MCP2515无BUG版本驱动(C文件)
#include "mcp2515.h"
/*RXB0's data registers:*/
unsigned char RXB0D[8]={RXB0D0,RXB0D1,RXB0D2,RXB0D3,RXB0D4,RXB0D5,RXB0D6,RXB0D7};
/*TXB0's data registers:*/
unsigned char TXB0D[8]={TXB0D0,TXB0D1,TXB0D2,TXB0D3,TXB0D4,TXB0D5,TXB0D6,TXB0D7};
void MCP2515_Init(void)
{
unsigned char dummy;
/*First initialize the SPI periphere*/
/*Then initialize the MCP2515.Step as follow:
1>Get into configuration mode by reset MCP2515 or write the bit of CANCTRL.REQOP.
2>Check the CANSTAT by ReadByte_MCP2515(CANSTAT) if MCP2515 is already into configuration mode.
3>Configurate the registers to set the baudrate:CN1,CN2,CN3.
4>Configurate TXRTSCTRL to set the function of TXnRTS pin.
5>Configurate TRXBnCTRL to set the pirority of transmit mailbox:TXB0,TXB1,TXB2.
6>Configurate TXBn'SID ,EID and DLC.This step can configurate when you are in normal mode.
7>Configurate RXFnSIDH and RXFnSIDL to resceive the specific ID.
8>Configurate RXMnSIDH and RXMnSIDL to mask the RXFnSID's ID.
9>Configurate CANINTE to enable or disable the interrupts.
10>Return to the normal mode and double check if it is return to the normal mode by CANSTAT.
*/
/*Flip into the Configuration Mode*/
MCP2515_Reset();
_delay_(0x4000);/* 1ms _delay_ using Fcpu = 16Mhz*/
//Set the baudrate
//set CNF1,SJW=00,lengthe is 1TQ,BRP=49,TQ=[2*(BRP+1)]/Fsoc=2*50/8M=12.5us
SendByte_MCP2515(CNF1,CAN_125Kbps);
//set CNF2,SAM=0,caputre one time,PHSEG1=(2+1)TQ=3TQ,PRSEG=(0+1)TQ=1TQ
SendByte_MCP2515(CNF2,0x80|PHSEG1_3TQ|PRSEG_1TQ);
//set CNF3,PHSEG2=(2+1)TQ=3TQ,when CANCTRL.CLKEN=1,set CLKOUT pin to output
SendByte_MCP2515(CNF3,PHSEG2_3TQ);
/*
3 Transimit Buffers:TXB0,TXB1,TXB2
2 Receive Buffers:RXB0,RXB1
6 ID Filter:RXF0~RXF5
2 ID Mask Regieter:RXM0,RXM1
*/
//configurate RXB0' registers
// SendByte_MCP2515(RXB0CTRL,0x60);//Receive all frames from CAN bus
SendByte_MCP2515(RXB0CTRL,0x20);//RXB0 just receive the standard frames
SendByte_MCP2515(RXF0SIDH,0xFF);//Fileter register
SendByte_MCP2515(RXF0SIDL,0xE0);//Just receive ID=0x7FF frame
SendByte_MCP2515(RXF1SIDH,0xFD);//Fileter register
SendByte_MCP2515(RXF1SIDL,0xC0);//Just receive ID=0x7EE frame
SendByte_MCP2515(RXM0SIDH,0xFF);//Mask register
SendByte_MCP2515(RXM0SIDL,0xE0);
//Configurate TXB0's ID and DLC registers
SendByte_MCP2515(TXB0SIDH,0xFF);//Standard ID
SendByte_MCP2515(TXB0SIDL,0xE0);//Standard ID
SendByte_MCP2515(TXB0DLC,DLC_1);//DLC
/*Set the RXB0 or RXB1 interrupt enableling*/
// SendByte_MCP2515(CANINTE,RX0IE);//Enable RXB0 interrupt
SendByte_MCP2515(CANCTRL,REQOP_NORMAL | CLKOUT_ENABLED);//Go into the normal mode
dummy=ReadByte_MCP2515(CANSTAT);
