【瑞萨RA4系列开发板体验】CAN总线测试

RA助手 · 发表于 2023-2-1 16:01:29

【瑞萨RA4系列开发板体验】CAN总线测试
作者：lugl

在前一篇printf的基础上增加CAN的配置，根据@jyaxz 的帖子以及example中can的示例修改而成：
1、在keil中配置好can，然后新建bsp_can.c、bsp_can.h，函数代码如下：
bsp_can.c

#include "bsp_can.h"
#include "bsp_debug_uart.h"
#define RESET_VALUE (0x00)
/***********************************************************************************************************************
* Private global variables
**********************************************************************************************************************/
/* Flags, set from Callback function */
#define WAIT_TIME (5000U) //wait time value
#define CAN_DESTINATION_MAILBOX_3 (3U) //destination mail box number
#define CAN_MAILBOX_NUMBER_0 (0U) //mail box number
#define CAN_FRAME_TRANSMIT_DATA_BYTES (8U) //data length
#define ZERO (0U)
#define NULL_CHAR ('\0')
/***********************************************************************************************************************
* Private global variables
**********************************************************************************************************************/
/* Flags, set from Callback function */
static volatile bool b_can_tx = false; //CAN transmission status
static volatile bool b_can_rx = false; //CAN receive status
static volatile bool b_can_err = false; //CAN error status
/* CAN frames for tx and rx */
static can_frame_t g_can_tx_frame = {0x00}; //CAN transmit frame
static can_frame_t g_can_rx_frame = {0x00}; //CAN receive frame
/***********************************************************************************************************************
* Private local functions
**********************************************************************************************************************/
static void can_deinit(void);
void R_BSP_WarmStart(bsp_warm_start_event_t event);
static void can_deinit(void)
{
fsp_err_t err = FSP_SUCCESS;
err = R_CAN_Close(&g_can0_ctrl);
if (FSP_SUCCESS != err)
{
printf("\r\n **CAN Close API failed**");
}
}
/* 调试串口 UART4 初始化 */
void bsp_can0_init(void)
{
fsp_err_t err = FSP_SUCCESS;
/* Initialize CAN module */
err = R_CAN_Open(&g_can0_ctrl, &g_can0_cfg);
/* Error trap */
if(FSP_SUCCESS != err)
{
printf("\r\nCAN Open API failed");
printf(err);
}
}
/*******************************************************************************************************************//**
* This function is called when an CAN event is occurred and SET the respective flags.
**********************************************************************************************************************/
void can_callback(can_callback_args_t *p_args)
{
switch (p_args->event)
{
case CAN_EVENT_TX_COMPLETE:
{
b_can_tx = true; //set flag bit
break;
}
case CAN_EVENT_RX_COMPLETE:
{
b_can_rx = true;
memcpy(&g_can_rx_frame, &p_args->frame, sizeof(can_frame_t)); //copy the received data to rx_frame
break;
}
// case CAN_EVENT_MAILBOX_MESSAGE_LOST: //overwrite/overrun error event
// break;
// case CAN_EVENT_BUS_RECOVERY: //Bus recovery error event
// case CAN_EVENT_ERR_BUS_OFF: //error Bus Off event
// case CAN_EVENT_ERR_PASSIVE: //error passive event
// case CAN_EVENT_ERR_WARNING: //error warning event
// case CAN_EVENT_ERR_BUS_LOCK: //error bus lock
// case CAN_EVENT_ERR_CHANNEL: //error channel
// case CAN_EVENT_ERR_GLOBAL: //error global
// case CAN_EVENT_TX_ABORTED: //error transmit abort
// case CAN_EVENT_TX_FIFO_EMPTY: //error transmit FIFO is empty
// case CAN_EVENT_FIFO_MESSAGE_LOST: //error FIFO message lost
// {
// b_can_err = true; //set flag bit
// break;
// }
}
}
void can_send(void)
{
fsp_err_t err = FSP_SUCCESS;
uint32_t time_out = WAIT_TIME; // time out
fsp_pack_version_t version = {RESET_VALUE};
uint8_t can_tx_msg[CAN_FRAME_TRANSMIT_DATA_BYTES] = {0x01,0x02,0x03,0x04,0x05,0x06,0x07,0x08}; //data to be load in tx_frame while transmitting
uint8_t can_rx_msg[CAN_FRAME_TRANSMIT_DATA_BYTES] = {0x01,0x02,0x03,0x04,0x05,0x06,0x07,0x08}; //data to be load in rx_frame while acknowledging
/* Initialize CAN module */
err = R_CAN_Open(&g_can0_ctrl, &g_can0_cfg);
/* Error trap */
if(FSP_SUCCESS != err)
{
printf("\r\nCAN Open API failed");
printf(err);
}
printf("\r\nTo start CAN transmission, please enter any key on RTTViewer\r\n");
g_can_tx_frame.id = CAN_DESTINATION_MAILBOX_3;
g_can_tx_frame.type = CAN_FRAME_TYPE_DATA;
g_can_tx_frame.data_length_code = CAN_FRAME_TRANSMIT_DATA_BYTES;
/* copy the tx data frame with TX_MSG */
memcpy((uint8_t*)&g_can_tx_frame.data[ZERO], (uint8_t*)&can_tx_msg[ZERO], CAN_FRAME_TRANSMIT_DATA_BYTES);
err = R_CAN_Write(&g_can0_ctrl, CAN_MAILBOX_NUMBER_0, &g_can_tx_frame);
if (FSP_SUCCESS != err)
{
printf("\r\n CAN Write API FAILED");
can_deinit();
printf(err);
}
/* wait for transmit flag bit to set */
while ((true != b_can_tx) && (--time_out));
if (RESET_VALUE == time_out)
{
printf("CAN transmission failed due to timeout");
printf(true);
}
/* Reset flag bit */
b_can_tx = false;
printf("\r\n CAN transmission is successful");
printf("\r\n To start CAN transmission, please enter any key on RTTViewer\n");
}

