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?? test_mcp2510.cbackup

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	SendData[0]=ID[3];				//SID10  SID9	SID8	  SID7   SID6  SID5   SID4  SID3 
	SendData[1]=ID[2] & 0xE0;			//SID2   SID1  SID0   __      EXIDE  __     EID17 EID16
	if(Msg->EIDFlag) 					//EID15  EID14 EID13 EID12 EID11  EID10 EID9 EID8
	{								//EID7   EID6   EID5   EID4  EID3   EID2   EID1 EID0

		ID[0]=ID[0]>>3;
		ID[0]=ID[0] |(ID[1]<<5);
		ID[1]=ID[1]>>3;
		ID[1]=ID[1] |(ID[2]<<5);
		ID[2]=ID[2]>>3;
		ID[2]=ID[2] &0x03;
		SendData[1]=SendData[1] | 0x08 | ID[2];
		SendData[2]=ID[1];
		SendData[3]=ID[0];
	}

	SendData[4]=Msg->DLC &0x0f;			//__  RTR  __  __   DLC3  DLC2  DLC1  DLC0
	if(Msg->RTRFlag) SendData[4]=SendData[4] | 0x40;  //Set RTR Bit
	
	memcpy((void *)&SendData[5], (void *)&Msg->Data[0], 8);

	status=ReadMCP2510Status();
	
	if( (status & 0x04)==0x00 ) 
	{
		
		WriteMCP2510ManyRegS(TXB0SIDH,5+(Msg->DLC&0x0f),SendData );
		WriteMCP2510Reg(TXB0CTRL, 0x09  );
		
		ulTemp = 15;
		m_CANDRV_aulSendingStartTicks[0] = ulTemp;

		success=0;
	}
	else if((status & 0x10)==0x00)
	{
		WriteMCP2510ManyRegS(TXB1SIDH,5+(Msg->DLC&0x0f),SendData  );
		WriteMCP2510Reg(TXB1CTRL, 0x0B  );
		
		success=1;
	}
	else if((status & 0x40)==0x00)
	{
		WriteMCP2510ManyRegS(TXB2SIDH,5+(Msg->DLC&0x0f),SendData  );
		WriteMCP2510Reg(TXB2CTRL, 0x0B  );
		
		success=2;
	}
	else success=0xFF;

	return (success);	
}

/****************************************************************************
【功能說明】
****************************************************************************/
U8 SendCANACKMessage( CANMESSAGE* Msg  )
{
	U8 status,SendData[13];
	U8 success=1;
	U8 ID[4];
	//U8 err;
	U8 ucI;
	U32 ulTemp;
	
	ID[3]=(U8)((Msg->ID & 0xff000000)>>24);
	ID[2]=(U8)((Msg->ID & 0x00ff0000)>>16);
	ID[1]=(U8)((Msg->ID & 0x0000ff00)>>8);
	ID[0]=(U8)((Msg->ID & 0x000000ff));
	
	SendData[0]=ID[3];				//SID10  SID9	SID8	  SID7   SID6  SID5   SID4  SID3 
	SendData[1]=ID[2] & 0xE0;			//SID2   SID1  SID0   __      EXIDE  __     EID17 EID16
	if(Msg->EIDFlag) 					//EID15  EID14 EID13 EID12 EID11  EID10 EID9 EID8
	{								//EID7   EID6   EID5   EID4  EID3   EID2   EID1 EID0

		ID[0]=ID[0]>>3;
		ID[0]=ID[0] |(ID[1]<<5);
		ID[1]=ID[1]>>3;
		ID[1]=ID[1] |(ID[2]<<5);
		ID[2]=ID[2]>>3;
		ID[2]=ID[2] &0x03;
		SendData[1]=SendData[1] | 0x08 | ID[2];
		SendData[2]=ID[1];
		SendData[3]=ID[0];
	}

