📄 mcp2515.h
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/*! \file mcp2515.h
\brief mcp2515芯片操作头文件
\author 丁雷
\version 0.1
*/
#ifndef MCP2515_H_
#define MCP2515_H_
#include "spi.h"
#include "2410addr.h"
#include "can.h"
#define MCP2515_OK (0) //!<操作成功
#define MCP2515_FAIL (1) //!<操作失败
#define MCP_ALLTXBUSY (2) //!<操作忙
#define MCP_N_TXBUFFERS 3 //!<MCP2515的发送缓冲器数量
#define MCP_RXBUF_0 (MCP_RXB0SIDH) //!<MCP2515的发送缓冲器0编号
#define MCP_RXBUF_1 (MCP_RXB1SIDH) //!<MCP2515的发送缓冲器1编号
#define MCP_SIDH 0
#define MCP_SIDL 1
#define MCP_EID8 2
#define MCP_EID0 3
#define MCP_TXB_EXIDE_M 0x08
#define MCP_DLC_MASK 0x0F
#define MCP_RTR_MASK 0x40
#define MCP_RXB_RX_ANY 0x60
#define MCP_RXB_RX_EXT 0x40
#define MCP_RXB_RX_STD 0x20
#define MCP_RXB_RX_STDEXT 0x00
#define MCP_RXB_RX_MASK 0x60
#define MCP_RXB_BUKT_MASK 0x04
#define MCP_TXB_TXBUFE_M 0x80
#define MCP_TXB_ABTF_M 0x40
#define MCP_TXB_MLOA_M 0x20
#define MCP_TXB_TXERR_M 0x10
#define MCP_TXB_TXREQ_M 0x08
#define MCP_TXB_TXIE_M 0x04
#define MCP_TXB_TXP10_M 0x03
#define MCP_TXB_RTR_M 0x40
#define MCP_RXB_IDE_M 0x08
#define MCP_RXB_RTR_M 0x40
#define MCP_STAT_RXIF_MASK (0x03)
#define MCP_STAT_RX0IF (1<<0)
#define MCP_STAT_RX1IF (1<<1)
#define MCP_EFLG_RX1OVR (1<<7)
#define MCP_EFLG_RX0OVR (1<<6)
#define MCP_EFLG_TXBO (1<<5)
#define MCP_EFLG_TXEP (1<<4)
#define MCP_EFLG_RXEP (1<<3)
#define MCP_EFLG_TXWAR (1<<2)
#define MCP_EFLG_RXWAR (1<<1)
#define MCP_EFLG_EWARN (1<<0)
#define MCP_EFLG_ERRORMASK (0xF8)
#define MCP_RXF0SIDH 0x00 //!<RXF0SIDH
#define MCP_RXF0SIDL 0x01 //!<RXF0SIDL
#define MCP_RXF0EID8 0x02 //!<RXF0EID8
#define MCP_RXF0EID0 0x03 //!<RXF0EID0
#define MCP_RXF1SIDH 0x04 //!<RXF1SIDH
#define MCP_RXF1SIDL 0x05 //!<RXF1SIDL
#define MCP_RXF1EID8 0x06 //!<RXF1EID8
#define MCP_RXF1EID0 0x07 //!<RXF1EID0
#define MCP_RXF2SIDH 0x08 //!<RXF2SIDH
#define MCP_RXF2SIDL 0x09 //!<RXF2SIDL
#define MCP_RXF2EID8 0x0A //!<RXF2EID8
#define MCP_RXF2EID0 0x0B //!<RXF2EID0
#define MCP_CANSTAT 0x0E //!<CANSTAT
#define MCP_CANCTRL 0x0F //!<CANCTRL
#define MCP_RXF3SIDH 0x10 //!<RXF3SIDH
#define MCP_RXF3SIDL 0x11 //!<RXF3SIDL
#define MCP_RXF3EID8 0x12 //!<RXF3EID8
#define MCP_RXF3EID0 0x13 //!<RXF3EID0
#define MCP_RXF4SIDH 0x14 //!<RXF4SIDH
#define MCP_RXF4SIDL 0x15 //!<RXF4SIDL
#define MCP_RXF4EID8 0x16 //!<RXF4EID8
#define MCP_RXF4EID0 0x17 //!<RXF4EID0
#define MCP_RXF5SIDH 0x18 //!<RXF5SIDH
#define MCP_RXF5SIDL 0x19 //!<RXF5SIDL
#define MCP_RXF5EID8 0x1A //!<RXF5EID8
#define MCP_RXF5EID0 0x1B //!<RXF5EID0
