MCP2515板级驱动

  • 前言
  • 一、MCP2515简述
  • 二、硬件连接
  • 三、驱动源码

前言

在需要多路CAN接口应用场景，可选方案一般为带CAN接口的协处理器或者是独立的CAN控制器。独立的CAN控制器常用的有SJA1000、MCP2515等。本次讨论MCP2515板级驱动。

一、MCP2515简述

MCP2515 是一款独立控制器局域网络（Controller Area Network， CAN）协议控制器，完全支持 CAN V2.0B 技术规范。该器件能发送和接收标准和扩展数据帧以及远程帧

二、硬件连接

MCP2515与控制器仅需要连接SPI接口、RST以及中断接口即可；

三、驱动源码

//CS片选拉高
void cs_high(unsigned char chn)
{HAL_GPIO_WritePin(Spi_Cs_Gpio[chn],Spi_Cs_Gpio_Pin[chn],GPIO_PIN_SET);
}//CS片选拉低
void cs_low(unsigned char chn)
{HAL_GPIO_WritePin(Spi_Cs_Gpio[chn],Spi_Cs_Gpio_Pin[chn],GPIO_PIN_RESET);
}//发送一个字节
void SPI_SendByte(unsigned char chn,unsigned char dat)
{HAL_SPI_Transmit(spi_handle[chn],&dat,1,50);
}//接收一个字节
unsigned char SPI_ReadByte(unsigned char chn)
{unsigned char RxData = 0;HAL_SPI_Receive(spi_handle[chn],&RxData,1,50);return RxData ;
}//收发一个字节
unsigned char SPI_ReadWriteByte(unsigned char chn,unsigned char txdata)
{       unsigned char rxdata = 0 ;HAL_SPI_TransmitReceive(spi_handle[chn],&txdata,&rxdata,1,50);return 0;
}//mcp2515写一个字节
void MCP2515_WriteByte(unsigned char chn,unsigned char addr,unsigned char dat)
{cs_low(chn);SPI_SendByte(chn,CAN_WRITE);SPI_SendByte(chn,addr);SPI_SendByte(chn,dat);cs_high(chn);
}//mcp2515读一个字节
unsigned char MCP2515_ReadByte(unsigned char chn,unsigned char addr)
{unsigned char temp = 0;cs_low(chn);SPI_SendByte(chn,CAN_READ);SPI_SendByte(chn,addr);temp=SPI_ReadByte(chn);//读取数据cs_high(chn);return temp ;
}//复位
void MCP2515_Reset(unsigned char chn)
{cs_low(chn);SPI_SendByte(chn,CAN_RESET);cs_high(chn);
}//检查状态
int MCP2515_Check_Status(unsigned char chn)
{unsigned char temp = 0 ;temp = MCP2515_ReadByte(chn,CANSTAT);while(temp!=REQOP_CONFIG){MCP2515_WriteByte(chn,CANCTRL,REQOP_CONFIG);        //MCP2515复位,进入配置模式//HAL_Delay(1);temp=MCP2515_ReadByte(chn,CANSTAT);//读取CAN状态寄存器的值}   return 0 ;
}//设置状态
int MCP2515_Set_Status(unsigned char chn)
{unsigned char temp = 0 ;temp = MCP2515_ReadByte(chn,CANSTAT);if(temp==REQOP_CONFIG){do{MCP2515_WriteByte(chn,CANCTRL,REQOP_NORMAL);    temp=MCP2515_ReadByte(chn,CANSTAT);//读取CAN状态寄存器的值   } while (temp!=REQOP_NORMAL);}return 0 ;
}//设置波特率
int MCP2515_Set_Speed(unsigned char chn,unsigned short speed)
