AHR_CAN.C --------------------------------------------------------------
#include "AHR_CAN.H"
int CANx_BASE = (unsigned int)0x40006400; //CAN1_BASE:0x40006400;CAN2_BASE:0x40006800; 2019-0208
//-----------------------------------------------------------------------------------------------------
//CAN初始化全功能函数: unsigned int regCAN_MCR=0x00010002,regCAN_MSR=0x00000C02,regCAN_BTR=0x01230000;
//参数cfgCAN位图: 31 30 29 28,  27 26  25  24 ,23 22  21  20,19 18 17 16,F~C,B A 9 8,7~4,3~0
//*-过滤器的 BTR_SILM&LBKM 激活*关联,模式*位宽 SJW[1:0],-- TS2[2:0]时间段TS1[3:0],Number* ◆_BRP[9:0]
// 0x200: FMR (过滤器主控寄存器) 0x240: 过滤器组寄存器的起始地址
// 0x204: FM1R(过滤器模式寄存器) 0x214:FFA1R(过滤器FIFO关联寄存器)
// 0x20C: FS1R(过滤器位宽寄存器) 0x21C: FA1R(过滤器激活寄存器)
// 31: SILM 静默模式(调试)(SilentMode) 0-正常状态；1-静默模式。       // 0-CAN_Mode_Normal
// 30: LBKM 环回模式(调试)(LoopBackMode(debug)) 0-禁止；1-允许环回模式。// 1-CAN_Mode_LoopBack
// 29: FACTi 软置1-激活相应过滤器。仅当该位=0或CAN_FMR_FINIT=1后才能修改相应过滤器组i(CAN_FiR[0:1])
// 28: 关联：报文在通过了某过滤器的过滤后，将被存放到其关联的FIFO中。0-过滤器被关联到FIFO0；1-FIFO1;
// 27: 0-过滤器组i的2个32位寄存器工作在标识符屏蔽位模式；1-过滤器组i的2个32位REG工作在标识符列表模式
// 26: 位宽：0-过滤器位宽为2个16位；1-过滤器位宽为单个32位 v--(reSynchronizationJumpWidth)
// 25~24: SJW[1:0] 重新同步跳跃宽度:为了重新同步，CAN硬件在每位中可延缩n个时间单元的上限
// 22~20: TS2[2:0] 时间段2(TimeSegment2) 定义时间段2占用多少时间单元    tBS2 = tCAN x (TS2[2:0] + 1)
// 19~16: TS1[3:0] 时间段1(TimeSegment1) 定义时间段1占用多少时间单元    tBS1 = tCAN x (TS1[3:0] + 1)
// 15~10: 过滤器寄存器组x的组号(下面用变量i表示);
// 09~00: BRP[9:0] (Baud Rate Prescaler) 该位域定义了时间单元(tq)的时间长度tq = ( BRP[9:0] + 1) x tPCLK
//参数idCANcfg位图： 23 22 21 20  ,  19    18 17 16 //该参数若未设置则缺省:0xFFFFFF13
//                TTCM  ABOM  AWUM  NART , RFLM  TXFP  保留高电位
// 07_.CAN_TTCM=0;非时间触发通信模式//06_.CAN_ABOM=0;软件自动离线管理
// 05_.CAN_AWUM=0; 睡眠由软件唤醒;1-测报文硬件唤醒//04_.CAN_NART=1-允许重传直到成功; 0-只传一次!
