大家好，又见面了，我是你们的朋友全栈君。

预备知识

1.熟悉CAN2.0B协议，及相关硬件驱动开发
2.熟悉SAE J1939协议<http://blog.csdn.net/xietongxueflyme/article/details/74276702/>

程序移植流程

移植示例(demo)

以下示例，对德国英飞凌XMC4500(MCU)芯片自带的CAN模块上移植J1939协议源代码，代码中can驱动函数，can的驱动结构体，可供移植参考

#ifndef __J1939_Config_H 
#define __J1939_Config_H 

#include "J1939.H"

#include "../UserApp/includes.h"//用户，自己工程必要的声明头文件
/******************************J1939地址和标识符配*********************************/ //设备默认的地址（地址命名是有规定的，参考J1939的附录B 地址和标识符的分配） #define J1939_STARTING_ADDRESS 243 //如果声明不为0，表示我们的ECU(电子控制单元)支持网络中申请的任意地址，（参考J1939的网络层） #define J1939_ARBITRARY_ADDRESS 0x00 #define J1939_INDUSTRY_GROUP 0 #define J1939_VEHICLE_INSTANCE 0 #define J1939_CA_NAME7 (J1939_ARBITRARY_ADDRESS | (J1939_INDUSTRY_GROUP << 4) | J1939_VEHICLE_INSTANCE) #define J1939_VEHICLE_SYSTEM 0 #define J1939_CA_NAME6 (J1939_VEHICLE_SYSTEM << 1) #define J1939_FUNCTION 0 #define J1939_CA_NAME5 J1939_FUNCTION #define J1939_FUNCTION_INSTANCE 0 #define J1939_ECU_INSTANCE 0 #define J1939_CA_NAME4 ((J1939_FUNCTION_INSTANCE << 3) | J1939_ECU_INSTANCE) #define J1939_MANUFACTURER_CODE 0 #define J1939_IDENTITY_NUMBER 50 #define J1939_CA_NAME3 (J1939_MANUFACTURER_CODE >> 3) #define J1939_CA_NAME2 (((J1939_MANUFACTURER_CODE & 0x07) << 5) | (J1939_IDENTITY_NUMBER >> 16)) #define J1939_CA_NAME1 ((J1939_IDENTITY_NUMBER >> 8) & 0xFF) #define J1939_CA_NAME0 (J1939_IDENTITY_NUMBER & 0xFF) /******************************J1939功能配置******************************************/ //是否使用接受协议（对TP协议的支持，参考J1939-21） #define J1939_ACCEPT_CMDADD J1939_FALSE #define J1939_RX_QUEUE_SIZE 3 //当mcu来不及处理消息，接收消息列队是否允许被新的消息覆盖 #define J1939_OVERWRITE_RX_QUEUE J1939_FALSE #define J1939_TX_QUEUE_SIZE 3 //当mcu来不及处理消息，发送消息列队是否允许被新的消息覆盖 #define J1939_OVERWRITE_TX_QUEUE J1939_FALSE //是否使用轮询模式（否则使用中断模式） #define J1939_POLL_ECAN J1939_TRUE #define J1939_PRIORITIZED_INT J1939_TRUE /******************************J1939移植配置函数******************************************/ #define Port_CAN_Transmit(MsgPtr) J1939_CAN_Transmit(MsgPtr) #define Port_CAN_Receive(MsgPtr) J1939_CAN_Receive(MsgPtr) #define Port_SetAddressFilter(Address) J1939_SetAddressFilter(Address) #define Port_RXinterruptEnable() J1939_RXinterruptEnable() #define Port_RXinterruptDisable() J1939_RXinterruptDisable() #define Port_TXinterruptEnable() J1939_TXinterruptEnable() #define Port_TXinterruptDisable() J1939_TXinterruptDisable() /******************************J1939与CAN驱动接口函数************************************/ void J1939_SetAddressFilter(unsigned char Ps_Address) { CAN_NODE3_DEBUG.lmobj_ptr[0]->mo_ptr->can_id_mask &=0XFFFF00FF; CAN_NODE3_DEBUG.lmobj_ptr[0]->mo_ptr->can_id_mask |= (Ps_Address<<8); CAN_NODE_MO_Init(CAN_NODE3_DEBUG.lmobj_ptr[0]); } void ChangeGroupIDofLMO(const CAN_NODE_LMO_t *lmo_ptr,J1939_MESSAGE *MsgPtr) { int _i=0; lmo_ptr->mo_ptr->can_identifier = 0; for(_i=0;_i<4;_i++) { lmo_ptr->mo_ptr->can_identifier = (lmo_ptr->mo_ptr->can_identifier << 