if (OPMODE_NORMAL != (dummy & 0xE0))
SendByte_MCP2515(CANCTRL,REQOP_NORMAL | CLKOUT_ENABLED);//If normal ok
}
/**
* @brief Reset the MCP2515 then U go into the configruation mode
* @param none
* @retval none
*/
void MCP2515_Reset(void)
{
CS_LOW();
SPI_Send(SPI_RESET);
CS_HIGH();
}
/**
* @brief Modify the bit of the register
* @param Add:Address of register
* @param Mask:1-->U can modify the corresponding bit;0-->U can not modify the corresponding bit
* @param Data:the data U need to be sent from MCU to MCP2515
* @retval none
*/
void MCP2515_BitModify(unsigned char Addr,unsigned char Mask,unsigned char Data)
{
CS_LOW();
SPI_Send(SPI_BIT_MODIFY);
SPI_Send(Addr);
SPI_Send(Mask);
SPI_Send(Data);
CS_HIGH();
}
/**
* @brief Send a byte to MCP2515 through SPI to return corresponding status you need
* @param Add:Address of register
* @param Data:the data U need to be sent from MCU to MCP2515
* @retval none
*/
void SendByte_MCP2515(unsigned char Addr,unsigned char Data)
{
CS_LOW();
SPI_Send(SPI_WRITE);
SPI_Send(Addr);
SPI_Send(Data);
CS_HIGH();
}
/**
* @brief Send a command to MCP2515 through SPI to return corresponding status you need
* @param CMD:command
* @retval Data:Data from MCP2515'SO pin
*/
unsigned char ReadByte_MCP2515(unsigned char Addr)
{
unsigned char Data;
CS_LOW();
SPI_Send(SPI_READ);
SPI_Send(Addr);
Data = SPI_Receive();
CS_HIGH();
return Data;
}
/**
* @brief Send a command to MCP2515 through SPI to return corresponding status you need
* @param CMD:
SPI_RX_STATUS;
SPI_READ_STATUS;
SPI_READ_RX;
* @retval Data:the status you need
*/
unsigned char SPI_CMD_MCP2515(unsigned char CMD)
{
unsigned char Data;
CS_LOW();
SPI_Send(CMD);
Data = SPI_Receive();
CS_HIGH();
return Data;
}
/**
* @brief Read 8 bytes to CAN bus
* @param CAN_TX_Buf:the address of data'indicator,8bytes
* @retval none
*/
void CAN_Send8bytes(unsigned char *CAN_TX_Buf)
{
unsigned char tempdata;
tempdata=ReadByte_MCP2515(SPI_READ_STATUS);
SendByte_MCP2515(TXB0D0,CAN_TX_Buf[0]);
SendByte_MCP2515(TXB0D1,CAN_TX_Buf[1]);
SendByte_MCP2515(TXB0D2,CAN_TX_Buf[2]);
SendByte_MCP2515(TXB0D3,CAN_TX_Buf[3]);
SendByte_MCP2515(TXB0D4,CAN_TX_Buf[4]);
SendByte_MCP2515(TXB0D5,CAN_TX_Buf[5]);
SendByte_MCP2515(TXB0D6,CAN_TX_Buf[6]);
SendByte_MCP2515(TXB0D7,CAN_TX_Buf[7]);
if(tempdata&0x04)//check the TXREQ bit
{
_delay_(0x4000);
MCP2515_BitModify(TXB0CTRL,0x80,0x00);//clear TXREQ bit
while(SPI_CMD_MCP2515(SPI_READ_STATUS)&0x04);//wait until TXREQ bit matchs 0
}
CS_LOW();
SPI_Send(SPI_RTS_TXB0);//TXB0 send-request
CS_HIGH();
}
/**
* @brief Send a byte to CAN bus by TXB0
* @param Data:data to be sent
