zynq 7000 sdk下裸机can（ps/pl）调试-阿里云开发者社区

zynq 7000 sdk下裸机can（ps/pl）调试

2023-01-17 407

版权

本文内容由阿里云实名注册用户自发贡献，版权归原作者所有，阿里云开发者社区不拥有其著作权，亦不承担相应法律责任。具体规则请查看《阿里云开发者社区用户服务协议》和《阿里云开发者社区知识产权保护指引》。如果您发现本社区中有涉嫌抄袭的内容，填写侵权投诉表单进行举报，一经查实，本社区将立刻删除涉嫌侵权内容。

简介： zynq 7000 sdk下裸机can（ps/pl）调试

1. SDK下打开system.mss文件，如下图所示，import examples导入polled相关例程。

微信图片_20230117214527.png

因为我们的设备上有两个can，一个ps端一个pl端的,原理图在can收发器侧一样。

微信图片_20230117214536.png

2. ps 端参调试

确定逻辑对ps can的clock配置值，为100M，参考《ug585-Zynq-7000-TRM.pdf》手册，计算can波特率。

微信图片_20230117214541.png

波特率=100M/ ((49 +1)*(3 +15 +2)) = 100k

int CanPsPolledExample(u16 DeviceId)
{
  int Status;
  XCanPs *CanInstPtr = &Can;
  XCanPs_Config *ConfigPtr;
  /*
   * Initialize the Can device.
   */
  ConfigPtr = XCanPs_LookupConfig(DeviceId);
  if (CanInstPtr == NULL) {
    return XST_FAILURE;
  }
  Status = XCanPs_CfgInitialize(CanInstPtr,
          ConfigPtr,
          ConfigPtr->BaseAddr);
  if (Status != XST_SUCCESS) {
    return XST_FAILURE;
  }
  /*
   * Run self-test on the device, which verifies basic sanity of the
   * device and the driver.
   */
  Status = XCanPs_SelfTest(CanInstPtr);
  if (Status != XST_SUCCESS) {
    return XST_FAILURE;
  }
  xil_printf("SelfTest successfuly \r\n\r\n");
  /*
   * Enter Configuration Mode so we can setup Baud Rate Prescaler
   * Register (BRPR) and Bit Timing Register (BTR).
   */
  XCanPs_EnterMode(CanInstPtr, XCANPS_MODE_CONFIG);
  while(XCanPs_GetMode(CanInstPtr) != XCANPS_MODE_CONFIG);
  /*
   * Setup Baud Rate Prescaler Register (BRPR) and
   * Bit Timing Register (BTR). ps_can_clock = 100M .
   */
  XCanPs_SetBaudRatePrescaler(CanInstPtr, /*TEST_BRPR_BAUD_PRESCALAR*/ 49);
  XCanPs_SetBitTiming(CanInstPtr, TEST_BTR_SYNCJUMPWIDTH,
        TEST_BTR_SECOND_TIMESEGMENT,
        TEST_BTR_FIRST_TIMESEGMENT);
  /*
   * Enter Loop Back Mode.
   */
#define ps_can_clock 100000000  //100M
  XCanPs_EnterMode(CanInstPtr, XCANPS_MODE_SLEEP);
  while(XCanPs_GetMode(CanInstPtr) != XCANPS_MODE_SLEEP);
  xil_printf("ps can bitRate: %lu bps\r\n", ps_can_clock/((49+1)* (3+15+2)));
  /*
   * Send a frame, receive the frame via the loop back and verify its
   * contents.
   */
  Status = SendFrame(CanInstPtr);
  if (Status != XST_SUCCESS) {
    return Status;
  }
  xil_printf("recving ....... \r\n");
  while(1){
  Status = RecvFrame(CanInstPtr);
  }
  return Status;
}