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href="../../../topics/sdk/gpio/gpio_user_guide.html" id="id-d5856e5408-link">GPIO 使用指南</a></div></div></li><li role="treeitem" aria-expanded="false"><div data-tocid="i2c_user_guide-d5856e5480" class="topicref" data-id="i2c_user_guide" data-state="not-ready"><span role="button" tabindex="0" aria-labelledby="button-expand-action i2c_user_guide-d5856e5480-link" class="wh-expand-btn"></span><div class="title"><a href="../../../topics/sdk/i2c/i2c_user_guide_2.html" id="i2c_user_guide-d5856e5480-link">I2C 使用指南</a></div></div></li><li role="treeitem" aria-expanded="false"><div data-tocid="id-d5856e5576" class="topicref" data-id="id" data-state="not-ready"><span role="button" tabindex="0" aria-labelledby="button-expand-action id-d5856e5576-link" class="wh-expand-btn"></span><div class="title"><a href="../../../topics/sdk/psadc/psadc_user_guide_2.html" id="id-d5856e5576-link">PSADC 使用指南</a></div></div></li><li role="treeitem" aria-expanded="false"><div data-tocid="id-d5856e5648" 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href="../../../topics/sdk/spi/spi_user_guide_2.html" id="spi-d5856e5805-link"><span class="ph">Q</span>SPI 使用指南</a></div></div></li><li role="treeitem" aria-expanded="false"><div data-tocid="uart_user_guide-d5856e5879" class="topicref" data-id="uart_user_guide" data-state="not-ready"><span role="button" tabindex="0" aria-labelledby="button-expand-action uart_user_guide-d5856e5879-link" class="wh-expand-btn"></span><div class="title"><a href="../../../topics/sdk/uart/uart_user_guide_2.html" id="uart_user_guide-d5856e5879-link">UART 使用指南</a></div></div></li><li role="treeitem" aria-expanded="false"><div data-tocid="usb_user_guide-d5856e5951" class="topicref" data-id="usb_user_guide" data-state="not-ready"><span role="button" tabindex="0" aria-labelledby="button-expand-action usb_user_guide-d5856e5951-link" class="wh-expand-btn"></span><div class="title"><a href="../../../topics/sdk/usb/usb_user_guide_2.html" id="usb_user_guide-d5856e5951-link">USB 使用指南</a></div></div></li><li role="treeitem" aria-expanded="false"><div data-tocid="id-d5856e6011" class="topicref" data-id="id" data-state="not-ready"><span role="button" tabindex="0" aria-labelledby="button-expand-action id-d5856e6011-link" class="wh-expand-btn"></span><div class="title"><a href="../../../topics/sdk/mac/mac_user_guide_2.html" id="id-d5856e6011-link">MAC 使用指南</a></div></div></li></ul></li><li role="treeitem" aria-expanded="false"><div data-tocid="chapter-safety-d5856e6083" class="topicref" data-id="chapter-safety" data-state="not-ready"><span role="button" tabindex="0" aria-labelledby="button-expand-action chapter-safety-d5856e6083-link" class="wh-expand-btn"></span><div class="title"><a href="../../../topics/chapter-title/chapter-safety-sdk.html" id="chapter-safety-d5856e6083-link">安全</a><div class="wh-tooltip"><p class="shortdesc">SPI ENC、CE、eFuse 等安全模块的介绍和使用说明。</p></div></div></div></li></ul></li></ul></div>
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<div class=" wh_topic_content body "><main role="main"><article class="- topic/topic topic" role="article" aria-labelledby="ariaid-title1"><span class="edit-link" style="font-size:12px; opacity:0.6; text-align:right; vertical-align:middle"><a target="_blank" href="http://172.16.35.88/tasks/jdssno1uvvbf2mltu9kb9v3if05d5gopuakboe8hlud18rma/edit/F:/aicdita/aicdita-cn/topics/sdk/can/can_design_lite.dita">Edit online</a></span><h1 class="- topic/title title topictitle1" id="ariaid-title1">设计说明</h1><div class="date inPage">15 Jan 2024</div><div style="color: gray;">