// 03_.CAN_RFLM=0; 报文新覆盖旧的;1-锁一后文全丢;// 02_.CAN_TXFP=0;发送次序按(0-标识符;1-请求号)
//  例如：initCANx_Mode(1,二进制[0010,0100,0111,1000,nnnn,nn00,0000,0100]=0x24780004,0,0);
//if(initCANx_Mode(1,0x24780004,0,0)==0xABCFACE) LCD_ShowString(10,99,99,30,16,"InitCAN OK!");//500Kbps
//原函数配置:CAN_Mode_Init(CAN_SJW_1tq,CAN_BS2_6tq,CAN_BS1_7tq,6,1);so波特率为: 42M/((6+7+1)*6)=500Kbps
//CANx->BTR:"modeCAN<<30": 模式由SILM和LBKM两位决定: 0-正常；1-正常+环回；2-静默；3-静默+环回
//    "tsjw<<24":重新同步跳跃宽度(2位)Tsjw =tsjw+1个时间单位 //"tBS2<<20":时间段2占用多少时间单元
//       v--  分频系数 Fdiv = brp + 1                      //"tBS1<<16":时间段1占用多少时间单元
//  "brp-1"(Baud Rate Prescaler)定义: 时间单元tq = ( BRP[9:0] + 1) * tPCLK
//Fpclk1初始化为42M 波特率 = Fpclk1/( ( tbs1 + 1 + tbs2 + 1 + 1 ) * brp );
//-----------------------------------------------------------------------------------------------------
int initCANx_Mode(int idCANcfg,int cfgCAN,int CFid,int CFidMsk){ //艾和荣  定稿: 2019-0208
int waitAck=0x00,retStat=0xBADFACE; //tsjw:重新同步跳跃时间单元.范围: CAN_SJW_1tq~4tq
uint32_t  fltNumBitPos=0,  i;       //brp :波特率分频器.  范围: 1~1024;  tq = (brp) * tpclk1
switch(0xffff&idCANcfg){
      case 1: CANx_BASE = (unsigned int)0x40006400; // GPIOA12 <=GPIO_Mode_AF_PP B-50MHz复用推挽输出
            *(unsigned int*)0x4002101C|=0x02000000; //2-CAN1;RCC_APB1PeriphClockCmd(RCC...ph_CAN1,1);
            *(unsigned int*)0x40021018|=0x00000004; //4-A口;1-AFIO;//RCC_APB2PClkCmd(RCC.ph_GPIOA,1);
            *(unsigned int*)0x40010804&=0xFFFF8FFF; //位带何异?? GPIOA11<=GPIO_Mode_IPU
            *(unsigned int*)0x40010804|=0x000B8000; break;//    GPIOA11<=GPIO_Mode_IPU 8-上拉输入
      case 2: CANx_BASE = (unsigned int)0x40006800; // GPIOB13 <=GPIO_Mode_AF_PP B-50MHz复用推挽输出
            *(unsigned int*)0x4002101C|=0x04000000; //4-CAN2;          ** 只有互联型才有CAN2 **
            *(unsigned int*)0x40021018|=0x00000008; //8-GPIOB;1-AFIO;
            *(unsigned int*)0x40010C04&=0xFFF8FFFF;          //GPIOB12 <= GPIO_Mode_IPU
            *(unsigned int*)0x40010C04|=0x00B80000; break;//    GPIOB12 <= GPIO_Mode_IPU
      default:    break; //保留: 为了更多的CAN
}                   //v--while:等<INAK==1且waitAck==0xFFFF>胜出■CANx_4:MSR_0:INAK=1-正初;0-初完
*(unsigned int*)(CANx_BASE+0x00)&=~0x02;//■CANx->MCR &=(~(uint32_t)CAN_MCR_SLEEP); <0-唤醒>;1-睡眠
*(unsigned int*)(CANx_BASE+0x00)|= 0x01;//■CANx->MCR |= CAN_MCR_INRQ ;<申请初始化> <1-初始>;0-工作
while((((*(unsigned int*)(CANx_BASE+0x04))&1)!=1)&&(waitAck!=0xffff)) waitAck++;
if (((*(unsigned int*)(CANx_BASE+0x04))&0x01)==0) retStat=0xBADFACE; //0xBADFACE-错误；0xACCFACE-OK
else{                                     //当 CAN_4:MSR_0:INAK=1说明正在初始化，则：
      if((0xffff0000&idCANcfg)==0) i= 0xFFFFFF13;  else i = 0xFFFFFF00|(idCANcfg>>16); //MCR设置值
      *(unsigned int*)(CANx_BASE+0x00) &= i; //■功能扩展设置    初稿：2019-0202 10:48
      *(unsigned int*)(CANx_BASE+0x1C) =(cfgCAN&0xC37F03FF)-1;//■MSK:0xC37F03FF 由cfgCAN个性次序决定
      *(unsigned int*)(CANx_BASE+0x00) &= 0xFFFFFFFE;       //■清CAN_0:MCR_0:INRQ=0以退出初始化
      for(waitAck = 0;(((*(unsigned int*)(CANx_BASE+0x04))&1)==1)&&(waitAck!=0xffff);waitAck++){;}
      if (((*(unsigned int*)(CANx_BASE+0x04))&0x01)==1) retStat = 0xBADFACE;  // 0xBADFACE：约定失败.
      else                                           retStat = 0xABCFACE;  // 0xABCFACE：约定成功!
