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can总线相关内容

时间：2023-12-18 11:22:32浏览次数：29  
标签：ARR 总线 uint8 canNo 内容 GPIO 相关 BIT uint32

can总线是一种串行通讯总线。具有多主控制的特点，及在总线空闲时，所有单元都可以开始发送消息，最先访问总线的单元可以获得发送权。多个单元同时访问总线时，发送高优先级id消息的单元可以优先访问。

can总线中利用id标识各个节点。在节点发送数据时，发送的报文帧中也应含有节点的id信息。

 

// can总线相关抽象结构体定义
typedef struct
{
  __IO uint32_t TIR;  /*!< CAN TX mailbox identifier register */
  __IO uint32_t TDTR; /*!< CAN mailbox data length control and time stamp register */
  __IO uint32_t TDLR; /*!< CAN mailbox data low register */
  __IO uint32_t TDHR; /*!< CAN mailbox data high register */
} CAN_TxMailBox_TypeDef;

/**
  * @brief Controller Area Network FIFOMailBox
  */

typedef struct
{
  __IO uint32_t RIR;  /*!< CAN receive FIFO mailbox identifier register */
  __IO uint32_t RDTR; /*!< CAN receive FIFO mailbox data length control and time stamp register */
  __IO uint32_t RDLR; /*!< CAN receive FIFO mailbox data low register */
  __IO uint32_t RDHR; /*!< CAN receive FIFO mailbox data high register */
} CAN_FIFOMailBox_TypeDef;

/**
  * @brief Controller Area Network FilterRegister
  */

typedef struct
{
  __IO uint32_t FR1; /*!< CAN Filter bank register 1 */
  __IO uint32_t FR2; /*!< CAN Filter bank register 1 */
} CAN_FilterRegister_TypeDef;

/**
  * @brief Controller Area Network
  */

typedef struct
{
  __IO uint32_t              MCR;                 /*!< CAN master control register,         Address offset: 0x00          */
  __IO uint32_t              MSR;                 /*!< CAN master status register,          Address offset: 0x04          */
  __IO uint32_t              TSR;                 /*!< CAN transmit status register,        Address offset: 0x08          */
  __IO uint32_t              RF0R;                /*!< CAN receive FIFO 0 register,         Address offset: 0x0C          */
  __IO uint32_t              RF1R;                /*!< CAN receive FIFO 1 register,         Address offset: 0x10          */
  __IO uint32_t              IER;                 /*!< CAN interrupt enable register,       Address offset: 0x14          */
  __IO uint32_t              ESR;                 /*!< CAN error status register,           Address offset: 0x18          */
  __IO uint32_t              BTR;                 /*!< CAN bit timing register,             Address offset: 0x1C          */
  uint32_t                   RESERVED0[88];       /*!< Reserved, 0x020 - 0x17F                                            */
  CAN_TxMailBox_TypeDef      sTxMailBox[3];       /*!< CAN Tx MailBox,                      Address offset: 0x180 - 0x1AC */
  CAN_FIFOMailBox_TypeDef    sFIFOMailBox[2];     /*!< CAN FIFO MailBox,                    Address offset: 0x1B0 - 0x1CC */
  uint32_t                   RESERVED1[12];       /*!< Reserved, 0x1D0 - 0x1FF                                            */
  __IO uint32_t              FMR;                 /*!< CAN filter master register,          Address offset: 0x200         */
  __IO uint32_t              FM1R;                /*!< CAN filter mode register,            Address offset: 0x204         */
  uint32_t                   RESERVED2;           /*!< Reserved, 0x208                                                    */
  __IO uint32_t              FS1R;                /*!< CAN filter scale register,           Address offset: 0x20C         */
  uint32_t                   RESERVED3;           /*!< Reserved, 0x210                                                    */
  __IO uint32_t              FFA1R;               /*!< CAN filter FIFO assignment register, Address offset: 0x214         */
  uint32_t                   RESERVED4;           /*!< Reserved, 0x218                                                    */
  __IO uint32_t              FA1R;                /*!< CAN filter activation register,      Address offset: 0x21C         */
  uint32_t                   RESERVED5[8];        /*!< Reserved, 0x220-0x23F                                              */
  CAN_FilterRegister_TypeDef sFilterRegister[28]; /*!< CAN Filter Register,                 Address offset: 0x240-0x31C   */
} CAN_TypeDef;

