MCP2515/SIT2515 驱动_SIT2515 功能与MCP2515完全

带SPI接口的独立CAN控制器 SIT2515 功能与MCP2515完全一致
特点:
> 芯片功能与 MCP2515 完全一致
> 适用 CAN2.0B 1.0Mb/s 的速度
0-8 字节长度数据场
支持标准帧扩展帧和远程帧
> 接收缓存、掩码与过滤码
两个带有存储优先级的接收缓存器 6 个 29 位过滤码 2 个 29 位掩码
> 采用前两个字节的数据进行报文过滤
> 三个带有发送优先级和取消发送机制的 发送缓存器
> 高速 SPI 接口(10MHz) SPI0.0 和 1.1 模式
> 单次传输模式确保报文只发送一次
> 可编程的时钟预分频引脚
> 帧起始引脚可检测帧起始信号
> 带有中断使能的中断输出引脚
> 缓存满信号输出引脚可配置为
相应接收缓存器的满中断信号
常规输入引脚
> 提供绿色环保无铅封装
> 独立的请求发送信号引脚可配置为 相应发送缓存器的请求发送信号 常规输入引脚
> 低功耗的 CMOS 工艺 工艺从 2.7-5.5V 5mA 的动态电流(典型情况下) 1μA的静态电流(典型情况下)
> 支持温度范围 工业:-40℃-85℃
其他废话不多说,直接上代码

#ifndef __MCP2515_H
#define __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

/*******************************************************************
 *                  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	//使能单发模式,报文不会自动重发

/* RXBnCTRL */
#define BUKT            0x04		//如果RXB0满了,RXB0接收到的报文将被滚存到RXB1
//接收缓冲区工作模式
#define RxAllMode		(3<<5)		//关闭滤波功能,接收所有报文
#define RxFMExternMode	(2<<5)		//只接受符合条件的带有扩展标识符报文
#define RxFMStandMode	(1<<5)		//只接受符合条件的带有标准标识符报文
#define RxFMAllMode		(0<<5)		//接受符合条件的所有带有扩展标识符或带有标准标识符报文

/* TXBnDLC */
#define SIT2515_Tx_Standard_mode		(0<<3)
#define SIT2515_Tx_Exit_mode			(1<<3)
#define SIT2515_Tx_Data_Frame			(0<<6)
#define SIT2515_Tx_Remote_Frame			(1<<6)


/*******************************************************************
 *                    Bit Timing Configuration                     *
 *******************************************************************/
#define SJW_1TQ         0x00			
#define SJW_2TQ         0x01
#define SJW_3TQ         0x02
#define SJW_4TQ         0x03

#define PHSEG1_8TQ      0x07
#define PHSEG1_7TQ      0x06
#define PHSEG1_6TQ      0x05
#define PHSEG1_5TQ      0x04
#define PHSEG1_4TQ      0x03
#define PHSEG1_3TQ      0x02
#define PHSEG1_2TQ      0x01
#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

#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

/*******************************************************************
 *                  CAN SPI commands                               *
 *******************************************************************/
#define CAN_RESET       0xC0
#define CAN_READ        0x03
#define CAN_WRITE       0x02
#define CAN_RTS         0x80
#define CAN_RTS_TXB0    0x81
#define CAN_RTS_TXB1    0x82
#define CAN_RTS_TXB2    0x84
#define CAN_RD_STATUS   0xA0
#define CAN_BIT_MODIFY  0x05  
#define CAN_RX_STATUS   0xB0
#define CAN_RD_RX_BUFF  0x90
#define CAN_LOAD_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

typedef struct
{
	unsigned char brp		: 6;
	unsigned char sjw		: 2;
}can_cnf1_register_t;

typedef struct
{
	unsigned char prseg		: 3;
	unsigned char phseg1	: 3;
	unsigned char sam		: 1;
	unsigned char btlmode	: 1;
}can_cnf2_register_t;

typedef struct
{
	unsigned char phseg2	: 3;
	unsigned char revc		: 3;
	unsigned char wakfil	: 1;
	unsigned char sof		: 1;
}can_cnf3_register_t;

typedef struct
{
	can_cnf1_register_t cnf1;
	can_cnf2_register_t cnf2;
	can_cnf3_register_t cnf3;
}can_cnf_register_t;

typedef struct
{
	unsigned long StdId;
	unsigned long ExtId;
	unsigned char IDE;
	unsigned char RTR;
	unsigned char DLC;
	unsigned char Data[8];
}can_transmit_msg_t;


