(1)底層驅(qū)動程序總體設計。在linux中設備驅(qū)動程序是由一組數(shù)據(jù)結(jié)構(gòu)和函數(shù)組成的，它包含設備服務子程序(如open、read、write、close、ioctl等)、初始化函數(shù)can_init()和中斷處理程序can_interrupt()。

在linux加載can驅(qū)動時調(diào)用can_init()，向操作系統(tǒng)注冊設備，同時完成can總線波特率的設置，id過濾器的設置，清空接收和發(fā)送緩沖區(qū)，開啟中斷等工作，完成初始化后，退出復位模式，進入正常的工作模式。

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read從接收緩沖區(qū)讀取數(shù)據(jù);write向發(fā)送緩沖區(qū)寫人數(shù)據(jù);release關(guān)閉can 控制器;ioctl向can 控制器發(fā)各種操作命令，包括設置sja1000總線波特率、id過濾器等;open 打開can 控制器，并使用函數(shù)request_irq()向系統(tǒng)申請中斷，并設置中斷處理程序為can_interrupt()，當sja1000內(nèi)部中斷寄存器(ir)的任意位置為1時，int引腳低電平有效，調(diào)用其中斷處理函數(shù)can-interrupt()，在該函數(shù)中讀取中斷控制寄存器，判斷中斷原因(接收中斷、發(fā)送中斷、錯誤中斷、數(shù)據(jù)溢出中斷、喚醒中斷)，從而調(diào)用相應的服務子程序。

(2)sja1000讀寫邏輯分析及設計。由于sja1000的地址線和數(shù)據(jù)線是分時復用的，需要通過軟件編程模擬地址鎖存信號，以達到數(shù)據(jù)和地址的分時傳輸，因此，在程序設計中，要考慮sja1000的讀寫時序。圖4為sja1000的寫時序圖。

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