{unsigned char cnf[3] = {0};if(MCP2515_Check_Status(chn)<0) return -1 ;switch (speed){case 0:cnf[0]=0x1,cnf[1]=0xBA,cnf[2]=0x7;break; //250Kcase 1:cnf[0]=0x0,cnf[1]=0xBA,cnf[2]=0x7;break; //500Kcase 2:cnf[0]=0x0,cnf[1]=0x98,cnf[2]=0x3;break; //1000K   case 3:cnf[0]=0x3,cnf[1]=0xBA,cnf[2]=0x7;break; //125K     case 4:cnf[0]=0x3,cnf[1]=0xBF,cnf[2]=0x7;break; //100K                    }MCP2515_WriteByte(chn,CNF1,cnf[0]);  MCP2515_WriteByte(chn,CNF2,cnf[1]);  MCP2515_WriteByte(chn,CNF3,cnf[2]);  return 0 ;
}//设置发送模式
//NormalTxMode  LoopBackTxMode REQOP_LISTEN
int MCP2515_Set_Tx_Mode(unsigned char chn,unsigned char mode)
{unsigned char temp = 0;if(MCP2515_Check_Status(chn)<0) return -1 ;    MCP2515_WriteByte(chn,CANINTF,0x00);//清空中断标志位MCP2515_WriteByte(chn,CANINTE,0x01);//接收缓冲器0满中断使能位do{MCP2515_WriteByte(chn,CANCTRL,mode|CLKOUT_ENABLED);//HAL_Delay(1);  temp=MCP2515_ReadByte(chn,CANSTAT);//读取CAN状态寄存器的值    } while (mode!=(temp&0xE0));return 0 ;
}//设置接收模式
//RxAllMode RxFMExternMode RxFMStandMode RxFMAllMode
int MCP2515_Set_Rx_Mode(unsigned char chn,unsigned char mode)
{if(MCP2515_Check_Status(chn)<0) return -1 ;    MCP2515_WriteByte(chn,RXB0CTRL,mode);return 0 ;
}/*******************************************************************************Mask       Filter       ID         RecviveState0           X           X             OK1           0           0             OK1           0           1             NO1           1           0             NO1           1           1             OK
********************************************************************************///设置标准帧过滤
int MCP2515_Set_Standard_Filter(unsigned char chn,unsigned short Mask,unsigned char Filter)
{if(MCP2515_Check_Status(chn)<0) return -1 ;    MCP2515_WriteByte(chn,RXF0SIDH,Filter>>3);MCP2515_WriteByte(chn,RXF0SIDL,Filter<<5|RxFilterNormal);MCP2515_WriteByte(chn,RXM0SIDH,Mask>>3);MCP2515_WriteByte(chn,RXM0SIDL,Mask<<5);  return 0 ;
}//设置扩展帧过滤
int MCP2515_Set_Extern_Filter(unsigned char chn,unsigned long Mask,unsigned long Filter)
{unsigned char RxFxLow = 0,RxMxLow = 0 ;if(MCP2515_Check_Status(chn)<0) return -1 ;  //29位屏蔽滤波器MCP2515_WriteByte(chn,RXF0EID8,Filter>>19);MCP2515_WriteByte(chn,RXF0EID0,Filter>>11);MCP2515_WriteByte(chn,RXF0SIDH,Filter>>5);RxFxLow = Filter>>27;RxFxLow |= Filter<<5|RxFilterExtern;MCP2515_WriteByte(chn,RXF0SIDL,RxFxLow);MCP2515_WriteByte(chn,RXM0EID8,Mask>>19);MCP2515_WriteByte(chn,RXM0EID0,Mask>>11); MCP2515_WriteByte(chn,RXM0SIDH,Mask>>5);RxMxLow = Mask>>27;RxMxLow |= Mask<<5;MCP2515_WriteByte(chn,RXM0SIDL,Mask<<5);                return 0 ;
}//设置过滤寄存器
