?? mcp2510.c
字號:
}
if( IsBackNormal == TRUE )
{
//Enable clock output
MCP2510_Write(CLKCTRL, MODE_NORMAL | CLKEN | CLK8);
}
}
/****************************************************************************
【功能說明】讀取MCP2510 CAN總線ID
參數: address為MCP2510寄存器地址
can_id為返回的ID值
返回值
TRUE，表示是擴展ID(29位)
FALSE，表示非擴展ID(11位)
****************************************************************************/
int MCP2510_Read_Can_ID( U8 address, U32* can_id)
{
U32 tbufdata;
unsigned char* p=(unsigned char*)&tbufdata;
MCP2510_SRead(address, p, 4);
*can_id = (tbufdata<<3)|((tbufdata>>13)&0x7);
*can_id &= 0x7ff;
if ( (p[MCP2510LREG_SIDL] & TXB_EXIDE_M) == TXB_EXIDE_M ) {
*can_id = (*can_id<<2) | (p[MCP2510LREG_SIDL] & 0x03);
*can_id <<= 16;
*can_id |= tbufdata>>16;
return TRUE;
}
return FALSE;
}
/***********************************************************\
* 讀取MCP2510 接收的數據 *
* 參數: nbuffer為第幾個緩沖區可以為3或者4 *
* can_id為返回的ID值 *
* rxRTR表示是否是RXRTR *
* data表示讀取的數據 *
* dlc表示data length code *
* 返回值 *
* TRUE，表示是擴展總線 *
* FALSE，表示非擴展總線 *
\***********************************************************/
int MCP2510_Read_Can(U8 nbuffer, int* rxRTR, U32* can_id, U8* data , U8* dlc)
{
U8 mcp_addr = (nbuffer<<4) + 0x31, ctrl;
int IsExt;
IsExt=MCP2510_Read_Can_ID( mcp_addr, can_id);
ctrl=MCP2510_Read(mcp_addr-1);
*dlc=MCP2510_Read( mcp_addr+4);
if ((ctrl & 0x08)) {
*rxRTR = TRUE;
}
else{
*rxRTR = FALSE;
}
*dlc &= DLC_MASK;
//MCP2510_SRead(mcp_addr+5, data, *dlc);
MCP2510_SRead(mcp_addr+5, data, 8);
return IsExt;
}
/***********************************************************\
* 寫入MCP2510 發送的數據 *
* 參數: nbuffer為第幾個緩沖區可以為0、1、2 *
* ext表示是否是擴展總線 *
* can_id為返回的ID值 *
* rxRTR表示是否是RXRTR *
* data表示讀取的數據 *
* dlc表示data length code *
* FALSE，表示非擴展總線 *
\***********************************************************/
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
}
/*******************************************\
* 設置MCP2510 CAN總線ID *
* 參數: address為MCP2510寄存器地址*
* can_id為設置的ID值 *
* IsExt表示是否為擴展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 &0xffff;
tbufdata<<=16;
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);
}
/***********************************************************************************\
發送數據
參數:
data，發送數據
Note: 使用三個緩沖區循環發送，沒有做緩沖區有效檢測
\***********************************************************************************/
void Can_Write(U32 id, U8 *pdata, unsigned char dlc, int IsExt, int rxRTR)
{
unsigned char err ;
static int ntxbuffer=0;
MCP2510_Write_Can(ntxbuffer, IsExt, id, rxRTR, pdata, dlc);
switch(ntxbuffer){
case 0:
MCP2510_WriteBits(TXB0CTRL, (TXB_TXREQ_M|TXB_TXP10_M), 0xff) ;
do { err = MCP2510_Read(TXB0CTRL) ; }
while( (err &0x08)==0x08 ) ;
if( (err &0x70) != 0 ) printf( " Can Send Err = 0x%x\n", err );
ntxbuffer=1;
break;
case 1:
MCP2510_WriteBits(TXB1CTRL, (TXB_TXREQ_M|TXB_TXP10_M), 0xff) ;
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, (TXB_TXREQ_M|TXB_TXP10_M), 0xff) ;
do { err = MCP2510_Read(TXB2CTRL) ; }
while( (err &0x08)==0x08 ) ;
if( (err &0x70) != 0 ) printf( " Can Send Err = 0x%x\n", err );
ntxbuffer=0;
break;
}
}
/***********************************************************************************\
查詢是否收到數據
返回值:如果沒有數據，則返回-1，
否則，返回收到數據的緩沖區號
Note: 如果兩個緩沖區都收到數據，則返回第一個緩沖區
\***********************************************************************************/
int Can_Poll()
{
if( MCP2510_ReadStatus()&RX0INT )
return 0;
if( MCP2510_ReadStatus()&RX1INT )
return 1;
/*
if( MCP2510_ReadStatus() )
return 0;
if( MCP2510_ReadStatus())
return 1;
*/
return -1;
}