 

 

 

// 这是要用到的一些宏定义
#define SET_BIT(REG, BIT)     ((REG) |= (BIT))

#define CLEAR_BIT(REG, BIT)   ((REG) &= ~(BIT))

#define READ_BIT(REG, BIT)    ((REG) & (BIT))

#define CLEAR_REG(REG)        ((REG) = (0x0))

#define WRITE_REG(REG, VAL)   ((REG) = (VAL))

#define READ_REG(REG)         ((REG))

#define MODIFY_REG(REG, CLEARMASK, SETMASK)  WRITE_REG((REG), (((READ_REG(REG)) & (~(CLEARMASK))) | (SETMASK)))

#define POSITION_VAL(VAL)     (__CLZ(__RBIT(VAL)))

 

//======================================================================
//文件名称：can.c
//功能概要：uart底层驱动构件源文件
//版权所有：苏州大学嵌入式系统与物联网研究所(sumcu.suda.edu.cn)
//更新记录：2021-02-03 V1.0  JJL
//======================================================================
#include "can.h"

CAN_TypeDef *CAN_ARR[] = {(CAN_TypeDef*)CAN1_BASE};
IRQn_Type table_irq_can[2] = {CAN1_RX0_IRQn, CAN1_RX1_IRQn};

uint8_t can_send_once(uint8_t canNo, uint32_t DestID, uint16_t len ,uint8_t* buff);
uint8_t CAN_HWInit(uint8_t CANChannel);
uint8_t CAN_SWInit_Entry(uint8_t canNo);
void CAN_SWInit_CTLMode(uint8_t canNo);
void CAN_SWInit_BT(uint8_t canNo, uint32_t CANMode, uint32_t Prescaler);
uint8_t CAN_SWInit_Quit(uint8_t canNo);
uint8_t CANFilterConfig(uint8_t canNo, uint32_t canID, uint32_t FilterBank, uint32_t Can_Rx_FifoNo, uint8_t IsActivate, uint32_t FilterMode, uint32_t FilterScale);

//=====================================================================
//函数名称：can_init
//函数返回：无
//参数说明：canNo：模块号，本芯片只有CAN_1
//            canID：自身CAN节点的唯一标识，例如按照CANopen协议给出
//          BitRate：位速率
//功能概要：初始化CAN模块
//=====================================================================
void can_init(uint8_t canNo, uint32_t canID, uint32_t BitRate)
{
    //声明Init函数使用的局部变量
    uint32_t CANMode;
    uint32_t CANFilterBank;
    uint32_t CANFiltermode;
    uint32_t CAN_Filterscale;

    //给Init函数使用的局部变量赋初值
    CANMode = CAN_MODE_NORMAL;
    CANFilterBank = CANFilterBank0;
    CANFiltermode = CAN_FILTERMODE_IDMASK;
    CAN_Filterscale = CAN_FILTERSCALE_32BIT;

    //（1）CAN总线硬件初始化
    CAN_HWInit(CAN_CHANNEL);
    //（2）CAN总线进入软件初始化模式
    CAN_SWInit_Entry(canNo);
    //（3）CAN总线模式设置
    CAN_SWInit_CTLMode(canNo);
    //（4）CAN总线位时序配置
    CAN_SWInit_BT(canNo,CANMode,BitRate);
    //（5）CAN总线过滤器初始化
    CANFilterConfig(canNo, canID, CANFilterBank, CAN_RX_FIFO0, 1, CANFiltermode, CAN_Filterscale);
    //（6）CAN总线退出软件初始化模式，进入正常模式
    CAN_SWInit_Quit(canNo);
}