8) + MsgPtr->Array[_i]; } // 在线修改lmo配置 CAN_NODE_MO_Init(lmo_ptr); } /*从MsgPtr加载到CAN自带的结构体中*/ void J1939_CAN_Transmit(J1939_MESSAGE *MsgPtr) { CAN_NODE_LMO_t *lmo_ptr = CAN_NODE3_DEBUG.lmobj_ptr[1]; /*加载29位ID*/ ChangeGroupIDofLMO((const CAN_NODE_LMO_t * const)(CAN_NODE3_DEBUG.lmobj_ptr[1]),MsgPtr); /*加载数据长度*/ lmo_ptr->mo_ptr->can_data_length = MsgPtr->Mxe.DataLength; CAN_NODE_MO_Init(lmo_ptr); /*加载数据*/ lmo_ptr->mo_ptr->can_data_byte[0] = MsgPtr->Mxe.Data[0]; lmo_ptr->mo_ptr->can_data_byte[1] = MsgPtr->Mxe.Data[1]; lmo_ptr->mo_ptr->can_data_byte[2] = MsgPtr->Mxe.Data[2]; lmo_ptr->mo_ptr->can_data_byte[3] = MsgPtr->Mxe.Data[3]; lmo_ptr->mo_ptr->can_data_byte[4] = MsgPtr->Mxe.Data[4]; lmo_ptr->mo_ptr->can_data_byte[5] = MsgPtr->Mxe.Data[5]; lmo_ptr->mo_ptr->can_data_byte[6] = MsgPtr->Mxe.Data[6]; lmo_ptr->mo_ptr->can_data_byte[7] = MsgPtr->Mxe.Data[7]; /*加载RTR*/ //你的代码 //开始发送数据 (CAN_NODE_STATUS_t) CAN_NODE_MO_Transmit(lmo_ptr) ; } //将设备CAN中的数据取出，存入J1939_MESSAGE结构体中 int J1939_CAN_Receive(J1939_MESSAGE *MsgPtr) { uint32_t receive_status=0; uint32_t _id=0; receive_status = CAN_NODE_MO_GetStatus( ((CAN_NODE_t *)&CAN_NODE3_DEBUG)->lmobj_ptr[0]); if ( receive_status & XMC_CAN_MO_STATUS_RX_PENDING) //XMC_CAN_MO_STATUS_NEW_DATA { // 清除接受标识位 CAN_NODE_MO_ClearStatus(((CAN_NODE_t *)&CAN_NODE3_DEBUG)->lmobj_ptr[0],XMC_CAN_MO_RESET_STATUS_RX_PENDING); // 读取数据 CAN_NODE_MO_Receive( ((CAN_NODE_t *)&CAN_NODE3_DEBUG)->lmobj_ptr[0]); //将29位标志位（can_identifier）写入J1939的结构中 _id = ((CAN_NODE_t *)&CAN_NODE3_DEBUG)->lmobj_ptr[0]->mo_ptr->can_identifier; MsgPtr->Array[0] = _id>>(8*3); MsgPtr->Array[1] = _id>>(8*2); MsgPtr->Array[2] = _id>>(8*1); MsgPtr->Array[3] = _id>>(8*0); //读取数据长度 MsgPtr->Mxe.DataLength = ((CAN_NODE_t *)&CAN_NODE3_DEBUG)->lmobj_ptr[0]->mo_ptr->can_data_length; if (MsgPtr->Mxe.DataLength > 8) MsgPtr->Mxe.DataLength = 8; //读取数据 MsgPtr->Mxe.Data[0] = ((CAN_NODE_t *)&CAN_NODE3_DEBUG)->lmobj_ptr[0]->mo_ptr->can_data_byte[0]; MsgPtr->Mxe.Data[1] = ((CAN_NODE_t *)&CAN_NODE3_DEBUG)->lmobj_ptr[0]->mo_ptr->can_data_byte[1]; MsgPtr->Mxe.Data[2] = ((CAN_NODE_t *)&CAN_NODE3_DEBUG)->lmobj_ptr[0]->mo_ptr->can_data_byte[2]; MsgPtr->Mxe.Data[3] = ((CAN_NODE_t *)&CAN_NODE3_DEBUG)->lmobj_ptr[0]->mo_ptr->can_data_byte[3]; MsgPtr->Mxe.Data[4] = ((CAN_NODE_t *)&CAN_NODE3_DEBUG)->lmobj_ptr[0]->mo_ptr->can_data_byte[4]; MsgPtr->Mxe.Data[5] = ((CAN_NODE_t *)&CAN_NODE3_DEBUG)->lmobj_ptr[0]->mo_ptr->can_data_byte[5]; MsgPtr->Mxe.Data[6] = ((CAN_NODE_t *)&CAN_NODE3_DEBUG)->lmobj_ptr[0]->mo_ptr->can_data_byte[6]; MsgPtr->Mxe.Data[7] = ((CAN_NODE_t *)&CAN_NODE3_DEBUG)->lmobj_ptr[0]->mo_ptr->can_data_byte[7]; return 1; }else { return 0;//没有消息 } } void J1939_RXinterruptEnable() { INTERRUPT_Enable(&CAN_RInterrupt_DEBUG); } void J1939_RXinterruptDisable() { INTERRUPT_Disable(&CAN_RInterrupt_DEBUG); } void J1939_TXinterruptEnable() { ; } void J1939_TXinterruptDisable() { ; } #endif

备注

J1939与CAN2.0B驱动接口函数在后面，将逐一的分析。