📄 mcp2510.h
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MCP2510_SRead(mcp_addr+5, data, 8);
return IsExt;
}
/****************************************************************************
【功能说明】
n代表第几个接收缓冲区
id为接收的id
pdata接收的数据
dlc 数据长度
rxRTR 远程帧
isExt 扩展帧
****************************************************************************/
int Can_Read(int n,U32* id, U8 *pdata, U8*dlc, int* rxRTR, int *isExt)
{
if(n==0)
{
*isExt=MCP2510_Read_Can(3, rxRTR, id, pdata, dlc);
//MCP2510_WriteBits(CANINTF, RX0INT, (U8)(~(RX0INT))); // Clear interrupt
return TRUE ;
}
else
{
if(n==1)
{
*isExt=MCP2510_Read_Can(4, rxRTR, id, pdata, dlc);
//MCP2510_WriteBits(CANINTF, RX1INT, (U8)(~(RX1INT))); // Clear interrupt
return TRUE ;
}
else
return FALSE;
}
}
/****************************************************************************
【功能说明】
****************************************************************************/
void MCP2510_SetBandRate(CanBandRate bandrate, int IsBackNormal)
{
//U8 value=0;
//U8 ReadBackCNT = 0;
// 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); //只有在配置模式才能进入该程序 所以不用再写了
/*while( ReadBackCNT<8 )
{
value = ( MCP2510_Read( MCP2510REG_CANSTAT ) & 0xe0 );
if(value == MODE_CONFIG )
{
//printf( "ReadBackCNT = 0x%x\n", ReadBackCNT );
break;
}
ReadBackCNT++ ;
}
if( ReadBackCNT == 8 ) //Set mcp2510's mode failed,redo it again
{
//printf( "Set config mode is failed! CANCTRL = 0x%x\n", value );
MCP2510_Reset();
MCP2510_Write(MCP2510REG_CANCTRL, MODE_CONFIG); //redo to set mcp2510 mode
Delay( 150 );
value = ( MCP2510_Read(MCP2510REG_CANCTRL) & 0xe0 ); //read back mode from CANSTAT Register
//printf( "Set is 0x%x , Read is 0x%x\n", MODE_CONFIG, value ) ;
}*/
switch(bandrate){
case BandRate_10kbps:
MCP2510_Write(CNF1, 0x31); //10k 16TQ
MCP2510_Write(CNF2, 0xb0); //PS1=7 TQ PSeg=1 TQ
MCP2510_Write(CNF3, 0x06); //PS2=7 TQ SYNC=1 TQ
break;
case BandRate_125kbps:
MCP2510_Write(CNF1, SJW1|BRP4); //Synchronization Jump Width Length =1 TQ
MCP2510_Write(CNF2, BTLMODE_CNF3|(SEG4<<3)|SEG7); // 相位段1Phase Seg 1 = 4, //传播段Prop Seg = 7
MCP2510_Write(CNF3, SEG4);// 相位段2Phase 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 == TRUE )
{
//Enable clock output
MCP2510_Write(CLKCTRL, MODE_NORMAL | CLKEN | CLK8);
}
}
/****************************************************************************
【功能说明】序列写入MCP2510数据
****************************************************************************/
void MCP2510_Swrite( U8 address, U8 *pdata, U8 nlength)
{
int i;
if (rwflag == 1)
MCP2510_RW1_Start() ; if (rwflag == 2) MCP2510_RW2_Start() ; if (rwflag == 3) MCP2510_RW3_Start() ;
SPI_SendByte(MCP2510INSTR_WRITE);
SPI_SendByte(address);
for (i=0; i < nlength; i++)
{
SPI_SendByte( *pdata );
//if( MCP2510_DEBUG ) printf( "0x%x\n", (unsigned char)*pdata ) ;
pdata++;
} if (rwflag == 1)
MCP2510_RW1_Close() ; if (rwflag == 2)
MCP2510_RW2_Close() ; if (rwflag == 3)
MCP2510_RW3_Close() ;
}
/*******************************************\
* 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(U8 address, U32 can_id, int IsExt)
{
U32 tbufdata;
if (IsExt)
{
can_id&=0x1fffffff; //29位
tbufdata=can_id &0xff;
tbufdata<<=24; //取出低位扩展id
tbufdata|=((can_id>>8)&0xff)<<16;
tbufdata|=((can_id>>16)&0x3)<<8; //取出高2位扩展id
tbufdata|=((can_id>>18)&0x7)<<13; //取出低3位标准id
tbufdata|=can_id>>21; //取出高标准id
//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);
}
/***********************************************************\
* 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 远程帧 *
* 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