//=====================================================================
//函数名称：can_send_once
//函数返回：0=正常，1=错误
//参数说明：canNo：模块号，本芯片只有CAN_1
//          DestID：目标CAN节点的唯一标识，例如按照CANopen协议给出
//          len：待发送数据的字节数
//          buff：待发送数据发送缓冲区首地址
//功能概要：CAN模块发送一次数据
//=====================================================================
uint8_t can_send_once(uint8_t canNo, uint32_t DestID, uint16_t len ,uint8_t* buff)
{
    //（1）定义Can发送函数所需要用到的变量
    uint32_t transmit_mailbox;
    uint32_t register_tsr;
    uint32_t rtr;
    rtr = CAN_RTR_DATA;
    register_tsr = READ_REG(CAN_ARR[canNo-1]->TSR);

    //（2）判断3个邮箱中是否有空闲邮箱，若有，选取其中一个进行发送，选取顺序为1，2，3
    if (((register_tsr & CAN_TSR_TME0) != 0U) ||
        ((register_tsr & CAN_TSR_TME1) != 0U) ||
        ((register_tsr & CAN_TSR_TME2) != 0U))
    {
        transmit_mailbox = (register_tsr & CAN_TSR_CODE) >> CAN_TSR_CODE_Pos;
        if(transmit_mailbox > 2U)
        {
            return 1;
        }

        //（2.1）判断并设置发送帧为标准帧还是扩展帧
        if(DestID <= 0x7FFU)
        {
            CAN_ARR[canNo-1]->sTxMailBox[transmit_mailbox].TIR = ((DestID << CAN_TI0R_STID_Pos)|CAN_ID_STD|rtr);
        }
        else
        {
            CAN_ARR[canNo-1]->sTxMailBox[transmit_mailbox].TIR = ((DestID << CAN_TI0R_EXID_Pos)|CAN_ID_EXT|rtr);
        }
        //（2.2）设置发送帧的数据长度
        CAN_ARR[canNo-1]->sTxMailBox[transmit_mailbox].TDTR = len;
        //SET_BIT(CAN_ARR[canNo-1]->sTxMailBox[transmit_mailbox].TDTR, CAN_TDT0R_TGT);
        //（2.3）设置发送帧的数据
        WRITE_REG(CAN_ARR[canNo-1]->sTxMailBox[transmit_mailbox].TDHR,
                  ((uint32_t)buff[7] << CAN_TDH0R_DATA7_Pos) |
                  ((uint32_t)buff[6] << CAN_TDH0R_DATA6_Pos) |
                  ((uint32_t)buff[5] << CAN_TDH0R_DATA5_Pos) |
                  ((uint32_t)buff[4] << CAN_TDH0R_DATA4_Pos));
        WRITE_REG(CAN_ARR[canNo-1]->sTxMailBox[transmit_mailbox].TDLR,
                  ((uint32_t)buff[3] << CAN_TDL0R_DATA3_Pos) |
                  ((uint32_t)buff[2] << CAN_TDL0R_DATA2_Pos) |
                  ((uint32_t)buff[1] << CAN_TDL0R_DATA1_Pos) |
                  ((uint32_t)buff[0] << CAN_TDL0R_DATA0_Pos));
        //（2.4）发送Can数据报
        SET_BIT(CAN_ARR[canNo-1]->sTxMailBox[transmit_mailbox].TIR, CAN_TI0R_TXRQ);
        return 0;
    }
    else
    {
        return 1;
    }
}


 



//=====================================================================
//函数名称：can_send
//函数返回：0=正常，1=错误
//参数说明：canNo：模块号，本芯片只有CAN_1
//          DestID：目标CAN节点的唯一标识，例如按照CANopen协议给出
//          len：待发送数据的字节数
//          buff：待发送数据发送缓冲区首地址
//功能概要：CAN模块发送数据
//=====================================================================
uint8_t can_send(uint8_t canNo, uint32_t DestID, uint16_t len ,uint8_t* buff)
{
    if(DestID > 0x1FFFFFFFU) return 1;
    uint8_t send_length;
    for(int i = len; i > 0; i = i-8)
    {
        send_length = (i>8)?8:i;
        if(can_send_once(canNo,DestID,send_length,buff+len-i) == 1)
        {
            return 1;
        }
    }
    return 0;
}

