mcp2510.h

can总线通信程序

#ifndef _MCP2510_H_
#define _MCP2510_H_

//********************** MCP2510 Regrister *********************************
	// Register offsets into the transmit buffers.
/*#define MCP2510REG_TXBnCTRL			0
#define MCP2510REG_TXBnSIDH			1
#define MCP2510REG_TXBnSIDL			2
#define MCP2510REG_TXBnEID8			3
#define MCP2510REG_TXBnEID0			4
#define MCP2510REG_TXBnDLC				5
#define MCP2510REG_TXBnD0				6
#define MCP2510REG_TXBnD1				7
#define MCP2510REG_TXBnD2				8
#define MCP2510REG_TXBnD3				9
#define MCP2510REG_TXBnD4				10
#define MCP2510REG_TXBnD5				11
#define MCP2510REG_TXBnD6				12
#define MCP2510REG_TXBnD7				13
#define MCP2510REG_CANSTAT			14
#define MCP2510REG_CANCTRL			15
	//
#define MCP2510LREG_SIDH			0
#define MCP2510LREG_SIDL			1
#define MCP2510LREG_EID8			2
#define MCP2510LREG_EID0			3
*/
//#define TXB0CTRL			0
//#define TXB0SIDH			1
//#define TXB0SIDL			2
//#define TXBnEID8			3
//#define TXBnEID0			4
//#define TXBnDLC				5
//#define TXBnD0				6
//#define TXBnD1				7
//#define TXBnD2				8
//#define TXBnD3				9
//#define TXBnD4				10
//#define TXBnD5				11
//#define TXBnD6				12
//#define TXBnD7				13
#define CANSTAT			    14
#define CANCTRL			    15
	//
#define SIDH			0
#define SIDL			1
#define EID8			2
#define EID0			3

//******************* Bits in the TXBnCTRL registers.***************************
#define TXB_TXBUFE_M    0x80
#define TXB_ABTF_M      0x40
#define TXB_MLOA_M      0x20
#define TXB_TXERR_M     0x10
#define TXB_TXREQ_M     0x08
#define TXB_TXIE_M      0x04
#define TXB_TXP10_M     0x03

#define DLC_MASK        0x0F
#define RTR_MASK        0x40

#define EXIDE           0x08

#define TXB0CTRL        0x30
#define TXB0SIDH        0x31
#define TXB0SIDL        0x32
#define TXB0EID8        0x33
#define TXB0EID0        0x34
#define TXB0DLC         0x35
#define TXB0D0	        0x36
#define TXB0D1	        0x37
#define TXB0D2	        0x38
#define TXB0D3	        0x39
#define TXB0D4	        0x3a
#define TXB0D5	        0x3b
#define TXB0D6	        0x3c
#define TXB0D7	        0x3d

#define TXB1CTRL        0x40
#define TXB1SIDH        0x41
#define TXB1SIDL        0x42
#define TXB1EID8        0x43
#define TXB1EID0        0x44
#define TXB1DLC         0x45
#define TXB1D0	        0x46
#define TXB1D1	        0x47
#define TXB1D2	        0x48
#define TXB1D3	        0x49
#define TXB1D4	        0x4a
#define TXB1D5	        0x4b
#define TXB1D6	        0x4c
#define TXB1D7	        0x4d

#define TXB2CTRL        0x50
#define TXB2SIDH        0x51
#define TXB2SIDL        0x52
#define TXB2EID8        0x53
#define TXB2EID0        0x54
#define TXB2DLC         0x55
#define TXB2D0	        0x56
#define TXB2D1	        0x57
#define TXB2D2	        0x58
#define TXB2D3	        0x59
#define TXB2D4	        0x5a
#define TXB2D5	        0x5b
#define TXB2D6	        0x5c
#define TXB2D7	        0x5d

#define TXB1CTRL        0x40
#define TXB1SIDH        0x41

#define TXB2CTRL        0x50
#define TXB2SIDH        0x51

#define TXPRIOHIGH      0x03
#define TXPRIOHIGHLOW   0x02
#define TXPRIOLOWHIGH   0x01
#define TXPRIOLOW       0x00

#define TXB_EXIDE_M     0x08    // In TXBnSIDL
#define TXB_RTR_M       0x40    // In TXBnDLC

#define RXB_IDE_M       0x08    // In RXBnSIDL
#define RXB_RTR_M       0x40    // In RXBnDLC

#define BFPCTRL         0x0C

#define B2RTS           0x20
#define B1RTS           0x10
#define B0RTS           0x08
#define B2RTSM          0x04
#define B1RTSM          0x02
#define B0RTSM          0x01

#define TEC             0x1C
#define REC             0x1D
#define CLKCTRL         CANCTRL

#define RXB0SIDH        0x61
#define RXB1SIDH        0x71
#define RXF0SIDH        0
#define RXF0SIDL        1
#define RXF0EID8        2
#define RXF0EID0        3
#define RXF1SIDH        4
#define RXF1SIDL        5
#define RXF1EID8        6
#define RXF1EID0        7
#define RXF2SIDH        8
#define RXF2SIDL        9
#define RXF2EID8        10
#define RXF2EID0        11