|
||
Read time: 2 minute(s)
|
||
</div><div class="- topic/body body"><section class="- topic/section section" id="id__section_bmv_gpf_fdc" data-ofbid="id__section_bmv_gpf_fdc"><h2 class="- topic/title title sectiontitle">源码说明</h2>
|
||
|
||
<div class="- topic/p p" data-ofbid="d57531e24__20250121171520">CAN 模块的源码位于：<ul class="- topic/ul ul simple" id="id__ul_c2x_h5h_fdc" data-ofbid="id__ul_c2x_h5h_fdc"><li class="- topic/li li" data-ofbid="d57531e27__20250121171520">
|
||
<p class="- topic/p p" data-ofbid="d57531e29__20250121171520"><span class="+ topic/ph sw-d/filepath ph filepath">bsp/artinchip/drv/can/drv_can.c</span>，CAN 模块 driver
|
||
层源码</p>
|
||
</li><li class="- topic/li li" data-ofbid="d57531e34__20250121171520">
|
||
<p class="- topic/p p" data-ofbid="d57531e36__20250121171520"><span class="+ topic/ph sw-d/filepath ph filepath">bsp/artinchip/hal/can/aic_hal_can.c</span>，CAN 模块 hal
|
||
层源码</p>
|
||
</li><li class="- topic/li li" data-ofbid="d57531e41__20250121171520">
|
||
<p class="- topic/p p" data-ofbid="d57531e43__20250121171520"><span class="+ topic/ph sw-d/filepath ph filepath">bsp/artinchip/include/hal/aic_hal_can.h</span>，CAN 模块 hal
|
||
层头文件</p>
|
||
</li></ul></div></section><section class="- topic/section section" id="id__id3" data-ofbid="id__id3"><h2 class="- topic/title title sectiontitle">模块架构</h2>
|
||
|
||
<figure class="- topic/fig fig fignone" id="id__fig_d2x_h5h_fdc" data-ofbid="id__fig_d2x_h5h_fdc"><br/><div class="imagecenter"><img class="- topic/image image imagecenter" id="id__image_e2x_h5h_fdc" src="../../../images/can/can_arch.png" alt="can_arch"/></div><br/></figure>
|
||
</section><section class="- topic/section section" id="id__id4" data-ofbid="id__id4"><h2 class="- topic/title title sectiontitle">关键流程设计</h2>
|
||
|
||
<div class="- topic/div div section" id="id__id5">
|
||
<strong class="+ topic/ph hi-d/b ph b">初始化流程</strong>
|
||
<p class="- topic/p p" data-ofbid="d57531e68__20250121171520">CAN 模块的初始化流程如下：</p><ol class="- topic/ol ol arabic simple" id="id__ol_f2x_h5h_fdc" data-ofbid="id__ol_f2x_h5h_fdc"><li class="- topic/li li" data-ofbid="d57531e71__20250121171520">
|
||
<p class="- topic/p p" data-ofbid="d57531e73__20250121171520">释放 reset 和 clock 信号</p>
|
||
</li><li class="- topic/li li" data-ofbid="d57531e76__20250121171520">
|
||
<p class="- topic/p p" data-ofbid="d57531e78__20250121171520">设置为复位模式</p>
|
||
</li><li class="- topic/li li" data-ofbid="d57531e81__20250121171520">
|
||
<p class="- topic/p p" data-ofbid="d57531e83__20250121171520">设置默认接收所有帧数据</p>
|
||
</li><li class="- topic/li li" data-ofbid="d57531e86__20250121171520">
|
||
<p class="- topic/p p" data-ofbid="d57531e88__20250121171520">设置为 normal 模式</p>
|
||
</li></ol></div>
|
||
<div class="- topic/div div section" id="id__id6">
|
||
<strong class="+ topic/ph hi-d/b ph b">中断处理流程</strong>
|
||
<p class="- topic/p p" data-ofbid="d57531e97__20250121171520"> 在驱动中，利用中断进行数据的接收和总线错误的检测。由于 CAN
|
||
每帧数据量较小，所以发送时采用了轮询的方式，直到发送完所有数据。但是为了统计发送信息，也使能了发送中断，接收到发送中断后，只更新 CAN
|
||
的发送状态信息。</p>
|
||
