S32K146的CAN驅(qū)動(dòng)適配在汽車電子控制單元中的應(yīng)用

我們基于之前適配好的系統(tǒng)和PIN驅(qū)動(dòng)的基礎(chǔ)上繼續(xù)適配S32K146的CAN 驅(qū)動(dòng)，有了CAN 驅(qū)動(dòng)我們就可以通過PCAN 模擬車輛內(nèi)部的CAN 總線數(shù)據(jù)，接收發(fā)送CAN消息至車輛的CAN 總線，完成和其他ECU的信息交互。

CAN 收發(fā)器使用的TJA1043,該IC 只需要按照時(shí)序控制對(duì)應(yīng)的PIN腳即可讓其進(jìn)入 normal 模式，對(duì)應(yīng)代碼如下：

void can1_control_init(void)
{
    rt_base_t mcu_can1_en;
    rt_base_t mcu_can1_wake;
    rt_base_t mcu_can1_stby;

    /* init can controler pin */
    mcu_can1_en = rt_pin_get(MCU_CAN1_EN);
    mcu_can1_wake = rt_pin_get(MCU_CAN1_WAKE);
    mcu_can1_stby = rt_pin_get(MCU_CAN1_STBY);

    rt_pin_mode(mcu_can1_en,PIN_MODE_OUTPUT);
    rt_pin_mode(mcu_can1_wake,PIN_MODE_OUTPUT);
    rt_pin_mode(mcu_can1_stby,PIN_MODE_OUTPUT);

    /* init tja1043 */
    rt_pin_write(mcu_can1_wake,PIN_HIGH);
    rt_pin_write(mcu_can1_stby,PIN_LOW);
    rt_pin_write(mcu_can1_en,PIN_LOW);

    rt_thread_mdelay(1);

    rt_pin_write(mcu_can1_stby,PIN_HIGH);
    rt_pin_write(mcu_can1_en,PIN_HIGH);

    rt_thread_mdelay(1);

    rt_pin_write(mcu_can1_wake,PIN_LOW);

}

使用 S32K SDK 中的CAN驅(qū)動(dòng)接口對(duì)CAN進(jìn)行初始化，配置CAN 的波特率為500Kb,及CAN 參數(shù)，配置CAN 首發(fā)mailbox 資源配置，配置CAN 接收過濾器配置，即可完成CAN 模塊的驅(qū)動(dòng)配置對(duì)應(yīng)代碼如下：

void can1_init(void)
{
    status_t ret = STATUS_SUCCESS;
    flexcan_id_table_t id_filter_table[40];
    uint16_t i = 0;

    for(i =0; i < 40;i++)
    {
        id_filter_table[i].isRemoteFrame = false;
        id_filter_table[i].isExtendedFrame =false;
        id_filter_table[i].id = 0x400 + (0x10*i);
    }

    ret = FLEXCAN_DRV_Init(INST_FLEXCAN_CONFIG_1,&flexcanState0,&flexcanInitConfig0);
    if(ret != STATUS_SUCCESS)
    {
        rt_kprintf("can1 init failed.n");
    }

    FLEXCAN_DRV_SetRxMaskType(INST_FLEXCAN_CONFIG_1,FLEXCAN_RX_MASK_INDIVIDUAL);

    FLEXCAN_DRV_ConfigRxFifo(INST_FLEXCAN_CONFIG_1, FLEXCAN_RX_FIFO_ID_FORMAT_A, id_filter_table);

    for(i = 0;i < 16; i++)
    {
        ret = FLEXCAN_DRV_SetRxIndividualMask(INST_FLEXCAN_CONFIG_1, FLEXCAN_MSG_ID_STD, i, 0x7ff);
        if( ret != STATUS_SUCCESS )
        {
            rt_kprintf( "can1 set rx filter failed %x.n",ret);
        }
    }
}

驅(qū)動(dòng)配置完之后，我們創(chuàng)建一收一發(fā)線程用于處理CAN 接收發(fā)送的數(shù)據(jù)，對(duì)應(yīng)代碼如下：

#define THREAD_PRIORITY      25
#define THREAD_STACK_SIZE    1024
#define THREAD_TIMESLICE     5


void cantx_entry(void *parameter)
{
    can1_control_init();
    can1_init();

    flexcan_data_info_t msg =
    {
        .data_length = 8,
        .msg_id_type = FLEXCAN_MSG_ID_STD,
        .enable_brs  = false,
        .fd_enable   = false,
        .fd_padding  = 0U,
        .is_remote   = false
    };

    static uint8_t buff[8] = {0x55,0xaa,0x55,0xaa,0xaa,0xbb,0xcc,0xdd};

    while(1)
    {
        FLEXCAN_DRV_Send(INST_FLEXCAN_CONFIG_1,16,&msg,0x100,buff);

        rt_thread_mdelay(100);
    }
}


void canrx_entry(void *parameter)
{
    static flexcan_msgbuff_t data;
    status_t ret = STATUS_SUCCESS;

    while(1)
    {
        ret = FLEXCAN_DRV_RxFifo(INST_FLEXCAN_CONFIG_1,&data);

        if(ret == STATUS_SUCCESS)
        {
            rt_kprintf("id = %x :%x %x %x %x %x %x %x %xn",data.msgId,
            data.data[0],data.data[1],data.data[2],data.data[3],
            data.data[4],data.data[5],data.data[6],data.data[7]);
        }

        rt_thread_mdelay(10);
    }
}


int can_sample(void)
{
    rt_thread_t tid = RT_NULL;

    tid = rt_thread_create("cantx",
                           cantx_entry, RT_NULL,
                           THREAD_STACK_SIZE,
                           THREAD_PRIORITY,
                           THREAD_TIMESLICE);
    if (tid != RT_NULL)
        rt_thread_startup(tid);

     tid = rt_thread_create("canrx",
                           canrx_entry, RT_NULL,
                           THREAD_STACK_SIZE,
                           THREAD_PRIORITY,
                           THREAD_TIMESLICE);
    if (tid != RT_NULL)
        rt_thread_startup(tid);

    return 0;
}
MSH_CMD_EXPORT_ALIAS(can_sample, can ,can sample);

對(duì)應(yīng)玩上述驅(qū)動(dòng)，我們通過usb can 模擬發(fā)送0x400 消息攜帶車速及車窗狀態(tài)信息，通過串口輸出運(yùn)行如下，可以看到can 通信的發(fā)送接收都工作，已經(jīng)能模擬采集車輛的CAN總線數(shù)據(jù)了。

/*代碼路徑如下*/

https://gitee.com/andeyqi/rt-thread/tree/master/bsp/s32k14x