/****************************************************************************
【功能說明】
****************************************************************************/
int Can_Read(int n, U32* id, U8 *pdata, U8*dlc, int* rxRTR, int *isExt)
{
U8 byte;
byte = MCP2510_Read(CANINTF);
if(n==0)
{
if(byte & RX0INT)
{
*isExt=MCP2510_Read_Can(n+3, rxRTR, id, pdata, dlc);
MCP2510_WriteBits(CANINTF, (U8)(~(RX0INT)), RX0INT); // Clear interrupt
return TRUE ;
}
printf( "Error! 0 bytes is Read!!! CANINTF=0x%x\n", byte ) ;
return FALSE;
}
else if(n ==1 )
{
if(byte & RX1INT)
{
*isExt=MCP2510_Read_Can(n+4, rxRTR, id, pdata, dlc);
MCP2510_WriteBits(CANINTF, (U8)(~(RX1INT)), RX1INT); // Clear interrupt
return TRUE ;
}
printf( "0 bytes is Read!!! CANINTF=0x%x\n", byte ) ;
return FALSE;
}
printf( "Error! Receive channel=0x%x\n", n ) ;
return FALSE;
}
/****************************************************************************
【功能說明】
****************************************************************************/
// 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, (RXB_BUKT+RXB_RX_ANY), 0xFF); //關閉屏蔽濾波功能，接收所有報文，允許滾存
MCP2510_WriteBits(RXB1CTRL, RXB_RX_ANY, 0xFF); //關閉屏蔽濾波功能，接收所有報文
}
/****************************************************************************
【功能說明】
****************************************************************************/
void Init_MCP2510(CanBandRate bandrate)
{
unsigned char i,j,a;
MCP2510_IO_CS_Init() ;
MCP2510_Reset();
MCP2510_SetBandRate(bandrate,FALSE); //設置波特率
// Disable interrups.
MCP2510_Write(CANINTE, NO_IE); //禁止所有中斷
// Mark all filter bits as don't care:
MCP2510_Write_Can_ID(RXM0SIDH, 0,0);
MCP2510_Write_Can_ID(RXM1SIDH, 0,0);
// Anyway, set all filters to 0:
MCP2510_Write_Can_ID(RXF0SIDH, 0, 0);
MCP2510_Write_Can_ID(RXF1SIDH, 0, 0);
MCP2510_Write_Can_ID(RXF2SIDH, 0, 0);
MCP2510_Write_Can_ID(RXF3SIDH, 0, 0);
MCP2510_Write_Can_ID(RXF4SIDH, 0, 0);
MCP2510_Write_Can_ID(RXF5SIDH, 0, 0);
MCP2510_Write(CLKCTRL, MODE_LOOPBACK| CLKEN | CLK8);//回環模式
//如果不能用兩臺設備聯機實驗的話，可以選擇回環模式
//MCP2510_Write(CLKCTRL, MODE_NORMAL| CLKEN | CLK8);//標準模式
// 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, 0);
MCP2510_Write(RXB1CTRL, 0);
// The two pins RX0BF and RX1BF are used to control two LEDs; set them as outputs and set them as 00.
MCP2510_Write(BFPCTRL, 0x3C);
//Open Interrupt
MCP2510_Write(CANINTE, RX0IE|RX1IE);
}
/****************************************************************************
【功能說明】MCP2510實驗程序
****************************************************************************/
void Test_MCP2510( U32 m , U32 n )
{
int i;
U32 id;
unsigned char dlc;
int rxRTR, isExt;
int temp;
U8 data_write[8]={1,2,3,4,5,6,7,8};
U8 data_read[8] ;
Init_MCP2510(BandRate_10kbps);
Can_Setup();
// while( getkey() != ESC_KEY )
while(getkey()!=ESC_KEY)
{
Can_Write( 0x5a5, data_write, 8, FALSE, FALSE);
while( (i=Can_Poll())==-1 ) ;
for( temp=0; temp<8; temp++) data_read[temp] = 0 ;
temp = Can_Read(i, &id, data_read, &dlc, &rxRTR, &isExt);
printf( " ID=0x%x\n",id );
printf( "Data=%x,%x,%x,%x,%x,%x,%x,%x\n",data_read[0],data_read[1],data_read[2],data_read[3],data_read[4],data_read[5],data_read[6],data_read[7] );
/*
for( temp=0; temp<8; temp++) data_read[temp] = 0 ;
temp = Can_Read(1, &id, data_read, &dlc, &rxRTR, &isExt);
printf( " ID=0x%x\n",id );
printf( "Data=%x,%x,%x,%x,%x,%x,%x,%x\n",data_read[0],data_read[1],data_read[2],data_read[3],data_read[4],data_read[5],data_read[6],data_read[7] );
*/
delay(500);
}
}
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