mcp2510.c

博创2410的实验代码

/************************************************************************************\
	MCP2510 CAN总线试验演示程序2003.10
\************************************************************************************/

//#include "44b.h"
#include "inc/EXIO.h"
#include "inc/MCP2510.h"

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

/********************** MCP2510 Instruction *********************************/
#define MCP2510INSTR_RESET		0xc0   //复位指令
#define MCP2510INSTR_READ		0x03   //读取指令
#define MCP2510INSTR_WRITE		0x02   //写入指令
#define MCP2510INSTR_RTS		0x80	//request to send,发送请求指令
#define MCP2510INSTR_RDSTAT	0xa0	//read status,读取状态指令
#define MCP2510INSTR_BITMDFY	0x05	//bit modify,修改位指令
#define GPHDAT	(*(volatile unsigned char *)0x56000074)
#define FILTER_MASK             0x1f

//#define MCP2510_Enable()		do{CLREXIOBIT(MCP2510_CS);}while(0)
//#define MCP2510_Disable()		do{SETEXIOBIT(MCP2510_CS); hudelay(1);}while(0)

#define MCP2510_Enable()		GPHDAT=GPHDAT&0x7fe
#define MCP2510_Disable()       GPHDAT=GPHDAT|0x01

void MCP2510_Reset()
{
	MCP2510_Enable();//打开MCP2510

	//SendSIOData(MCP2510INSTR_RESET);
	SPISend ( MCP2510INSTR_RESET, 0 );

	MCP2510_Disable();//关闭MCP2510
}
/*单字节写入函数*/
void MCP2510_Write(int address, int value)
{
	MCP2510_Enable();//打开MCP2510

	//SendSIOData(MCP2510INSTR_WRITE);
	//SendSIOData((unsigned char)address);
	//SendSIOData((unsigned char)value);
	
	SPISend ( MCP2510INSTR_WRITE, 0 );    //发送写指令
	SPISend ((unsigned char)address, 0 ); //指定寄存器地址
	SPISend ((unsigned char)value, 0 );   //写入数据

	MCP2510_Disable();
}
/*************************************************************************\
          读取函数
          arg:address,寄存器地址


*************************************************************************/
unsigned char MCP2510_Read(int address)
{
	unsigned char result;

	MCP2510_Enable();                                    //开启MCP2510

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

	//SendSIOData(0);
	//result=ReadSIOData();
	
	SPISend ( MCP2510INSTR_READ, 0 );             //发送读取指令
	SPISend ( (unsigned char)address, 0 );         //指定寄存器地址
	SPISend ( 0, 0 ); 
	result=SPIRecv (0);                                     //接收数据
	

	MCP2510_Disable();                                   //关闭MCP2510

	return result;
}

/*************************************************************************\
          读取状态函数
          

*************************************************************************/

unsigned char MCP2510_ReadStatus()
{
	unsigned char result;

	MCP2510_Enable();                            //开启MCP2510

	//SendSIOData(MCP2510INSTR_RDSTAT);
	SPISend ( MCP2510INSTR_RDSTAT, 0 );//读取状态

	//SendSIOData(0);
	SPISend ( 0, 0 );                                  //为何发送空命令
	//result=ReadSIOData();                     
    result=SPIRecv (0);                                   //接受状态数据
	MCP2510_Disable();                             //关闭MCP2510       

	return result;
}

/***************************修改位指令函数**********************************\
arg: address,寄存器地址;mask,屏蔽位;data,修改数据


*****************************************************************************/
void MCP2510_WriteBits( int address, int data, int mask )
{
	MCP2510_Enable();

	//SendSIOData(MCP2510INSTR_BITMDFY);
	//SendSIOData((unsigned char)address);
	//SendSIOData((unsigned char)mask);
	//SendSIOData((unsigned char)data);
	SPISend ( MCP2510INSTR_BITMDFY, 0 );  //发送位修改指令
	SPISend ((unsigned char)address, 0 ); //设置寄存器地址
	SPISend ((unsigned char)mask, 0 );    //发送屏蔽位
	SPISend ((unsigned char)data, 0 );    //修改数据

	MCP2510_Disable();
}
/*************************MCP2510波特率设置函数******************\
 arg: andrate,波特率;   IsBackNormal,是否环回测试


****************************************************************/

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);//MCP2510控制寄存器设置,参见MCP2510手册P52

	switch(bandrate){
	case BandRate_125kbps:
		MCP2510_Write(CNF1, SJW1|BRP4);	//Synchronization Jump Width Length =1 TQ,参见MCP2510手册P39
		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){                                      //是否环回测试   
		//Enable clock output
		MCP2510_Write(CLKCTRL, MODE_NORMAL | CLKEN | CLK1);//设置MCP2510控制寄存器，使能时钟输出,P52
	}
}


/*******************************************\
*	序列读取MCP2510数据				*
\*******************************************/
void MCP2510_SRead( int address, unsigned char* pdata, int nlength )
{
	int i;

	MCP2510_Enable();                                //开启MCP2510
	//SendSIOData(MCP2510INSTR_READ);
	SPISend ( MCP2510INSTR_READ, 0 );      //发送读命令
	//SendSIOData((unsigned char)address);
	SPISend ((unsigned char)address, 0 );  //发送地址信息

	for (i=0; i<nlength; i++) {
		//SendSIOData(0);
		SPISend (0, 0);
		//*pdata=ReadSIOData();
		*pdata=SPIRecv(0);                   //读取数据
		pdata++;
	}
	MCP2510_Disable();                        //关闭MCP2510
}


/*******************************************\
*	序列写入MCP2510数据				*
\*******************************************/
void MCP2510_Swrite(int address, unsigned char* pdata, int nlength)
{
	int i;
	MCP2510_Enable(); //开启MCP2510

	//SendSIOData(MCP2510INSTR_WRITE);
	SPISend (MCP2510INSTR_WRITE, 0);  //发送写命令
	//SendSIOData((unsigned char)address);
	SPISend ((unsigned char)address, 0);  //发送寄存器地址
 
	for (i=0; i < nlength; i++) {
		//SendSIOData((unsigned char)*pdata);
		SPISend ((unsigned char)*pdata, 0);  //写入数据
		pdata++;
	}
	MCP2510_Disable(); //关闭MCP2510
}

/*******************************************\
*	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);                        //读取ID
	*can_id = (tbufdata<<3)|((tbufdata>>13)&0x7);   //取出ID的高8位和低3位
	*can_id &= 0x7ff;

	if ( (p[MCP2510LREG_SIDL] & TXB_EXIDE_M) ==  TXB_EXIDE_M ) {  //是否扩展标志符
		*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						*
\***********************************************************/
BOOL MCP2510_Read_Can(U8 nbuffer, BOOL* rxRTR, U32* can_id, U8* data , U8* dlc)
{