int MCP2515_Set_Filter_Register(unsigned char chn,unsigned char mode,unsigned long filter)
{unsigned char RxFxLow = 0,RxMxLow = 0 ;//29位屏蔽滤波器MCP2515_WriteByte(chn,RXF0EID8,filter>>19);MCP2515_WriteByte(chn,RXF0EID0,filter>>11);MCP2515_WriteByte(chn,RXF0SIDH,filter>>3);RxFxLow = filter>>27;if(mode==1){RxFxLow |= filter<<5|RxFilterExtern;}else if(mode==0){RxFxLow |= filter<<5|RxFilterNormal;}MCP2515_WriteByte(chn,RXF0SIDL,RxFxLow);return 0 ;
}//设置屏蔽寄存器
int MCP2515_Set_Mask_Register(unsigned char chn,unsigned long mask)
{unsigned char RxMxLow = 0 ;MCP2515_WriteByte(chn,RXM0EID8,mask>>19);MCP2515_WriteByte(chn,RXM0EID0,mask>>11); MCP2515_WriteByte(chn,RXM0SIDH,mask>>3);RxMxLow = mask>>27;RxMxLow |= mask<<5;MCP2515_WriteByte(chn,RXM0SIDL,RxMxLow);  return 0 ;
}//CAN初始化
int CAN_Channel_Init(unsigned char chn)
{unsigned char temp = 0 ;MCP2515_Reset(chn);vTaskDelay(5);//HAL_Delay(1);temp=MCP2515_ReadByte(chn,CANSTAT);//读取CAN状态寄存器的值if(temp == 0x80){MCP2515_WriteByte(chn,RXB0CTRL,0x60);//仅仅接收标准标识符的有效信息，FIILHIT0=0表示RXB0 ，采用FILHIT0}return 0 ;
}//发送CAN帧
int MCP2515_Can_Send(unsigned char chn,CanTxMsg* CanTxMessage)
{unsigned char j = 0 ;unsigned char count = 0 ;unsigned char dly = 0 ;unsigned char tx_flush_flag = 1 ;while(count<CanTxMessage->DLC){while((MCP2515_ReadByte(chn,TXB0CTRL)&0x08))//快速读某些状态指令,等待TXREQ标志清零{//HAL_Delay(1);//通过软件延时约nms(不准确)vTaskDelay(1);if(dly<5) dly++;else{tx_flush_flag = 0 ;break ;}}if(tx_flush_flag==0) return -1;if(CanTxMessage->IDE==0)   //标准帧{//            if(CanTxMessage->StdId>0x7FF)
//                return -2;                //ID限制//ID设置 标准帧-扩展帧MCP2515_WriteByte(chn,TXB0SIDH,CanTxMessage->StdId>>3);//设置发送缓冲器0的标准标识符MCP2515_WriteByte(chn,TXB0SIDL,((CanTxMessage->StdId<<5)|MCP2515_Tx_Standard_mode));//用到标准标识符  //远程请求帧if(CanTxMessage->Rtr==1) {MCP2515_WriteByte(chn,TXB0DLC,CanTxMessage->DLC|MCP2515_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{MCP2515_WriteByte(chn,TXB0D0+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;}MCP2515_WriteByte(chn,TXB0DLC,CanTxMessage->DLC|MCP2515_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==1) //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);          MCP2515_WriteByte(chn,TXB0SIDH,HSID); MCP2515_WriteByte(chn,TXB0SIDL,LSID);MCP2515_WriteByte(chn,TXB0EID8,HEID); MCP2515_WriteByte(chn,TXB0EID0,LEID);      