GD32F30x SPI转CAN 从机实现

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最新推荐文章于 2025-05-20 11:05:00 发布

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文章标签： fpga开发

本文链接：https://blog.csdn.net/qq_40545297/article/details/135930232

SPI 转CAN 目前常用MCP251x 年代较远，目前多数MCU 自带CAN 模块和SPI 主从模块，很方便实现SPI 转CAN 串口等外设，可用作linux 主机下的一个驱动外设；

SPI通信不同于串口等全双工通信，主机在发送数据的同时也能得到从机传送的数据，所以SPI通信是同步的，从机要想发送数据给主机，必须等主机主动发送时钟来读取；所以主机要想读取从机的数据必须发送 2帧数据才能读取到想要的结果（不同与FPGA 内部状态机一帧数据实现读写，ARM模拟SPI从机实现高速通信需要2帧，并且2帧中间需要等待大于一个SCK 时钟周期）。


#include "bsp_spi.h"
#include "tty_com.h"
#include "fifo_t.h"

static uint8_t _spi0_rxbuf[_SPI0_DMA_RX_BUFFER_SIZE];
__IO struct _SPI_CAN_ST spi0_canMsg={
	.this_base = (uint32_t*)&spi0_canMsg,/*myself addr base*/
	.__uuid={1,2,3,4},/*is id message*/
	._can0_phy_base = CAN0, /* can0 base*/
	.loop_can0Rx_buf_base =(uint32_t*)_spi0_rxbuf,/*can0 rx buffer,(4byte ID） +(8byte data)*/
	.loop_can0Tx_buf_base =(uint32_t*)_spi0_rxbuf,/*can0 tx buffer, */
	._can1_phy_base = 0, /* not use can1*/
	.loop_can1Rx_buf_base =(uint32_t*)_spi0_rxbuf,/*can0 rx buffer,(4byte ID） +(8byte data)*/
	.loop_can1Tx_buf_base =(uint32_t*)_spi0_rxbuf,/*can0 tx buffer, */

	._can0_1_state =0, /*>0 ,io =0*/
	._can0_tx_rx_size =0,/*read only*/
	._can1_tx_rx_size =0,/*read only*/
};
fifoRst _can0_rx_fifo={0};
fifoRst _can0_tx_fifo={0};
fifoRst _can1_rx_fifo={0};
fifoRst _can1_tx_fifo={0};
static uint32_t can0_ctrl=0;
// X^8+X^2+X^1+1 
static const unsigned char crc_table[] ={
	0x00, 0x07, 0x0E, 0x09, 0x1C, 0x1B, 0x12, 0x15, 0x38, 0x3F, 0x36, 0x31, 0x24, 0x23, 0x2A, 0x2D,
	0x70, 0x77, 0x7E, 0x79, 0x6C, 0x6B, 0x62, 0x65, 0x48, 0x4F, 0x46, 0x41, 0x54, 0x53, 0x5A, 0x5D,
	0xE0, 0xE7, 0xEE, 0xE9, 0xFC, 0xFB, 0xF2, 0xF5, 0xD8, 0xDF, 0xD6, 0xD1, 0xC4, 0xC3, 0xCA, 0xCD,
	0x90, 0x97, 0x9E, 0x99, 0x8C, 0x8B, 0x82, 0x85, 0xA8, 0xAF, 0xA6, 0xA1, 0xB4, 0xB3, 0xBA, 0xBD,
	0xC7, 0xC0, 0xC9, 0xCE, 0xDB, 0xDC, 0xD5, 0xD2, 0xFF, 0xF8, 0xF1, 0xF6, 0xE3, 0xE4, 0xED, 0xEA,
	0xB7, 0xB0, 0xB9, 0xBE, 0xAB, 0xAC, 0xA5, 0xA2, 0x8F, 0x88, 0x81, 0x86, 0x93, 0x94, 0x9D, 0x9A,
	0x27, 0x20, 0x29, 0x2E, 0x3B, 0x3C, 0x35, 0x32, 0x1F, 0x18, 0x11, 0x16, 0x03, 0x04, 0x0D, 0x0A,
	0x57, 0x50, 0x59, 0x5E, 0x4B, 0x4C, 0x45, 0x42, 0x6F, 0x68, 0x61, 0x66, 0x73, 0x74, 0x7D, 0x7A,
	0x89, 0x8E, 0x87, 0x80, 0x95, 0x92, 0x9B, 0x9C, 0xB1, 0xB6, 0xBF, 0xB8, 0xAD, 0xAA, 0xA3, 0xA4,
	0xF9, 0xFE, 0xF7, 0xF0, 0xE5, 0xE2, 0xEB, 0xEC, 0xC1, 0xC6, 0xCF, 0xC8, 0xDD, 0xDA, 0xD3, 0xD4,
	0x69, 0x6E, 0x67, 0x60, 0x75, 0x72, 0x7B, 0x7C, 0x51, 0x56, 0x5F, 0x58, 0x4D, 0x4A, 0x43, 0x44,
	0x19, 0x1E, 0x17, 0x10, 0x05, 0x02, 0x0B, 0x0C, 0x21, 0x26, 0x2F, 0x28, 0x3D, 0x3A, 0x33, 0x34,
	0x4E, 0x49, 0x40, 0x47, 0x52, 0x55, 0x5C, 0x5B, 0x76, 0x71, 0x78, 0x7F, 0x6A, 0x6D, 0x64, 0x63,
	0x3E, 0x39, 0x30, 0x37, 0x22, 0x25, 0x2C, 0x2B, 0x06, 0x0