mcp2510.c

在移植成功ucos核的基础上扩充了该操作系统的许多没有功能。如文件系统

#include "../ucos-ii/includes.h"

#include "../startup/44b.h"
#include "../inc/drv/EXIO.h"

#include "../inc/drv/can.h"
#include "../inc/drv/MCP2510.h"
#include "../ucos-ii/Uhal/Uhal.h"
#include "../ucos-ii/Uhal/isr.h"

/********************** MCP2510 Candata *********************************/
static CanData MCP2510_Candata[MCP2510_CanRevBuffer];
static int nCanRevpos=0;	//接收缓冲区位置
static int nCanReadpos=0;	//读取缓冲区位置

static OS_EVENT *CAN_Rev_Sem=NULL;                   //CAN接受信号量

#define NextCanDataPos(pos)		do{(pos)=((pos)+1>=MCP2510_CanRevBuffer? 0: (pos)+1);}while(0)

/********************** MCP2510 Pin *********************************/
#define MCP2510_CS				0x4		//EXIO2

/********************** MCP2510 Instruction *********************************/
#define MCP2510INSTR_RESET		0xc0
#define MCP2510INSTR_READ		0x03
#define MCP2510INSTR_WRITE		0x02
#define MCP2510INSTR_RTS		0x80	//request to send
#define MCP2510INSTR_RDSTAT	0xa0	//read status
#define MCP2510INSTR_BITMDFY	0x05	//bit modify


#define MCP2510_Enable()		do{CLREXIOBIT(MCP2510_CS);}while(0)
#define MCP2510_Disable()		do{SETEXIOBIT(MCP2510_CS);}while(0)

void MCP2510_Reset()
{
	MCP2510_Enable();

	SendSIOData(MCP2510INSTR_RESET);

	MCP2510_Disable();
}

void MCP2510_Write(int address, int value)
{
#if OS_CRITICAL_METHOD == 3
	OS_CPU_SR  cpu_sr;
#endif
	OS_ENTER_CRITICAL();

	MCP2510_Enable();

	SendSIOData(MCP2510INSTR_WRITE);
	SendSIOData((unsigned char)address);
	SendSIOData((unsigned char)value);

	MCP2510_Disable();

	OS_EXIT_CRITICAL();
}

unsigned char MCP2510_Read(int address)
{
#if OS_CRITICAL_METHOD == 3
	OS_CPU_SR  cpu_sr;
#endif
	unsigned char result;

	OS_ENTER_CRITICAL();

	MCP2510_Enable();

	SendSIOData(MCP2510INSTR_READ);
	SendSIOData((unsigned char)address);

	SendSIOData(0);
	result=ReadSIOData();

	MCP2510_Disable();

	OS_EXIT_CRITICAL();

	return result;
}

unsigned char MCP2510_ReadStatus()
{
#if OS_CRITICAL_METHOD == 3
	OS_CPU_SR  cpu_sr;
#endif
	unsigned char result;

	OS_ENTER_CRITICAL();

	MCP2510_Enable();

	SendSIOData(MCP2510INSTR_RDSTAT);

	SendSIOData(0);
	result=ReadSIOData();

	MCP2510_Disable();

	OS_EXIT_CRITICAL();
	return result;
}

void MCP2510_WriteBits( int address, int data, int mask )
{
#if OS_CRITICAL_METHOD == 3
	OS_CPU_SR  cpu_sr;
#endif
	OS_ENTER_CRITICAL();

	MCP2510_Enable();

	SendSIOData(MCP2510INSTR_BITMDFY);
	SendSIOData((unsigned char)address);
	SendSIOData((unsigned char)mask);
	SendSIOData((unsigned char)data);

	MCP2510_Disable();

	OS_EXIT_CRITICAL();
}

/*******************************************\
*	序列读取MCP2510数据				*
\*******************************************/
void MCP2510_SRead( int address, unsigned char* pdata, int nlength )
{
#if OS_CRITICAL_METHOD == 3
	OS_CPU_SR  cpu_sr;
#endif
	int i;

	OS_ENTER_CRITICAL();

	MCP2510_Enable();
	SendSIOData(MCP2510INSTR_READ);
	SendSIOData((unsigned char)address);

	for (i=0; i<nlength; i++) {
		SendSIOData(0);
		*pdata=ReadSIOData();
		pdata++;
	}
	MCP2510_Disable();

	OS_EXIT_CRITICAL();
}


/*******************************************\
*	序列写入MCP2510数据				*
\*******************************************/
void MCP2510_Swrite(int address, unsigned char* pdata, int nlength)
{
#if OS_CRITICAL_METHOD == 3
	OS_CPU_SR  cpu_sr;
#endif
	int i;

