www.pudn.com > armexamples.rar > mcp2510.c

/* 
 * mcp2510.c 
 * Common Function Definition for mcp2510 CAN Controller 
 * Date	: 2004/04/29 
 * By	: Zhang Jing 
 */ 
 
#define	MCP2510_FLAG 
#include	"mcp2510.h" 
#include	"spi_cmd.h" 
#include    "spi.h" 
 
/* Initialize the mcp2510 */ 
void MCP2510_Init( void ) 
{ 
	// Configure the SPI Interface in MX1 
	SPI_Init( );  
	// Configure the mcp2510 through spi interface 
 
	// Reset controller 
	CAN_SPI_CMD( SPI_CMD_RESET, ARG_UNUSED, ARG_UNUSED, ARG_UNUSED ); 
	 
	CAN_SPI_CMD( SPI_CMD_BITMOD, TOLONG(&(MCP2510_MAP->CANCTRL)), 0xe0, 0x80 );		// LOOP BACK MODE 
	 
	// make sure we are in configuration mode 
	while( (CAN_SPI_CMD( SPI_CMD_READ, TOLONG(&(MCP2510_MAP->CANSTAT)), ARG_UNUSED, ARG_UNUSED )>>5)!=0x04 ); 
	// start configuration 
	CAN_SPI_CMD( SPI_CMD_WRITE, TOLONG(&(MCP2510_MAP->BFPCTRL)), 	BFPCTRL_INIT_VAL, 	ARG_UNUSED); 
	CAN_SPI_CMD( SPI_CMD_WRITE, TOLONG(&(MCP2510_MAP->TXRTSCTRL)), 	TXRTSCTRL_INIT_VAL, ARG_UNUSED); 
	CAN_SPI_CMD( SPI_CMD_WRITE, TOLONG(&(MCP2510_MAP->CNF3)), 		CNF3_INIT_VAL, 		ARG_UNUSED); 
	CAN_SPI_CMD( SPI_CMD_WRITE, TOLONG(&(MCP2510_MAP->CNF2)), 		CNF2_INIT_VAL, 		ARG_UNUSED); 
	CAN_SPI_CMD( SPI_CMD_WRITE, TOLONG(&(MCP2510_MAP->CNF1)),		CNF1_INIT_VAL, 		ARG_UNUSED); 
	CAN_SPI_CMD( SPI_CMD_WRITE, TOLONG(&(MCP2510_MAP->CANINTE)),	CANINTE_INIT_VAL, 	ARG_UNUSED); 
	CAN_SPI_CMD( SPI_CMD_WRITE, TOLONG(&(MCP2510_MAP->CANINTF)), 	CANINTF_INIT_VAL, 	ARG_UNUSED); 
	CAN_SPI_CMD( SPI_CMD_WRITE, TOLONG(&(MCP2510_MAP->EFLG)), 		EFLG_INIT_VAL, 		ARG_UNUSED); 
	CAN_SPI_CMD( SPI_CMD_WRITE, TOLONG(&(MCP2510_MAP->TXB0CTRL)), 	TXBnCTRL_INIT_VAL, 	ARG_UNUSED); 
	CAN_SPI_CMD( SPI_CMD_WRITE, TOLONG(&(MCP2510_MAP->TXB1CTRL)), 	TXBnCTRL_INIT_VAL, 	ARG_UNUSED); 
	CAN_SPI_CMD( SPI_CMD_WRITE, TOLONG(&(MCP2510_MAP->TXB2CTRL)), 	TXBnCTRL_INIT_VAL, 	ARG_UNUSED); 
	CAN_SPI_CMD( SPI_CMD_WRITE, TOLONG(&(MCP2510_MAP->RXB0CTRL)), 	RXB1CTRL_INIT_VAL, 	ARG_UNUSED); 
	CAN_SPI_CMD( SPI_CMD_WRITE, TOLONG(&(MCP2510_MAP->RXB1CTRL)), 	RXB1CTRL_INIT_VAL, 	ARG_UNUSED); 
	 
	// switch to normal mode or loopback mode ( for testing) 
	//CAN_SPI_CMD( SPI_CMD_BITMOD, TOLONG(&(MCP2510_MAP->CANCTRL)), 0xe0, 0x40 );		// LOOP BACK MODE 
	CAN_SPI_CMD( SPI_CMD_BITMOD, TOLONG(&(MCP2510_MAP->CANCTRL)), 0xe0, 0x00 );	// NORMAL OPERATION MODE 
	 
	// Flush the MX1 SPI receive buffer 
	 
	CAN_SPI_CMD( SPI_CMD_READ, TOLONG(&(MCP2510_MAP->CANSTAT)), ARG_UNUSED, ARG_UNUSED ); 
} 
/* Transmit data */ 
/* 
 TxBuf	: select the transmit buffer( 0=buffer0 or 1=buffer1 2=buffer2 ) 
 IdType	: 0=standard id or 1=extended id 
 id	: frame identifier 
 DataLen	: the number of byte 
 data	: the pointer to data byte 
*/ 
void MCP2510_TX( int TxBuf, int IdType, unsigned int id, int DataLen, char * data ) 
{ 
	int i, offset; 
 