//=====================================================================
//函数名称：can_recv
//函数返回：接收到的字节数
//参数说明：canNo：模块号，本芯片只有CAN_1
//          buff：接收到的数据存放的内存区首地址
//功能概要：在CAN模块接收中断中调用本函数接收已经到达的数据
//=====================================================================
uint8_t can_recv(uint8_t canNo, uint8_t *buff)
{
    uint8_t len;
    uint32_t RxFifo = CAN_RX_FIFO0;
    //（1）判断哪个邮箱收到了报文信息
    if(RxFifo == CAN_RX_FIFO0)
    {
        if ((CAN_ARR[canNo-1]->RF0R & CAN_RF0R_FMP0) == 0U)
        {
            return 1;
        }
    }
    else
    {
        if ((CAN_ARR[canNo-1]->RF1R & CAN_RF1R_FMP1) == 0U)
        {
            return 1;
        }
    }
    //（2）获取数据长度
    len = (CAN_RDT0R_DLC & CAN_ARR[canNo-1]->sFIFOMailBox[RxFifo].RDTR) >> CAN_RDT0R_DLC_Pos;
    //（3）获取数据帧中的数据
    buff[0] = (uint8_t)((CAN_RDL0R_DATA0 & CAN_ARR[canNo-1]->sFIFOMailBox[RxFifo].RDLR) >> CAN_RDL0R_DATA0_Pos);
    buff[1] = (uint8_t)((CAN_RDL0R_DATA1 & CAN_ARR[canNo-1]->sFIFOMailBox[RxFifo].RDLR) >> CAN_RDL0R_DATA1_Pos);
    buff[2] = (uint8_t)((CAN_RDL0R_DATA2 & CAN_ARR[canNo-1]->sFIFOMailBox[RxFifo].RDLR) >> CAN_RDL0R_DATA2_Pos);
    buff[3] = (uint8_t)((CAN_RDL0R_DATA3 & CAN_ARR[canNo-1]->sFIFOMailBox[RxFifo].RDLR) >> CAN_RDL0R_DATA3_Pos);
    buff[4] = (uint8_t)((CAN_RDH0R_DATA4 & CAN_ARR[canNo-1]->sFIFOMailBox[RxFifo].RDHR) >> CAN_RDH0R_DATA4_Pos);
    buff[5] = (uint8_t)((CAN_RDH0R_DATA5 & CAN_ARR[canNo-1]->sFIFOMailBox[RxFifo].RDHR) >> CAN_RDH0R_DATA5_Pos);
    buff[6] = (uint8_t)((CAN_RDH0R_DATA6 & CAN_ARR[canNo-1]->sFIFOMailBox[RxFifo].RDHR) >> CAN_RDH0R_DATA6_Pos);
    buff[7] = (uint8_t)((CAN_RDH0R_DATA7 & CAN_ARR[canNo-1]->sFIFOMailBox[RxFifo].RDHR) >> CAN_RDH0R_DATA7_Pos);
    //（4）清除标志位，等待接收下一帧数据
    if (RxFifo == CAN_RX_FIFO0)
    {
      SET_BIT(CAN_ARR[canNo-1]->RF0R, CAN_RF0R_RFOM0);
    }
    else
    {
      SET_BIT(CAN_ARR[canNo-1]->RF1R, CAN_RF1R_RFOM1);
    }
    return len;
}

//=====================================================================
//函数名称：CAN_enable_re_int
//函数返回：无
//参数说明：canNo:模块基地址号，Can_Rx_FifoNo:中断使用的邮箱号
//功能概要：CAN接收中断开启
//=====================================================================
void can_enable_recv_int(uint8_t canNo)
{
    uint8_t Can_Rx_FifoNo;
    Can_Rx_FifoNo = CAN_RX_FIFO0;
    if(Can_Rx_FifoNo == CAN_RX_FIFO0)
        SET_BIT(CAN_ARR[canNo-1]->IER, CAN_IER_FMPIE0);
    else
        SET_BIT(CAN_ARR[canNo-1]->IER,CAN_IER_FMPIE1);
    NVIC_EnableIRQ(table_irq_can[Can_Rx_FifoNo]);
}