extern void sit2515_can_init(void);
extern int sit2515_can_transmit(can_transmit_msg_t* CanTxMessage);
extern int sit2515_can_receive(can_transmit_msg_t* CanTxMessage);
extern int sit2515_set_tx_mode(unsigned char mode);
extern int sit2515_set_speed(unsigned short speed);
extern int sit2515_set_standard_filter(unsigned short Mask,unsigned short Filter);
extern int sit2515_set_extern_filter(unsigned long Mask,unsigned long Filter);
extern void sit2515_irq_enable(void);
extern void sit2515_can_sleep(void);
extern void can_transceiver_to_run(void);
extern void can_transceiver_to_standby(void);

#endif


.C文件
//sit2515写一个字节
void sit2515_write_byte(unsigned char addr,unsigned char dat)
{
	CS_2515_LOW();
	spi_send_byte(CAN_WRITE);
	spi_send_byte(addr);
	spi_send_byte(dat);
	CS_2515_HIGH();
}

//sit2515读一个字节
unsigned char sit2515_read_byte(unsigned char addr)
{
	unsigned char temp = 0;
	CS_2515_LOW();
	spi_send_byte(CAN_READ);
	spi_send_byte(addr);
	temp=spi_read_byte();//读取数据
	CS_2515_HIGH();
	return temp ;
}

//复位
void sit2515_reset(void)
{
	CS_2515_LOW();
	spi_send_byte(CAN_RESET);
	CS_2515_HIGH();
	sleepms(100);
}

//检查是否进入配置模式
int sit2515_config_mode_check(void)
{
	unsigned char temp = 0 ;
	int i = 0;
	temp = sit2515_read_byte(CANSTAT);
	while((temp&REQOP_CONFIG) == 0)
	{
		sit2515_write_byte(CANCTRL,REQOP_CONFIG);		//MCP2515复位,进入配置模式
		sleepms(1);
		temp=sit2515_read_byte(CANSTAT);				//读取CAN状态寄存器的值
		if ((i++) >= 200){
			return false;
		}
	}
	return true; 
}

//设置发送模式
//REQOP_NORMAL  REQOP_LOOPBACK REQOP_LISTEN
int sit2515_set_tx_mode(unsigned char mode)
{
	unsigned char temp = 0;
	int i = 0;
	if((mode != REQOP_NORMAL) && (mode != REQOP_LISTEN) && (mode != REQOP_LOOPBACK))
		return false;
	if(sit2515_config_mode_check() != true){ 
		return false;
	}
	sit2515_write_byte(TXRTSCTRL, 0x00);//设置发送相关引脚控制寄存器,配置它们禁用第二功能
	do
	{
		//sit2515_write_byte(CANCTRL,mode|OSM_ENABLED);
		sit2515_write_byte(CANCTRL,mode);
		sleepms(1);
		temp=sit2515_read_byte(CANSTAT);//读取CAN状态寄存器的值    
	} while ((mode!=(temp&0xE0)) && ((i++) <= 200));
	if (i >= 200) {
		return false;
	}
	return true;
}

//设置波特率
int sit2515_set_speed(unsigned short speed)
{
	unsigned char *cnf;
	can_cnf_register_t can_cnf_register = {0};
	if(sit2515_config_mode_check() != true){ 
		return false;
	}
	switch (speed)
	{
		case 250:
			can_cnf_register.cnf1.brp = 0;
			can_cnf_register.cnf1.sjw = SJW_1TQ;
			can_cnf_register.cnf2.prseg = PRSEG_4TQ;
			can_cnf_register.cnf2.phseg1 = PHSEG1_8TQ;
			can_cnf_register.cnf2.sam = 0;
			can_cnf_register.cnf2.btlmode = 1;
			can_cnf_register.cnf3.phseg2 = PHSEG2_3TQ;
			can_cnf_register.cnf3.wakfil = 0;
			can_cnf_register.cnf3.sof = 0;
			break;
		case 500:
			can_cnf_register.cnf1.brp = 0;
			can_cnf_register.cnf1.sjw = SJW_1TQ;
			can_cnf_register.cnf2.prseg = PRSEG_1TQ;
			can_cnf_register.cnf2.phseg1 = PHSEG1_3TQ;
			can_cnf_register.cnf2.sam = 0;
			can_cnf_register.cnf2.btlmode = 1;
			can_cnf_register.cnf3.phseg2 = PHSEG2_3TQ;
			can_cnf_register.cnf3.wakfil = 0;
			can_cnf_register.cnf3.sof = 0;
			break;
	}
	
	cnf = (unsigned char *)&can_cnf_register.cnf1;
	sit2515_write_byte(CNF1, *cnf);
	cnf = (unsigned char *)&can_cnf_register.cnf2;
	sit2515_write_byte(CNF2, *cnf);
	cnf = (unsigned char *)&can_cnf_register.cnf3;
	sit2515_write_byte(CNF3, *cnf);
	return true;
}


