CAN控制芯片mcp2515驱动程序

#include "MCP2515.h" #include <stdio.h> #include <stdlib.h> #include <string.h> #include <rtthread.h> #include "systick.h" extern can_trasnmit_message_struct TxMessage; //MCP2515波特率预分频 #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 CAN_Kbps 0x07 Can_Msg can_tx_msg; Can_Msg can_rx_msg; uint32_t can_rx_ID=0x00; rt_uint8_t can_tx_flag=0; void Delay_Nms(unsigned int x) { unsigned int y; // rt_thread_mdelay(x); rt_thread_delay(x); // for (;x>0;x--) // for (y=0;y<100;y++); } unsigned char check(void) { unsigned char val; val=MCP2515_ReadByte(CANSTAT); return val; } /** * @brief SPI的 I/O配置 * @param 无 * @retval 无 */ void SPI_MCP2515_Init(void) { #if 1 spi_parameter_struct spi_init_struct; rcu_periph_clock_enable(RCU_SYSCFG); rcu_periph_clock_enable(RCU_GPIOB); rcu_periph_clock_enable(RCU_GPIOD); rcu_periph_clock_enable(RCU_SPI2); /* SPI5_CLK(PG13), SPI5_MISO(PG12), SPI5_MOSI(PG14),SPI5_IO2(PG10) and SPI5_IO3(PG11) GPIO pin configuration */ gpio_af_set(GPIOB, GPIO_AF_6, GPIO_PIN_3|GPIO_PIN_4); gpio_mode_set(GPIOB, GPIO_MODE_AF, GPIO_PUPD_NONE, GPIO_PIN_3|GPIO_PIN_4); gpio_output_options_set(GPIOB, GPIO_OTYPE_PP, GPIO_OSPEED_25MHZ, GPIO_PIN_3|GPIO_PIN_4); gpio_af_set(GPIOD, GPIO_AF_5, GPIO_PIN_6); gpio_mode_set(GPIOD, GPIO_MODE_AF, GPIO_PUPD_NONE, GPIO_PIN_6); gpio_output_options_set(GPIOD, GPIO_OTYPE_PP, GPIO_OSPEED_25MHZ, GPIO_PIN_6); /* SPI5_CS(PG9) GPIO pin configuration */ gpio_mode_set(GPIOB, GPIO_MODE_OUTPUT, GPIO_PUPD_NONE, GPIO_PIN_5); gpio_output_options_set(GPIOB, GPIO_OTYPE_PP, GPIO_OSPEED_50MHZ, GPIO_PIN_5); MCP2515_CS_HIGH(); rcu_periph_clock_enable(RCU_GPIOG); // gpio_output_options_set(GPIOG, GPIO_OTYPE_PP, GPIO_OSPEED_50MHZ, GPIO_PIN_15); gpio_mode_set(GPIOG, GPIO_MODE_INPUT, GPIO_PUPD_PULLUP, GPIO_PIN_15); exti_init(EXTI_15, EXTI_INTERRUPT, EXTI_TRIG_FALLING); nvic_irq_enable(EXTI10_15_IRQn, 2U, 0U); /* connect key EXTI line to key GPIO pin */ syscfg_exti_line_config(EXTI_SOURCE_GPIOG,EXTI_SOURCE_PIN15); /* configure key EXTI line */ exti_init(EXTI_15, EXTI_INTERRUPT, EXTI_TRIG_FALLING); exti_interrupt_flag_clear(EXTI_15); /* SPI5 parameter config */ spi_init_struct.trans_mode = SPI_TRANSMODE_FULLDUPLEX; //传输模式 spi_init_struct.device_mode = SPI_MASTER; //配置SPI为主机 spi_init_struct.frame_size = SPI_FRAMESIZE_8BIT; //数据帧格式配置 spi_init_struct.clock_polarity_phase = SPI_CK_PL_LOW_PH_1EDGE; //相位和极性配置 spi_init_struct.nss = SPI_NSS_SOFT; //配置NSS由软件或硬件控制 spi_init_struct.prescale = SPI_PSC_16; //预分频器配置 spi_init_struct.endian = SPI_ENDIAN_MSB; //大端或小端模式配置 spi_init(SPI2, &spi_init_struct); /* enable SPI5 */ spi_enable(SPI2); #endif #if 0 // spi_parameter_struct spi_init_struct; rcu_periph_clock_enable(RCU_SYSCFG); rcu_periph_clock_enable(RCU_GPIOB); rcu_periph_clock_enable(RCU_GPIOD); rcu_periph_clock_enable(RCU_SPI2); /* SPI5_CLK(PG13), SPI5_MISO(PG12), SPI5_MOSI(PG14),SPI5_IO2(PG10) and SPI5_IO3(PG11) GPIO pin configuration */ gpio_af_set(GPIOB, GPIO_AF_6, GPIO_PIN_3|GPIO_PIN_4); gpio_mode_set(GPIOB, GPIO_MODE_AF, GPIO_PUPD_NONE, GPIO_PIN_3|GPIO_PIN_4); gpio_output_options_set(GPIOB, GPIO_OTYPE_PP, GPIO_OSPEED_25MHZ, GPIO_PIN_3|GPIO_PIN_4); gpio_af_set(GPIOD, GPIO_AF_5, GPIO_PIN_6); gpio_mode_set(GPIOD, GPIO_MODE_AF, GPIO_PUPD_NONE, GPIO_PIN_6); gpio_output_options_set(GPIOD, GPIO_OTYPE_PP, GPIO_OSPEED_25MHZ, GPIO_PIN_6); /* SPI5_CS(PG9) GPIO