//=====================================================================
//函数名称：can_disable_recv_int
//函数返回：无
//参数说明：canNo：模块号，本芯片只有CAN_1
//功能概要：关闭CAN接收中断
//=====================================================================
void can_disable_recv_int  (uint8_t canNo)
{
    uint8_t Can_Rx_FifoNo;
    Can_Rx_FifoNo = CAN_RX_FIFO0;
    if(Can_Rx_FifoNo == CAN_RX_FIFO0)
        CLEAR_BIT(CAN_ARR[canNo-1]->IER, CAN_IER_FMPIE0);
    else
        CLEAR_BIT(CAN_ARR[canNo-1]->IER,CAN_IER_FMPIE1);
    NVIC_DisableIRQ(table_irq_can[Can_Rx_FifoNo]);
}

//=====================================================================
//函数名称：CAN_HWInit
//函数返回：0=正常，1=错误
//参数说明：CANChannel:硬件引脚组号，共有3组，分别为PTA11&PTA12(CAN_CHANNEL0),PTB8&PTB9(CAN_CHANNEL1),PTD0&PTD1(2)
//功能概要：CAN模块引脚初始化
//=====================================================================
uint8_t CAN_HWInit(uint8_t CANChannel)
{
    if(CANChannel < 0 || CANChannel > 2)
    {
        return 1;
    }
    if(CANChannel == 0)
    {
        RCC->APB1ENR1 |= RCC_APB1ENR1_CAN1EN;
        RCC->AHB2ENR |= RCC_AHB2ENR_GPIOAEN;
        GPIOA->MODER &= ~(GPIO_MODER_MODE11|GPIO_MODER_MODE12);
        GPIOA->MODER |= (GPIO_MODER_MODE11_1|GPIO_MODER_MODE12_1);
        GPIOA->AFR[1] &= ~(GPIO_AFRH_AFSEL11|GPIO_AFRH_AFSEL12);
        GPIOA->AFR[1] |= (GPIO_AFRH_AFSEL11_0|GPIO_AFRH_AFSEL11_3)|(GPIO_AFRH_AFSEL12_0|GPIO_AFRH_AFSEL12_3);
    }
    else if(CANChannel == 1)
    {
        RCC->APB1ENR1 |= RCC_APB1ENR1_CAN1EN;
        RCC->AHB2ENR |= RCC_AHB2ENR_GPIOBEN;
        GPIOB->MODER &= ~(GPIO_MODER_MODE8|GPIO_MODER_MODE9);
        GPIOB->MODER |= (GPIO_MODER_MODE8_1|GPIO_MODER_MODE9_1);
        GPIOB->AFR[1] &= ~(GPIO_AFRH_AFSEL8|GPIO_AFRH_AFSEL9);
        GPIOB->AFR[1] |= ((GPIO_AFRH_AFSEL8_0|GPIO_AFRH_AFSEL8_3)|
                          (GPIO_AFRH_AFSEL9_0|GPIO_AFRH_AFSEL9_3));
    }
    else
    {
        RCC->APB1ENR1 |= RCC_APB1ENR1_CAN1EN;
        RCC->AHB2ENR |= RCC_AHB2ENR_GPIODEN;
        GPIOD->MODER &= ~(GPIO_MODER_MODE0|GPIO_MODER_MODE1);
        GPIOD->MODER |= (GPIO_MODER_MODE0_1|GPIO_MODER_MODE1_1);
        GPIOD->AFR[0] &= ~(GPIO_AFRL_AFSEL0|GPIO_AFRL_AFSEL1);
        GPIOD->AFR[0] |= ((GPIO_AFRL_AFSEL0_0 | GPIO_AFRL_AFSEL0_3)|
                          (GPIO_AFRL_AFSEL1_0 | GPIO_AFRL_AFSEL1_3));
    }
    return 0;
}

