在调试28335的CAN的发送时出现的问题：
1、接口用错导致一直失败；
2、注意28335的CAN总线波特率计算，如下所述：
ECanaShadow.CANBTC.bit.BRPREG = 9;
ECanaShadow.CANBTC.bit.TSEG2REG = 2;
ECanaShadow.CANBTC.bit.TSEG1REG = 10;
以上代码是配置28335的CAN总线模块波特率，最后的波特率为：
按照上面的参数计算最后的波特率为500k;
同时还需要注意28335的CAN总线中比较特殊的说明,如下所述：
1、是关于波特率配置的描述：
2、关于CAN网络的说明：
必须保证在网络中有一个设备和当前节点配置为同样的波特率，但是不一定要设置为接收模式；
附：最后的配置程序：
void InitECana(void) // 初始化CAN总线模块
{
/* Create a shadow register structure for the CAN control registers. This isneeded, since only 32-bit access is allowed to these registers. 16-bit accessto these registers could potentially corrupt the register contents or returnfalse data. This is especially true while writing to/reading from a bit(or group of bits) among bits 16 - 31 */struct ECAN_REGS ECanaShadow;EALLOW; // EALLOW enables access to protected bits/* Configure eCAN RX and TX pins for CAN operation using eCAN regs*/ECanaShadow.CANTIOC.all = ECanaRegs.CANTIOC.all;ECanaShadow.CANTIOC.bit.TXFUNC = 1;ECanaRegs.CANTIOC.all = ECanaShadow.CANTIOC.all;ECanaShadow.CANRIOC.all = ECanaRegs.CANRIOC.all;ECanaShadow.CANRIOC.bit.RXFUNC = 1;ECanaRegs.CANRIOC.all = ECanaShadow.CANRIOC.all;/* Configure eCAN for HECC mode - (reqd to access mailboxes 16 thru 31) */// HECC mode also enables time-stamping featureECanaShadow.CANMC.all = ECanaRegs.CANMC.all;ECanaShadow.CANMC.bit.SCB = 1;ECanaRegs.CANMC.all = ECanaShadow.CANMC.all;/* Initialize all bits of 'Master Control Field' to zero */
// Some bits of MSGCTRL register come up in an unknown state. For proper operation,
// all bits (including reserved bits) of MSGCTRL must be initialized to zeroECanaMboxes.MBOX0.MSGCTRL.all = 0x00000000;ECanaMboxes.MBOX1.MSGCTRL.all = 0x00000000;ECanaMboxes.MBOX2.MSGCTRL.all = 0x00000000;ECanaMboxes.MBOX3.MSGCTRL.all = 0x00000000;ECanaMboxes.MBOX4.MSGCTRL.all = 0x00000000;ECanaMboxes.MBOX5.MSGCTRL.all = 0x00000000;ECanaMboxes.MBOX6.MSGCTRL.all = 0x00000000;ECanaMboxes.MBOX7.MSGCTRL.all = 0x00000000;ECanaMboxes.MBOX8.MSGCTRL.all = 0x00000000;ECanaMboxes.MBOX9.MSGCTRL.all = 0x00000000;ECanaMboxes.MBOX10.MSGCTRL.all = 0x00000000;ECanaMboxes.MBOX11.MSGCTRL.all = 0x00000000;ECanaMboxes.MBOX12.MSGCTRL.all = 0x00000000;ECanaMboxes.MBOX13.MSGCTRL.all = 0x00000000;ECanaMboxes.MBOX14.MSGCTRL.all = 0x00000000;ECanaMboxes.MBOX15.MSGCTRL.all = 0x00000000;ECanaMboxes.MBOX16.MSGCTRL.all = 0x00000000;ECanaMboxes.MBOX17.MSGCTRL.all = 0x00000000;ECanaMboxes.MBOX18.MSGCTRL.all = 0x00000000;ECanaMboxes.MBOX19.MSGCTRL.all = 0x00000000;ECanaMboxes.MBOX20.MSGCTRL.all = 0x00000000;ECanaMboxes.MBOX21.MSGCTRL.all = 0x00000000;ECanaMboxes.MBOX22.MSGCTRL.all = 0x00000000;ECanaMboxes.MBOX23.MSGCTRL.all = 0x00000000;ECanaMboxes.MBOX24.MSGCTRL.all = 0x00000000;ECanaMboxes.MBOX25.MSGCTRL.all = 0x00000000;ECanaMboxes.MBOX26.MSGCTRL.all = 0x00000000;ECanaMboxes.MBOX27.MSGCTRL.all = 0x00000000;ECanaMboxes.MBOX28.MSGCTRL.all = 0x00000000;ECanaMboxes.MBOX29.MSGCTRL.all = 0x00000000;ECanaMboxes.MBOX30.MSGCTRL.all = 0x00000000;ECanaMboxes.MBOX31.MSGCTRL.all = 0x00000000;// TAn, RMPn, GIFn bits are all zero upon reset and are cleared again