#define MCP_TEC 0x1C //!<TEC
#define MCP_REC 0x1D //!<REC
#define MCP_RXM0SIDH 0x20 //!<RXM0SIDH
#define MCP_RXM0SIDL 0x21 //!<RXM0SIDL
#define MCP_RXM0EID8 0x22 //!<RXM0EID8
#define MCP_RXM0EID0 0x23 //!<RXM0EID0
#define MCP_RXM1SIDH 0x24 //!<RXM1SIDH
#define MCP_RXM1SIDL 0x25 //!<RXM1SIDL
#define MCP_RXM1EID8 0x26 //!<RXM1EID8
#define MCP_RXM1EID0 0x27 //!<RXM1EID0
#define MCP_CNF3 0x28 //!<CNF3
#define MCP_CNF2 0x29 //!<CNF2
#define MCP_CNF1 0x2A //!<CNF1
#define MCP_CANINTE 0x2B //!<CANINTE
#define MCP_CANINTF 0x2C //!<CANINTF
#define MCP_EFLG 0x2D //!<EFLG
#define MCP_TXB0CTRL 0x30 //!<TXB0CTRL
#define MCP_TXB1CTRL 0x40 //!<TXB1CTRL
#define MCP_TXB2CTRL 0x50 //!<TXB2CTRL
#define MCP_RXB0CTRL 0x60 //!<RXB0CTRL
#define MCP_RXB0SIDH 0x61 //!<RXB0SIDH
#define MCP_RXB1CTRL 0x70 //!<RXB1CTRL
#define MCP_RXB1SIDH 0x71 //!<RXB1SIDH
#define MCP_TX_INT 0x1C // Enable all transmit interrupts
#define MCP_TX01_INT 0x0C // Enable TXB0 and TXB1 interrupts
#define MCP_RX_INT 0x03 // Enable receive interrupts
#define MCP_NO_INT 0x00 // Disable all interrupts
#define MCP_TX01_MASK 0x14
#define MCP_TX_MASK 0x54
#define MCP_WRITE 0x02 //!<WRITE
#define MCP_READ 0x03 //!<READ
#define MCP_BITMOD 0x05 //!<BITMOD
#define MCP_LOAD_TX0 0x40 //!<LOAD_TX0
#define MCP_LOAD_TX1 0x42 //!<LOAD_TX1
#define MCP_LOAD_TX2 0x44 //!<LOAD_TX2
#define MCP_RTS_TX0 0x81 //!<RTS_TX0
#define MCP_RTS_TX1 0x82 //!<RTS_TX1
#define MCP_RTS_TX2 0x84 //!<RTS_TX2
#define MCP_RTS_ALL 0x87 //!<RTS_ALL
#define MCP_READ_RX0 0x90 //!<READ_RX0
#define MCP_READ_RX1 0x94 //!<READ_RX1
#define MCP_READ_STATUS 0xA0 //!<READ_STATUS
#define MCP_RX_STATUS 0xB0 //!<RX_STATUS
#define MCP_RESET 0xC0 //!<RESET
#define MODE_NORMAL 0x00 //!<正常模式
#define MODE_SLEEP 0x20 //!<睡眠模式
#define MODE_LOOPBACK 0x40 //!<环回路模式
#define MODE_LISTENONLY 0x60 //!<监听模式
#define MODE_CONFIG 0x80 //!<配置模式
#define MODE_POWERUP 0xE0 //!<上电模式
#define MODE_MASK 0xE0
#define ABORT_TX 0x10
#define MODE_ONESHOT 0x08
#define CLKOUT_ENABLE 0x04
#define CLKOUT_DISABLE 0x00
#define CLKOUT_PS1 0x00
#define CLKOUT_PS2 0x01
#define CLKOUT_PS4 0x02
#define CLKOUT_PS8 0x03
// CNF1 Register Values
#define SJW1 0x00
#define SJW2 0x40
#define SJW3 0x80
#define SJW4 0xC0
// CNF2 Register Values
#define BTLMODE 0x80
#define SAMPLE_1X 0x00
#define SAMPLE_3X 0x40
// CNF3 Register Values
#define SOF_ENABLE 0x80
#define SOF_DISABLE 0x00
#define WAKFIL_ENABLE 0x40
#define WAKFIL_DISABLE 0x00
// CANINTF Register Bits
#define MCP_RX0IF 0x01
#define MCP_RX1IF 0x02