//=====================================================================
//函数名称：CAN_SWInit_Entry
//函数返回：0=正常，1=错误
//参数说明：canNo:模块基地址号，本芯片只有CAN_1,
//功能概要：进入初始化模式
//=====================================================================
uint8_t CAN_SWInit_Entry(uint8_t canNo)
{
    int i;
    CLEAR_BIT(CAN_ARR[canNo-1]->MCR, CAN_MCR_SLEEP);
    i = 0;
    while ((CAN_ARR[canNo-1]->MSR & CAN_MSR_SLAK) != 0U)
    {
        if(i++ > 0x30000)
        {
            return 1;
        }
    }

    SET_BIT(CAN_ARR[canNo-1]->MCR, CAN_MCR_INRQ);
    i = 0;
    while ((CAN_ARR[canNo-1]->MSR & CAN_MSR_INAK) == 0U)
    {
        if(i++ > 0x30000)
        {
            return 1;
        }
    }
    return 0;
}

//=====================================================================
//函数名称：CAN_SWInit_CTLMode
//函数返回：无
//参数说明：canNo:模块基地址号，本芯片只有CAN_1,
//功能概要：CAN总线模式设置
//=====================================================================
void CAN_SWInit_CTLMode(uint8_t canNo)
{
    CLEAR_BIT(CAN_ARR[canNo-1]->MCR, CAN_MCR_TTCM);
    CLEAR_BIT(CAN_ARR[canNo-1]->MCR, CAN_MCR_ABOM);
    CLEAR_BIT(CAN_ARR[canNo-1]->MCR, CAN_MCR_AWUM);
    SET_BIT(CAN_ARR[canNo-1]->MCR, CAN_MCR_NART);
    CLEAR_BIT(CAN_ARR[canNo-1]->MCR, CAN_MCR_RFLM);
    CLEAR_BIT(CAN_ARR[canNo-1]->MCR, CAN_MCR_TXFP);
}

//函数名称：CAN_SWInit_CTLMode
//函数返回：无
//参数说明：canNo:模块基地址号，本芯片只有CAN_1,
//            CANMode:CAN总线工作模式，分别为正常模式(CAN_MODE_NORMAL)、回环模式(CAN_MODE_LOOPBACK)、
//                                            静默模式(CAN_MODE_SILENT)以及回环与静默组合模式(CAN_MODE_SILENT_LOOPBACK)
//功能概要：CAN总线位时序配置
void CAN_SWInit_BT(uint8_t canNo, uint32_t CANMode, uint32_t Prescaler)
{
    CAN_ARR[canNo-1]->BTR |= ((uint32_t)(Prescaler-1)|CAN_SJW_1TQ|CAN_BTR_TS1_1|CAN_BTR_TS1_0|CAN_BTR_TS2_2|CANMode);
}

//=====================================================================
//函数名称：CAN_SWInit_Quit
//函数返回：0=正常，1=错误
//参数说明：canNo:模块基地址号
//功能概要：退出初始化模式，进入正常模式
//=====================================================================
uint8_t CAN_SWInit_Quit(uint8_t canNo)
{
    int i;
    CLEAR_BIT(CAN_ARR[canNo-1]->MCR, CAN_MCR_INRQ);
    i = 0;
    while ((CAN_ARR[canNo-1]->MSR & CAN_MSR_INAK) != 0U)
    {
      if (i++ > 0x30000)
      {
        return 1;
      }
    }
    return 0;
}

