树莓派有can通信吗_基于树莓派的can总线MCP2515驱动源程序(波形很好)

#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

#define SCK 14

#define SI 12

#define SO 13

#define CS 10   //CE0

#define INTIN 3

#define RST 4

#define TXREQ_M 0b11110111

#define CH 0

#include "MCP2515.h"

#include "bcm2835.h"

#include

#include

#include

#include

//#include

//采用bcm2835spi

void MCP2515_WriteByte(unsigned char addr,unsigned char dat)

{

unsigned char buf = CAN_WRITE;

unsigned char spiDat[] = {CAN_WRITE,addr,dat};

digitalWrite(CS,LOW);                        //置MCP2515的CS为低电平

bcm2835_spi_transfern(spiDat,3);

digitalWrite(CS,HIGH);                                //置MCP2515的CS为高电平

}

unsigned char MCP2515_ReadByte(unsigned char addr)

{

unsigned char rByte = 0;

unsigned char spiDat[] = {CAN_READ,addr,0xff};

digitalWrite(CS,LOW);                                //置MCP2515的CS为低电平

bcm2835_spi_transfern(spiDat,3);

digitalWrite(CS,HIGH);                        //置MCP2515的CS为高电平

rByte = spiDat[2];

return rByte;                                //返回读到的一个字节数据

}

void MCP2515_Reset(void)

{

digitalWrite(RST,LOW);

delay(100);

digitalWrite(RST,HIGH);

delay(100);

}

//void IntHandle()