* @retval none
*/
void CAN_SendOneByte(unsigned char Data)
{
unsigned char tempdata;
/*Test the driver between MCP2515 and the SPI periphere :tempdata<--------------*/
tempdata=SPI_CMD_MCP2515(SPI_READ_STATUS);
if(tempdata&0x04)//check the TXREQ bit
{
_delay_(0x4000);
MCP2515_BitModify(TXB0CTRL,0x08,0x00);//clear TXREQ bit
while(SPI_CMD_MCP2515(SPI_READ_STATUS)&0x04);//wait until TXREQ bit matchs 0
}
SendByte_MCP2515(TXB0D0,Data);
CS_LOW();
SPI_Send(SPI_RTS_TXB0);//TXB0 send-request
CS_HIGH();
}
/**
* @brief Receive a byte from MCP2515 RXB0
* @param none
* @retval Data:return the effectively data from RXB0
*/
unsigned char CAN_Receive_onebyte()
{
unsigned char tempdata;
tempdata=SPI_CMD_MCP2515(SPI_READ_STATUS);//confirm receive data=RXB0IF
if(tempdata&0x01)
{
tempdata=SPI_CMD_MCP2515(SPI_RX_STATUS);
if(tempdata&0x40)//true means RXB0's standard frame
{
tempdata=ReadByte_MCP2515(RXB0D0);
}
else
{tempdata=254;}//no standard frame receive
MCP2515_BitModify(CANINTF,0x01,0x00);
}
else
{tempdata=255;}//no frame receive
return tempdata;
}
/**
* @brief Send n bytes with a given standard ID corresponding to frame type
* @param CAN_TX_Buf: data to be sent
* @param DLC:DLC<=8
* @param SID:<=0x7FF
* @param CAN_FrameType:CAN_STD,CAN_RTR
* @retval None
*/
void CAN_SendData(unsigned char *CAN_TX_Buf,Frame_TypeDef *Frame )
{
unsigned char tempdata;
unsigned char HSID,LSID;
if(Frame->Type==CAN_STD)
{
/*Set the ID of the frame*/
HSID=(unsigned char)(Frame->SID>>3);
LSID=(unsigned char)((Frame->SID<<5)&0xE0);
SendByte_MCP2515(TXB0SIDH,HSID);
SendByte_MCP2515(TXB0SIDL,LSID);
/*Set the DLC and the type of the frame*/
SendByte_MCP2515(TXB0DLC,Frame->DLC|CAN_STD);
/*Write the data into the TXB0 data registers */
for(tempdata=0;tempdata<Frame->DLC;tempdata++)
SendByte_MCP2515(TXB0D[tempdata],CAN_TX_Buf[tempdata]);
/* SendByte_MCP2515(TXB0D0,CAN_TX_Buf[0]);
SendByte_MCP2515(TXB0D1,CAN_TX_Buf[1]);
SendByte_MCP2515(TXB0D2,CAN_TX_Buf[2]);
SendByte_MCP2515(TXB0D3,CAN_TX_Buf[3]);
SendByte_MCP2515(TXB0D4,CAN_TX_Buf[4]);
SendByte_MCP2515(TXB0D5,CAN_TX_Buf[5]);
SendByte_MCP2515(TXB0D6,CAN_TX_Buf[6]);
SendByte_MCP2515(TXB0D7,CAN_TX_Buf[7]);*/
}
else /*if(CAN_FrameType==CAN_RTR)*/
{
/*Set the ID of the frame*/
HSID=(unsigned char)(Frame->SID>>3);
LSID=(unsigned char)((Frame->SID<<5)&0xE0);
SendByte_MCP2515(TXB0SIDH,HSID);
SendByte_MCP2515(TXB0SIDL,LSID);
/*Set the type of the frame*/
SendByte_MCP2515(TXB0DLC,CAN_RTR);
}
tempdata=SPI_CMD_MCP2515(SPI_READ_STATUS);
if(tempdata&0x04)
{
_delay_(0x4000);
MCP2515_BitModify(TXB0CTRL,0x80,0x00);
while(SPI_CMD_MCP2515(SPI_READ_STATUS)&0x04);
