/*
* @file mcp2515.h * @author TanQi * @version V1.0.0 * @date 2022-1-20 * @brief Header for mcp2515.c module *//* Define to prevent recursive inclusion -------------------------------------*/#ifndef __MCP2515_H#define __MCP2515_H/* Includes ------------------------------------------------------------------*/#include "board.h"/* Exported types ------------------------------------------------------------*//* Exported constants --------------------------------------------------------*//* Exported macro ------------------------------------------------------------*//* Exported functions ------------------------------------------------------- */void MCP2515_Init(void);void MCP2515_Poll(void);void MCP2515_Poll_1ms(void);void MCP2515_Reset(void);void MCP2515_Read(uint8_t addr, uint8_t count, uint8_t * ptr);void MCP2515_ReadRxBuf(uint8_t buf, uint8_t count, uint8_t * ptr);void MCP2515_Write(uint8_t addr, uint8_t count, uint8_t * ptr);void MCP2515_LoadTxBuf(uint8_t buf, uint8_t count, uint8_t * ptr);void MCP2515_LoadTxDLC(uint8_t buf,uint8_t DLC);void MCP2515_RTS(uint8_t txb);uint8_t MCP2515_ReadStatus(void);uint8_t MCP2515_RxStatus(void);void MCP2515_BitModfye(uint8_t addr, uint8_t mask, uint8_t data);void MCP2515_SetTxPriority(uint8_t txb, uint8_t priority);void MCP2515_InitiateTx(uint8_t txb);void MCP2515_SetRxMode(uint8_t rxb,uint8_t mode);void MCP2515_BitTimingConfig(void);void MCP2515_InterruptConfig(uint8_t bit_mask, uint8_t enable);void MCP2515_LoadTxSID(uint8_t txb, uint32_t sid);void MCP2515_LoadRxf(uint8_t rxf, uint32_t sid);void MCP2515_LoadRxm(uint8_t rxm, uint32_t mask);uint8_t MCP2515_ReadICOD(void);void MCP2515_LoopBackMode(void);void MCP2515_NormalOpMode(void);#endif /* __MCP2515_H *//* * @file mcp2515.c * @author TanQi * @version V1.0.0 * @date 2022-1-20 * @brief mcp2515 driver */#include "board.h"#include "mcp2515.h"#define RESET 0xc0 // 0b11000000#define READ 0x03 // 0b00000011#define READ_RX_BUF 0x90 // 0b10010nm0#define WRITE 0x02 // 0b00000010#define LOAD_TX_BUF 0x40 // 0b01000abc#define RTS 0x80 // 0b10000nnn#define READ_STATUS 0xa0 // 0b10100000#define RX_STATUS 0xb0 // 0b10110000#define BIT_MODIFY 0x05 // 0b00000101void SPI_WriteByte(uint8_t byte){ // MSB first,rising edge clock in data uint8_t i; for(i = 0;i < 8;i++) { if(byte & (1<<7)) { BOARD_SPI2_MOSI_SET(); } else { BOARD_SPI2_MOSI_RESET(); } byte <<= 1; BOARD_SPI2_SCK_SET(); BOARD_SPI2_SCK_SET(); BOARD_SPI2_SCK_RESET(); BOARD_SPI2_SCK_RESET(); }}uint8_t SPI_ReadByte(void){ // MSB first,falling edge clock out data uint8_t i; uint8_t byte = 0; for(i = 0;i < 8;i++) { byte <<= 1; if(BOARD_MISO_READ()) { byte |= 0x01; } else { byte &= ~0x01; } BOARD_SPI2_SCK_SET(); BOARD_SPI2_SCK_SET(); BOARD_SPI2_SCK_RESET(); BOARD_SPI2_SCK_RESET(); } return