<figure class="- topic/fig fig fignone" id="id__fig_g2x_h5h_fdc" data-ofbid="id__fig_g2x_h5h_fdc"><br/><div class="imagecenter"><img class="- topic/image image imagecenter" id="id__image_h2x_h5h_fdc" src="../../../images/can/interrupt_flow.png" alt="interrupt_flow"/></div><br/></figure>
|
||
</div>
|
||
<div class="- topic/div div section" id="id__id7">
|
||
<strong class="+ topic/ph hi-d/b ph b">数据发送流程</strong>
|
||
<p class="- topic/p p" data-ofbid="d57531e111__20250121171520"> 由于 CAN 每帧的数据量只有 8byte，所以发送数据时没有采用 DMA 或中断方式，而是直接调用发送函数将数据发送出去。CAN
|
||
模块驱动的数据发送流程如下：</p>
|
||
<figure class="- topic/fig fig fignone" id="id__fig_i2x_h5h_fdc" data-ofbid="id__fig_i2x_h5h_fdc"><br/><div class="imagecenter"><img class="- topic/image image imagecenter" id="id__image_j2x_h5h_fdc" src="../../../images/can/start_xmit.png" alt="start_xmit"/></div><br/></figure>
|
||
</div>
|
||
</section><section class="- topic/section section" id="id__id8" data-ofbid="id__id8"><h2 class="- topic/title title sectiontitle">数据结构设计</h2>
|
||
|
||
<pre class="+ topic/pre pr-d/codeblock pre codeblock language-c" id="id__codeblock_xlc_55h_fdc" data-ofbid="id__codeblock_xlc_55h_fdc"><strong class="hl-keyword">typedef</strong> <strong class="hl-keyword">struct</strong> can_handle can_handle;
|
||
<strong class="hl-keyword">struct</strong> can_handle {
|
||
<strong class="hl-keyword">unsigned</strong> <strong class="hl-keyword">long</strong> can_base;
|
||
uint32_t irq_num;
|
||
uint32_t clk_id;
|
||
uint32_t idx;
|
||
<strong class="hl-keyword">void</strong> (*callback)(can_handle * phandle, <strong class="hl-keyword">void</strong> *arg);
|
||
<strong class="hl-keyword">void</strong> *arg;
|
||
uint32_t baudrate;
|
||
can_msg_t msg;
|
||
can_status_t status;
|
||
};</pre>
|
||
</section><section class="- topic/section section" id="id__id9" data-ofbid="id__id9"><h2 class="- topic/title title sectiontitle">接口设计</h2>
|
||
|
||
<div class="- topic/div div section" id="id__driver">
|
||
<strong class="+ topic/ph hi-d/b ph b">driver 层接口设计</strong>
|
||
<div class="table-container"><table class="- topic/table table frame-all" id="id__table_k2x_h5h_fdc" data-ofbid="id__table_k2x_h5h_fdc" data-cols="2"><caption class="- topic/title title tablecap" data-caption-side="top" data-is-repeated="true"><span class="table--title-label">表<span class="table--title-label-number"> 1</span><span class="table--title-label-punctuation">. </span></span><span class="table--title">aic_can_control</span></caption><colgroup><col style="width:16.666666666666664%"/><col style="width:83.33333333333334%"/></colgroup><thead class="- topic/thead thead"><tr class="- topic/row"><th class="- topic/entry entry colsep-1 rowsep-1" id="id__table_k2x_h5h_fdc__entry__1">函数原型</th><th class="- topic/entry entry colsep-0 rowsep-1" id="id__table_k2x_h5h_fdc__entry__2">static rt_err_t aic_can_control(struct rt_can_device *can,
|
||
int cmd, void *arg)</th></tr></thead><tbody class="- topic/tbody tbody"><tr class="- topic/row"><td class="- topic/entry entry colsep-1 rowsep-1" headers="id__table_k2x_h5h_fdc__entry__1">功能说明</td><td class="- topic/entry entry colsep-0 rowsep-1" headers="id__table_k2x_h5h_fdc__entry__2">CAN 模块 control 接口，用于设置波特率，获取状态等</td></tr><tr class="- topic/row"><td class="- topic/entry entry colsep-1 rowsep-1" headers="id__table_k2x_h5h_fdc__entry__1">参数定义</td><td class="- topic/entry entry colsep-0 rowsep-1" headers="id__table_k2x_h5h_fdc__entry__2">
|
||
<div class="- topic/div div">
|
||
<div class="- topic/div div">can: 指向 rt_can_device 设备的指针</div>