// as a matter of precaution.ECanaRegs.CANTA.all = 0xFFFFFFFF; /* Clear all TAn bits */ECanaRegs.CANRMP.all = 0xFFFFFFFF; /* Clear all RMPn bits */ECanaRegs.CANGIF0.all = 0xFFFFFFFF; /* Clear all interrupt flag bits */ECanaRegs.CANGIF1.all = 0xFFFFFFFF;/* Configure bit timing parameters for eCANA*/ECanaShadow.CANMC.all = ECanaRegs.CANMC.all;ECanaShadow.CANMC.bit.CCR = 1 ; // Set CCR = 1ECanaRegs.CANMC.all = ECanaShadow.CANMC.all;ECanaShadow.CANES.all = ECanaRegs.CANES.all;do{ECanaShadow.CANES.all = ECanaRegs.CANES.all;} while(ECanaShadow.CANES.bit.CCE != 1 ); // Wait for CCE bit to be set..ECanaShadow.CANBTC.all = 0;#if (CPU_FRQ_150MHZ)
//初始化通信波特率
/*
具体的波特率计算：
波特率=系统时钟/(2*(BRPREG+TSEG2REG+TSEG1REG+3)),同时需要确保TSEG1REG > TSEG2REG */ECanaShadow.CANBTC.bit.BRPREG = 9;ECanaShadow.CANBTC.bit.TSEG2REG = 2;ECanaShadow.CANBTC.bit.TSEG1REG = 10;#endifECanaShadow.CANBTC.bit.SAM = 1;ECanaRegs.CANBTC.all = ECanaShadow.CANBTC.all;ECanaShadow.CANMC.all = ECanaRegs.CANMC.all;ECanaShadow.CANMC.bit.CCR = 0 ; // Set CCR = 0ECanaRegs.CANMC.all = ECanaShadow.CANMC.all;ECanaShadow.CANES.all = ECanaRegs.CANES.all;do{ECanaShadow.CANES.all = ECanaRegs.CANES.all;} while(ECanaShadow.CANES.bit.CCE != 0 ); // Wait for CCE bit to be cleared../* Disable all Mailboxes */ECanaRegs.CANME.all = 0; // Required before writing the MSGIDsEDIS;
}void InitECanGpio(void)
{InitECanaGpio();
#if (DSP28_ECANB)InitECanbGpio();
#endif // if DSP28_ECANB
}void InitECanaGpio(void)
{EALLOW;
/* Enable internal pull-up for the selected CAN pins */
// Pull-ups can be enabled or disabled by the user.
// This will enable the pullups for the specified pins.
// Comment out other unwanted lines.GpioCtrlRegs.GPAPUD.bit.GPIO18 = 0; // Enable pull-up for GPIO18 (CANRXA)GpioCtrlRegs.GPAPUD.bit.GPIO19 = 0; // Enable pull-up for GPIO19 (CANTXA)/* Set qualification for selected CAN pins to asynch only */
// Inputs are synchronized to SYSCLKOUT by default.
// This will select asynch (no qualification) for the selected pins.GpioCtrlRegs.GPAQSEL2.bit.GPIO18 = 3; // Asynch qual for GPIO18 (CANRXA)
/* Configure eCAN-A pins using GPIO regs*/
// This specifies which of the possible GPIO pins will be eCAN functional pins.GpioCtrlRegs.GPAMUX2.bit.GPIO18 = 3; // Configure GPIO18 for CANRXA operationGpioCtrlRegs.GPAMUX2.bit.GPIO19 = 3; // Configure GPIO19 for CANTXA operationEDIS;
}#if (DSP28_ECANB)
void InitECanbGpio(void)
{EALLOW;
/* Enable internal pull-up for the selected CAN pins */
// Pull-ups can be enabled or disabled by the user.