#define MCP_TX0IF 0x04
#define MCP_TX1IF 0x08
#define MCP_TX2IF 0x10
#define MCP_ERRIF 0x20
#define MCP_WAKIF 0x40
#define MCP_MERRF 0x80
#define MCP2515_SELECT() (rGPGDAT &=~(0x04)) //!<MCP2515使能
#define MCP2515_UNSELECT() (rGPGDAT |=(0x04)) //!<MCP2515取消选择
/*-----------------------*/
/* global settings */
/*-----------------------*/
/* CFG3 */
// Start of Frame SOF (CLKOUT)
// either SOF_ENABLE or SOF_DISABLE
#define MCP_GENERAL_SOF (SOF_DISABLE)
// Wake up Filter (WAKFIL)
// either WAKFIL_ENABLE or WAKFIL_DISABLE
#define MCP_GENERAL_WAKFIL (WAKFIL_DISABLE)
/*-----------------------*/
/* 125 kBPS @ 4MHZ F_OSC */
/*-----------------------*/
/* CNF1 */
// SJW as defined in mcp_defs.h
// here: SJW = 1*TQ
#define MCP_4MHz_125kBPS_SJW (SJW1)
// Prescaler = (BRP+1)*2
// here Prescaler = 4 -> BRP=1
#define MCP_4MHz_125kBPS_BRP (1)
/* CNF2 */
// BLT-Mode defined in CNF3 (0 or BTLMODE from mcp_defs.h)
#define MCP_4MHz_125kBPS_BLTMODE (BTLMODE)
// 3 samples (SAMPLE_3X) or 1 sample (SAMPLE_1X)
#define MCP_4MHz_125kBPS_SAM (SAMPLE_1X)
// (Phase Segment 1) PHSEG1 = PS1 - 1
// here: PS1 calculated as 2
#define MCP_4MHz_125kBPS_PHSEG1 ((2-1)<<3)
// (Propagation Delay) PRSEG = PRSEQTQ-1
// here PRSEQTQ = 2
#define MCP_4MHz_125kBPS_PRSEG (2-1)
/* CNF3 */
// (Phase Segment 2) PHSEG2 = PS2 - 1
// here: PS2 calculated as 3
#define MCP_4MHz_125kBPS_PHSEG (3-1)
#define MCP_4MHz_125kBPS_CFG1 (MCP_4MHz_125kBPS_SJW | MCP_4MHz_125kBPS_BRP)
#define MCP_4MHz_125kBPS_CFG2 (MCP_4MHz_125kBPS_BLTMODE | MCP_4MHz_125kBPS_SAM | \
MCP_4MHz_125kBPS_PHSEG1 | MCP_4MHz_125kBPS_PRSEG)
#define MCP_4MHz_125kBPS_CFG3 (MCP_GENERAL_SOF | MCP_GENERAL_WAKFIL | \
MCP_4MHz_125kBPS_PHSEG)
/*-----------------------*/
/* 20 kBPS @ 4MHZ F_OSC */
/*-----------------------*/
/* CNF1 */
// SJW as defined in mcp_defs.h
// here: SJW = 1*TQ
#define MCP_4MHz_20kBPS_SJW (SJW1)
// Prescaler = (BRP+1)*2
// here Prescaler = 10 -> BRP=4 (20TQ)
#define MCP_4MHz_20kBPS_BRP (4)
/* CNF2 */
// BLT-Mode defined in CNF3 (0 or BTLMODE from mcp_defs.h)
#define MCP_4MHz_20kBPS_BLTMODE (BTLMODE)
// 3 samples (SAMPLE_1X) or 1 sample (SAMPLE_1X)
#define MCP_4MHz_20kBPS_SAM (SAMPLE_1X)
// (Phase Segment 1) PHSEG1 = PS1 - 1
// here: PS1 calculated as 8
#define MCP_4MHz_20kBPS_PHSEG1 ((8-1)<<3)
// (Propagation Delay) PRSEG = PRSEQTQ-1
// here PRSEQTQ = 3
#define MCP_4MHz_20kBPS_PRSEG (3-1)
/* CNF3 */
// (Phase Segment 2) PHSEG2 = PS2 - 1
// here: PS2 calculated as 8
#define MCP_4MHz_20kBPS_PHSEG (8-1)