//设置接收模式
//RxAllMode RxFMExternMode RxFMStandMode RxFMAllMode
int sit2515_set_rx_mode(unsigned char mode)
{
	if(sit2515_config_mode_check() != true){ 
		return false;
	}
	sit2515_write_byte(BFPCTRL, 0x00); // 当有接收报文时,引脚/RX0BF 不产生中断信号
	sit2515_write_byte(RXB0DLC, 0x08); // 设置RX size
	sit2515_write_byte(RXB1DLC, 0x08); // 设置RX size
	sit2515_write_byte(RXB0CTRL, mode|BUKT);
	sit2515_write_byte(RXB1CTRL, mode);
	return true;
}
/*******************************************************************************
      Mask       Filter       ID         RecviveState
       0           X           X             OK
       1           0           0             OK
       1           0           1             NO
       1           1           0             NO
       1           1           1             OK
********************************************************************************/
//设置标准帧过滤
int sit2515_set_standard_filter(unsigned short Mask,unsigned short Filter) 
{
	if(sit2515_config_mode_check() != true){ 
		return false;
	}
	sit2515_write_byte(RXF0SIDH,Filter>>3);
	sit2515_write_byte(RXF0SIDL,(Filter<<5)|(0<<3));
	sit2515_write_byte(RXM0SIDH,Mask>>3);
	sit2515_write_byte(RXM0SIDL,Mask<<5);
	return true;
}

//设置扩展帧过滤
int sit2515_set_extern_filter(unsigned long Mask,unsigned long Filter)
{
	unsigned char RxFxLow = 0,RxMxLow = 0 ;
	if(sit2515_config_mode_check() != true){ 
		return false;
	}
	//29位屏蔽滤波器
	sit2515_write_byte(RXF0EID8,Filter>>19);
	sit2515_write_byte(RXF0EID0,Filter>>11);
	sit2515_write_byte(RXF0SIDH,Filter>>3);
	RxFxLow = Filter>>27;
	RxFxLow |= (Filter<<5)|(1<<3);
	sit2515_write_byte(RXF0SIDL,RxFxLow);
	sit2515_write_byte(RXM0EID8,Mask>>19);
	sit2515_write_byte(RXM0EID0,Mask>>11);
	sit2515_write_byte(RXM0SIDH,Mask>>3);
	RxMxLow = Mask>>27;
	RxMxLow |= Mask<<5;
	sit2515_write_byte(RXM0SIDL,RxMxLow);
	return true;
}

void sit2515_irq_enable(void)
{
	sit2515_write_byte(CANINTF,RX0IF_RESET);//清空中断标志位
	sit2515_write_byte(CANINTE,G_RXIE_ENABLED);//接收缓冲器0 1满中断使能位
	sit2515_set_rx_mode(RxFMAllMode);
}
//发送CAN帧
int sit2515_can_transmit(can_transmit_msg_t* CanTxMessage)
{
	int64_t dly = 0 ;
	unsigned char j = 0 ;
	unsigned char count = 0 ;
	unsigned char TXBnCTRL = 0 ;
	unsigned char TXBnSIDH = 0 ;
	unsigned char TXBnSIDL = 0 ;
	unsigned char TXBnEID8 = 0 ;
	unsigned char TXBnEID0 = 0 ;
	unsigned char TXBnDLC = 0 ;
	unsigned char TXBnD0 = 0 ;