复制代码

bsp_can.h:

#ifndef __BSP_CAN_H__
#define __BSP_CAN_H__
#include "hal_data.h"
#include "stdio.h"
void bsp_can0_init(void);
void can_send(void);
#endif

复制代码

修如hal_enty.c如下：

#include "hal_data.h"
#include <stdio.h>
#include "bsp_debug_uart.h"
#include "bsp_can.h"
FSP_CPP_HEADER
void R_BSP_WarmStart(bsp_warm_start_event_t event);
FSP_CPP_FOOTER
/*******************************************************************************************************************//**
* main() is generated by the RA Configuration editor and is used to generate threads if an RTOS is used. This function
* is called by main() when no RTOS is used.
**********************************************************************************************************************/
void hal_entry(void)
{
bsp_uart_init();
bsp_can0_init();
char char_i[]="hello e2studio";
int int_i=55;
float float_i=66.20f;
printf("hello RA4\r\n");
while(1)
{
can_send();
printf("int_i=%d\n",int_i);
printf("float_i=%.2f\n",float_i);
printf("char_i='%s'\n",char_i);
R_BSP_SoftwareDelay(1000, BSP_DELAY_UNITS_MILLISECONDS);
// NOLINT100->160
}
#if BSP_TZ_SECURE_BUILD
/* Enter non-secure code */
R_BSP_NonSecureEnter();
#endif
}
/*******************************************************************************************************************//**
* This function is called at various points during the startup process. This implementation uses the event that is
* called right before main() to set up the pins.
*
* @param[in] event Where at in the start up process the code is currently at
**********************************************************************************************************************/
void R_BSP_WarmStart (bsp_warm_start_event_t event)
{
if (BSP_WARM_START_RESET == event)
{
#if BSP_FEATURE_FLASH_LP_VERSION != 0
/* Enable reading from data flash. */
R_FACI_LP->DFLCTL = 1U;
/* Would normally have to wait tDSTOP(6us) for data flash recovery. Placing the enable here, before clock and
* C runtime initialization, should negate the need for a delay since the initialization will typically take more than 6us. */
#endif
}
if (BSP_WARM_START_POST_C == event)
{
/* C runtime environment and system clocks are setup. */
/* Configure pins. */
R_IOPORT_Open(&g_ioport_ctrl, g_ioport.p_cfg);
}
}
#if BSP_TZ_SECURE_BUILD
BSP_CMSE_NONSECURE_ENTRY void template_nonsecure_callable ();
/* Trustzone Secure Projects require at least one nonsecure callable function in order to build (Remove this if it is not required to build). */
BSP_CMSE_NONSECURE_ENTRY void template_nonsecure_callable ()
{
}
#endif