byte;}void MCP2515_Reset(void){ BOARD_nSPI2_SS_ACTIVE(); SPI_WriteByte(RESET); BOARD_nSPI2_SS_INACTIVE();}void MCP2515_Read(uint8_t addr, uint8_t count, uint8_t * ptr){ uint8_t i; BOARD_nSPI2_SS_ACTIVE(); SPI_WriteByte(READ); SPI_WriteByte(addr); for(i = 0;i < count;i++) { *(ptr++) = SPI_ReadByte(); } BOARD_nSPI2_SS_INACTIVE();}void MCP2515_ReadRxBuf(uint8_t buf, uint8_t count, uint8_t * ptr){ uint8_t i; BOARD_nSPI2_SS_ACTIVE(); SPI_WriteByte( READ_RX_BUF | (buf << 2) | (1 << 1) ); for(i = 0;i < count;i++) { *(ptr++) = SPI_ReadByte(); } BOARD_nSPI2_SS_INACTIVE();}void MCP2515_Write(uint8_t addr, uint8_t count, uint8_t * ptr){ uint8_t i; BOARD_nSPI2_SS_ACTIVE(); SPI_WriteByte(WRITE); SPI_WriteByte(addr); for(i = 0;i < count;i++) { SPI_WriteByte(*(ptr++)); } BOARD_nSPI2_SS_INACTIVE();}void MCP2515_LoadTxBuf(uint8_t buf, uint8_t count, uint8_t * ptr){ uint8_t i; BOARD_nSPI2_SS_ACTIVE(); buf *= 2; buf += 1; SPI_WriteByte( LOAD_TX_BUF | buf ); for(i = 0;i < count;i++) { SPI_WriteByte(*(ptr++)); } BOARD_nSPI2_SS_INACTIVE();}void MCP2515_LoadTxDLC(uint8_t buf,uint8_t DLC){ uint8_t addr; if(buf == 0) { addr = 0x35; } else if(buf == 1) { addr = 0x45; } else if(buf == 2) { addr = 0x55; } MCP2515_Write(addr,1,&DLC);}static uint8_t read_out;void MCP2515_RTS(uint8_t txb){ BOARD_nSPI2_SS_ACTIVE(); SPI_WriteByte( RTS | (1< BOARD_nSPI2_SS_INACTIVE(); MCP2515_Read(0x30, 1, &read_out); // debug}uint8_t MCP2515_ReadStatus(void){ uint8_t status; BOARD_nSPI2_SS_ACTIVE(); SPI_WriteByte(READ_STATUS); status = SPI_ReadByte(); BOARD_nSPI2_SS_INACTIVE(); return status;}uint8_t MCP2515_RxStatus(void){ uint8_t status; BOARD_nSPI2_SS_ACTIVE(); SPI_WriteByte(RX_STATUS); status = SPI_ReadByte(); BOARD_nSPI2_SS_INACTIVE(); return status;}void MCP2515_BitModfye(uint8_t addr, uint8_t mask, uint8_t data){ BOARD_nSPI2_SS_ACTIVE(); SPI_WriteByte(BIT_MODIFY); SPI_WriteByte(addr); SPI_WriteByte(mask); SPI_WriteByte(data); BOARD_nSPI2_SS_INACTIVE();}void MCP2515_SetTxPriority(uint8_t txb, uint8_t priority){ uint8_t start_addr; if(txb == 0) { start_addr = 0x30; } else if(txb == 1) { start_addr = 0x40; } else if(txb == 2) { start_addr = 0x50; } MCP2515_BitModfye(start_addr, 0x03, priority);}void MCP2515_InitiateTx(uint8_t txb){ uint8_t addr; if(txb == 0) { addr = 0x30; } else if(txb == 1) { addr = 0x40; } else if(txb == 2) { addr = 0x50; } MCP2515_BitModfye(addr, 1<<3, 1<<3); MCP2515_BitModfye(0x0f, 1<<4, 0<<4);}/* * rxm : 11 = Turns mask/filters off; receives any message * 00 = Receives all valid messages using either Standard or Extended Identifiers that meet filter criteria; * Extended ID Filter registers, RXFnEID8:RXFnEID0, are applied to the first two bytes of data in * the messages with standard IDs */void MCP2515_SetRxMode(uint8_t rxb,uint8_t mode){ uint8_t addr; if(rxb == 0) { addr = 0x60; } else if(rxb == 1) { addr = 0x70; } MCP2515_BitModfye(addr, 0x03<<6, mode);}void MCP2515_ConfigMode(void){ uint8_t byte; MCP2515_BitModfye(0x0f, 0x7<<5, 4<<5); do { MCP2515_Read(0x0e, 1, &byte); byte &= (0x07 << 5); } while(byte != (4<<5));}void MCP2515_LoopBackMode(void){ uint8_t byte; MCP2515_BitModfye(0x0f, 0x7<<5, 2<<5); do { MCP2515_Read(0x0e, 1, &byte); byte &= (0x07 << 5); } while(byte != (2<<5));}void MCP2515_NormalOpMode(void){ uint8_t byte; MCP2515_BitModfye(0x0f, 0x7<<5, 0<<5); do { MCP2515_Read(0x0e, 1, &byte); byte &= (0x07 << 5); } while(byte != (0<<5));}void MCP2515_BitTimingConfig(void){ /* MCP2515_ConfigMode(); MCP2515_BitModfye(0x2a, 0xff, (0<<6) | (1<<0)); // 125KHz @ 8MHz,SJW = 1T_q, T_q = 2*(1 + 1)/8MHz = 0.5us MCP2515_BitModfye(0x29, 0xff, (6<<3) | (1<<0)); // PS1 = 7T_q, ProgSeg = 2T_q MCP2515_BitModfye(0x28, 0xff, (5<<0)); // PS2 = 6T_q MCP2515_NormalOpMode(); */ MCP2515_ConfigMode(); MCP2515_BitModfye(0x2a, 0xff, (0<<6) | (3<<0)); // 125KHz @ 8MHz,SJW = 1T_q, T_q = 2*(3 + 1)/8MHz = 1us MCP2515_BitModfye(0x29, 0xff, (1<<7) | (2<<3) | (0<<0)); // PS1 = 3T_q, ProgSeg = 1T_q MCP2515_BitModfye(0x28, 0xff, (2<<0)); // PS2 = 3T_q MCP2515_NormalOpMode();}void MCP2515_InterruptConfig(uint8_t bit_mask, uint8_t enable){ MCP2515_ConfigMode(); if(enable) { MCP2515_BitModfye(0x2b, bit_mask, 0xff); } else { MCP2515_BitModfye(0x2b, bit_mask, 0x00); } MCP2515_NormalOpMode();}void MCP2515_LoadTxSID(uint8_t txb, uint32_t sid){ uint8_t addr; uint8_t sid_array[2]; sid_array[0] = sid>>3; sid_array[1] = (sid<<5); if(txb == 0) { addr = 0x31; } else if(txb == 1) { addr = 0x41; } else if(txb == 2) { addr = 0x51; } // MCP2515_ConfigMode(); MCP2515_Write(addr, 2, sid_array);}void MCP2515_LoadRxf(uint8_t rxf, uint32_t sid){ uint8_t addr; uint8_t sid_array[2]; sid_array[0] = sid>>3; sid_array[1] = (sid<<5); MCP2515_ConfigMode(); if(rxf == 0) { addr = 0x00; } else if(rxf == 1) { addr = 0x04; } else if(rxf == 2) { addr = 0x08; } else if(rxf == 3) { addr = 0x10; } else if(rxf == 4) { addr = 0x14; } else if(rxf == 5) { addr = 0x18; } MCP2515_Write(addr, 2, sid_array); MCP2515_NormalOpMode();}void MCP2515_LoadRxm(uint8_t rxm, uint32_t mask){ uint8_t addr; uint8_t mask_array[2]; mask_array[0] = mask>>3; mask_array[1] = mask<<5; MCP2515_ConfigMode(); if(rxm == 0) { addr = 0x20; } else if(rxm == 1) { addr = 0x24; } MCP2515_Write(addr, 2, mask_array); MCP2515_NormalOpMode();}uint8_t MCP2515_ReadICOD(void){ uint8_t ret_val = 0; MCP2515_Read(0x0e, 1, &ret_val); ret_val >>= 1; ret_val &= 0x07; return ret_val;}复制代码
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