}  //以下CAN_FilterInit(&sCF); 等<INAK==0并waitAck==0xFFFF>胜出■CANx_4:MSR_0:INAK=0-初完;1-正初
i = (cfgCAN >> 10)&0x3F; fltNumBitPos = ((uint32_t)1) << i;
*(unsigned int*)(CANx_BASE+0x200) |= 0x01;//过滤器正在初始化 CAN1->FMR|=FMR_FINIT;(FMR_FINIT=0x01)
*(unsigned int*)(CANx_BASE+0x21C) &=~(uint32_t)fltNumBitPos;//FA1R:只有0-禁用(1-激活)fltNumBitPos对
if (((cfgCAN >> 26)&0x01)==0){             // 0-Scale=16位;  ^-应的过滤组才能对该组初始化!化后置1
      *(unsigned int*)(CANx_BASE+0x20C)&= ~(uint32_t)fltNumBitPos; //位宽 CAN1->FS1R&=~fltNumBitPos;
      *(unsigned int*)(CANx_BASE+0x240+(i*0x08)+0x00)=(0xFFFF&CFidMsk)<<16|(0xFFFF&CFid);//
      *(unsigned int*)(CANx_BASE+0x240+(i*0x08)+0x04)=(0xFFFF0000&CFidMsk)|(0xFFFF&(CFid>>16));
} //位宽=32在下；16在上3行：FR0:MaskIdLow|IdLow；FR1偏移4:MaskIdHigh|IdHigh
if (((cfgCAN >> 26)&0x01)==1){
      *(unsigned int*)(CANx_BASE+0x20C)|= fltNumBitPos;    //CAN1->FS1R &= ~(uint32_t)fltNumBitPos;
      *(unsigned int*)(CANx_BASE+0x240+(i*0x08)+0x00)=CFid; //每组FR0+FR1各32位故*8,FR0与FR1偏移0x4
      *(unsigned int*)(CANx_BASE+0x240+(i*0x08)+0x04)=CFidMsk;//每组FR1再加偏移故+4
}    //0x204:FM1R=0表示过滤器组x(x=0~13|27)的2个32位寄存器工作在标识符屏蔽位模式；=1:列表模式。
if (((cfgCAN >> 27)&0x01)==0) *(unsigned int*)(CANx_BASE+0x204)&=~(uint32_t)fltNumBitPos;
else                         *(unsigned int*)(CANx_BASE+0x204)|= (uint32_t)fltNumBitPos;
//下面的0和1表示：CAN_Filter_FIFO1=1;CAN_Filter_FIFO0=0;  >>27:Mode  >>28:CF_FIFOAssignment
if (((cfgCAN >> 28)&0x01)==0) *(unsigned int*)(CANx_BASE+0x214)&=~(uint32_t)fltNumBitPos;
else                         *(unsigned int*)(CANx_BASE+0x214)|= (uint32_t)fltNumBitPos;
if (((cfgCAN >> 29)&0x01)==1) *(unsigned int*)(CANx_BASE+0x21C)|= fltNumBitPos; // 29:CF_Activation
*(unsigned int*)(CANx_BASE+0x200) &=~0x01; //过滤器初始化完毕(CANx_200:FMR_0:FINIT=0)FMR:过滤器主控
return retStat;
} // <over 2019-0208 aiherong suncun>

int CAN_SendMessage(u8* msg,u8 len){  //can发送一组数据(固定格式:ID为0X12,标准帧,数据帧)
CAN_TxMsg TxMsg;                //参数：len - 数据长度(最大为8)；msg - 数据指针,最大为8个字节.
u8 mailBOX = 0; u16 i = 0;  uint32_t sendST = 0; // send state
TxMsg.StdId=0x12;                      // 标准标识符为0
TxMsg.ExtId=0x12;                      // 设置扩展标示符（29位）
TxMsg.IDE=0;                            // 使用扩展标识符
TxMsg.RTR=0;                            // 消息类型为数据帧，一帧8位
TxMsg.DLC=len;                         // 发送两帧信息
for(i=0;i<len;i++)  TxMsg.Data[i]=msg[i]; // 第一帧信息
if    (((*(unsigned int*)(CANx_BASE+0x08))&CAN_TSR_TME0) == CAN_TSR_TME0) mailBOX = 0;
else if (((*(unsigned int*)(CANx_BASE+0x08))&CAN_TSR_TME1) == CAN_TSR_TME1) mailBOX = 1;
else if (((*(unsigned int*)(CANx_BASE+0x08))&CAN_TSR_TME2) == CAN_TSR_TME2) mailBOX = 2;
else mailBOX  = 4;  // #define CAN_TxStatus_NoMailBox  0x04
if    (mailBOX != 4){ // #define CAN_TxStatus_NoMailBox  0x04
      (*(unsigned int*)(CANx_BASE+0x180))&=0x01;//sTxMailBox[mailBOX].TIR&=(~)TMIDxR_TXRQ;发完硬清?