if(CanTxMessage->Rtr==1) //远程请求帧{MCP2515_WriteByte(chn,TXB0DLC,CanTxMessage->DLC|MCP2515_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{MCP2515_WriteByte(chn,TXB0D0+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;}MCP2515_WriteByte(chn,TXB0DLC,CanTxMessage->DLC|MCP2515_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}         }MCP2515_WriteByte(chn,TXB0CTRL,0x08);//请求发送报文}return 0 ;
}//接收消息
int MCP2515_Can_Recv(unsigned char chn,CanRxMsg* CanRxMessage)
{unsigned char temp = 0 ;unsigned char i = 0 ;unsigned char len = 0 ;unsigned char dat1=0,dat2=0,dat3=0,dat4=0;temp = MCP2515_ReadByte(chn,CANINTF);if(temp & 0x01){dat1 = MCP2515_ReadByte(chn,RXB0SIDH);dat2 = MCP2515_ReadByte(chn,RXB0SIDL);dat3 = MCP2515_ReadByte(chn,RXB0EID8);dat4 = MCP2515_ReadByte(chn,RXB0EID0);     CanRxMessage->Chn = chn;       //通道号if(((dat2>>3)&0x01)==1){CanRxMessage->IDE = 1 ;    //扩展帧}          else CanRxMessage->IDE = 0 ;        //标准帧if(((dat2>>4)&0x01)==1)    {CanRxMessage->S_Rtr = 1;    //接收到标准 远程帧}else CanRxMessage->S_Rtr = 0;                      //接收到标准 数据帧CanRxMessage->StdId = dat1<<3|dat2>>5;   //标准ID//CanRxMessage->ExtId = (dat2&0x03)<<16|dat3<<8|dat4;//扩展标识符IDCanRxMessage->ExtId = (((dat1>>3)&0x1F)<<24)|(((dat1&0x07)<<5)|((dat2&0xE0)>>3)|(dat2&0x03))<<16|dat3<<8|dat4;len=MCP2515_ReadByte(chn,RXB0DLC);//读取接收缓冲器0接收到的数据长度(0~8个字节)if(CanRxMessage->IDE==1){if(((len>>6)&0x01)==0x01)  CanRxMessage->E_Rtr = 1;        //扩展标识符远程帧else CanRxMessage->E_Rtr = 0;     //  扩展标识符 数据帧}CanRxMessage->DLC = len&0x0F;         //获取数据长度while(i<CanRxMessage->DLC)                                            //读取数据{ CanRxMessage->Data[i]=MCP2515_ReadByte(chn,RXB0D0+i);//把CAN接收到的数据放入指定缓冲区i++;}        //MCP2515_WriteByte(chn,CANINTF,0);//清除中断标志位(中断标志寄存器必须由MCU清零)}MCP2515_WriteByte(chn,CANINTF,0);//清除中断标志位(中断标志寄存器必须由MCU清零)return 0 ;
}//CAN通道使能
int MCP2515_Channel_Open(unsigned char chn,unsigned char mode)
{unsigned char temp = 0 ;if(mode!=REQOP_NORMAL&&mode!=REQOP_LISTEN&&mode!=REQOP_LOOPBACK)   return -1;MCP2515_WriteByte(chn,CANINTF,0x00);//清空中断标志位MCP2515_WriteByte(chn,CANINTE,0x01);//接收缓冲器0满中断使能位do{MCP2515_WriteByte(chn,CANCTRL,mode|CLKOUT_ENABLED);//将MCP2515设置为正常模式,退出配置模式    //HAL_Delay(1);vTaskDelay(1);temp=MCP2515_ReadByte(chn,CANSTAT);//读取CAN状态寄存器的值} while (mode!=(temp&0xE0));return 0 ;
}int MCP2515_Channel_Close(unsigned char chn)
{MCP2515_Reset(chn);vTaskDelay(1);//HAL_Delay(1);return 0 ;
}