|
||
<div class="- topic/div div"><span class="+ topic/keyword pr-d/parmname keyword parmname">cmd</span>: CAN 命令</div>
|
||
<div class="- topic/div div">arg: 命令参数</div>
|
||
</div>
|
||
</td></tr><tr class="- topic/row"><td class="- topic/entry entry colsep-1 rowsep-1" headers="id__table_k2x_h5h_fdc__entry__1">返回值</td><td class="- topic/entry entry colsep-0 rowsep-1" headers="id__table_k2x_h5h_fdc__entry__2">RT_EOK：执行成功</td></tr><tr class="- topic/row"><td class="- topic/entry entry colsep-1 rowsep-0" headers="id__table_k2x_h5h_fdc__entry__1">注意事项</td><td class="- topic/entry entry colsep-0 rowsep-0" headers="id__table_k2x_h5h_fdc__entry__2">- </td></tr></tbody></table></div><div class="table-container"><table class="- topic/table table frame-all" id="id__table_l2x_h5h_fdc" data-ofbid="id__table_l2x_h5h_fdc" data-cols="2"><caption class="- topic/title title tablecap" data-caption-side="top" data-is-repeated="true"><span class="table--title-label">表<span class="table--title-label-number"> 2</span><span class="table--title-label-punctuation">. </span></span><span class="table--title">aic_can_send</span></caption><colgroup><col style="width:16.666666666666664%"/><col style="width:83.33333333333334%"/></colgroup><thead class="- topic/thead thead"><tr class="- topic/row"><th class="- topic/entry entry colsep-1 rowsep-1" id="id__table_l2x_h5h_fdc__entry__1">函数原型</th><th class="- topic/entry entry colsep-0 rowsep-1" id="id__table_l2x_h5h_fdc__entry__2">static int aic_can_send(struct rt_can_device *can, const void
|
||
*buf, rt_uint32_t boxno)</th></tr></thead><tbody class="- topic/tbody tbody"><tr class="- topic/row"><td class="- topic/entry entry colsep-1 rowsep-1" headers="id__table_l2x_h5h_fdc__entry__1">功能说明</td><td class="- topic/entry entry colsep-0 rowsep-1" headers="id__table_l2x_h5h_fdc__entry__2">CAN 发送接口</td></tr><tr class="- topic/row"><td class="- topic/entry entry colsep-1 rowsep-1" headers="id__table_l2x_h5h_fdc__entry__1">参数定义</td><td class="- topic/entry entry colsep-0 rowsep-1" headers="id__table_l2x_h5h_fdc__entry__2">
|
||
<div class="- topic/div div">
|
||
<div class="- topic/div div">can: 指向 rt_can_device 设备的指针</div>
|
||
<div class="- topic/div div">buf: 指向要发送的 can message 的指针</div>
|
||
<div class="- topic/div div">boxno: 发送的邮箱号</div>
|
||
</div>
|
||
</td></tr><tr class="- topic/row"><td class="- topic/entry entry colsep-1 rowsep-1" headers="id__table_l2x_h5h_fdc__entry__1">返回值</td><td class="- topic/entry entry colsep-0 rowsep-1" headers="id__table_l2x_h5h_fdc__entry__2">0：执行成功</td></tr><tr class="- topic/row"><td class="- topic/entry entry colsep-1 rowsep-0" headers="id__table_l2x_h5h_fdc__entry__1">注意事项</td><td class="- topic/entry entry colsep-0 rowsep-0" headers="id__table_l2x_h5h_fdc__entry__2">- </td></tr></tbody></table></div><div class="table-container"><table class="- topic/table table frame-all" id="id__table_m2x_h5h_fdc" data-ofbid="id__table_m2x_h5h_fdc" data-cols="2"><caption class="- topic/title title tablecap" data-caption-side="top" data-is-repeated="true"><span class="table--title-label">表<span class="table--title-label-number"> 3</span><span class="table--title-label-punctuation">. </span></span><span class="table--title">aic_can_recv</span></caption><colgroup><col style="width:16.666666666666664%"/><col style="width:83.33333333333334%"/></colgroup><thead class="- topic/thead thead"><tr class="- topic/row"><th class="- topic/entry entry colsep-1 rowsep-1" id="id__table_m2x_h5h_fdc__entry__1">函数原型</th><th class="- topic/entry entry colsep-0 rowsep-1" id="id__table_m2x_h5h_fdc__entry__2">static int aic_can_recv(struct rt_can_device *can, void *buf,