	SendData[4]=Msg->DLC &0x0f;			//__  RTR  __  __   DLC3  DLC2  DLC1  DLC0
	if(Msg->RTRFlag) SendData[4]=SendData[4] | 0x40;  //Set RTR Bit
	
	memcpy((void *)&SendData[5], (void *)&Msg->Data[0], 8);

	for(ucI=0; ucI < 8; ucI++)
	{
		
		status=ReadMCP2510Status();
		
		if( (status & 0x40)==0x00 ) 
		{
			WriteMCP2510ManyRegS(TXB2SIDH,5+(Msg->DLC&0x0f),SendData  );
			WriteMCP2510Reg(TXB2CTRL, 0x0B  );
			//ulTemp = m_CANDRV_aulSendingStartTicks[][2];
			
			ulTemp = 15;
			m_CANDRV_aulSendingStartTicks[2] = ulTemp;
			
			success=0;
			break;
		}
		else
			success = 0xff;
		
		for(ulTemp=0; ulTemp < 100; ulTemp++)
			Delay(1) ;
	}

	return (success);	
}

/****************************************************************************
【功能說明】
****************************************************************************/
U8 SendCANOnLineMessage( CANMESSAGE* Msg  )
{
	U8 status,SendData[13];
	U8 success=1;
	U8 ID[4];
	//U8 err;
	U8 ucI;
	U32 ulTemp;
	
	ID[3]=(U8)((Msg->ID & 0xff000000)>>24);
	ID[2]=(U8)((Msg->ID & 0x00ff0000)>>16);
	ID[1]=(U8)((Msg->ID & 0x0000ff00)>>8);
	ID[0]=(U8)((Msg->ID & 0x000000ff));
	
	SendData[0]=ID[3];				//SID10  SID9	SID8	  SID7   SID6  SID5   SID4  SID3 
	SendData[1]=ID[2] & 0xE0;			//SID2   SID1  SID0   __      EXIDE  __     EID17 EID16
	if(Msg->EIDFlag) 					//EID15  EID14 EID13 EID12 EID11  EID10 EID9 EID8
	{								//EID7   EID6   EID5   EID4  EID3   EID2   EID1 EID0

		ID[0]=ID[0]>>3;
		ID[0]=ID[0] |(ID[1]<<5);
		ID[1]=ID[1]>>3;
		ID[1]=ID[1] |(ID[2]<<5);
		ID[2]=ID[2]>>3;
		ID[2]=ID[2] &0x03;
		SendData[1]=SendData[1] | 0x08 | ID[2];
		SendData[2]=ID[1];
		SendData[3]=ID[0];
	}

	SendData[4]=Msg->DLC &0x0f;			//__  RTR  __  __   DLC3  DLC2  DLC1  DLC0
	if(Msg->RTRFlag) SendData[4]=SendData[4] | 0x40;  //Set RTR Bit
	
	memcpy((void *)&SendData[5], (void *)&Msg->Data[0], 8);

	for(ucI=0; ucI < 8; ucI++)
	{
		status=ReadMCP2510Status();
		
		if( (status & 0x10)==0x00 ) 
		{
			WriteMCP2510ManyRegS(TXB1SIDH,5+(Msg->DLC&0x0f),SendData  );
			WriteMCP2510Reg(TXB1CTRL, 0x0A  );
			//ulTemp = m_CANDRV_aulSendingStartTicks[][1];

			ulTemp = 15 ;
			m_CANDRV_aulSendingStartTicks[1] = ulTemp;
			
			success=0;
			break;
		}
		else
			success = 0xff;

		for(ulTemp=0; ulTemp < 100; ulTemp++)
			Delay(1);
	}

	return (success);	
}


CANMESSAGE CanMsg;
/****************************************************************************
【功能說明】
//RXBnSIDH:SID10   SID9  	SID8   SID7   SID6  SID5   SID4     SID3 
//RXBnSIDL:SID2     SID1   SID0   SRR    IDE    ____    EID17   EID16
//RXBnEID8:EID15    EID14 EID13  EID12 EID11  EID10 EID9    EID8
//RXBnEID0:EID7      EID6   EID5   EID4   EID3    EID2   EID1    EID0
//RXBnDLC: ___        RTR    ___    ____    DLC3   DLC2  DLC1    DLC0
//RXBnDm (m:0--7)
//: Can (0,1,2)
//RXBufferIndex:0,1
****************************************************************************/
void ReceiveCANMessage( CANMESSAGE* Msg,U8 RXBufferIndex  )
{
	U8 RecData[13];
	U8 ID[4];
	U32 IDD[4];
	U8 RID2 ;

	if(RXBufferIndex==0) 		//buffer 0
	{
		ReadMCP2510ManyRegS(RXB0SIDH, 5,RecData );
		ReadMCP2510ManyRegS(RXB0D0, RecData[4] & 0x0f,RecData+5   );
	}
	else if(RXBufferIndex==1)	//buffer1	
	{
		ReadMCP2510ManyRegS(RXB1SIDH, 5,RecData );
		ReadMCP2510ManyRegS(RXB1D1, RecData[4] & 0x0f,RecData+5   );
	}
	else printf( "Buffer is out of range\n" ) ;;						//Buffer is out of range
	