#define MCP_4MHz_20kBPS_CFG1 (MCP_4MHz_20kBPS_SJW | MCP_4MHz_20kBPS_BRP)
#define MCP_4MHz_20kBPS_CFG2 (MCP_4MHz_20kBPS_BLTMODE | MCP_4MHz_20kBPS_SAM | \
MCP_4MHz_20kBPS_PHSEG1 | MCP_4MHz_20kBPS_PRSEG)
#define MCP_4MHz_20kBPS_CFG3 (MCP_GENERAL_SOF | MCP_GENERAL_WAKFIL | \
MCP_4MHz_20kBPS_PHSEG)
/** MCP2515RESET函数
*/
void mcp2515_reset(void);
/** MCP2515读寄存器函数
* @param[in] address 寄存器地址
*/
unsigned char mcp2515_readRegister(const unsigned char address);
/** MCP2515设置寄存器函数
* @param[in] address 寄存器地址
* @param[in] value 要写入到寄存器中的数值
*/
void mcp2515_setRegister(const unsigned char address,
const unsigned char value);
/** MCP2515改变寄存器中某几位函数
* @param[in] address 寄存器地址
* @param[in] mask 寄存器须修改位的掩码
* @param[in] value 要写入到寄存器中的数值
*/
void mcp2515_modifyRegister(const unsigned char address, const unsigned char mask,
const unsigned char data);
/** MCP2515读状态寄存器函数
* @param[out] 状态寄存器中的数据
*/
unsigned char mcp2515_readStatus(void);
/** MCP2515读发送状态寄存器函数
* @param[out] 发送状态寄存器中的数据
*/
unsigned char mcp2515_RXStatus(void);
/** MCP2515设置CANCTRL寄存器函数
* @param[in] newmode 要写入到寄存器中的新值
*/
unsigned char mcp2515_setCANCTRL_Mode(const unsigned char newmode);
/** MCP2515设置位速率函数
* @param[in] canSpeed 位速率
*/
unsigned char mcp2515_configRate(const unsigned char canSpeed);
/** MCP2515芯片初始化函数
* @param[in] canSpeed 位速率
*/
unsigned char mcp2515_Init(const unsigned char canSpeed);
/** MCP2515芯片写标识符函数
* @param[in] mcp_addr 标识符寄存器地址
* @param[in] ext 扩展标识符标志
* @param[in] can_id 标识符值
*/
void mcp2515_write_can_id( const unsigned char mcp_addr,
const unsigned char ext, const unsigned int can_id );
void mcp2515_setRegisterS(unsigned char address,char values[],unsigned char n);
/** MCP2515芯片启动发送数据函数
* @param[in] mcp_addr 发送寄存器地址
*/
void mcp2515_start_transmit(const unsigned char mcp_addr);
/** MCP2515读一帧数据函数
* @param[in] buffer_sidh_addr 接收缓冲器地址
* @param[in] Msg 存放接收到的一帧数据的消息结构体
*/
void mcp2515_read_canMsg(unsigned char buffer_sidh_addr,CanMessage * msg);
/** MCP2515申请发送缓冲器函数
* @param[in] txbuf_n 一个字符，保存申请到的发送缓冲器的序号
* @param[out] MCP2515申请发送缓冲器成功与否的状态
*/
unsigned char mcp2515_getNextFreeTXBuf(unsigned char *txbuf_n);
/** MCP2515写发送缓冲器函数
* @param[in] buffer_sidh_addr 发送缓冲器地址
* @param[in] Msg 要在CAN总线上发送的消息的结构体
*/
void mcp2515_write_canMsg(unsigned char buffer_sidh_addr, CanMessage * msg);
void mcp2515_read_can_id(unsigned char mcp_addr,unsigned char * ext,unsigned int * can_id );
void mcp2515_readRegisterS(unsigned char address,char values[], unsigned char n);
#endif
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