|
||
rt_uint32_t boxno)</th></tr></thead><tbody class="- topic/tbody tbody"><tr class="- topic/row"><td class="- topic/entry entry colsep-1 rowsep-1" headers="id__table_m2x_h5h_fdc__entry__1">功能说明</td><td class="- topic/entry entry colsep-0 rowsep-1" headers="id__table_m2x_h5h_fdc__entry__2">CAN 接收接口</td></tr><tr class="- topic/row"><td class="- topic/entry entry colsep-1 rowsep-1" headers="id__table_m2x_h5h_fdc__entry__1">参数定义</td><td class="- topic/entry entry colsep-0 rowsep-1" headers="id__table_m2x_h5h_fdc__entry__2">
|
||
<div class="- topic/div div">
|
||
<div class="- topic/div div">can: 指向 rt_can_device 设备的指针</div>
|
||
<div class="- topic/div div">buf: 指向存储接收的 can message 的指针</div>
|
||
<div class="- topic/div div">boxno: 接收的邮箱号</div>
|
||
</div>
|
||
</td></tr><tr class="- topic/row"><td class="- topic/entry entry colsep-1 rowsep-1" headers="id__table_m2x_h5h_fdc__entry__1">返回值</td><td class="- topic/entry entry colsep-0 rowsep-1" headers="id__table_m2x_h5h_fdc__entry__2">0：执行成功</td></tr><tr class="- topic/row"><td class="- topic/entry entry colsep-1 rowsep-0" headers="id__table_m2x_h5h_fdc__entry__1">注意事项</td><td class="- topic/entry entry colsep-0 rowsep-0" headers="id__table_m2x_h5h_fdc__entry__2">-</td></tr></tbody></table></div></div>
|
||
<div class="- topic/div div section" id="id__hal">
|
||
<strong class="+ topic/ph hi-d/b ph b">hal 层接口设计</strong>
|
||
<div class="table-container"><table class="- topic/table table frame-all" id="id__table_n2x_h5h_fdc" data-ofbid="id__table_n2x_h5h_fdc" data-cols="2"><caption class="- topic/title title tablecap" data-caption-side="top" data-is-repeated="true"><span class="table--title-label">表<span class="table--title-label-number"> 4</span><span class="table--title-label-punctuation">. </span></span><span class="table--title">hal_can_init</span></caption><colgroup><col style="width:16.666666666666664%"/><col style="width:83.33333333333334%"/></colgroup><thead class="- topic/thead thead"><tr class="- topic/row"><th class="- topic/entry entry colsep-1 rowsep-1" id="id__table_n2x_h5h_fdc__entry__1">函数原型</th><th class="- topic/entry entry colsep-0 rowsep-1" id="id__table_n2x_h5h_fdc__entry__2">int hal_can_init(can_handle *phandle, uint32_t
|
||
can_idx);</th></tr></thead><tbody class="- topic/tbody tbody"><tr class="- topic/row"><td class="- topic/entry entry colsep-1 rowsep-1" headers="id__table_n2x_h5h_fdc__entry__1">功能说明</td><td class="- topic/entry entry colsep-0 rowsep-1" headers="id__table_n2x_h5h_fdc__entry__2">CAN 模块初始化</td></tr><tr class="- topic/row"><td class="- topic/entry entry colsep-1 rowsep-1" headers="id__table_n2x_h5h_fdc__entry__1">参数定义</td><td class="- topic/entry entry colsep-0 rowsep-1" headers="id__table_n2x_h5h_fdc__entry__2">
|
||
<div class="- topic/div div">
|
||
<div class="- topic/div div">phandle: 指向 can_handle 结构体的指针</div>
|
||
<div class="- topic/div div">can_idx: 需要初始化的 CAN 模块索引号</div>
|
||
</div>
|
||
</td></tr><tr class="- topic/row"><td class="- topic/entry entry colsep-1 rowsep-1" headers="id__table_n2x_h5h_fdc__entry__1">返回值</td><td class="- topic/entry entry colsep-0 rowsep-1" headers="id__table_n2x_h5h_fdc__entry__2">