// This will enable the pullups for the specified pins.
// Comment out other unwanted lines.GpioCtrlRegs.GPAPUD.bit.GPIO12 = 0; // Enable pull-up for GPIO12 (CANTXB)GpioCtrlRegs.GPAPUD.bit.GPIO13 = 0; // Enable pull-up for GPIO13 (CANRXB)
/* Set qualification for selected CAN pins to asynch only */
// Inputs are synchronized to SYSCLKOUT by default.
// This will select asynch (no qualification) for the selected pins.
// Comment out other unwanted lines.GpioCtrlRegs.GPAQSEL1.bit.GPIO13 = 3; // Asynch qual for GPIO13 (CANRXB)
/* Configure eCAN-B pins using GPIO regs*/GpioCtrlRegs.GPAMUX1.bit.GPIO12 = 2; // Configure GPIO12 for CANTXB operationGpioCtrlRegs.GPAMUX1.bit.GPIO13 = 2; // Configure GPIO13 for CANRXB operationEDIS;
}
#endif // if DSP28_ECANB具关于CAN总线中的收发问题：
1、发送：
.具体描述参见上图，配置程序如下所示：
//发送一帧数据
/*
CAN总线发送数据结构体
typedef struct
{unsigned short int StdId; //标准帧ID,值为0x000到0x7FFF;unsigned long int ExtId; //扩展帧ID,值为0到0x1FFFFFFFunsigned char SAE_J1939_Flag;//表示是否使用SAE J1939协议SAE_ID SAE_J1939_ID;unsigned char IDE; //帧类型,可为：CAN_ID_STD(标准帧),CAN_ID_EXT(扩展帧)unsigned char DLC; //数据长度，可为0到8;unsigned char MBox_num;//邮箱编号,可为0到31;unsigned short int Tx_timeout_cnt;CAN_MSG_DATA CAN_Tx_msg_data; /*!< 帧消息内容,共8字节 */
} CanTxMsg;
*/
void CAN_Send_Msg(CanTxMsg *can_tx_msg)//发送一帧数据
{Uint16 time_cnt;Uint32 mbox_enable_temp = 0x0000;Uint32 mbox_disable_temp = 0x0000;Uint32 mbox_dir_temp = 0x0000;mbox_enable_temp = 1<<(can_tx_msg->MBox_num);mbox_disable_temp = ~(1<<(can_tx_msg->MBox_num));mbox_dir_temp = ~(1<<(can_tx_msg->MBox_num));struct ECAN_REGS ECanaShadow;volatile struct MBOX *Mailbox;Mailbox = &ECanaMboxes.MBOX0+can_tx_msg->MBox_num;ECanaShadow.CANME.all = ECanaRegs.CANME.all;ECanaShadow.CANME.all &= mbox_disable_temp;ECanaRegs.CANME.all = ECanaShadow.CANME.all;if(can_tx_msg->IDE == CAN_ID_STD){Mailbox->MSGID.all = can_tx_msg->StdId; //standard identifierMailbox->MSGID.bit.IDE = can_tx_msg->IDE;}else if(can_tx_msg->IDE == CAN_ID_EXT){if(can_tx_msg->SAE_J1939_Flag == 0){Mailbox->MSGID.all = can_tx_msg->ExtId; //extended identifier.Mailbox->MSGID.bit.IDE = can_tx_msg->IDE;}else{Mailbox->MSGID.all = can_tx_msg->SAE_J1939_ID.id; //extended identifier.Mailbox->MSGID.bit.IDE = can_tx_msg->IDE;}}ECanaShadow.CANMD.all = ECanaRegs.CANMD.all;ECanaShadow.CANMD.all &=mbox_dir_temp;//设置邮箱工作方向,0表示邮箱工作于发送,1表示工作于接收ECanaRegs.CANMD.all = ECanaShadow.CANMD.all;ECanaShadow.CANME.all = ECanaRegs.CANME.all;ECanaShadow.CANME.all |= mbox_enable_temp;//使能邮箱ECanaRegs.CANME.all = ECanaShadow.CANME.all;Mailbox->MSGCTRL.bit.DLC = can_tx_msg->DLC;//数据长度Mailbox->MDL.byte.BYTE0 = can_tx_msg->CAN_Tx_msg_data.msg_Byte.byte0;Mailbox->MDL.byte.BYTE1 = can_tx_msg->CAN_Tx_msg_data.msg_Byte.byte1;Mailbox->MDL.byte.BYTE2 = can_tx_msg->CAN_Tx_msg_data.msg_Byte.byte2;Mailbox->MDL.byte.BYTE3 = can_tx_msg->CAN_Tx_msg_data.msg_Byte.byte3;Mailbox->MDH.byte.BYTE4 = can_tx_msg->CAN_Tx_msg_data.msg_Byte.byte4;Mailbox->MDH.byte.BYTE5 = can_tx_msg->CAN_Tx_msg_data.msg_Byte.byte5;Mailbox->MDH.byte.BYTE6 = can_tx_msg->CAN_Tx_msg_data.msg_Byte.byte6;Mailbox->MDH.byte.BYTE7 = can_tx_msg->CAN_Tx_msg_data.msg_Byte.byte7;ECanaShadow.CANTRS.all = 0;ECanaShadow.CANTRS.all |= mbox_enable_temp; // Set TRS for mailbox under testECanaRegs.CANTRS.all = ECanaShadow.CANTRS.all;do{ECanaShadow.CANTA.all = ECanaRegs.CANTA.all;time_cnt++;} while(((ECanaShadow.CANTA.all&mbox_enable_temp) == 0 )&&(time_cnt<100)); // Wait for TA5 bit to be set..ECanaShadow.CANTA.all = 0;ECanaShadow.CANTA.all = mbox_enable_temp; // Clear TA5ECanaRegs.CANTA.all = ECanaShadow.CANTA.all;}接收相关配置：（数据接受通常会采用中断来接收数据),具体配置程序如下，包括中断的相关配置；
void CAN_Rx_Config(void)//接收配置函数，程序中相关备注
{struct ECAN_REGS ECanaShadow;ECanaShadow.CANME.all = ECanaRegs.CANME.all;ECanaShadow.CANME.bit.ME1 = 0;//不使能邮箱1ECanaShadow.CANME.bit.ME31 = 0;//不使能邮箱31ECanaRegs.CANME.all = ECanaShadow.CANME.all;/*----------以下代码是配置接受邮箱的相关代码------------*///邮箱1相关配置ECanaMboxes.MBOX1.MSGCTRL.bit.DLC = 8;//配置数据长度，应该是没意义的;ECanaMboxes.MBOX1.MSGID.all = 0x07909ADC;//设置接收消息的有效IDECanaMboxes.MBOX1.MSGID.bit.AME =1;//屏蔽使能位,如果需要使用屏蔽,必须将该位置1ECanaMboxes.MBOX1.MSGID.bit.IDE = CAN_ID_EXT;/*LAMn[28:0]这些位启用一个进入消息的任意标识符位的屏蔽。1 针对接受到的标识符的相应位， 接受一个 0 或 1（ 无关） 。0 接收到的标识符位值必须与 MSGID 寄存器的相应标识符位相匹配。*/ECanaLAMRegs.LAM1.all = 0x000000F;///*LAMI 本地接受屏蔽标识符扩展位1 可以接收标准和扩展帧。 在扩展帧的情况下， 标识符的所有 29 位被存储在邮箱中， 本地接受屏 蔽寄存器的所有 29 位被过滤器使用。 在一个标准帧的情况下， 只有标识符的头 11 个位（ 28 至 18 位）和本地接受屏蔽被使用。0 存储在邮箱中的标识符扩展位决定了哪些消息应该被接收到*/ECanaLAMRegs.LAM1.bit.LAMI = 1;//邮箱31相关配置ECanaMboxes.MBOX31.MSGCTRL.bit.DLC = 8;//配置数据长度，应该是没意义的;ECanaMboxes.MBOX31.MSGID.all = 0x07909ABC;//设置接收消息的有效IDECanaMboxes.MBOX31.MSGID.bit.AME =1;//屏蔽使能位,ECanaMboxes.MBOX31.MSGID.bit.IDE = CAN_ID_EXT;/*LAM[28:0]这些位启用一个进入消息的任意标识符位的屏蔽。1 针对接受到的标识符的相应位， 接受一个 0 或 1（ 无关） 。0 接收到的标识符位值必须与 MSGID 寄存器的相应标识符位相匹配。*/ECanaLAMRegs.LAM31.all = 0x000000F;//