	unsigned char temp = 0 ;
	temp = sit2515_read_byte(CANSTAT);//配置模式、监听模式、休眠模式不允许发送
	if(((temp&REQOP_CONFIG) != 0) || ((temp&REQOP_LISTEN) != 0) || ((temp&REQOP_SLEEP) != 0)){ 
		return false;
	}
	dly = get_ms();
	while (get_ms() - dly <=100)
	{
		if ((sit2515_read_byte(TXB0CTRL)&0x08) == 0){
			TXBnCTRL = TXB0CTRL;
			TXBnSIDH = TXB0SIDH;
			TXBnSIDL = TXB0SIDL;
			TXBnEID8 = TXB0EID8;
			TXBnEID0 = TXB0EID0;
			TXBnDLC = TXB0DLC;
			TXBnD0 = TXB0D0;
			break ;
		} else if ((sit2515_read_byte(TXB1CTRL)&0x08) == 0){
			TXBnCTRL = TXB1CTRL;
			TXBnSIDH = TXB1SIDH;
			TXBnSIDL = TXB1SIDL;
			TXBnEID8 = TXB1EID8;
			TXBnEID0 = TXB1EID0;
			TXBnDLC = TXB1DLC;
			TXBnD0 = TXB1D0;
			break ;
		} else if ((sit2515_read_byte(TXB2CTRL)&0x08) == 0){
			TXBnCTRL = TXB2CTRL;
			TXBnSIDH = TXB2SIDH;
			TXBnSIDL = TXB2SIDL;
			TXBnEID8 = TXB2EID8;
			TXBnEID0 = TXB2EID0;
			TXBnDLC = TXB2DLC;
			TXBnD0 = TXB2D0;
			break ;
		}
		sleepms(1);
	}
	if (TXBnCTRL == 0){ 
		return false;
	}
	if (CanTxMessage->IDE == CAN_Id_Standard)   //标准帧
	{
		if (CanTxMessage->StdId > 0x7FF)	
			return false;				//ID限制
		//ID设置 标准帧-扩展帧
		sit2515_write_byte(TXBnSIDH, CanTxMessage->StdId >> 3);//设置发送缓冲器0的标准标识符
		sit2515_write_byte(TXBnSIDL, ((CanTxMessage->StdId << 5) | SIT2515_Tx_Standard_mode));//用到标准标识符	
		//远程请求帧
		if (CanTxMessage->RTR == 1) 
			sit2515_write_byte(TXBnDLC, CanTxMessage->DLC | SIT2515_Tx_Remote_Frame);//将本帧待发送的数据长度写入发送缓冲器0的发送长度寄存器
		//数据帧
		else if (CanTxMessage->RTR == 0)
		{
			for (j = 0;j < CanTxMessage->DLC;j++)//数据填充
			{
				sit2515_write_byte(TXBnD0+j, CanTxMessage->Data[count++]);//将待发送的数据写入发送缓冲寄存器
				if(count >= CanTxMessage->DLC) 
					break;
			}
			sit2515_write_byte(TXBnDLC,CanTxMessage->DLC | SIT2515_Tx_Data_Frame);//将本帧待发送的数据长度写入发送缓冲器0的发送长度寄存器
		}
	}
	else if (CanTxMessage->IDE == CAN_Id_Extended) //扩展帧
	{
		unsigned char HSID,LSID;
		unsigned char HEID,LEID;
		HSID = (unsigned char)( CanTxMessage->ExtId >> 21);  
		LSID = (unsigned char)((( CanTxMessage->ExtId >> 13) & 0xE0) | (0x08) | (( CanTxMessage->ExtId >> 16) & 0x03)); 
		HEID = (unsigned char)( CanTxMessage->ExtId >> 8);  
		LEID = (unsigned char)( CanTxMessage->ExtId); 			
		sit2515_write_byte(TXBnSIDH,HSID); 
		sit2515_write_byte(TXBnSIDL,LSID);
		sit2515_write_byte(TXBnEID8,HEID); 
		sit2515_write_byte(TXBnEID0,LEID);		
		if (CanTxMessage->RTR == 1) //远程请求帧
			sit2515_write_byte(TXBnDLC,CanTxMessage->DLC | SIT2515_Tx_Remote_Frame);//将本帧待发送的数据长度写入发送缓冲器0的发送长度寄存器
		else if (CanTxMessage->RTR == 0)
		{
			for (j = 0; j < CanTxMessage->DLC;j++)//数据填充
			{
				sit2515_write_byte(TXBnD0+j, CanTxMessage->Data[count++]);//将待发送的数据写入发送缓冲寄存器
				if(count >= CanTxMessage->DLC) 
					break;
			}
			sit2515_write_byte(TXBnDLC, CanTxMessage->DLC | SIT2515_Tx_Data_Frame);//将本帧待发送的数据长度写入发送缓冲器0的发送长度寄存器
		}
	}
	sit2515_write_byte(TXBnCTRL, 0x08);//请求发送报文
	dly = get_ms();
	while (get_ms() - dly <= 500)
	{
		if ((sit2515_read_byte(TXBnCTRL) & 0x08) == 0)
			return true;
		sleepms(1);
	}
	return false;
}