//=====================================================================
//函数名称： CANFilterConfig
//函数返回：0=正常，1=错误
//参数说明： canNo:模块基地址号，
//            canID：自身CAN节点的唯一标识，例如按照CANopen协议给出
//            Can_Rx_FifoNo:中断使用的邮箱号，
//            IsActivate:是否激活过滤器
//            CANFilterBank:CAN总线过滤器组选择,共有28个,(CANFilterBank0~CANFilterBank27)
//            CANFiltermode:CAN总线过滤器模式，分别为掩码模式(CAN_FILTERMODE_IDMASK)和列表模式(CAN_FILTERMODE_IDLIST)
//            CAN_Filterscale:CAN总线过滤器位数，分别为32位(CAN_FILTERSCALE_32BIT)和16位(CAN_FILTERSCALE_16BIT)
//功能概要：CAN接收中断开启
//=====================================================================
uint8_t CANFilterConfig(uint8_t canNo, uint32_t CanID, uint32_t FilterBank, uint32_t Can_Rx_FifoNo, uint8_t IsActivate, uint32_t FilterMode, uint32_t FilterScale)
{
    uint32_t FilterIdHigh, FilterIdLow, FilterMaskIdHigh, FilterMaskIdLow, filternbrbitpos;
    if(CanID <= 0x7FFU) CanID = CanID << CAN_TI0R_STID_Pos;

    FilterIdHigh = (CanID >> 16) & 0xFFFF;
    FilterIdLow = (CanID & 0xFFFF);
    FilterMaskIdHigh = 0xFFE0;
    FilterMaskIdLow = 0x0000;
    filternbrbitpos = (uint32_t)1 << (FilterBank & 0x1FU);

    //设置过滤器初始化模式 (FINIT=1),在此模式下可以进行过滤器初始化
    SET_BIT(CAN_ARR[canNo-1]->FMR, CAN_FMR_FINIT);
    CLEAR_BIT(CAN_ARR[canNo-1]->FA1R, filternbrbitpos);
    if (FilterScale == CAN_FILTERSCALE_16BIT)
    {
      CLEAR_BIT(CAN_ARR[canNo-1]->FS1R, filternbrbitpos);
      CAN_ARR[canNo-1]->sFilterRegister[FilterBank].FR1 =
        ((0x0000FFFFU & (uint32_t)FilterMaskIdLow) << 16U) |
        (0x0000FFFFU & (uint32_t)FilterIdLow);
      CAN_ARR[canNo-1]->sFilterRegister[FilterBank].FR2 =
        ((0x0000FFFFU & (uint32_t)FilterMaskIdHigh) << 16U) |
        (0x0000FFFFU & (uint32_t)FilterIdHigh);
    }
    if (FilterScale == CAN_FILTERSCALE_32BIT)
    {
      SET_BIT(CAN_ARR[canNo-1]->FS1R, filternbrbitpos);
      CAN_ARR[canNo-1]->sFilterRegister[FilterBank].FR1 =
        ((0x0000FFFFU & (uint32_t)FilterIdHigh) << 16U) |
        (0x0000FFFFU & (uint32_t)FilterIdLow);
      CAN_ARR[canNo-1]->sFilterRegister[FilterBank].FR2 =
        ((0x0000FFFFU & (uint32_t)FilterMaskIdHigh) << 16U) |
        (0x0000FFFFU & (uint32_t)FilterMaskIdLow);
    }
    if (FilterMode == CAN_FILTERMODE_IDMASK)
    {
      CLEAR_BIT(CAN_ARR[canNo-1]->FM1R, filternbrbitpos);
    }
    else
    {
      SET_BIT(CAN_ARR[canNo-1]->FM1R, filternbrbitpos);
    }
    if (Can_Rx_FifoNo == CAN_FILTER_FIFO0)
    {
      CLEAR_BIT(CAN_ARR[canNo-1]->FFA1R, filternbrbitpos);
    }
    else
    {
      SET_BIT(CAN_ARR[canNo-1]->FFA1R, filternbrbitpos);
    }
    if (IsActivate == 1)
    {
      SET_BIT(CAN_ARR[canNo-1]->FA1R, filternbrbitpos);
    }
    //退出过滤器初始化模式 (FINIT=0)
    CLEAR_BIT(CAN_ARR[canNo-1]->FMR, CAN_FMR_FINIT);

    return 0;
}



 



标签：ARR,总线,uint8,canNo,内容,GPIO,相关,BIT,uint32	

From： https://www.cnblogs.com/zk6696/p/17910584.html
      

      




      

      

        
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