|
||
<div class="- topic/div div">
|
||
<div class="- topic/div div">0：执行成功</div>
|
||
<div class="- topic/div div"> -EINVAL：执行失败</div>
|
||
</div>
|
||
</td></tr><tr class="- topic/row"><td class="- topic/entry entry colsep-1 rowsep-0" headers="id__table_n2x_h5h_fdc__entry__1">注意事项</td><td class="- topic/entry entry colsep-0 rowsep-0" headers="id__table_n2x_h5h_fdc__entry__2">- </td></tr></tbody></table></div><div class="table-container"><table class="- topic/table table frame-all" id="id__table_o2x_h5h_fdc" data-ofbid="id__table_o2x_h5h_fdc" data-cols="2"><caption class="- topic/title title tablecap" data-caption-side="top" data-is-repeated="true"><span class="table--title-label">表<span class="table--title-label-number"> 5</span><span class="table--title-label-punctuation">. </span></span><span class="table--title">hal_can_uninit</span></caption><colgroup><col style="width:16.666666666666664%"/><col style="width:83.33333333333334%"/></colgroup><thead class="- topic/thead thead"><tr class="- topic/row"><th class="- topic/entry entry colsep-1 rowsep-1" id="id__table_o2x_h5h_fdc__entry__1">函数原型</th><th class="- topic/entry entry colsep-0 rowsep-1" id="id__table_o2x_h5h_fdc__entry__2">void hal_can_uninit(can_handle *phandle);</th></tr></thead><tbody class="- topic/tbody tbody"><tr class="- topic/row"><td class="- topic/entry entry colsep-1 rowsep-1" headers="id__table_o2x_h5h_fdc__entry__1">功能说明</td><td class="- topic/entry entry colsep-0 rowsep-1" headers="id__table_o2x_h5h_fdc__entry__2">CAN 模块去初始化</td></tr><tr class="- topic/row"><td class="- topic/entry entry colsep-1 rowsep-1" headers="id__table_o2x_h5h_fdc__entry__1">参数定义</td><td class="- topic/entry entry colsep-0 rowsep-1" headers="id__table_o2x_h5h_fdc__entry__2">
|
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<div class="- topic/div div">
|
||
<div class="- topic/div div">phandle: 指向 can_handle 结构体的指针</div>
|
||
</div>
|
||
</td></tr><tr class="- topic/row"><td class="- topic/entry entry colsep-1 rowsep-1" headers="id__table_o2x_h5h_fdc__entry__1">返回值</td><td class="- topic/entry entry colsep-0 rowsep-1" headers="id__table_o2x_h5h_fdc__entry__2">无</td></tr><tr class="- topic/row"><td class="- topic/entry entry colsep-1 rowsep-0" headers="id__table_o2x_h5h_fdc__entry__1">注意事项</td><td class="- topic/entry entry colsep-0 rowsep-0" headers="id__table_o2x_h5h_fdc__entry__2">- </td></tr></tbody></table></div><div class="table-container"><table class="- topic/table table frame-all" id="id__table_p2x_h5h_fdc" data-ofbid="id__table_p2x_h5h_fdc" data-cols="2"><caption class="- topic/title title tablecap" data-caption-side="top" data-is-repeated="true"><span class="table--title-label">表<span class="table--title-label-number"> 6</span><span class="table--title-label-punctuation">. </span></span><span class="table--title">hal_can_tx_frame</span></caption><colgroup><col style="width:16.666666666666664%"/><col style="width:83.33333333333334%"/></colgroup><thead class="- topic/thead thead"><tr class="- topic/row"><th class="- topic/entry entry colsep-1 rowsep-1" id="id__table_p2x_h5h_fdc__entry__1">函数原型</th><th class="- topic/entry entry colsep-0 rowsep-1" id="id__table_p2x_h5h_fdc__entry__2">void hal_can_tx_frame(can_handle *phandle, can_msg_t * msg,
|
||
