zynq SDK CAN中断接收数据例程

以下一个简单的Zynq SDK CAN中断接收数据的例程，仅供参考：

#include "xparameters.h"
#include "xscugic.h"
#include "xil_exception.h"
#include "xcan.h"

#define CAN_DEVICE_ID XPAR_CAN_0_DEVICE_ID
#define INTC_DEVICE_ID XPAR_SCUGIC_SINGLE_DEVICE_ID
#define CAN_INT_ID XPAR_INTC_0_CAN_0_VEC_ID
#define INTC XScuGic
#define CAN XCan

#define CAN_BUFFER_SIZE 8

static CAN CanInstance;
static INTC IntcInstance;
static XScuGic_Config *IntcConfig;

static u8 CanRxBuffer[CAN_BUFFER_SIZE];
static u32 CanRxBufferIndex = 0;

static void CanIntrHandler(void *CallbackRef)
{
    u32 Status;
    CAN *CanPtr = (CAN *)CallbackRef;

    Status = XCan_GetStatus(CanPtr);
    if (Status & XCAN_SR_RXNEMPTY_MASK) {
        u32 RxFrameSize;
        XCan_ReadRecvFrame(CanPtr, CanRxBuffer + CanRxBufferIndex, &RxFrameSize);
        CanRxBufferIndex += RxFrameSize;
    }

    XCan_ClearInterrupt(CanPtr, Status);
}

static int SetupInterruptSystem(CAN *CanPtr, INTC *IntcPtr)
{
    XScuGic_Config *IntcConfig;
    int Status;

    IntcConfig = XScuGic_LookupConfig(INTC_DEVICE_ID);
    Status = XScuGic_CfgInitialize(IntcPtr, IntcConfig, IntcConfig->CpuBaseAddress);
    if (Status != XST_SUCCESS) {
        return XST_FAILURE;
    }

    Xil_ExceptionRegisterHandler(XIL_EXCEPTION_ID_INT,
                                 (Xil_ExceptionHandler)XScuGic_InterruptHandler,
                                 IntcPtr);
    Xil_ExceptionEnable();

    XScuGic_Connect(IntcPtr,
                    CAN_INT_ID,
                    (Xil_ExceptionHandler)CanIntrHandler,
                    (void *)CanPtr);
    XScuGic_Enable(IntcPtr, CAN_INT_ID);

    return XST_SUCCESS;
}

int main()
{
    int Status;
    XCan_Config *CanConfigPtr;
    XCan *CanInstancePtr = &CanInstance;

    CanConfigPtr = XCan_LookupConfig(CAN_DEVICE_ID);
    if (CanConfigPtr == NULL) {
        return XST_FAILURE;
    }

    Status = XCan_CfgInitialize(CanInstancePtr, CanConfigPtr, CanConfigPtr->BaseAddr);
    if (Status != XST_SUCCESS) {
        return XST_FAILURE;
    }

    XCan_SetMode(CanInstancePtr, XCAN_MODE_CONFIG);
    XCan_SetBaudRatePrescaler(CanInstancePtr, 0, 5);
    XCan_SetMode(CanInstancePtr, XCAN_MODE_NORMAL);

    Status = SetupInterruptSystem(CanInstancePtr, &IntcInstance);
    if (Status != XST_SUCCESS) {
        return XST_FAILURE;
    }

    XCan_InterruptEnable(CanInstancePtr, XCAN_IXR_RXNEMP_MASK);
    XCan_InterruptGlobalEnable(CanInstancePtr);

    XCan_Start(CanInstancePtr);

    while (1) {
        // Do something with received data
    }

    return 0;
}

这个例程初始化了CAN控制器，并使用中断方式接收CAN总线上的数据。在中断处理函数CanIntrHandler中，将接收到的数据保存到CanRxBuffer中，并在主程序中进行处理。注意，在主程序中需要使用Xil_ExceptionEnable函数使能异常处理。