#include
#include
#include
#include "mcp2515_new.h"
#include "MCP2515.h"
#define MCP2515_CS 8
unsigned char SPI_ReadByte(void)
{
return bcm2835_spi_transfer(0xFF);
}
void SPI_SendByte(unsigned char dt)
{
bcm2835_spi_transfer(dt);
}
void MCP2515_WriteByte(unsigned char addr,unsigned char dat)
{
bcm2835_gpio_write(MCP2515_CS,LOW);//置MCP2515的CS为低电平
SPI_SendByte(CAN_WRITE); //发送写命令
SPI_SendByte(addr); //发送地址
SPI_SendByte(dat); //写入数据
bcm2835_gpio_write(MCP2515_CS,HIGH);//置MCP2515的CS为高电平
}
unsigned char MCP2515_ReadByte(unsigned char addr)
{
unsigned char rByte;
bcm2835_gpio_write(MCP2515_CS,LOW); //置MCP2515的CS为低电平
SPI_SendByte(CAN_READ); //发送读命令
SPI_SendByte(addr); //发送地址
rByte=SPI_ReadByte(); //读取数据
bcm2835_gpio_write(MCP2515_CS,HIGH); //置MCP2515的CS为高电平
return rByte; //返回读到的一个字节数据
}
void MCP2515_Reset(void)
{
bcm2835_gpio_write(MCP2515_CS,LOW); //置MCP2515的CS为低电平
SPI_SendByte(CAN_RESET); //发送寄存器复位命令
bcm2835_gpio_write(MCP2515_CS,HIGH); //置MCP2515的CS为高电平
}
int MCP2515_Init(void)
{
unsigned char temp=0;
if (!bcm2835_init())
{
printf("bcm2835_init failed. Are you running as root??\n");
return 1;
}
if (!bcm2835_spi_begin())
{
printf("bcm2835_spi_begin failedg. Are you running as root??\n");
return 1;
}
bcm2835_spi_setBitOrder(BCM2835_SPI_BIT_ORDER_MSBFIRST); // The default
bcm2835_spi_setDataMode(BCM2835_SPI_MODE0); // The default 上跳沿或下跳沿的选择
bcm2835_spi_setClockDivider(BCM2835_SPI_CLOCK_DIVIDER_65536); // The default 时钟速率
bcm2835_spi_chipSelect(BCM2835_SPI_CS0); // The default 片选信号
bcm2835_spi_setChipSelectPolarity(BCM2835_SPI_CS0, LOW); // the default
bcm2835_gpio_fsel(MCP2515_CS, BCM2835_GPIO_FSEL_OUTP);
MCP2515_Reset(); //发送复位指令软件复位MCP2515
bcm2835_delay(5);
//设置波特率为125Kbps
//set CNF1,SJW=00,长度为1TQ,BRP=49,TQ=[2*(BRP+1)]/Fsoc=2*50/8M=12.5us
MCP2515_WriteByte(CNF1,CAN_500Kbps);
//set CNF2,SAM=0,在采样点对总线进行一次采样,PHSEG1=(2+1)TQ=3TQ,PRSEG=(0+1)TQ=1TQ
MCP2515_WriteByte(CNF2,0x80|PHSEG1_3TQ|PRSEG_1TQ);
//set CNF3,PHSEG2=(2+1)TQ=3TQ,同时当CANCTRL.CLKEN=1时设定CLKOUT引脚为时间输出使能位
MCP2515_WriteByte(CNF3,PHSEG2_3TQ);
// MCP2515_WriteByte(TXB0SIDH,0x09);//发送缓冲器0标准标识符高位
// MCP2515_WriteByte(TXB0SIDL,0x20);//发送缓冲器0标准标识符低位
MCP2515_WriteByte(RXB0SIDH,0x00);//清空接收缓冲器0的标准标识符高位
MCP2515_WriteByte(RXB0SIDL,0x00);//清空接收缓冲器0的标准标识符低位
MCP2515_WriteByte(RXB0CTRL,0x20);//仅仅接收标准标识符的有效信息
MCP2515_WriteByte(RXB0DLC,DLC_8);//设置接收数据的长度为8个字节
MCP2515_WriteByte(RXF0SIDH,0x00);//配置验收滤波寄存器n标准标识符高位
MCP2515_WriteByte(RXF0SIDL,0x00);//配置验收滤波寄存器n标准标识符低位
MCP2515_WriteByte(RXM0SIDH,0x00);//配置验收屏蔽寄存器n标准标识符高位
MCP2515_WriteByte(RXM0SIDL,0x00);//配置验收屏蔽寄存器n标准标识符低位
MCP2515_WriteByte(CANINTF,0x00);//清空CAN中断标志寄存器的所有位(必须由MCU清空)
MCP2515_WriteByte(CANINTE,0x01);//配置CAN中断使能寄存器的接收缓冲器0满中断使能,其它位禁止中断
MCP2515_WriteByte(CANCTRL,REQOP_NORMAL|CLKOUT_ENABLED);//将MCP2515设置为环回模式REQOP_LOOPBACK,退出配置模式;normal module:REQOP_NORMAL
temp=MCP2515_ReadByte(CANSTAT);//读取CAN状态寄存器的值
if(OPMODE_NORMAL!=(temp&&0xE0))//判断MCP2515是否已经进入环回模式
{
MCP2515_WriteByte(CANCTRL,REQOP_NORMAL|CLKOUT_ENABLED);//再次将MCP2515设置为正常模式,退出配置模式
}
return 0;
}
void MCP2515_End(void)
{
bcm2835_spi_end();
bcm2835_close();
}
void CAN_Send_Buffer(unsigned char *CAN_TX_Buf,unsigned char len, unsigned char msgID)
{
unsigned char j,dly,count;
count=0;
MCP2515_WriteByte(TXB0SIDH, (msgID>>3)&0x1F);
MCP2515_WriteByte(TXB0SIDL, (msgID<<5)&0xE0);
while(count
{
dly=0;
while((MCP2515_ReadByte(TXB0CTRL)&0x08) && (dly<50))//快速读某些状态指令,等待TXREQ标志清零
{
bcm2835_delay(1);//通过软件延时约nms(不准确)
dly++;
}
for(j=0;j<8;)
{
MCP2515_WriteByte(TXB0D0+j,CAN_TX_Buf[count++]);//将待发送的数据写入发送缓冲寄存器
j++;
if(count>=len) break;
}
MCP2515_WriteByte(TXB0DLC,j);//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
bcm2835_gpio_write(MCP2515_CS,LOW);
MCP2515_WriteByte(TXB0CTRL,0x08);//请求发送报文
bcm2835_gpio_write(MCP2515_CS,HIGH);
}
}
unsigned char CAN_Receive_Buffer(unsigned char *CAN_RX_Buf)
{
unsigned char i=0,len=0,temp=0;
temp = MCP2515_ReadByte(CANINTF);
if(temp & 0x01)
{
len=MCP2515_ReadByte(RXB0DLC);//读取接收缓冲器0接收到的数据长度(0~8个字节)
while(i
{
CAN_RX_Buf[i]=MCP2515_ReadByte(RXB0D0+i);//把CAN接收到的数据放入指定缓冲区
i++;
}
CAN_RX_Buf[i]=(((MCP2515_ReadByte(RXB0SIDH))<<3) | ((MCP2515_ReadByte(RXB0SIDL))>>5));
}
MCP2515_WriteByte(CANINTF,0);//清除中断标志位(中断标志寄存器必须由MCU清零)
return len;
}