【瑞萨RA4系列开发板体验】+CAN总线测试一

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");
  
}

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

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

下载后，用TTL转CAN与CAN分析仪接好，效果如下：

【注】本来上面截了好多图的，一不小心按了一下返回，结果都没有了，最好只能把代码帖出来。
下一步，与迪文屏进行can通信，展示数据。