#define RXF3SIDH        16
#define RXF3SIDL        17
#define RXF3EID8        18
#define RXF3EID0        19
#define RXF4SIDH        20
#define RXF4SIDL        21
#define RXF4EID8        22
#define RXF4EID0        23
#define RXF5SIDH        24
#define RXF5SIDL        25
#define RXF5EID8        26
#define RXF5EID0        27

#define RXF_EXIDE_M     0x08


#define RXM0SIDH        0x20
#define RXM0SIDL        0x21
#define RXM0EID8        0x22
#define RXM0EID0        0x23

#define RXM1SIDH        0x24
#define RXM1SIDL        0x25
#define RXM1EID8        0x26
#define RXM1EID0        0x27

#define CNF3            0x28
#define CNF2            0x29
#define CNF1            0x2A
#define CANINTE         0x2B
#define CANINTF         0x2C
#define EFLG            0x2D
#define TXRTSCTRL       0x0D

#define EFLG_RX1OVR     0x80
#define EFLG_RX0OVR     0x40
#define EFLG_TXBO       0x20
#define EFLG_TXEP       0x10
#define EFLG_RXEP       0x08
#define EFLG_TXWAR      0x04
#define EFLG_RXWAR      0x02
#define EFLG_EWARN      0x01

#define SJW1            0x00
#define SJW2            0x40
#define SJW3            0x80
#define SJW4            0xC0

#define BTLMODE_CNF3    0x80

#define SAMP1           0x00
#define SAMP3           0x40

#define SEG1            0x00
#define SEG2            0x01
#define SEG3            0x02
#define SEG4            0x03
#define SEG5            0x04
#define SEG6            0x05
#define SEG7            0x06
#define SEG8            0x07

#define BRP1            0x00
#define BRP2            0x01
#define BRP3            0x02
#define BRP4            0x03
#define BRP5            0x04
#define BRP6            0x05
#define BRP7            0x06
#define BRP8            0x07

#define IVRIE           0x80
#define WAKIE           0x40
#define ERRIE           0x20
#define TX2IE           0x10
#define TX1IE           0x08
#define TX0IE           0x04
#define RX1IE           0x02
#define RX0IE           0x01
#define DIS_INT           0x00

#define IVRINT          0x80
#define WAKINT          0x40
#define ERRINT          0x20
#define TX2INT          0x10
#define TX1INT          0x08
#define TX0INT          0x04
#define RX1INT          0x02
#define RX0INT          0x01
#define NO_INT          0x00

#define RXB0CTRL        0x60
#define RXB1CTRL        0x70

#define RXB_RXRDY       0x80
#define RXB_RXM1        0x40
#define RXB_RXM0        0x20
#define RXB_RX_ANY      0x60
#define RXB_RX_EXT      0x40
#define RXB_RX_STD      0x20
#define RXB_RX_STDEXT   0x00
#define RXB_RXMx_M      0x60
// #define RXB_RXIE_M      0x10
#define RXB_RXRTR       0x08    // In RXBnCTRL
#define RXB_BUKT        0x04
#define RXB_BUKT_RO     0x02

#define RXB_FILHIT      0x01
#define RXB_FILHIT2     0x04
#define RXB_FILHIT1     0x02
#define RXB_FILHIT_M    0x07
#define RXB_RXF5        0x05
#define RXB_RXF4        0x04
#define RXB_RXF3        0x03
#define RXB_RXF2        0x02
#define RXB_RXF1        0x01
#define RXB_RXF0        0x00

#define CLKEN           0x04

#define CLK1            0x00
#define CLK2            0x01
#define CLK4            0x02
#define CLK8            0x03

#define MODE_NORMAL     0x00
#define MODE_SLEEP      0x20
#define MODE_LOOPBACK   0x40
#define MODE_LISTENONLY 0x60
#define MODE_CONFIG     0x80
#define ABORT           0x10
typedef uint8 BOOL;
typedef enum{
	BandRate_125kbps,
	BandRate_250kbps,
	BandRate_500kbps,
	BandRate_1Mbps
}CanBandRate;

typedef struct{		
	uint8 TXBnSIDH;
	uint8 TXBnSIDL;
	uint8 TXBnEID8;
	uint8 TXBnEID0;
	uint8 TXBnDLC;
	uint8 TXBmDn[8];
}CANTXDATA;	

typedef struct{
	uint8 RXBnSIDH;
	uint8 RXBnSIDL;
	uint8 RXBnEID8;
	uint8 RXBnEID0;
	uint8 RXBnDLC;
	uint8 RXBmDn[8];
}CANRXDATAREG;

typedef struct{
		BOOL isExt;
		BOOL isRTR;    	    	
    	uint32 id;
    	uint8 rxNum;
    	uint8 rxData[8];    	
   }CANRXDATA; 



void MCPWriteByte(uint8 addr,uint8 data);
uint8 MCPReadByte(uint8 addr);
uint8 MCPReadCANStatus(void);
void CAN_Modefybits( uint8 address, uint8 data, uint8 mask );
void MCP_ReadSeq(uint8 address,uint8 *pdata,uint8 nlength);
void MCP_WriteSeq(uint8 address, uint8* pdata, uint8 nlength);
void CANReset(void);
void CAN_Init(void);
void CAN_Test(void);
CANRXDATA CAN_ReadData(void);
void CAN_WriteData(uint8 ntxbuffer0_2,uint32 id, uint8 *pdata, uint8 dlc, BOOL isExt, BOOL rxRTR);

#endif