	switch( TxBuf ){ 
		case TXBUF0: 
			offset = 0; 
			break; 
		case TXBUF1: 
			offset = 0x10; 
			break; 
		case TXBUF2: 
			offset = 0x20; 
			break; 
	} 
	// Set the frame identifier 
	if( IdType==STANDID ){ 
		CAN_SPI_CMD( SPI_CMD_WRITE, TOLONG(&(MCP2510_MAP->TXB0SIDL))+offset, (id&0x7)<<5, ARG_UNUSED ); 
		CAN_SPI_CMD( SPI_CMD_WRITE, TOLONG(&(MCP2510_MAP->TXB0SIDH))+offset, (id>>3)&0xff, ARG_UNUSED ); 
	}else if( IdType==EXTID ){ 
		CAN_SPI_CMD( SPI_CMD_WRITE, TOLONG(&(MCP2510_MAP->TXB0EID0))+offset, id&0xff, ARG_UNUSED ); 
		CAN_SPI_CMD( SPI_CMD_WRITE, TOLONG(&(MCP2510_MAP->TXB0EID8))+offset, (id>>8)&0xff, ARG_UNUSED );			CAN_SPI_CMD( SPI_CMD_WRITE, TOLONG(&(MCP2510_MAP->TXB0SIDL)), ((id>>16)&0x3)|0x08, ARG_UNUSED ); 
	} 
	// Set the data length 
	CAN_SPI_CMD( SPI_CMD_WRITE, TOLONG(&(MCP2510_MAP->TXB0DLC))+offset, DataLen, ARG_UNUSED ); 
	// fill the data 
	if( DataLen>8 ) 
		DataLen = 8; 
	for( i=0; iTXB0D0))+offset+i, data[i], ARG_UNUSED ); 
	} 
	// initiate transmit 
	while( CAN_SPI_CMD( SPI_CMD_READ, TOLONG(&(MCP2510_MAP->TXB0CTRL))+offset, ARG_UNUSED, ARG_UNUSED )&0x08 ); 
	CAN_SPI_CMD( SPI_CMD_BITMOD, TOLONG(&(MCP2510_MAP->TXB0CTRL))+offset, 0x08, 0x08 ); 
} 
 
/* Receive data */ 
/* 
 * RxBuf		: The receive buffer from which the data is get 
 * IdType		: Identifier type of the data frame ( STANDID, EXTID ) 
 * id		: The identifier of the received frame 
 * DataLen	: The number of bytes received 
 * data		: The received data 
 */ 
void MCP2510_RX( int RxBuf, int *IdType, unsigned int *id, int *DataLen, char *data ) 
{ 
	unsigned int flag; 
	int offset, i; 
	 
	switch( RxBuf ){ 
		case RXBUF0: 
			flag = 0x1; 
			offset = 0x00; 
			break; 
		case RXBUF1: 
			flag = 0x2; 
			offset = 0x10; 
			break; 
	} 
	// wait for a frame to com 
	while( !(CAN_SPI_CMD( SPI_CMD_READ, TOLONG(&(MCP2510_MAP->CANINTF)), ARG_UNUSED, ARG_UNUSED )&flag) ); 
	// Get the identifier 
	if( CAN_SPI_CMD( SPI_CMD_READ, TOLONG(&(MCP2510_MAP->RXB0SIDL))+offset, ARG_UNUSED, ARG_UNUSED )&0x08 ){ 
		// Extended identifier 
		if( IdType ) 
			*IdType = EXTID; 
		if( id ){ 
			*id = (CAN_SPI_CMD( SPI_CMD_READ, TOLONG(&(MCP2510_MAP->RXB0SIDL))+offset, ARG_UNUSED, ARG_UNUSED )&0x3)<<16; 
			*id |= (CAN_SPI_CMD( SPI_CMD_READ, TOLONG(&(MCP2510_MAP->RXB0EID8))+offset, ARG_UNUSED, ARG_UNUSED ))<<8; 
			*id |= (CAN_SPI_CMD( SPI_CMD_READ, TOLONG(&(MCP2510_MAP->RXB0EID0))+offset, ARG_UNUSED, ARG_UNUSED )); 
		} 
	}else{ 
		// Standard identifier 
		if( IdType ) 
			*IdType = STANDID; 
		if( id ){ 
			*id = (CAN_SPI_CMD( SPI_CMD_READ, TOLONG(&(MCP2510_MAP->RXB0SIDH))+offset, ARG_UNUSED, ARG_UNUSED ))<<3; 
			*id |= (CAN_SPI_CMD( SPI_CMD_READ, TOLONG(&(MCP2510_MAP->RXB0SIDL))+offset, ARG_UNUSED, ARG_UNUSED ))>>5; 
		} 
	} 
	// Get the data frame lenth 
	if( DataLen ) 
		*DataLen = (CAN_SPI_CMD( SPI_CMD_READ, TOLONG(&(MCP2510_MAP->RXB0DLC))+offset, ARG_UNUSED, ARG_UNUSED )&0xf); 
	// Get the data 
	for( i=0; DataLen&&(i<*DataLen)&&data; i++ ){ 
		data[i] = CAN_SPI_CMD( SPI_CMD_READ, TOLONG(&(MCP2510_MAP->RXB0D0))+offset+i, ARG_UNUSED, ARG_UNUSED ); 
	} 
	// clear the receive int flag 
	CAN_SPI_CMD( SPI_CMD_BITMOD, TOLONG(&(MCP2510_MAP->CANINTF)), flag, 0x00 ); 
	 
}