#ifndef __BSP_MCP2515_H
#define __BSP_MCP2515_H#define EXTID  0x08              //��չ֡
#define STDID  0x00             //��չ֡
#define CAN_RTR      0x40               //����Զ��֡#define Standard_Mode               0x00  //��׼֡
#define Exit_Mode                       0x01  //��չ֡
#define Data_Mode                       0x00     //RTR Զ��֡ģʽ
#define Rtr_Mode                        0x01     //RTR Զ��֡ģʽ//װ�ط��ͼĴ���
#define MCP2515_Tx_Standard_mode   (0<<3)
#define MCP2515_Tx_Exit_mode         (1<<3)
#define MCP2515_Tx_Data_Frame            (0<<6)
#define MCP2515_Tx_Remote_Frame      (1<<6)//����֡�Ĵ���
// bit0~2   ֡��DLC
// bit3     ����ͨ��
// bit4~5       ͨ��0~3
// bit6  0:����֡  1:Զ��֡
// bit7  0:��׼֡  1:��չ֡//�����ϴ�
//��׼֡/��չ֡
#define TxStandFrame        (0<<7)
#define TxExitFrame         (1<<7)
//����֡/Զ��֡
#define TxDataFrame         (0<<6)
#define TxRemoteFrame   (1<<6)
//����ͨ��
#define TxCh1Frame      (0<<4)
#define TxCh2Frame      (1<<4)
#define TxCh3Frame      (2<<4)
#define TxCh4Frame      (3<<4)
//ȫ��ͨ��
#define TxChnSingFrame  (1<<3)
#define TxChAllFrame    (0<<3)//�����˲���
#define RxFilterNormal      (0<<3)
#define RxFilterExtern    (1<<3)//����ģʽ
#define RxAllMode               (3<<5)    //���������
#define RxFMExternMode  (2<<5)        //���շ��������˲�������չ֡����
#define RxFMStandMode       (1<<5)        //���շ��������˲����ı�׼֡����
#define RxFMAllMode         (0<<5)        //���շ��������˲��������б���//����ģʽ
#define NormalTxMode         0              //��������
#define LoopBackTxMode  (1<<6)        //�ػ�����typedef struct
{//  unsigned char Chn;unsigned short StdId;  //This parameter can be a value between 0 to 0x7FFunsigned long ExtId;   //This parameter can be a value between 0 to 0x1FFFFFFFunsigned char IDE;   //֡���� ��׼֡ ��չ֡unsigned char Rtr;   //���ݳ���unsigned char DLC;unsigned char Data[8];
}CanTxMsg;typedef struct
{unsigned char Chn;  //ͨ����unsigned short StdId;   //��׼ID  0 to 0x7FFunsigned long ExtId;   //          0 to 0x1FFFFFFFunsigned char IDE; //���յ�֡���� ��׼֡ ��չ֡unsigned char S_Rtr; //  ��׼    ����֡ Զ��֡unsigned char E_Rtr; //  ��չ    ����֡ Զ��֡unsigned char DLC;  //���ݳ���unsigned char Data[8];  //����
}CanRxMsg;/* 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/********************************************************************               Bit register masks                                ********************************************************************//* TXBnCTRL */
#define TXREQ           0x08
#define TXP             0x03/* RXBnCTRL */
#define RXM             0x60
#define BUKT            0x04/* CANCTRL */
#define REQOP           0xE0
#define ABAT            0x10
#define OSM             0x08
#define CLKEN           0x04
#define CLKPRE          0x03/* CANSTAT */
#define REQOP           0xE0
#define ICOD            0x0E/* CANINTE */
#define RX0IE           0x01
#define RX1IE           0x02
#define TX0IE           0x04
#define TX1IE           0x80
#define TX2IE           0x10
#define ERRIE           0x20
#define WAKIE           0x40
#define MERRE           0x80/* CANINTF */
#define RX0IF           0x01
#define RX1IF           0x02
#define TX0IF           0x04
#define TX1IF           0x80
#define TX2IF           0x10
#define ERRIF           0x20
#define WAKIF           0x40
#define MERRF           0x80/* BFPCTRL */
#define B1BFS           0x20
#define B0BFS           0x10
#define B1BFE           0x08
#define B0BFE           0x04
#define B1BFM           0x02
#define B0BFM           0x01/* CNF1 Masks */
#define SJW             0xC0
#define BRP             0x3F/* CNF2 Masks */
#define BTLMODE         0x80
#define SAM             0x40
