test_mcp2510.c

arm9.rar

}

/*******************************************\
*	读取MCP2510 CAN总线ID				*
*	参数: address为MCP2510寄存器地址*
*			can_id为返回的ID值			*
*	返回值								*
*	TRUE，表示是扩展ID(29位)			*
*	FALSE，表示非扩展ID(11位)		*
\*******************************************/
int MCP2510_Read_Can_ID( int address, U32* can_id)
{
	U32 tbufdata;
	unsigned char* p=(unsigned char*)&tbufdata;

	MCP2510_SRead(address, p, 4);
	*can_id = (tbufdata<<3)|((tbufdata>>13)&0x7);
	*can_id &= 0x7ff;

	if ( (p[MCP2510LREG_SIDL] & TXB_EXIDE_M) ==  TXB_EXIDE_M ) {
		*can_id = (*can_id<<2) | (p[MCP2510LREG_SIDL] & 0x03);
		*can_id <<= 16;
		*can_id |= tbufdata>>16;
		return TRUE;
	}
	return FALSE;
}

/***********************************************************\
*	读取MCP2510 接收的数据							*
*	参数: nbuffer为第几个缓冲区可以为3或者4	*
*			can_id为返回的ID值							*
*			rxRTR表示是否是RXRTR						*
*			data表示读取的数据						*
*			dlc表示data length code							*
*	返回值												*
*		TRUE，表示是扩展总线						*
*		FALSE，表示非扩展总线						*
\***********************************************************/
int MCP2510_Read_Can(U8 nbuffer, int* rxRTR, U32* can_id, U8* data , U8* dlc)
{

	U8 mcp_addr = (nbuffer<<4) + 0x31, ctrl;
	int IsExt;

	IsExt=MCP2510_Read_Can_ID( mcp_addr, can_id);

	ctrl=MCP2510_Read(mcp_addr-1);
	*dlc=MCP2510_Read( mcp_addr+4);
	if ((ctrl & 0x08)) {
		*rxRTR = TRUE;
	}
	else{
		*rxRTR = FALSE;
	}
	*dlc &= DLC_MASK;
	MCP2510_SRead(mcp_addr+5, data, *dlc);

	return IsExt;
}


/***********************************************************\
*	写入MCP2510 发送的数据							*
*	参数: nbuffer为第几个缓冲区可以为0、1、2	*
*			ext表示是否是扩展总线					*
*			can_id为返回的ID值							*
*			rxRTR表示是否是RXRTR						*
*			data表示读取的数据						*
*			dlc表示data length code							*
*		FALSE，表示非扩展总线						*
\***********************************************************/
void MCP2510_Write_Can( U8 nbuffer, int ext, U32 can_id, int rxRTR, U8* data,U8 dlc )
{
	U8 mcp_addr = (nbuffer<<4) + 0x31;
	MCP2510_Swrite(mcp_addr+5, data, dlc );  // write data bytes
	MCP2510_Write_Can_ID( mcp_addr, can_id,ext);  // write CAN id
	if (rxRTR)
		dlc |= RTR_MASK;  // if RTR set bit in byte
	MCP2510_Write((mcp_addr+4), dlc);            // write the RTR and DLC
}

/*******************************************\
*	设置MCP2510 CAN总线ID				*
*	参数: address为MCP2510寄存器地址*
*			can_id为设置的ID值			*
*			IsExt表示是否为扩展ID	*
\*******************************************/
void MCP2510_Write_Can_ID(int address, U32 can_id, int IsExt)
{
	U32 tbufdata;

	if (IsExt) {
		can_id&=0x1fffffff;	//29位
		tbufdata=can_id &0xffff;
		tbufdata<<=16;
		tbufdata|=(can_id>>(18-5)&(~0x1f));
		tbufdata |= TXB_EXIDE_M;
	}
	else{
		can_id&=0x7ff;	//11位
		tbufdata= (can_id>>3)|((can_id&0x7)<<13);
	}
	MCP2510_Swrite(address, (unsigned char*)&tbufdata, 4);
}



/****************************************************************************
【功能说明】
****************************************************************************/
// Setup the CAN buffers used by the application.
// We currently use only one for reception and one for transmission.
// It is possible to use several to get a simple form of queue.
//
// We setup the unit to receive all CAN messages.
// As we only have at most 4 different messages to receive, we could use the
// filters to select them for us.
//
// mcp_init() should already have been called.
void Can_Setup(void)
{
    // As no filters are active, all messages will be stored in RXB0 only if
    // no roll-over is active. We want to recieve all CAN messages (standard and extended)
    // (RXM<1:0> = 11).
    //SPI_mcp_write_bits(RXB0CTRL, RXB_RX_ANY, 0xFF);
    //SPI_mcp_write_bits(RXB1CTRL, RXB_RX_ANY, 0xFF);

    // But there is a bug in the chip, so we have to activate roll-over.
	MCP2510_WriteBits(RXB0CTRL, (RXB_BUKT+RXB_RX_ANY), 0xFF);
	MCP2510_WriteBits(RXB1CTRL, RXB_RX_ANY, 0xFF);
}

/***********************************************************************************\
								发送数据
	参数:
		data，发送数据

	Note: 使用三个缓冲区循环发送，没有做缓冲区有效检测
\***********************************************************************************/
void Can_Write(U32 id, U8 *pdata, unsigned char dlc, int IsExt, int rxRTR)
{
	static int ntxbuffer=0;
	MCP2510_Write_Can(ntxbuffer, IsExt, id, rxRTR, pdata, dlc);

	switch(ntxbuffer){
	case 0:
		MCP2510_transmit(TXB0CTRL);
		ntxbuffer=1;
		break;
	case 1:
		MCP2510_transmit(TXB1CTRL);
		ntxbuffer=2;
		break;
	case 2:
		MCP2510_transmit(TXB2CTRL);
		ntxbuffer=0;
		break;
	}
}