	ID[3]=RecData[0];
	ID[2]=RecData[1];
	ID[1]=RecData[2];
	ID[0]=RecData[3];

	if(ID[2] &0x08)  Msg->EIDFlag=1;				//See if A extend Frame
	else			    Msg->EIDFlag=0;	

	if(ID[2] &0x01) 			Msg->RTRFlag=1;		//See if A RTR Frame
	else  if(RecData[4]&0x40)	Msg->RTRFlag=1;
		else						Msg->RTRFlag=0;
	
	RID2=ID[2];
	ID[2]=(ID[2]<<3) & 0x1C;
	ID[2]=(RID2 &0xe0)+ID[2];
	ID[2]=ID[2]+(ID[1]>>5);
	ID[1]=ID[1]<<3;
	ID[1]=ID[1]+(ID[0]>>5);
	ID[0]=ID[0]<<3;
	IDD[3]=ID[3];
	IDD[2]=ID[2];
	IDD[1]=ID[1];
	IDD[0]=ID[0];
	
	Msg->ID=(U32)(IDD[3]<<24)+(U32)(IDD[2]<<16)+(S32)(IDD[1]<<8)+(S32)IDD[0];
	Msg->DLC=RecData[4] & 0x0f;

	memcpy( (void *)&Msg->Data[0], (void *)&RecData[5], 8 ) ;
}

/****************************************************************************
【功能說明】
****************************************************************************/
void AbortAllTransmit( )
{
	U8 value;

	BitModifyMCP2510Reg(CANCTRL,0X10, 0x10 );	//Set CANCTRL.ABAT bit
	Delay(1);

	value=ReadMCP2510Status( );
	while((value & 0xfc)!=0xa8);		//See if all three buffers are empty and	//TXB0CTRL.TXREQ =0 TXB1CTRL.TXREQ =0 //TXB2CTRL.TXREQ =0
	{
		BitModifyMCP2510Reg(CANCTRL,0X10, 0x10  );	//Set CANCTRL.ABAT bit
		Delay(1);
		value=ReadMCP2510Status( );
	}
	
	BitModifyMCP2510Reg(CANCTRL,0X10, 0x00  );	//clear CANCTRL.ABAT bit
}

/****************************************************************************
【功能說明】service for CAN interrupt
****************************************************************************/
void  HandleCANInt( U8 *INTFlag  )
{
	U8 status;
	
	status=ReadMCP2510Reg( CANINTF   );
					
	if(status & 0x01)	//RXBuffer0 Received data ?
	{
		printf( "進入接收緩沖器0 滿中斷\n" ) ;
		ReceiveCANMessage( &m_CANDRV_aStruRXMsg0[0],0 );		//Receive CAN Message from RXBuffer0
		ClearRXBufferFull(0 );
	}

	if(status & 0x02)	//RXBuffer1 Received data ?
	{
		printf( "進入接收緩沖器1 滿中斷\n" ) ;
		ReceiveCANMessage( &m_CANDRV_aStruRXMsg1[1],1 );		//Receive CAN Message from RXBuffer1
		ClearRXBufferFull(1 );
	}

	if(status & 0x04)
	{
		printf( "進入發送緩沖器0 空中斷\n" ) ;
		ClearTXEmptyFlag(0);
		m_CANDRV_aulSendingStartTicks[0] = 0;
	}

	if(status & 0x08)
	{
		ClearTXEmptyFlag(1);
		printf( "進入發送緩沖器1 空中斷\n" ) ;
		m_CANDRV_aulSendingStartTicks[1] = 0;
	}

	if(status & 0x10)
	{
		ClearTXEmptyFlag(2);
		printf( "進入發送緩沖器2 空中斷\n" ) ;
		m_CANDRV_aulSendingStartTicks[2] = 0;
	}
		