#define PHSEG1          0x38
#define PRSEG           0x07/* CNF3 Masks */
#define WAKFIL          0x40
#define PHSEG2          0x07/* TXRTSCTRL Masks */
#define TXB2RTS         0x04
#define TXB1RTS         0x02
#define TXB0RTS         0x01/********************************************************************                    Bit Timing Configuration                     ********************************************************************//* CNF1 */
#define SJW_1TQ         0x40
#define SJW_2TQ         0x80
#define SJW_3TQ         0x90
#define SJW_4TQ         0xC0/* CNF2 */
#define BTLMODE_CNF3    0x80
#define BTLMODE_PH1_IPT 0x00#define SMPL_3X         0x40
#define SMPL_1X         0x00#define PHSEG1_8TQ      0x38   //�����PS1
#define PHSEG1_7TQ      0x30
#define PHSEG1_6TQ      0x28
#define PHSEG1_5TQ      0x20
#define PHSEG1_4TQ      0x18
#define PHSEG1_3TQ      0x10
#define PHSEG1_2TQ      0x08
#define PHSEG1_1TQ      0x00#define PRSEG_8TQ       0x07        //������  PropSeg  1~8TQ
#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/* CNF3 */
#define PHSEG2_8TQ      0x07   //�����PS2
#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#define SOF_ENABLED     0x80
#define WAKFIL_ENABLED  0x40
#define WAKFIL_DISABLED 0x00/********************************************************************                  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#define CLKOUT_ENABLED  0x04
#define CLKOUT_DISABLED 0x00
#define CLKOUT_PRE_8    0x03
#define CLKOUT_PRE_4    0x02
#define CLKOUT_PRE_2    0x01
#define CLKOUT_PRE_1    0x00/* CANSTAT */
#define OPMODE_CONFIG   0x80
#define OPMODE_LISTEN   0x60
#define OPMODE_LOOPBACK 0x40
#define OPMODE_SLEEP    0x20
#define OPMODE_NORMAL   0x00/* RXBnCTRL */
#define RXM_RCV_ALL     0x60
#define RXM_VALID_EXT   0x40
#define RXM_VALID_STD   0x20
#define RXM_VALID_ALL   0x00#define RXRTR_REMOTE    0x08
#define RXRTR_NO_REMOTE 0x00#define BUKT_ROLLOVER    0x04
#define BUKT_NO_ROLLOVER 0x00#define FILHIT0_FLTR_1  0x01
#define FILHIT0_FLTR_0  0x00#define FILHIT1_FLTR_5  0x05
#define FILHIT1_FLTR_4  0x04
#define FILHIT1_FLTR_3  0x03
#define FILHIT1_FLTR_2  0x02
#define FILHIT1_FLTR_1  0x01
#define FILHIT1_FLTR_0  0x00/* TXBnCTRL */
#define TXREQ_SET       0x08
#define TXREQ_CLEAR     0x00#define TXP_HIGHEST     0x03
#define TXP_INTER_HIGH  0x02
#define TXP_INTER_LOW   0x01
#define TXP_LOWEST      0x00/********************************************************************                  Register Bit Masks                             ********************************************************************/#define DLC_0          0x00#define DLC_1          0x01#define DLC_2          0x02#define DLC_3          0x03#define DLC_4          0x04#define DLC_5          0x05#define DLC_6          0x06#define DLC_7          0x07    #define DLC_8          0x08/********************************************************************                  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     0x00int CAN_Channel_Init(unsigned char chn);
int MCP2515_Set_Speed(unsigned char chn,unsigned short speed);
int MCP2515_Set_Tx_Mode(unsigned char chn,unsigned char mode);
int MCP2515_Set_Rx_Mode(unsigned char chn,unsigned char mode);
int MCP2515_Channel_Open(unsigned char chn,unsigned char mode);
int MCP2515_Set_Filter_Register(unsigned char chn,unsigned char mode,unsigned long filter);
int MCP2515_Set_Mask_Register(unsigned char chn,unsigned long mask);
int MCP2515_Can_Send(unsigned char chn,CanTxMsg* CanTxMessage);
int MCP2515_Can_Recv(unsigned char chn,CanRxMsg* CanRxMessage);
#endif

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