      if(TxMsg.IDE==CANid_Std)(*(unsigned int*)(CANx_BASE+0x180))|=((TxMsg.StdId)<<21)|(TxMsg.RTR);
      else       (*(unsigned int*)(CANx_BASE+0x180))|=(TxMsg.IDE)|((TxMsg.ExtId)<< 3)|(TxMsg.RTR);
         TxMsg.DLC &= (uint8_t)0x0000000F;
      (*(unsigned int*)(CANx_BASE+0x184))&= (uint32_t)0xFFFFFFF0;
      (*(unsigned int*)(CANx_BASE+0x184))|= TxMsg.DLC;
      (*(unsigned int*)(CANx_BASE+0x18C))= ((uint32_t)TxMsg.Data[7]<<24| //sTxMailBox[mailBOX].TDHR
                  (uint32_t)TxMsg.Data[6]<<16|(uint32_t)TxMsg.Data[5]<< 8|(uint32_t)TxMsg.Data[4]);
      (*(unsigned int*)(CANx_BASE+0x188))= ((uint32_t)TxMsg.Data[3]<<24| //sTxMailBox[mailBOX].TDLR
                  (uint32_t)TxMsg.Data[2]<<16|(uint32_t)TxMsg.Data[1]<< 8|(uint32_t)TxMsg.Data[0]);
      (*(unsigned int*)(CANx_BASE+0x180))|=0x01;//sTxMailBox[mailBOX].TIR|=TMIDxR_TXRQ;发送数据请求
}
for (i=0;i<0xffff;i++){  //等待发送结束
      switch (mailBOX){
      case 0:sendST=(*(unsigned int*)(CANx_BASE+0x08))&0x04000003;break;//&(TSR_RQCP0|_TXOK0|_TME0)
      case 1:sendST=(*(unsigned int*)(CANx_BASE+0x08))&0x08000300;break;//&(TSR_RQCP1|_TXOK1|_TME1)
      case 2:sendST=(*(unsigned int*)(CANx_BASE+0x08))&0x10030000;break;//&(TSR_RQCP2|_TXOK2|_TME2)
      default:sendST = 0x00;       break; //#define CAN_TxStatus_Failed  0x00
      }
      switch (sendST) {
      case 0x00000000:sendST = 2; break;  //#define CAN_TxStatus_Pending 0x02
      case 0x04000001:                   //case (CAN_TSR_RQCP0|CAN_TSR_TME0):
      case 0x08000100:                   //case (CAN_TSR_RQCP1|CAN_TSR_TME1):
      case 0x10010000:sendST = 0; break;  //case (CAN_TSR_RQCP2|CAN_TSR_TME2): CAN_TxStatus_Failed
      case 0x04000003:                   //case (CAN_TSR_RQCP0|CAN_TSR_TXOK0|CAN_TSR_TME0)
      case 0x08000300:                   //case (CAN_TSR_RQCP1|CAN_TSR_TXOK1|CAN_TSR_TME1)
      case 0x10030000:sendST = 1; break;  //case 说明：仅当"位TSR_TXOKn=1"才算成功(CAN_TxStatus_Ok)
      default:       sendST = 0; break;
      }
      if ((sendST==0x01)&&(i<0xffff)) return 0xAbcFace;//#define CAN_TxStatus_Ok  0x01  返回成功
}
if(i>=0xffff) return 0xBadFace; // 返回 0xBadFace - 失败
               return 0xABCFACE; // 返回 0xAbcFace - 成功
}

int CAN_RecvMessage(u8 *buf,int fifoNO){    //can口接收数据查询参数：buf-数据缓存区;fifoNO-0或1;
CAN_RxMsg RxMsg; u32 i;             // 20190202 0点 //返回值:0-没收到数; x-接收的数据长度
if((fifoNO==0)&&((*(unsigned int*)(CANx_BASE+0x0C)&0x03)!=0)||
   (fifoNO==1)&&((*(unsigned int*)(CANx_BASE+0x10)&0x03)!=0)){  // 以下仅FIFO0，未包含FIFO1:
      RxMsg.IDE=0x04&(*(unsigned int*)(CANx_BASE+0x1B0));//->sFIFOMailBox[fifoNO].RIR;即:FIFO0_RI0R
      if(RxMsg.IDE==CANid_Std)  RxMsg.StdId=0x000007FF & ((*(unsigned int*)(CANx_BASE+0x1B0)) >> 21);
      else                   RxMsg.ExtId=0x1FFFFFFF & ((*(unsigned int*)(CANx_BASE+0x1B0)) >>  3);