	if(status & 0x20)
	{
		printf( "進入出錯中斷\n" ) ;
	}
		
	if(status & 0x40)
	{
		printf( "進入喚醒中斷\n" ) ;
	}
		
	if(status & 0x80)
	{
		printf( "進入報文出錯中斷\n" ) ;
	}
}

U8 dd=0;
/****************************************************************************
【功能說明】
****************************************************************************/
void InitCANMessage()		//a function for Debug
{
	U32 i;
	CanMsg.Data[0]=dd;
	CanMsg.Data[1]=0x31;
	CanMsg.Data[2]=0x32;
	CanMsg.Data[3]=0x33;
	CanMsg.Data[4]=0x34;
	CanMsg.Data[5]=0x35;
	CanMsg.Data[6]=0x36;
	CanMsg.Data[7]=0x37;
	CanMsg.ID=0x0052a980;
	i=dd;
	CanMsg.ID=(i<<24)+CanMsg.ID;
	CanMsg.DLC=0x08;
	CanMsg.EIDFlag=1;
	CanMsg.RTRFlag=0;
	dd++;
	m_CANDRV_aStruRXFilter[0].EXFrame=1;
	m_CANDRV_aStruRXFilter[0].ID=0xAAbb7680;
}

/****************************************************************************
【功能說明】
****************************************************************************/
void InitCANHOT(U8 BaudIndex )  //will be executed when mcp2510 ocurrs error
{
	WriteMCP2510Reg(CANINTE, 0x00);	//Disable all interrupts
	
	Set_MCP2510_Mode( 5, 1 );				//set to configure mode
	Set_MCP2510_Baud(BaudIndex);		//set  Baud
	SetMCP2510Mask(0, m_CANDRV_aulCANDrvMask[0]);		//enable all messages be received 
	SetMCP2510Mask(1, m_CANDRV_aulCANDrvMask[1]);		//enable all messages be received 
	SetMCP2510Filter(0, &m_CANDRV_aStruRXFilter[0]);
	SetMCP2510Filter(1, &m_CANDRV_aStruRXFilter[1]);
	SetMCP2510Filter(2, &m_CANDRV_aStruRXFilter[2]);
	SetMCP2510Filter(3, &m_CANDRV_aStruRXFilter[3]);
	SetMCP2510Filter(4, &m_CANDRV_aStruRXFilter[4]);
	SetMCP2510Filter(5, &m_CANDRV_aStruRXFilter[5]);
	Set_MCP2510_Mode(1,1);				//set to normal mode
	
	WriteMCP2510Reg(RXB0CTRL,0X64);	
	WriteMCP2510Reg(RXB1CTRL,0X60);

	ClearRXBufferFull(0);
	ClearRXBufferFull(1);
	ClearRXBufferOVR(0);
	ClearRXBufferOVR(1);
	
	BitModifyMCP2510Reg(CANINTF,0xa0,0x00);
	WriteMCP2510Reg(CANINTE, 0xbf);	
}

/****************************************************************************
【功能說明】
****************************************************************************/
void Init_CAN( U8 BaudIndex )	
{
	SendCMDMCP2510( CAN_SPIRESET ) ;		//Reset MCP2510 By software via SPI (RESET INSTRUCTION)
	printf( "CANCTRL = 0x%x\n", ReadMCP2510Reg( CANCTRL ) ) ;

	WriteMCP2510Reg( CANINTE, 0x00 );	//Disable all interrupts

	Set_MCP2510_Mode( 5, 1 );				//set to configure mode
	Set_MCP2510_Baud( BaudIndex );		//set  Baud = 100K

	SetMCP2510Filter( 0, &m_CANDRV_aStruRXFilter[0] );		//set filter
	SetMCP2510Filter( 1, &m_CANDRV_aStruRXFilter[1] );		//set filter
	SetMCP2510Filter( 2, &m_CANDRV_aStruRXFilter[2] );		//set filter
	SetMCP2510Filter( 3, &m_CANDRV_aStruRXFilter[3] );		//set filter
	SetMCP2510Filter( 4, &m_CANDRV_aStruRXFilter[4] );		//set filter
	SetMCP2510Filter( 5, &m_CANDRV_aStruRXFilter[5] );		//set filter
	Set_MCP2510_Mode( 3, 1 );				//set to LOOP mode
//	Set_MCP2510_Mode( 1, 1 );				//set to NORMAL mode

	WriteMCP2510Reg( RXB0CTRL,0x64 );		//接收所有報文
	WriteMCP2510Reg( RXB1CTRL,0x60 );		//接收所有報文

	ClearRXBufferFull(0);
	ClearRXBufferFull(1);
	ClearRXBufferOVR(0);
	ClearRXBufferOVR(1);
		