}
/*Send the SPI_RTS_TXB0 request command to MCP2515 to send the data loaded in the data register*/
CS_LOW();
SPI_Send(SPI_RTS_TXB0);
CS_HIGH();
}
/**
* @brief Receive n bytes from MCP2515 RXB0
* @param none
* @retval Data:return the effectively data from RXB0
*/
unsigned char CAN_ReceiveData(unsigned char *CAN_RX_Buf,Frame_TypeDef *Frame)
{
unsigned char tempdata;
unsigned int CAN_ID;
// tempdata=SPI_CMD_MCP2515(SPI_READ_STATUS);//check if it is received a frame
tempdata=SPI_CMD_MCP2515(SPI_RX_STATUS);
if(tempdata&0x40)//RXB0
{
CAN_ID=(unsigned int)((ReadByte_MCP2515(RXB0SIDH))<<8);
CAN_ID|=(unsigned int)(ReadByte_MCP2515(RXB0SIDL));
CAN_ID>>=5;
/*Check the CAN_ID you received that if it is matched with the SID you wish*/
if(CAN_ID==Frame->SID)
{
// _delay_(0x4000);
for(tempdata=0;tempdata<Frame->DLC;tempdata++)
CAN_RX_Buf[tempdata]=ReadByte_MCP2515(RXB0D[tempdata]);
/* CAN_RX_Buf[0]=ReadByte_MCP2515(RXB0D0);
CAN_RX_Buf[1]=ReadByte_MCP2515(RXB0D1);
CAN_RX_Buf[2]=ReadByte_MCP2515(RXB0D2);
CAN_RX_Buf[3]=ReadByte_MCP2515(RXB0D3);
CAN_RX_Buf[4]=ReadByte_MCP2515(RXB0D4);
CAN_RX_Buf[5]=ReadByte_MCP2515(RXB0D5);
CAN_RX_Buf[6]=ReadByte_MCP2515(RXB0D6);
CAN_RX_Buf[7]=ReadByte_MCP2515(RXB0D7);*/
MCP2515_BitModify(CANINTF,0x01,0x00);
}
else
{
return 0;//ID is not correct
}
return 1;//receive ok
}
else
return 2;//no standard frame receive
}
MCP2515无BUG版本驱动(H文件)
/* Define to prevent recursive inclusion -------------------------------------*/
#ifndef __MCP2515_H
#define __MCP2515_H
/* Includes ------------------------------------------------------------------*/
#include "stm8s_eval_mcp2515.h"
/* Configuration Registers */
#define CANSTAT 0x0E
#define CANCTRL 0x0F
#define BFPCTRL 0x0C
#define TEC 0x1C
#define REC 0x1D
#define CNF3 0x28
#define CNF2 0x29
#define CNF1 0x2A
#define CANINTE 0x2B
#define CANINTF 0x2C
#define EFLG 0x2D
#define TXRTSCTRL 0x0D
/* Recieve Filters */
#define RXF0SIDH 0x00
#define RXF0SIDL 0x01
#define RXF0EID8 0x02
#define RXF0EID0 0x03
#define RXF1SIDH 0x04
#define RXF1SIDL 0x05
#define RXF1EID8 0x06
#define RXF1EID0 0x07
#define RXF2SIDH 0x08
#define RXF2SIDL 0x09
#define RXF2EID8 0x0A
#define RXF2EID0 0x0B
#define RXF3SIDH 0x10
#define RXF3SIDL 0x11
#define RXF3EID8 0x12
#define RXF3EID0 0x13
#define RXF4SIDH 0x14
#define RXF4SIDL 0x15
#define RXF4EID8 0x16
#define RXF4EID0 0x17
#define RXF5SIDH 0x18
#define RXF5SIDL 0x19
#define RXF5EID8 0x1A
#define RXF5EID0 0x1B
/* Receive Masks */
#define RXM0SIDH 0x20
#define RXM0SIDL 0x21
#define RXM0EID8 0x22
#define RXM0EID0 0x23
#define RXM1SIDH 0x24
#define RXM1SIDL 0x25
#define RXM1EID8 0x26
