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 )  Uart_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 )  Uart_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 )  Uart_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;

	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 ;
		}
		Uart_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 ;
		}
		Uart_Printf( "0 bytes is Read!!! CANINTF=0x%x\n", byte ) ;
		return FALSE;
	}

	Uart_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(void)
{
	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] ;
	
   	Uart_Printf( "\nCAN BUS Test[ MCP2510 ], press ESC key to exit !\n" ) ;

	Init_MCP2510(BandRate_10kbps);
	Can_Setup();

    while( Uart_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);
		
		Uart_Printf( "  ID=0x%x\n",id );
		Uart_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);
		Uart_Printf( "  ID=0x%x\n",id );
		Uart_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);
	}

}