	WriteMCP2510Reg( CANINTE, 0x00 ) ;			//清中斷標識位
	WriteMCP2510Reg( CANINTE, 0x1f ) ;	

	//printf( "CANCTRL = 0x%x\n", ReadMCP2510Reg(CANSTAT) ) ;
	//m = ReadMCP2510Reg( CANCTRL ) ;
	//printf( "CANCTRL = 0x%x\n", m ) ;
}

/****************************************************************************
【功能說明】MCP2510測試程序
****************************************************************************/
void Test_MCP2510(void)
{
	U8 m ; 
	CANMESSAGE Msg_Send ;
	CANMESSAGE Msg_Receive0 ;
	CANMESSAGE Msg_Receive1 ;

	rINTMSK = 0xffffffff ;		//屏蔽所有中斷

   	printf( "\nCAN BUS TEST, press ESC key to exit !\n" ) ;
	
	Msg_Send.ID = 0x55555555 ;
	Msg_Send.DLC = 0xaa ;
	Msg_Send.EIDFlag = 0x55 ;
	Msg_Send.RTRFlag = 0xaa ;
	
	for( m = 0; m < 8; m++ ) 
		Msg_Send.Data[m] = 0x55 ;

    while( getkey() != ESC_KEY )
    {
		Init_CAN( 5 ) ;
    	m = ReadMCP2510Reg( CANINTF );
    	//if( (m&0x1c) == 0 )
    	//{
	    	m = SendCANMessage( &Msg_Send  ) ;
	    	if( m != 0xff )		printf( "Send is OK! From channel %d \n", m ) ;
    		else		printf( "Send is Failed!!! \n" ) ;
    	//}
    	//else printf( "\n\nCANINTF = 0x%x \n\n", m ) ;

   		//m = ReadMCP2510Reg( CANINTF );
		//if( (m&0x01) == 0 )
		//{
	    	ReceiveCANMessage( &Msg_Receive0, 0 ) ;
	    	
	    	printf( "\n\nMsg_Receive0:\n" ) ;
			printf( "ID = 0x%x\n", Msg_Receive0.ID ) ;		Msg_Receive0.ID = 0 ;
			printf( "DLC = 0x%x\n", Msg_Receive0.DLC ) ;		Msg_Receive0.DLC = 0 ;
			printf( "EIDFlag = 0x%x\n", Msg_Receive0.EIDFlag ) ;		Msg_Receive0.EIDFlag = 0 ;
			printf( "RTRFlag = 0x%x\n", Msg_Receive0.RTRFlag ) ;		Msg_Receive0.RTRFlag = 0 ;
	    	for( m = 0; m < 8; m++ ) 
				{	printf( "\t0x%x", Msg_Receive0.Data[m] ) ;		Msg_Receive0.Data[m] = 0 ; }
		//}
		//else if( (m&0x02) == 0 )
		//{
	    	ReceiveCANMessage( &Msg_Receive1, 1 ) ;

	    	printf( "\n\nMsg_Receive1:\n" ) ;
			printf( "ID = 0x%x\n", Msg_Receive1.ID ) ;		Msg_Receive1.ID = 0 ;
			printf( "DLC = 0x%x\n", Msg_Receive1.DLC ) ;		Msg_Receive1.DLC = 0 ;
			printf( "EIDFlag = 0x%x\n", Msg_Receive1.EIDFlag ) ;		Msg_Receive1.EIDFlag = 0 ;
			printf( "RTRFlag = 0x%x\n", Msg_Receive1.RTRFlag ) ;		Msg_Receive1.RTRFlag = 0 ;
	    	for( m = 0; m < 8; m++ ) 
				{	printf( "\t0x%x", Msg_Receive1.Data[m] ) ;		Msg_Receive1.Data[m] = 0 ; }
		//}
		//else printf( "\n\nCANINTF = 0x%x \n\n", m ) ;
   		
   		//Delay( 800 ) ;
	}

}

static char title[] = "CAN總線測試";
static char tip[]   = "測試CAN總線通訊,按ESC鍵返回";

//Test_MCP2510Item在prog_entry.c里被引用
TEST_PROGRAM_ITEM Test_MCP2510Item = {
				(TEST_PROGRAM)Test_MCP2510, 	//入口地址
				title, 					//顯示名稱
				tip, 					//幫助或提示信息,可為NULL
				1};						//使用printf,puts,putch等函數時在LCD上也顯示輸出字符(串)

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