#define RXM1EID0 0x27
/* Tx Buffer 0 */
#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
/* Tx Buffer 1 */
#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
/* Tx Buffer 2 */
#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
/* Rx Buffer 0 */
#define RXB0CTRL 0x60
#define RXB0SIDH 0x61
#define RXB0SIDL 0x62
#define RXB0EID8 0x63
#define RXB0EID0 0x64
#define RXB0DLC 0x65
#define RXB0D0 0x66
#define RXB0D1 0x67
#define RXB0D2 0x68
#define RXB0D3 0x69
#define RXB0D4 0x6A
#define RXB0D5 0x6B
#define RXB0D6 0x6C
#define RXB0D7 0x6D
/* Rx Buffer 1 */
#define RXB1CTRL 0x70
#define RXB1SIDH 0x71
#define RXB1SIDL 0x72
#define RXB1EID8 0x73
#define RXB1EID0 0x74
#define RXB1DLC 0x75
#define RXB1D0 0x76
#define RXB1D1 0x77
#define RXB1D2 0x78
#define RXB1D3 0x79
#define RXB1D4 0x7A
#define RXB1D5 0x7B
#define RXB1D6 0x7C
#define RXB1D7 0x7D
/*******************************************************************
* Bit register masks *
*******************************************************************/
/* TXBnCTRL */
#define TXREQ 0x08
#define TXP 0x03
/* RXBnCTRL */
#define RXM 0x60
#define BUKT 0x04
/* CANCTRL */
#define REQOP 0xE0
#define ABAT 0x10
#define OSM 0x08
#define CLKEN 0x04
#define CLKPRE 0x03
/* CANSTAT */
#define REQOP 0xE0
#define ICOD 0x0E
/* CANINTE */
#define RX0IE 0x01
#define RX1IE 0x02
#define TX0IE 0x04
#define TX1IE 0x80
#define TX2IE 0x10
#define ERRIE 0x20
#define WAKIE 0x40
#define MERRE 0x80
/* CANINTF */
#define RX0IF 0x01
#define RX1IF 0x02
#define TX0IF 0x04
#define TX1IF 0x80
#define TX2IF 0x10
#define ERRIF 0x20
#define WAKIF 0x40
#define MERRF 0x80
/* BFPCTRL */
#define B1BFS 0x20
#define B0BFS 0x10
#define B1BFE 0x08
#define B0BFE 0x04
#define B1BFM 0x02
#define B0BFM 0x01
/* CNF1 Masks */
#define SJW 0xC0
#define BRP 0x3F
/* CNF2 Masks */
#define BTLMODE 0x80
#define SAM 0x40
#define PHSEG1 0x38
#define PRSEG 0x07
/* CNF3 Masks */
#define WAKFIL 0x40
#define PHSEG2 0x07
/* TXRTSCTRL Masks */
#define TXB2RTS 0x04
#define TXB1RTS 0x02
#define TXB0RTS 0x01
/*******************************************************************
* Bit Timing Configuration *
*******************************************************************/
/* CNF1 */
#define SJW_1TQ 0x40
#define SJW_2TQ 0x80
#define SJW_3TQ 0x90
#define SJW_4TQ 0xC0
/* CNF2 */
#define BTLMODE_CNF3 0x80
#define BTLMODE_PH1_IPT 0x00
#define SMPL_3X 0x40
#define SMPL_1X 0x00
#define PHSEG1_8TQ 0x38
#define PHSEG1_7TQ 0x30
#define PHSEG1_6TQ 0x28
#define PHSEG1_5TQ 0x20
#define PHSEG1_4TQ 0x18
#define PHSEG1_3TQ 0x10
#define PHSEG1_2TQ 0x08
#define PHSEG1_1TQ 0x00