/****************************************************************************
【功能说明】
****************************************************************************/
void Init_MCP2510(CanBandRate bandrate)
{
	unsigned char i,j,a;

	MCP2510_Reset();

//	for(i=0;i<255;i++)
//		printf("%x\n",MCP2510_Read(i));

	MCP2510_SetBandRate(bandrate,FALSE);

	// Disable interrups.
	MCP2510_Write(CANINTE, NO_IE);

	// Mark all filter bits as don't care:
	MCP2510_Write_Can_ID(RXM0SIDH, 0,1);
	MCP2510_Write_Can_ID(RXM1SIDH, 0,1);
	// Anyway, set all filters to 0:
	MCP2510_Write_Can_ID(RXF0SIDH, 0, 0);
	MCP2510_Write_Can_ID(RXF1SIDH, 0, 0);
	MCP2510_Write_Can_ID(RXF2SIDH, 0, 0);
	MCP2510_Write_Can_ID(RXF3SIDH, 0, 0);
	MCP2510_Write_Can_ID(RXF4SIDH, 0, 0);
	MCP2510_Write_Can_ID(RXF5SIDH, 0, 0);


	//Enable clock output
	//MCP2510_Write(CLKCTRL, MODE_LOOPBACK| CLKEN | CLK1);//回环模式
	MCP2510_Write(CLKCTRL, MODE_NORMAL| CLKEN | CLK1);//标准模式
    //如果不能用两台设备联机实验的话，可以选择回环模式
    //这样在超级终端中可以显示键盘的输入  
  
	// Clear, deactivate the three transmit buffers
	a = TXB0CTRL;
	for (i = 0; i < 3; i++) {
		for (j = 0; j < 14; j++) {
			MCP2510_Write(a, 0);
			a++;
	        }
       	a += 2; // We did not clear CANSTAT or CANCTRL
	}
	// and the two receive buffers.
	MCP2510_Write(RXB0CTRL, 0);
	MCP2510_Write(RXB1CTRL, 0);

	// The two pins RX0BF and RX1BF are used to control two LEDs; set them as outputs and set them as 00.
	MCP2510_Write(BFPCTRL, 0x3C);
	
	//Open Interrupt
	MCP2510_Write(CANINTE, RX0IE|RX1IE);
}


/***********************************************************************************\
								查询是否收到数据
	返回值:如果没有数据，则返回-1，
			否则，返回收到数据的缓冲区号
	Note: 如果两个缓冲区都收到数据，则返回第一个缓冲区
\***********************************************************************************/
int Can_Poll()
{
	if(MCP2510_ReadStatus()&RX0INT)
		return 0;
	
	if(MCP2510_ReadStatus()&RX1INT)
		return 1;

	return -1;
}

/****************************************************************************
【功能说明】
****************************************************************************/
int Can_Read(int n, U32* id, U8 *pdata,  U8*dlc, int* rxRTR, int *isExt)
{
	U8 byte;
	byte=MCP2510_Read(CANINTF);

	if(n==0){
		if(byte & RX0INT){
			*isExt=MCP2510_Read_Can(n+3, rxRTR, id, pdata, dlc);
			MCP2510_WriteBits(CANINTF, ~RX0INT, RX0INT); // Clear interrupt
		}
		return FALSE;
	}
	else if(n ==1 ){
		if(byte & RX1INT){
			*isExt=MCP2510_Read_Can(n+4, rxRTR, id, pdata, dlc);
			MCP2510_WriteBits(CANINTF, ~RX1INT, RX1INT); // Clear interrupt
		}
		return FALSE;
	}

	return TRUE ;
}

/****************************************************************************
【功能说明】MCP2510实验程序
****************************************************************************/
void Test_MCP2510(void)
{
	int i;
	U32 id;
	unsigned char dlc;
	int rxRTR, isExt;
	int temp;
	
	U8 data_write[8]={1,2,3,4,5,6,7,8};
	U8 data_read[8] ;

    while( getkey() != ESC_KEY )
    {
		Init_MCP2510(BandRate_125kbps);
	
		Can_Setup();
		Can_Write(0x123, data_write, 8, FALSE, FALSE);
	
		Delay(200);

		while( (i=Can_Poll())==-1 );
	
		temp=Can_Read(i, &id, data_read, &dlc, &rxRTR, &isExt);
	
		printf( "ID   = 0x%x\n",id );
		printf( "Data = %x,%x,%x,%x\n",data_read[0],data_read[1],data_read[2],data_read[3] );
		//printf("\ndata=1,2,3,4,5,6,7,8");
		
		//temp=Can_Read(1, &id, data, &dlc, &rxRTR, &isExt);
   		//Delay( 800 ) ;
	}

}

static char title[] = "CAN总线实验";
static char tip[]   = "CAN总线回环模式实验(自发自收),按ESC键返回";

//Test_MCP2510Item在prog_entry.c里被引用
TEST_PROGRAM_ITEM Test_MCP2510Item = {
				(TEST_PROGRAM)Test_MCP2510, 	//入口地址
				title, 					//显示名称
				tip, 					//帮助或提示信息,可为NULL
				0};						//使用printf,puts,putch等函数时在LCD上也显示输出字符(串)