}
/***********************************************************************************\
发送数据
参数:
data，发送数据
id要发送的id
*pdata 要发送的数据
dlc 要发送的数据长度
isext 是否为扩展帧
rxrtr 是否为远程帧
Note: 使用三个缓冲区循环发送，没有做缓冲区有效检测
\***********************************************************************************/
/*unsigned char*/ void CanWrite(U32 id, U8 *pdata, unsigned char dlc, int IsExt, int rxRTR)
{
unsigned char err = 0;
static int ntxbuffer = 0; int i = 0;
MCP2510_Write_Can(ntxbuffer, IsExt, id, rxRTR, pdata, dlc);
switch(ntxbuffer){
case 0:
MCP2510_WriteBits(TXB0CTRL, 0xff, (TXB_TXREQ_M|TXB_TXP10_M)) ;
do { err = MCP2510_Read(TXB0CTRL) ; uiErr++; printk("CAN_No. = %d " , rwflag); printk("err = %d (%d)\n", err , uiErr); if( uiErr >= 3) { MCP2510_Write(TXB0CTRL, 0x03); uiErr = 0; brk = brk +1; } if ( brk >= 3) { brk = 0; break; } }
while( (err & 0x08) == 0x08 ); uiErr = 0; brk = 0 ; /*for (i=0; i<200; i++) { err = MCP2510_Read(TXB0CTRL) ; if ( (err &0x08)==0x00 ) //waiting for finish of sending. break; }*/
//if( (err &0x70) != 0 ) printf( " Can Send Err = 0x%x\n", err );
//ntxbuffer=1;
break;
case 1:
MCP2510_WriteBits(TXB1CTRL, 0xff, (TXB_TXREQ_M|TXB_TXP10_M)) ;
do { err = MCP2510_Read(TXB1CTRL) ; }
while( (err &0x08)==0x08 ) ;
//if( (err &0x70) != 0 ) printf( " Can Send Err = 0x%x\n", err );
ntxbuffer=2;
break;
case 2:
MCP2510_WriteBits(TXB2CTRL, 0xff, (TXB_TXREQ_M|TXB_TXP10_M)) ;
do { err = MCP2510_Read(TXB2CTRL) ; }
while( (err &0x08)==0x08 ) ;
//if( (err &0x70) != 0 ) printf( " Can Send Err = 0x%x\n", err );
ntxbuffer=0;
break; default: break;
}
}
/****************************************************************************
【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.
//
// Init_MCP2510() 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, 0xFF, (RXB_BUKT+RXB_RX_ANY)); //关闭屏蔽滤波功能， //接收所有报文，允许滚存
MCP2510_WriteBits(RXB1CTRL, 0xFF, RXB_RX_ANY); //关闭屏蔽滤波功能，接收所有报文
}
/****************************************************************************
【功能说明】
****************************************************************************/
void Init1_MCP2510(CanBandRate bandrate)
{
unsigned char i,j,a ; //rwflag = 1;
//MCP2510_IO_CS_Init() ;
//MCP2510_Reset(); //已经通过外围上电复位了
MCP2510_SetBandRate(bandrate,FALSE); //设置波特率
// Disable interrups.
MCP2510_Write(CANINTE, NO_IE); //禁止所有中断 MCP2510_Write(TEC, 0x00); MCP2510_Write(REC, 0x00); MCP2510_Write(EFLG, 0x00);
MCP2510_Write(CANINTF, 0x00);
// Mark all filter bits as don't care: 屏蔽寄存器写0时全接收,写1时要与滤波器符合得报文才接收
MCP2510_Write_Can_ID(RXM0SIDH, 0xffffffff, 1);
MCP2510_Write_Can_ID(RXM1SIDH, 0x00ffff00, 1);
// Anyway, set all filters to 0:
MCP2510_Write_Can_ID(RXF0SIDH, 0x55aa55aa, 1);
MCP2510_Write_Can_ID(RXF1SIDH, 0x55aa55aa, 1);
MCP2510_Write_Can_ID(RXF2SIDH, 0x00ff0100, 1);
MCP2510_Write_Can_ID(RXF3SIDH, 0x00fffe00, 1);
MCP2510_Write_Can_ID(RXF4SIDH, 0x00ff0900, 1);
MCP2510_Write_Can_ID(RXF5SIDH, 0x00ff0c00, 1);
//MCP2510_Write(CLKCTRL, MODE_LOOPBACK| CLKEN | CLK8);//回环模式
//如果不能用两台设备联机实验的话，可以选择回环模式
//MCP2510_Write(CLKCTRL, MODE_NORMAL| CLKEN | CLK8);//标准模式
// 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, 0x00); //去掉滚存了
MCP2510_Write(RXB1CTRL, 0x00);
MCP2510_Write(BFPCTRL, 0x00);
//Open Interrupt
//MCP2510_Write(CANINTE, RX0IE|RX1IE); MCP2510_Write(CANINTE, 0x03); MCP2510_Write(CLKCTRL, MODE_NORMAL| CLKEN | CLK8);//标准模式
//rwflag = 0;
}void Init2_MCP2510(CanBandRate bandrate)
{
unsigned char i,j,a; //rwflag = 2;
//MCP2510_IO_CS_Init() ;
//MCP2510_Reset(); //已经通过外围上电复位了
MCP2510_SetBandRate(bandrate,FALSE); //设置波特率
// Disable interrups.