#define PRSEG_8TQ 0x07
#define PRSEG_7TQ 0x06
#define PRSEG_6TQ 0x05
#define PRSEG_5TQ 0x04
#define PRSEG_4TQ 0x03
#define PRSEG_3TQ 0x02
#define PRSEG_2TQ 0x01
#define PRSEG_1TQ 0x00
/* CNF3 */
#define PHSEG2_8TQ 0x07
#define PHSEG2_7TQ 0x06
#define PHSEG2_6TQ 0x05
#define PHSEG2_5TQ 0x04
#define PHSEG2_4TQ 0x03
#define PHSEG2_3TQ 0x02
#define PHSEG2_2TQ 0x01
#define PHSEG2_1TQ 0x00
#define SOF_ENABLED 0x80
#define WAKFIL_ENABLED 0x40
#define WAKFIL_DISABLED 0x00
/*******************************************************************
* Control/Configuration Registers *
*******************************************************************/
/* CANINTE */
#define RX0IE_ENABLED 0x01
#define RX0IE_DISABLED 0x00
#define RX1IE_ENABLED 0x02
#define RX1IE_DISABLED 0x00
#define G_RXIE_ENABLED 0x03
#define G_RXIE_DISABLED 0x00
#define TX0IE_ENABLED 0x04
#define TX0IE_DISABLED 0x00
#define TX1IE_ENABLED 0x08
#define TX2IE_DISABLED 0x00
#define TX2IE_ENABLED 0x10
#define TX2IE_DISABLED 0x00
#define G_TXIE_ENABLED 0x1C
#define G_TXIE_DISABLED 0x00
#define ERRIE_ENABLED 0x20
#define ERRIE_DISABLED 0x00
#define WAKIE_ENABLED 0x40
#define WAKIE_DISABLED 0x00
#define IVRE_ENABLED 0x80
#define IVRE_DISABLED 0x00
/* CANINTF */
#define RX0IF_SET 0x01
#define RX0IF_RESET 0x00
#define RX1IF_SET 0x02
#define RX1IF_RESET 0x00
#define TX0IF_SET 0x04
#define TX0IF_RESET 0x00
#define TX1IF_SET 0x08
#define TX2IF_RESET 0x00
#define TX2IF_SET 0x10
#define TX2IF_RESET 0x00
#define ERRIF_SET 0x20
#define ERRIF_RESET 0x00
#define WAKIF_SET 0x40
#define WAKIF_RESET 0x00
#define IVRF_SET 0x80
#define IVRF_RESET 0x00
/* CANCTRL */
#define REQOP_CONFIG 0x80
#define REQOP_LISTEN 0x60
#define REQOP_LOOPBACK 0x40
#define REQOP_SLEEP 0x20
#define REQOP_NORMAL 0x00
#define ABORT 0x10
#define OSM_ENABLED 0x08
#define CLKOUT_ENABLED 0x04
#define CLKOUT_DISABLED 0x00
#define CLKOUT_PRE_8 0x03
#define CLKOUT_PRE_4 0x02
#define CLKOUT_PRE_2 0x01
#define CLKOUT_PRE_1 0x00
/* CANSTAT */
#define OPMODE_CONFIG 0x80
#define OPMODE_LISTEN 0x60
#define OPMODE_LOOPBACK 0x40
#define OPMODE_SLEEP 0x20
#define OPMODE_NORMAL 0x00
/* RXBnCTRL */
#define RXM_RCV_ALL 0x60
#define RXM_VALID_EXT 0x40
#define RXM_VALID_STD 0x20
#define RXM_VALID_ALL 0x00
#define RXRTR_REMOTE 0x08
#define RXRTR_NO_REMOTE 0x00
#define BUKT_ROLLOVER 0x04
#define BUKT_NO_ROLLOVER 0x00
#define FILHIT0_FLTR_1 0x01
#define FILHIT0_FLTR_0 0x00
#define FILHIT1_FLTR_5 0x05
#define FILHIT1_FLTR_4 0x04
#define FILHIT1_FLTR_3 0x03
#define FILHIT1_FLTR_2 0x02
#define FILHIT1_FLTR_1 0x01
#define FILHIT1_FLTR_0 0x00
/* TXBnCTRL */
#define TXREQ_SET 0x08
