完整整理中文 RK-KF-YF-162 V0.1.0 第4–9页。原稿范围：RK3568 CAN；RK2118、RK3576、RK3506 CANFD；软件为 RT-Thread & HAL，未给出统一 RT-Thread 版本。示例路径使用 RK3506-32。作为平台参考，使用 ArmSoM 板卡前需核对 SoC、RT-Thread BSP/HAL、收发器、终端电阻、电压域和引脚；不能当作 Linux SocketCAN 配置或全部板卡支持证明。仅有中文原稿，无独立技术图；四语保留全部示例代码，未进行硬件验证或总线发送。
原稿示例按原值保留：
can_tx连续两次写入 can_name，第二次覆盖 argv[1]；未检查 argc 和 len 范围，id=0 时仍使用随机ID。应用前必须核对实际消息缓冲区、CAN/CANFD帧约束、线程/设备生命周期；不要直接在生产或安全关键总线上运行。initStrust、bsp参数拼写与补丁 hunk 行数原样保留。这里只修复PDF软换行，不声称补丁可直接应用。
1. CAN&CANFD 配置
1.1 HAL CAN&CANFD
1.1.1 驱动
驱动文件所在位置:bsp/rockchip/common/hal/lib/hal/src/hal_canfd.c
1.1.2 常用 API
HAL_Status HAL_CANFD_Config(struct CAN_REG *pReg, eCANFD_Bps nbps, eCANFD_Bps dbps);
HAL_Status HAL_CANFD_Init(struct CAN_REG *pReg, struct CANFD_CONFIG *initStrust);
HAL_Status HAL_CANFD_Start(struct CAN_REG *pReg);
HAL_Status HAL_CANFD_Stop(struct CAN_REG *pReg);
HAL_Status HAL_CANFD_SetNBps(struct CAN_REG *pReg, eCANFD_Bps bsp);
HAL_Status HAL_CANFD_SetDBps(struct CAN_REG *pReg, eCANFD_Bps bps);
HAL_Status HAL_CANFD_Transmit(struct CAN_REG *pReg, struct CANFD_MSG *TxMsg);
HAL_Status HAL_CANFD_Receive(struct CAN_REG *pReg, struct CANFD_MSG *RxMsg);
uint32_t HAL_CANFD_GetInterrupt(struct CAN_REG *pReg);
uint32_t HAL_CANFD_GetErrInterruptMaskCombin(eCANFD_IntType type);
1.1.3 初始化
HAL_Status HAL_CANFD_Config(struct CAN_REG *pReg, eCANFD_Bps nbps, eCANFD_Bps dbps);
HAL_Status HAL_CANFD_Init(struct CAN_REG *pReg, struct CANFD_CONFIG *initStrust);
HAL_Status HAL_CANFD_Start(struct CAN_REG *pReg);
1.1.4 TX和RX
HAL_Status HAL_CANFD_Transmit(struct CAN_REG *pReg, struct CANFD_MSG *TxMsg);
HAL_Status HAL_CANFD_Receive(struct CAN_REG *pReg, struct CANFD_MSG *RxMsg);
1.2 RT-Thread CAN 配置
1.2.1 RT-Thread CAN 接口
int rockchip_canfd_dev_init(void)
1.2.2 RT-Thread CAN 宏配置
使用示例:
diff --git a/bsp/rockchip/rk3506-32/hal_conf.h b/bsp/rockchip/rk3506-32/hal_conf.h
index ceba993bc0f9..b9add69a24dc 100644
--- a/bsp/rockchip/rk3506-32/hal_conf.h
+++ b/bsp/rockchip/rk3506-32/hal_conf.h
@@ -43,6 +43,10 @@
#define HAL_CRU_MODULE_ENABLED
#endif
+#ifdef RT_USING_CAN
+#define HAL_CANFD_MODULE_ENABLED
+#endif
+
diff --git a/bsp/rockchip/rk3506-32/rtconfig.h b/bsp/rockchip/rk3506-32/rtconfig.h
index aaf767598e7d..2ca4bab357bf 100644
--- a/bsp/rockchip/rk3506-32/rtconfig.h
+++ b/bsp/rockchip/rk3506-32/rtconfig.h
@@ -86,6 +89,7 @@
#define RT_USING_SERIAL
#define RT_USING_SERIAL_V1
#define RT_SERIAL_RB_BUFSZ 512
+#define RT_USING_CAN
+#define RT_USING_CAN0
1.2.3 RT-Thread CAN收发示例
使用示例:默认代码目前只有can_sample,只发送一帧。使用示例:
can_sample rk_can0
如果需要多帧发送,或者不同帧格式发送,可以使用如下补丁:使用示例:
diff --git a/bsp/rockchip/common/drivers/drv_canfd.c b/bsp/rockchip/common/drivers/drv_canfd.c
index 3438e2c3990c..38888bcaeac9 100644
--- a/bsp/rockchip/common/drivers/drv_canfd.c
+++ b/bsp/rockchip/common/drivers/drv_canfd.c
@@ -565,6 +565,90 @@ int can_sample(int argc, char *argv[])
return res;
}
MSH_CMD_EXPORT(can_sample, can device sample);
+
+int can_open(int argc, char *argv[])
+{
+ rt_err_t res = 0;
+ rt_thread_t thread;
+ char can_name[RT_NAME_MAX];
+
+ if (argc == 2)
+ {
+ rt_strncpy(can_name, argv[1], RT_NAME_MAX);
+ }
+ else
+ {
+ rt_strncpy(can_name, CAN_DEV_NAME, RT_NAME_MAX);
+ }