      RxMsg.RTR = 0x02& (*(unsigned int*)(CANx_BASE+0x1B0));  //CANx->sFIFOMailBox[fifoNO].RIR;
      RxMsg.DLC = 0x0F& (*(unsigned int*)(CANx_BASE+0x1B4));  //CANx->sFIFOMailBox[fifoNO].RDTR;
      RxMsg.FMI = 0xFF&((*(unsigned int*)(CANx_BASE+0x1B4))>> 8); //即:FIFO0_RDT0R >> 8
      RxMsg.Data[0]= 0xFF& (*(unsigned int*)(CANx_BASE+0x1B8));       //即:FIFO0_RDL0R
      RxMsg.Data[1]= 0xFF&((*(unsigned int*)(CANx_BASE+0x1B8))>> 8);
      RxMsg.Data[2]= 0xFF&((*(unsigned int*)(CANx_BASE+0x1B8))>>16);
      RxMsg.Data[3]= 0xFF&((*(unsigned int*)(CANx_BASE+0x1B8))>>24);
      RxMsg.Data[4]= 0xFF& (*(unsigned int*)(CANx_BASE+0x1BC));       //即:FIFO0_RDH0R
      RxMsg.Data[5]= 0xFF&((*(unsigned int*)(CANx_BASE+0x1BC))>> 8);
      RxMsg.Data[6]= 0xFF&((*(unsigned int*)(CANx_BASE+0x1BC))>>16);
      RxMsg.Data[7]= 0xFF&((*(unsigned int*)(CANx_BASE+0x1BC))>>24);
      if (fifoNO == CAN_FIFO0) *(unsigned int*)(CANx_BASE+0x0C)|=0x20;//CANx->RF0R |= CAN_RF0R_RFOM0;
      else                   *(unsigned int*)(CANx_BASE+0x10)|=0x20;//CANx->RF1R |= CAN_RF1R_RFOM1;
      for(i=0;i<RxMsg.DLC;i++)
      buf[i]=RxMsg.Data[i];
      return RxMsg.DLC;
} else return 0; //无数可收故退出
}
//-------------------------------------------------- End of AHR_CAN.C ---------------------------------

//--------------------- AHR_CAN.H ---------------------------------------------------------------------
#ifndef AHR_CANETHUSB_H
#define AHR_CANETHUSB_H
#include "aiherong.h"
#define CAN_FIFO0          ((uint8_t)0x00)
#define CAN_FIFO1          ((uint8_t)0x01)
#define CANid_Std          ((uint32_t)0x00000000)
#define CANid_Ext          ((uint32_t)0x00000004)
typedef struct{ //发送邮箱有3个
  uint32_t StdId;  //标准ID
  uint32_t ExtId;  //扩展ID
  uint8_t IDE;    //  标识符选择 (Identifier extension)       0-标准符；1-扩展符
  uint8_t RTR;    //远程发送请求 (Remote transmission request) 0-数据帧；1-远程帧
  uint8_t DLC;    //发送数据长度 (Data length code)决定1个报文包含0~8几个字节数据
  uint8_t Data[8]; //  8 位数据
} CAN_TxMsg;
typedef struct{ //接收邮箱有2个
  uint32_t StdId;  //标准ID
  uint32_t ExtId;  //扩展ID
  uint8_t IDE;    //  标识符选择 (Identifier extension)       0-标准符；1-扩展符
  uint8_t RTR;    //远程发送请求 (Remote transmission request) 0-数据帧；1-远程帧
  uint8_t DLC;    //发送数据长度 (Data length code)决定1个报文包含0~8几个字节数据
  uint8_t Data[8]; //  8 位数据
  uint8_t FMI;    //过滤器匹配序号(Filter match index)
} CAN_RxMsg;
      //CAN初始化缺省映射F1：CAN1_RX

A11；CAN1_TX

A12；F105&107&F2&F4：CAN2_RX

B12；CAN2_TX

B13
int initCANx_Mode(int idCANcfg,int cfgCAN,int CFid,int CFidMsk);//(参数1高16位可设置且仅F103后才有CAN2)
int CAN_SendMessage(u8* msg, u8 len); //发送数据
int CAN_RecvMessage(u8 *buf,int fifoNO); //接收数据
#endif
//-------------------------------------------------- End of AHR_CAN.H ---------------------------------