can_op_req_t req);</th></tr></thead><tbody class="- topic/tbody tbody"><tr class="- topic/row"><td class="- topic/entry entry colsep-1 rowsep-1" headers="id__table_p2x_h5h_fdc__entry__1">功能说明</td><td class="- topic/entry entry colsep-0 rowsep-1" headers="id__table_p2x_h5h_fdc__entry__2">CAN 模块去初始化</td></tr><tr class="- topic/row"><td class="- topic/entry entry colsep-1 rowsep-1" headers="id__table_p2x_h5h_fdc__entry__1">参数定义</td><td class="- topic/entry entry colsep-0 rowsep-1" headers="id__table_p2x_h5h_fdc__entry__2">
|
||
<div class="- topic/div div">
|
||
<div class="- topic/div div">phandle: 指向 can_handle 结构体的指针</div>
|
||
<div class="- topic/div div">msg: 指向要发送的 CAN message 的指针</div>
|
||
<div class="- topic/div div">req: 发送请求，用于指示是正常发送/自发自收/终止发送</div>
|
||
</div>
|
||
</td></tr><tr class="- topic/row"><td class="- topic/entry entry colsep-1 rowsep-1" headers="id__table_p2x_h5h_fdc__entry__1">返回值</td><td class="- topic/entry entry colsep-0 rowsep-1" headers="id__table_p2x_h5h_fdc__entry__2">无</td></tr><tr class="- topic/row"><td class="- topic/entry entry colsep-1 rowsep-0" headers="id__table_p2x_h5h_fdc__entry__1">注意事项</td><td class="- topic/entry entry colsep-0 rowsep-0" headers="id__table_p2x_h5h_fdc__entry__2">- </td></tr></tbody></table></div><div class="table-container"><table class="- topic/table table frame-all" id="id__table_q2x_h5h_fdc" data-ofbid="id__table_q2x_h5h_fdc" data-cols="2"><caption class="- topic/title title tablecap" data-caption-side="top" data-is-repeated="true"><span class="table--title-label">表<span class="table--title-label-number"> 7</span><span class="table--title-label-punctuation">. </span></span><span class="table--title">hal_can_ioctl</span></caption><colgroup><col style="width:16.666666666666664%"/><col style="width:83.33333333333334%"/></colgroup><thead class="- topic/thead thead"><tr class="- topic/row"><th class="- topic/entry entry colsep-1 rowsep-1" id="id__table_q2x_h5h_fdc__entry__1">函数原型</th><th class="- topic/entry entry colsep-0 rowsep-1" id="id__table_q2x_h5h_fdc__entry__2">int hal_can_ioctl(can_handle *phandle, int cmd, void
|
||
*arg);</th></tr></thead><tbody class="- topic/tbody tbody"><tr class="- topic/row"><td class="- topic/entry entry colsep-1 rowsep-1" headers="id__table_q2x_h5h_fdc__entry__1">功能说明</td><td class="- topic/entry entry colsep-0 rowsep-1" headers="id__table_q2x_h5h_fdc__entry__2">CAN 模块去初始化</td></tr><tr class="- topic/row"><td class="- topic/entry entry colsep-1 rowsep-1" headers="id__table_q2x_h5h_fdc__entry__1">参数定义</td><td class="- topic/entry entry colsep-0 rowsep-1" headers="id__table_q2x_h5h_fdc__entry__2">
|
||
<div class="- topic/div div">
|
||
<div class="- topic/div div">phandle: 指向 can_handle 结构体的指针</div>
|
||
<div class="- topic/div div"><span class="+ topic/keyword pr-d/parmname keyword parmname">cmd</span>: CAN 命令</div>
|
||
<div class="- topic/div div">arg: 命令参数</div>
|
||
</div>
|
||
</td></tr><tr class="- topic/row"><td class="- topic/entry entry colsep-1 rowsep-1" headers="id__table_q2x_h5h_fdc__entry__1">返回值</td><td class="- topic/entry entry colsep-0 rowsep-1" headers="id__table_q2x_h5h_fdc__entry__2">无</td></tr><tr class="- topic/row"><td class="- topic/entry entry colsep-1 rowsep-0" headers="id__table_q2x_h5h_fdc__entry__1">注意事项</td><td class="- topic/entry entry colsep-0 rowsep-0" headers="id__table_q2x_h5h_fdc__entry__2">-</td></tr></tbody></table></div></div>
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