/*LAMI 本地接受屏蔽标识符扩展位1 可以接收标准和扩展帧。 在扩展帧的情况下， 标识符的所有 29 位被存储在邮箱中,本地接受屏蔽寄存器的所有 29 位被过滤器使用。 在一个标准帧的情况下， 只有标识符的头 11 个位（ 28 至 18 位）和本地接受屏蔽被使用。0 存储在邮箱中的标识符扩展位决定了哪些消息应该被接收到*/ECanaLAMRegs.LAM31.bit.LAMI = 1;ECanaRegs.CANRMP.all = 0xFFFFFFFF;ECanaShadow.CANMD.all = ECanaRegs.CANMD.all;ECanaShadow.CANMD.bit.MD1 = 1;ECanaShadow.CANMD.bit.MD31 = 1;ECanaRegs.CANMD.all = ECanaShadow.CANMD.all;ECanaShadow.CANME.all = ECanaRegs.CANME.all;ECanaShadow.CANME.bit.ME1 = 1;//使能邮箱1ECanaShadow.CANME.bit.ME31 = 1;//使能邮箱1ECanaRegs.CANME.all = ECanaShadow.CANME.all;
}
void CAN_Rx_IT_Concig(void)//邮箱中断相关配置
{EALLOW;ECanaRegs.CANMIM.bit.MIM1 = 1;//使能中断邮箱1的中断;ECanaRegs.CANMIL.bit.MIL1 = 1;//将中断1连接至中断1;ECanaRegs.CANMIM.bit.MIM31 = 1;//使能中断邮箱31的中断;ECanaRegs.CANMIL.bit.MIL31 = 1;//将中断1连接至中断1;ECanaRegs.CANGIM.bit.I1EN = 1;//使能中断1;EDIS;
}
//具体的中断函数,在清除GMIF1标志位时,不能通过向GMIF1写1来清除,只能通过向RMPn来清除该标志位
/*
CAN总线接收数据的结构体
typedef struct
{unsigned short int StdId; //标准帧ID,值为0x000到0x7FFF;unsigned long int ExtId; //扩展帧ID,值为0到0x1FFFFFFFunsigned char SAE_J1939_Flag;//表示是否使用SAE J1939协议SAE_ID SAE_J1939_ID;unsigned char IDE; //帧类型,可为：CAN_ID_STD(标准帧),CAN_ID_EXT(扩展帧)unsigned char DLC; //数据长度，可为0到8unsigned char MBox_num;//发送所用邮箱编号unsigned short int Rx_timeout_cnt;CAN_MSG_DATA CAN_Rx_msg_data; /*!< 帧消息内容,共8字节 */
} CanRxMsg;
*/
__interrupt void Ecana_isr1(void)
{if(ECanaRegs.CANGIF1.bit.GMIF1 == 1){if(ECanaRegs.CANRMP.bit.RMP1 == 1){
//读取该位是知道当前哪一个邮箱收到数据,can_rx_msg.MBox_num = ECanaRegs.CANGIF1.bit.MIV1;can_rx_msg.DLC = ECanaMboxes.MBOX1.MSGCTRL.bit.DLC;can_rx_msg.IDE = ECanaMboxes.MBOX1.MSGID.bit.IDE;if(can_rx_msg.IDE == CAN_ID_EXT){can_rx_msg.ExtId = ECanaMboxes.MBOX1.MSGID.all&0x1FFFFFFF;can_rx_msg.SAE_J1939_ID.id = can_rx_msg.ExtId;}else if(can_rx_msg.IDE == CAN_ID_STD){can_rx_msg.StdId = ECanaMboxes.MBOX1.MSGID.bit.STDMSGID;}can_rx_msg.CAN_Rx_msg_data.msg_Byte.byte0 = ECanaMboxes.MBOX1.MDL.byte.BYTE0;can_rx_msg.CAN_Rx_msg_data.msg_Byte.byte1 = ECanaMboxes.MBOX1.MDL.byte.BYTE1;can_rx_msg.CAN_Rx_msg_data.msg_Byte.byte2 = ECanaMboxes.MBOX1.MDL.byte.BYTE2;can_rx_msg.CAN_Rx_msg_data.msg_Byte.byte3 = ECanaMboxes.MBOX1.MDL.byte.BYTE3;can_rx_msg.CAN_Rx_msg_data.msg_Byte.byte4 = ECanaMboxes.MBOX1.MDH.byte.BYTE4;can_rx_msg.CAN_Rx_msg_data.msg_Byte.byte5 = ECanaMboxes.MBOX1.MDH.byte.BYTE5;can_rx_msg.CAN_Rx_msg_data.msg_Byte.byte6 = ECanaMboxes.MBOX1.MDH.byte.BYTE6;can_rx_msg.CAN_Rx_msg_data.msg_Byte.byte7 = ECanaMboxes.MBOX1.MDH.byte.BYTE7;ECanaRegs.CANRMP.bit.RMP1 = 1;}else if(ECanaRegs.CANRMP.bit.RMP31 == 1){can_rx_msg.MBox_num = ECanaRegs.CANGIF1.bit.MIV1;can_rx_msg.DLC = ECanaMboxes.MBOX31.MSGCTRL.bit.DLC;can_rx_msg.IDE = ECanaMboxes.MBOX31.MSGID.bit.IDE;if(can_rx_msg.IDE == CAN_ID_EXT){can_rx_msg.ExtId = ECanaMboxes.MBOX31.MSGID.all&0x1FFFFFFF;can_rx_msg.SAE_J1939_ID.id = can_rx_msg.ExtId;}else if(can_rx_msg.IDE == CAN_ID_STD){can_rx_msg.StdId = ECanaMboxes.MBOX31.MSGID.bit.STDMSGID;}can_rx_msg.CAN_Rx_msg_data.msg_Byte.byte0 = ECanaMboxes.MBOX31.MDL.byte.BYTE0;can_rx_msg.CAN_Rx_msg_data.msg_Byte.byte1 = ECanaMboxes.MBOX31.MDL.byte.BYTE1;can_rx_msg.CAN_Rx_msg_data.msg_Byte.byte2 = ECanaMboxes.MBOX31.MDL.byte.BYTE2;can_rx_msg.CAN_Rx_msg_data.msg_Byte.byte3 = ECanaMboxes.MBOX31.MDL.byte.BYTE3;can_rx_msg.CAN_Rx_msg_data.msg_Byte.byte4 = ECanaMboxes.MBOX31.MDH.byte.BYTE4;can_rx_msg.CAN_Rx_msg_data.msg_Byte.byte5 = ECanaMboxes.MBOX31.MDH.byte.BYTE5;can_rx_msg.CAN_Rx_msg_data.msg_Byte.byte6 = ECanaMboxes.MBOX31.MDH.byte.BYTE6;can_rx_msg.CAN_Rx_msg_data.msg_Byte.byte7 = ECanaMboxes.MBOX31.MDH.byte.BYTE7;ECanaRegs.CANRMP.bit.RMP31 = 1;}}PieCtrlRegs.PIEACK.bit.ACK9 = 1;
}下面是部分宏定义和结构体定义
/** CANA.h** Created on: 2017年4月16日* Author: admin*/#ifndef BSP_INC_CANA_H_
#define BSP_INC_CANA_H_
#include "include.h"
#include "stdint.h"
#define USE_CANA 1
#define USE_CANB 1
#define CAN_Id_Standard 0//表示标准帧
#define CAN_Id_Extended 1//表示扩展帧
#define CAN_ID_STD CAN_Id_Standard
#define CAN_ID_EXT CAN_Id_Extended
#define TXCOUNT 100
typedef enum _CAN_Num
{Null = 0,CANA = 1,CANB = 2,
} CAN_Num;
typedef enum _UPDATE_State
{NON_CHANGE = 0,UPDATE = 1,
} UPDATE_State;
typedef union _SAE_ID
{unsigned long int all;struct{unsigned short int SA :8;unsigned short int PS :8;unsigned short int PF :8;unsigned short int DP :1;unsigned short int R :1;unsigned short int Priority :3;unsigned short int resved :3;} bit;
} SAE_ID;
typedef struct _CAN_MSG_byte
{unsigned char data[8];
} CAN_MSG_byte;
typedef struct _CAN_MSG_BYTE
