s32k146 flexcan 驱动

### S32 Design Studio 3.1.4 中 FlexCAN 配置与使用 #### 安装和配置工具链 为了在S32 Design Studio for S32 Platform 3.5环境中工作，需先下载并安装该版本的设计套件[^1]。尽管提到的是3.5版，对于FlexCAN的配置流程，在不同小版本间通常保持一致。 #### 创建项目 启动S32DS后，创建一个新的MCU项目，选择目标设备为支持FlexCAN特性的型号如S32K148。这一步骤确保了后续能够访问到特定于所选微控制器的所有外设驱动程序和支持文件[^2]。 #### 初始化FlexCAN模块 通过图形化界面初始化FlexCAN模块设置： - 打开Peripheral View视图下的`FlexCANn`节点（其中n代表具体的实例编号） - 设置波特率、接受滤波器以及其他必要的参数来匹配应用需求 - 启用所需的功能特性比如CAN FD模式如果硬件允许的话 ```c // 示例代码片段用于启用 CAN FD 功能 FLEXCAN_DRV_InitInstance( FLEXCAN_INSTANCE, /* Instance number */ &flexcanConfig); /* Pointer to the configuration structure */ /* Enable CAN FD mode */ FLEXCAN_HAL_SetFDModeCmd(FLEXCAN_BASE_PTR, true); ``` #### 编写发送接收函数 利用SDK提供的API编写数据帧传输逻辑： ```c status_t flexcanTransmit(const uint8_t *pData, size_t length){ status_t result; // Prepare message buffer with data... can_frame_t txFrame = { .id = MESSAGE_ID, .length = length, .data = pData }; // Transmit frame using driver API result = FLEXCAN_DRV_SendMsgBlocking(FLEXCAN_INSTANCE, &txFrame); return result; } void flexcanReceive(uint8_t* pBuffer, size_t maxLength){ can_frame_t rxFrame; if (FLEXCAN_DRV_GetNewRxFifoMessageCount(FLEXCAN_INSTANCE)){ FLEXCAN_DRV_ReadMsgFromRxFifoBlocking(FLEXCAN_INSTANCE,&rxFrame); memcpy(pBuffer,rxFrame.data,min(maxLength,rxFrame.length)); } } ``` 上述C语言代码展示了如何定义两个基本操作——消息发送和接收的消息处理过程。

### S32K144 Microcontroller CAN FD Driver Implementation For the S32K144 microcontroller, implementing a CAN FD (Controller Area Network with Flexible Data-rate) driver involves configuring hardware settings and writing software to manage communication protocols effectively[^1]. The NXP S32 Design Studio provides an integrated development environment that supports creating applications for this microcontroller family. The initialization of the CAN FD module requires setting up several parameters such as baud rates for nominal and data phases, enabling or disabling features like automatic retransmission on error conditions, and specifying message buffers for transmission and reception operations[^2]. To facilitate rapid prototyping and application development, developers can leverage pre-built libraries provided by NXP. These libraries include functions for initializing peripherals, handling interrupts, transmitting messages over CAN bus lines, receiving frames from other nodes connected via these buses, managing errors during transfers between devices within networks using this protocol standard, etc.[^3] An example code snippet demonstrating how one might initialize the CAN FD interface could look something similar: ```c #include "S32K144.h" void Init_CANFD(void){ /* Enable clock */ CCM_CCGR0 |= CCM_CCGR0_CAN_CLK_MASK; /* Reset CAN Module */ RESET->RSTCTRL &= ~RESET_RSTCTRL_CAN_RST_MASK; /* Initialize CAN FD configuration structure */ flexcan_fd_config_t config; FLEXCAN_FD_GetDefaultConfig(&config); /* Set Baud Rate Prescaler values */ config.baudRate.clkSrc = kFLEXCAN_BaudRateSrcOscillator; config.baudRate.nominalBitRate_bps = 500000U; // Nominal bit rate set at 500kbps config.baudRate.dataBitRate_bps = 2000000U; // Data phase bit rate set at 2Mbps /* Initialize CAN instance */ FLEXCAN_FD_Init(CAN, &config); /* Additional configurations... */ } ```