MCP2510_Write(CANINTE, NO_IE); //禁止所有中断 MCP2510_Write(TEC, 0x00); MCP2510_Write(REC, 0x00); MCP2510_Write(EFLG, 0x00);
MCP2510_Write(CANINTF, 0x00);
// Mark all filter bits as don't care: 屏蔽寄存器写0时全接收,写1时要与滤波器符合得报文才接收
MCP2510_Write_Can_ID(RXM0SIDH, 0x00ff0000, 1);
MCP2510_Write_Can_ID(RXM1SIDH, 0xffffffff, 1);
// Anyway, set all filters to 0:
MCP2510_Write_Can_ID(RXF0SIDH, 0x00f10000, 1);
MCP2510_Write_Can_ID(RXF1SIDH, 0x00f00000, 1);
MCP2510_Write_Can_ID(RXF2SIDH, 0x55aa55aa, 1);
MCP2510_Write_Can_ID(RXF3SIDH, 0x55aa55aa, 1);
MCP2510_Write_Can_ID(RXF4SIDH, 0x55aa55aa, 1);
MCP2510_Write_Can_ID(RXF5SIDH, 0x55aa55aa, 1);
//MCP2510_Write(CLKCTRL, MODE_LOOPBACK| CLKEN | CLK8);//回环模式
//如果不能用两台设备联机实验的话，可以选择回环模式
//MCP2510_Write(CLKCTRL, MODE_NORMAL| CLKEN | CLK8);//标准模式
// 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, 0x00);
MCP2510_Write(RXB1CTRL, 0x00);
MCP2510_Write(BFPCTRL, 0x00);
//Open Interrupt
//MCP2510_Write(CANINTE, RX0IE|RX1IE); MCP2510_Write(CANINTE, 0x03); MCP2510_Write(CLKCTRL, MODE_NORMAL| CLKEN | CLK8);//标准模式
//rwflag = 0;
}void Init3_MCP2510(CanBandRate bandrate)
{
unsigned char i,j,a; //rwflag = 3;
//MCP2510_IO_CS_Init() ;
//MCP2510_Reset(); //已经通过外围上电复位了
MCP2510_SetBandRate(bandrate,FALSE); //设置波特率
// Disable interrups.
MCP2510_Write(CANINTE, NO_IE); //禁止所有中断 MCP2510_Write(TEC, 0x00); MCP2510_Write(REC, 0x00); MCP2510_Write(EFLG, 0x00);
MCP2510_Write(CANINTF, 0x00);
// Mark all filter bits as don't care: 屏蔽寄存器写0时全接收,写1时要与滤波器符合得报文才接收
MCP2510_Write_Can_ID(RXM0SIDH, 0x00ff0000, 1);
MCP2510_Write_Can_ID(RXM1SIDH, 0x00ff0000, 1);
// Anyway, set all filters to 0:
MCP2510_Write_Can_ID(RXF0SIDH, 0x00ff0000, 1);
MCP2510_Write_Can_ID(RXF1SIDH, 0, 1);
MCP2510_Write_Can_ID(RXF2SIDH, 0x00f10000, 1);
MCP2510_Write_Can_ID(RXF3SIDH, 0x00f00000, 1);
MCP2510_Write_Can_ID(RXF4SIDH, 0, 1);
MCP2510_Write_Can_ID(RXF5SIDH, 0, 1);
//MCP2510_Write(CLKCTRL, MODE_LOOPBACK| CLKEN | CLK8);//回环模式
//如果不能用两台设备联机实验的话，可以选择回环模式
//MCP2510_Write(CLKCTRL, MODE_NORMAL| CLKEN | CLK8);//标准模式
// 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, 0x04);
MCP2510_Write(RXB1CTRL, 0x00);
//MCP2510_Write(BFPCTRL, 0x00);
//Open Interrupt
//MCP2510_Write(CANINTE, RX0IE|RX1IE); MCP2510_Write(CANINTE, 0x03); MCP2510_Write(CLKCTRL, MODE_NORMAL| CLKEN | CLK8);//标准模式
//rwflag = 0;
}
#endif /* _LINUX_MCP2510_H */
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