{unsigned char byte0;unsigned char byte1;unsigned char byte2;unsigned char byte3;unsigned char byte4;unsigned char byte5;unsigned char byte6;unsigned char byte7;
} CAN_MSG_BYTE;
typedef union _CAN_MSG_DATA
{CAN_MSG_byte msg_byte;CAN_MSG_BYTE msg_Byte;
} CAN_MSG_DATA;
typedef struct _CanTxMsg
{union{unsigned short int all;struct{unsigned short int StdId :11;unsigned short int resved :5;} bit;} StdId; //标准帧IDunion{unsigned long int all;struct{unsigned long int ExtId :29;unsigned long int resved :3;} bit;} ExtId; //扩展帧IDunsigned char SAE_J1939_Flag; //表示是否使用SAE J1939协议SAE_ID SAE_J1939_ID;unsigned char IDE; //帧类型,可为：CAN_ID_STD(标准帧),CAN_ID_EXT(扩展帧)unsigned char DLC; //数据长度，可为0到8;unsigned char MBox_num; //邮箱编号,0-31unsigned short int Tx_timeout_cnt;CAN_Num CAN_num;UPDATE_State tx_update;CAN_MSG_DATA CAN_Tx_msg_data; /*!< 帧消息内容,共8字节 */} CanTxMsg;
typedef struct _CanRxMsg
{union{unsigned short int all;struct{unsigned short int StdId :11;unsigned short int resved :5;} bit;} StdId; 标准帧ID,值为0x000到0x7FFF;union{unsigned long int all;struct{unsigned long int ExtId :29;unsigned long int resved :3;} bit;} ExtId; 扩展帧ID,值为0到0x1FFFFFFFunsigned char SAE_J1939_Flag; //表示是否使用SAE J1939协议SAE_ID SAE_J1939_ID;unsigned char IDE; //帧类型,可为：CAN_ID_STD(标准帧),CAN_ID_EXT(扩展帧)unsigned char DLC; //数据长度，可为0到8;unsigned char MBox_num; //发送所用邮箱编号unsigned short int Rx_timeout_cnt;CAN_MSG_DATA CAN_Rx_msg_data; /*!< 帧消息内容,共8字节 */CAN_Num CAN_num;UPDATE_State rx_update;
} CanRxMsg;
typedef struct _CANBus_Baudrate
{Uint16 BRPREG: 8; // 23:16 Baudrate prescaler register valueUint16 TSEG2REG: 3; // 2:0 TSEG2 register valueUint16 TSEG1REG: 4; // 6:3 TSEG1 register valueunsigned short int BaudRate;
}CANBus_Baudrate;
void CAN_GPIO_Config(CAN_Num CAN);
void CAN_Config(CAN_Num CAN,unsigned short int BaudRate);
void CAN_Tx_Msg(CanTxMsg *can_tx_msg); //发送消息
void CAN_Rx_Msg(CanRxMsg *can_rx_msg); //接收消息
#if USE_CANA
static void CANA_RX_Config(void);
#endif
#if USE_CANB
static void CANB_RX_Config(void);
#endif
void CAN_Rx_Config(void);
void CAN_Rx_IT_Concig(void);
int CAN_GetBaudRateNum(unsigned int BaudRate);
__interrupt void Ecana_isr1(void);
__interrupt void Ecanb_isr1(void);
extern CanTxMsg can_tx_msg;
extern CanRxMsg can_rx_msg;
extern CANBus_Baudrate CANBus_Baudrate_table[27];
#endif /* BSP_INC_CANA_H_ */