#define TXREQ_CLEAR 0x00
#define TXP_HIGHEST 0x03
#define TXP_INTER_HIGH 0x02
#define TXP_INTER_LOW 0x01
#define TXP_LOWEST 0x00
/*******************************************************************
* Register Bit Masks *
*******************************************************************/
#define DLC_0 0x00
#define DLC_1 0x01
#define DLC_2 0x02
#define DLC_3 0x03
#define DLC_4 0x04
#define DLC_5 0x05
#define DLC_6 0x06
#define DLC_7 0x07
#define DLC_8 0x08
/*******************************************************************
* CAN SPI commands *
*******************************************************************/
#define SPI_RESET 0xC0
#define SPI_READ 0x03
#define SPI_WRITE 0x02
#define SPI_RTS 0x80
#define SPI_RTS_TXB0 0x81
#define SPI_RTS_TXB1 0x82
#define SPI_RTS_TXB2 0x84
#define SPI_READ_STATUS 0xA0
#define SPI_BIT_MODIFY 0x05
#define SPI_RX_STATUS 0xB0
#define SPI_READ_RX 0x90
#define SPI_WRITE_TX 0X40
/*******************************************************************
* Miscellaneous *
*******************************************************************/
#define DUMMY_BYTE 0x00
#define TXB0 0x31
#define TXB1 0x41
#define TXB2 0x51
#define RXB0 0x61
#define RXB1 0x71
#define EXIDE_SET 0x08
#define EXIDE_RESET 0x00
/**************************************************************
* CAN Speed *
*************************************************************/
#define CAN_10Kbps 0x31
#define CAN_25Kbps 0x13
#define CAN_50Kbps 0x09
#define CAN_100Kbps 0x04
#define CAN_125Kbps 0x03
#define CAN_250Kbps 0x01
#define CAN_500Kbps 0x00
/*Frame Definition*/
typedef enum
{
CAN_STD=(unsigned char)(0x00),
CAN_RTR=(unsigned char)(0x40)
}CAN_FrameType_TypeDef;
typedef struct Frame_Strut
{
unsigned int SID;
unsigned char DLC;
CAN_FrameType_TypeDef Type;
}Frame_TypeDef;
/* Exported variables --------------------------------------------------------*/
extern unsigned char RXB0D[8];
extern unsigned char TXB0D[8];
/* Exported functions --------------------------------------------------------*/
void MCP2515_Init(void);
void MCP2515_Reset(void);
void MCP2515_BitModify(unsigned char Addr,unsigned char Mask,unsigned char Data);
void SendByte_MCP2515(unsigned char Addr,unsigned char Data);
unsigned char ReadByte_MCP2515(unsigned char Addr);
unsigned char SPI_CMD_MCP2515(unsigned char CMD);
void CAN_Send8bytes(unsigned char *CAN_TX_Buf);
void CAN_SendOneByte(unsigned char Data);
unsigned char CAN_Receive_onebyte(void);
void CAN_SendData(unsigned char *CAN_TX_Buf,Frame_TypeDef *Frame);
unsigned char CAN_ReceiveData(unsigned char *CAN_RX_Buf,Frame_TypeDef *Frame);
#endif