+ can_dev = rt_device_find(can_name);
+ if (!can_dev)
+ {
+ rt_kprintf("find %s failed!\n", can_name);
+ return RT_ERROR;
+ }
+
+ rt_sem_init(&rx_sem, "rx_sem", 0, RT_IPC_FLAG_FIFO);
+ res = rt_device_open(can_dev, RT_DEVICE_FLAG_INT_TX | RT_DEVICE_FLAG_INT_RX);
+ RT_ASSERT(res == RT_EOK);
+ rt_device_control(can_dev, RT_CAN_CMD_SET_MODE, (void *)RT_CAN_MODE_NORMAL);
+ thread = rt_thread_create("can_rx", can_rx_thread, RT_NULL, 2048, 25, 10);
+ if (thread != RT_NULL)
+ {
+ rt_thread_startup(thread);
+ }
+ else
+ {
+ rt_kprintf("create can_rx thread failed!\n");
+ }
+ return res;
+}
+MSH_CMD_EXPORT(can_open, can device open);
+
+int can_tx(int argc, char *argv[])
+{
+ struct rt_can_msg msg = {0};
+ char can_name[RT_NAME_MAX];
+ rt_err_t res = 0;
+ rt_size_t size;
+ int i = 0, j = 0;
+ int ide, rtr, len, cnt, ms;
+ rt_uint32_t id;
+
+ rt_strncpy(can_name, argv[1], RT_NAME_MAX);
+ rt_strncpy(can_name, CAN_DEV_NAME, RT_NAME_MAX);
+ ide = strtol(argv[2], NULL, 10);
+ rtr = strtol(argv[3], NULL, 10);
+ len = strtol(argv[4], NULL, 10);
+ id = strtol(argv[5], NULL, 16);
+ cnt = strtol(argv[6], NULL, 10);
+ ms = strtol(argv[7], NULL, 10);
+
+ for (i = 0; i < cnt; i++) {
+ msg.ide = ide;
+ if (msg.ide)
+ msg.id = (unsigned int)rand() & 0x1fffffff;
+ else
+ msg.id = (unsigned int)rand() & 0x7ff;
+
+ if (id)
+ msg.id = id;
+ msg.rtr = rtr;
+ msg.len = len;
+ for (j = 0; j < msg.len; j++) {
+ msg.data[j] = (unsigned int)rand();
+ }
+ size = rt_device_write(can_dev, 0, &msg, sizeof(msg));
+ if (size == 0)
+ {
+ rt_kprintf("can dev write data failed!\n");
+ }
+ if (ms)
+ rt_thread_mdelay(ms);
+
+ }
+ return res;
+}
+MSH_CMD_EXPORT(can_tx, can device tx);
接收:
can_open rk_can0
接收并发送:
can_open rk_can0
can_tx rk_can0 0 0 8 0 10 1 //间隔1ms 连续发10帧 标准帧 数据帧
can_tx rk_can0 1 0 8 0 10 1 //间隔1ms 连续发10帧 扩展帧 数据帧
can_tx rk_can0 0 1 8 0 10 1 //间隔1ms 连续发10帧 标准帧 远程帧
can_tx rk_can0 1 1 8 0 10 1 //间隔1ms 连续发10帧 扩展帧 远程帧
1.2.4 RT-Thread CAN 比特率配置
rockchip_canfd0.config.baud_rate = CAN500kBaud;
1.3 RT-Thread CANFD 配置
RT-Thread目前还没有标准的CANFD变速,如果需要支持CANFD变速,目前只能强制修改hal_canfd.c去配置变速段的比特率。其他的配置按照CAN配置即可。使用示例:
HAL_CANFD_Config(pReg, initStrust->bps, CANFD_BPS_2MBAUD);
接收:
can_open rk_can0
接收并发送:
can_open rk_can0
can_tx rk_can0 0 0 64 0 10 1 //间隔1ms 连续发10帧 标准帧 数据帧 64byte
can_tx rk_can0 1 0 64 0 10 1 //间隔1ms 连续发10帧 扩展帧 数据帧 64byte
1.4 RT-Thread CAN&CANFD IOMUX配置
使用示例:在iomux.c中增加下:
diff --git a/bsp/rockchip/rk3506-32/board/evb1/iomux.c b/bsp/rockchip/rk3506-32/board/evb1/iomux.c
index 941e1aaa342a..bd5440082cc1 100644
--- a/bsp/rockchip/rk3506-32/board/evb1/iomux.c
+++ b/bsp/rockchip/rk3506-32/board/evb1/iomux.c
@@ -20,6 +20,22 @@ void rt_hw_iodomain_config(void)
{
}
+#ifdef RT_USING_CAN0
+/**
+ * @brief Config iomux for CAN0
+ */
+void can0_iomux_config(void)
+{
+ HAL_PINCTRL_SetRMIO(GPIO_BANK1,
+ GPIO_PIN_D2,
+ RMIO_CAN0_TX);
+
+ HAL_PINCTRL_SetRMIO(GPIO_BANK1,
+ GPIO_PIN_D3,
+ RMIO_CAN0_RX);
+}
+#endif
+
void sai1_iomux_config(void)
{
HAL_PINCTRL_SetIOMUX(GPIO_BANK0,
@@ -48,6 +64,10 @@ void rt_hw_iomux_config(void)
i2c0_iomux_config();
#endif
+#if defined(RT_USING_CAN0)
+ can0_iomux_config();
+#endif
+
#if defined(RT_USING_SDIO0)
emmc_iomux_config();
#endif