	OS_ENTER_CRITICAL();

	MCP2510_Enable();

	SendSIOData(MCP2510INSTR_WRITE);
	SendSIOData((unsigned char)address);

	for (i=0; i < nlength; i++) {
		SendSIOData((unsigned char)*pdata);
		pdata++;
	}
	MCP2510_Disable();

	OS_EXIT_CRITICAL();
}

/************************************************************\
*	设置MCP2510 CAN总线波特率						*
*	参数: bandrate为所设置的波特率				*
*			IsBackNormal为是否要返回Normal模式		*
\************************************************************/

void MCP2510_SetBandRate(CanBandRate bandrate, BOOL IsBackNormal)
{
	//
	// Bit rate calculations.
	//
	//Input clock fre=16MHz
	// In this case, we'll use a speed of 125 kbit/s, 250 kbit/s, 500 kbit/s.
	// If we set the length of the propagation segment to 7 bit time quanta,
	// and we set both the phase segments to 4 quanta each,
	// one bit will be 1+7+4+4 = 16 quanta in length.
	//
	// setting the prescaler (BRP) to 0 => 500 kbit/s.
	// setting the prescaler (BRP) to 1 => 250 kbit/s.
	// setting the prescaler (BRP) to 3 => 125 kbit/s.
	//
	// If we set the length of the propagation segment to 3 bit time quanta,
	// and we set both the phase segments to 1 quanta each,
	// one bit will be 1+3+2+2 = 8 quanta in length.
	// setting the prescaler (BRP) to 0 => 1 Mbit/s.

	// Go into configuration mode
	MCP2510_Write(MCP2510REG_CANCTRL, MODE_CONFIG);

	switch(bandrate){
	case BandRate_125kbps:
		MCP2510_Write(CNF1, SJW1|BRP4);	//Synchronization Jump Width Length =1 TQ
		MCP2510_Write(CNF2, BTLMODE_CNF3|(SEG4<<3)|SEG7); // Phase Seg 1 = 4, Prop Seg = 7
		MCP2510_Write(CNF3, SEG4);// Phase Seg 2 = 4
		break;
	case BandRate_250kbps:
		MCP2510_Write(CNF1, SJW1|BRP2);	//Synchronization Jump Width Length =1 TQ
		MCP2510_Write(CNF2, BTLMODE_CNF3|(SEG4<<3)|SEG7); // Phase Seg 1 = 4, Prop Seg = 7
		MCP2510_Write(CNF3, SEG4);// Phase Seg 2 = 4
		break;
	case BandRate_500kbps:
		MCP2510_Write(CNF1, SJW1|BRP1);	//Synchronization Jump Width Length =1 TQ
		MCP2510_Write(CNF2, BTLMODE_CNF3|(SEG4<<3)|SEG7); // Phase Seg 1 = 4, Prop Seg = 7
		MCP2510_Write(CNF3, SEG4);// Phase Seg 2 = 4
		break;
	case BandRate_1Mbps:
		MCP2510_Write(CNF1, SJW1|BRP1);	//Synchronization Jump Width Length =1 TQ
		MCP2510_Write(CNF2, BTLMODE_CNF3|(SEG3<<3)|SEG2); // Phase Seg 1 = 2, Prop Seg = 3
		MCP2510_Write(CNF3, SEG2);// Phase Seg 2 = 1
		break;
	}

	if(IsBackNormal){
		//Enable clock output
		MCP2510_Write(CLKCTRL, MODE_NORMAL | CLKEN | CLK1);
	}
}


/*******************************************\
*	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)		*
\*******************************************/
BOOL 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		*
*		CanData为CAN数据结构							*
\***********************************************************/
void MCP2510_Read_Can(U8 nbuffer, PCanData candata)
{

	U8 mcp_addr = (nbuffer<<4) + 0x31, ctrl;
	BOOL IsExt;
	char dlc;

	IsExt=MCP2510_Read_Can_ID( mcp_addr, &(candata->id));

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

	candata->dlc=dlc;
}


/***********************************************************\
*	写入MCP2510 发送的数据							*
*	参数: 													*
*		nbuffer为第几个缓冲区可以为0、1、2		*
*		CanData为CAN数据结构							*
\***********************************************************/
void MCP2510_Write_Can( U8 nbuffer, PCanData candata)
{
	U8 dlc;
	U8 mcp_addr = (nbuffer<<4) + 0x31;

	dlc=candata->dlc;
	MCP2510_Swrite(mcp_addr+5, candata->data, dlc);  // write data bytes
	MCP2510_Write_Can_ID( mcp_addr, candata->id,candata->IsExt);  // write CAN id
	if (candata->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				*