//接收消息
int sit2515_can_receive(can_transmit_msg_t* CanRxMessage)
{
	unsigned char temp = 0 ;
	unsigned char i = 0 ;
	unsigned char len = 0 ;
	unsigned char dat1=0,dat2=0,dat3=0,dat4=0;
	unsigned char read_reg = 0;
	temp = sit2515_read_byte(CANSTAT);//配置模式、休眠模式时RXB各寄存器数据无效,不允许读
	if(((temp&REQOP_CONFIG) != 0) || ((temp&REQOP_SLEEP) != 0)){ 
		return false;
	}
	temp = sit2515_read_byte(CANINTF);
	if (temp & 0x01){
		dat1 = sit2515_read_byte(RXB0SIDH);
		dat2 = sit2515_read_byte(RXB0SIDL);
		dat3 = sit2515_read_byte(RXB0EID8);
		dat4 = sit2515_read_byte(RXB0EID0);     
		len = sit2515_read_byte(RXB0DLC);//读取接收缓冲器0接收到的数据长度(0~8个字节)
		read_reg = RXB0D0;
		temp = temp &0xFE;
	} else if (temp & 0x02){
		dat1 = sit2515_read_byte(RXB1SIDH);
		dat2 = sit2515_read_byte(RXB1SIDL);
		dat3 = sit2515_read_byte(RXB1EID8);
		dat4 = sit2515_read_byte(RXB1EID0);     
		len = sit2515_read_byte(RXB1DLC);//读取接收缓冲器1接收到的数据长度(0~8个字节)
		read_reg = RXB1D0;
		temp = temp &0xFD;
	} else {
		return false;
	}
	if (((dat2 >> 3) & 0x01) == 1)
		CanRxMessage->IDE = CAN_Id_Extended;		//扩展帧
	else 
		CanRxMessage->IDE = CAN_Id_Standard;		//标准帧

	if (CanRxMessage->IDE == CAN_Id_Extended){
		CanRxMessage->ExtId = (((dat1>>3)&0x1F)<<24)|(((dat1&0x07)<<5)|((dat2&0xE0)>>3)|(dat2&0x03))<<16|dat3<<8|dat4;
		if (((len >> 6) & 0x01) == 0x01)	
			CanRxMessage->RTR = 1;						//扩展标识符 远程帧
		else 
			CanRxMessage->RTR = 0;						//扩展标识符 数据帧
	} else {
		CanRxMessage->StdId = (dat1 << 3) | (dat2 >> 5);//标准ID
		if (((dat2 >> 4) & 0x01 ) == 1)	
			CanRxMessage->RTR = 1;						//接收到标准 远程帧
		else 
			CanRxMessage->RTR = 0;						//接收到标准 数据帧
	}
	CanRxMessage->DLC = len & 0x0F;						//获取数据长度
	for (i = 0;i < CanRxMessage->DLC; i++)						//读取数据
		CanRxMessage->Data[i] = sit2515_read_byte(read_reg+i);//把CAN接收到的数据放入指定缓冲区
	sit2515_write_byte(CANINTF,temp);//清除中断标志位(中断标志寄存器必须由MCU清零)
	return true;
}

void sit2515_can_init(void)
{
	unsigned char temp = 0 ;
	int i = 0;
	spi_init();
	sit2515_reset();
	temp = sit2515_read_byte(CANSTAT);
	while((temp&REQOP_CONFIG) == 0)
	{
		if ((temp&REQOP_SLEEP) != 0){
			sit2515_write_byte(CANINTF,WAKIF_SET);
			sit2515_write_byte(CANINTE,WAKIE_ENABLED);
		}
		sit2515_write_byte(CANCTRL,REQOP_CONFIG);
		sleepms(1);
		temp=sit2515_read_byte(CANSTAT);
		if ((i++) >= 1000){
			break;
		}
	}
	sit2515_write_byte(CANINTF,RX0IF_RESET);
	sit2515_write_byte(CANINTE,RX0IE_DISABLED);
}

void sit2515_can_sleep(void)
{
	unsigned char temp = 0 ;
	int i = 0;
	sit2515_write_byte(CANCTRL,REQOP_SLEEP);
	temp = sit2515_read_byte(CANSTAT);
	while((temp&REQOP_SLEEP) == 0)
	{
		sleepms(1);
		temp=sit2515_read_byte(CANSTAT);
		if ((i++) >= 1000){
			break;
		}
	}
}



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