pin configuration */ gpio_mode_set(GPIOB, GPIO_MODE_OUTPUT, GPIO_PUPD_NONE, GPIO_PIN_5); gpio_output_options_set(GPIOB, GPIO_OTYPE_PP, GPIO_OSPEED_50MHZ, GPIO_PIN_5); MCP2515_CS_HIGH(); rcu_periph_clock_enable(RCU_GPIOG); // gpio_output_options_set(GPIOG, GPIO_OTYPE_PP, GPIO_OSPEED_50MHZ, GPIO_PIN_15); gpio_mode_set(GPIOG, GPIO_MODE_INPUT, GPIO_PUPD_PULLUP, GPIO_PIN_15); exti_init(EXTI_15, EXTI_INTERRUPT, EXTI_TRIG_FALLING); nvic_irq_enable(EXTI10_15_IRQn, 2U, 0U); /* connect key EXTI line to key GPIO pin */ syscfg_exti_line_config(EXTI_SOURCE_GPIOG,EXTI_SOURCE_PIN15); /* configure key EXTI line */ exti_init(EXTI_15, EXTI_INTERRUPT, EXTI_TRIG_FALLING); exti_interrupt_flag_clear(EXTI_15); /* SPI5 parameter config */ spi_init_struct.trans_mode = SPI_TRANSMODE_FULLDUPLEX; //传输模式 spi_init_struct.device_mode = SPI_MASTER; //配置SPI为主机 spi_init_struct.frame_size = SPI_FRAMESIZE_8BIT; //数据帧格式配置 spi_init_struct.clock_polarity_phase = SPI_CK_PL_LOW_PH_1EDGE; //相位和极性配置 spi_init_struct.nss = SPI_NSS_SOFT; //配置NSS由软件或硬件控制 spi_init_struct.prescale = SPI_PSC_16; //预分频器配置 spi_init_struct.endian = SPI_ENDIAN_MSB; //大端或小端模式配置 spi_init(SPI2, &spi_init_struct); /* enable SPI5 */ spi_enable(SPI2); #endif } /** * @brief 用于向NRF读/写一字节数据 * @param 写入的数据 * @arg dat * @retval 读取得的数据 */ // u8 SPI_MCP2515_RW(u8 dat) // { // /* 当 SPI发送缓冲器非空时等待 */ // while (SPI_I2S_GetFlagStatus(SPI1, SPI_I2S_FLAG_TXE) == RESET); // // /* 通过 SPI2发送一字节数据 */ // SPI_I2S_SendData(SPI1, dat); // // /* 当SPI接收缓冲器为空时等待 */ // while (SPI_I2S_GetFlagStatus(SPI1, SPI_I2S_FLAG_RXNE) == RESET); // /* Return the byte read from the SPI bus */ // return SPI_I2S_ReceiveData(SPI1); // } /******************************************************************************* * 函数名 : SPI_ReadByte * 描述 : 通过SPI读取一个字节数据 * 输入 : 无 * 输出 : 无 * 返回值 : rByte(读取到的一个字节数据) * 说明 : 无 *******************************************************************************/ unsigned char SPI_ReadByte(void) { unsigned char i,rByte=0; // MCP2515_SCK_LOW(); // for(i=0;i<8;i++) // { // delay_us_sys(10); // MCP2515_SCK_HIGH(); //// delay_us_sys(1); // rByte<<=1; // rByte|=MCP2515_Read_MISO(); // MCP2515_SCK_LOW(); //// delay_us_sys(1); // } // return rByte; //return spi_flash_send_byte(0XFF); /* loop while data register in not emplty */ while(RESET == spi_i2s_flag_get(SPI2,SPI_FLAG_TBE)); /* send byte through the SPI5 peripheral */ spi_i2s_data_transmit(SPI2,0XFF); /* wait to receive a byte */ while(RESET == spi_i2s_flag_get(SPI2,SPI_FLAG_RBNE)); /* return the byte read from the SPI bus */ return(spi_i2s_data_receive(SPI2)); // } uint8_t spi_flash_send_byte(uint8_t byte) { /* loop while data register in not emplty */ while(RESET == spi_i2s_flag_get(SPI2,SPI_FLAG_TBE)); /* send byte through the SPI5 peripheral */ spi_i2s_data_transmit(SPI2,byte); /* wait to receive a byte */ while(RESET == spi_i2s_flag_get(SPI2,SPI_FLAG_RBNE)); /* return the byte read from the SPI bus */ return(spi_i2s_data_receive(SPI2)); } /******************************************************************************* * 函数名 : SPI_SendByte * 描述 : SPI发送一个字节数据 * 输入 : dt:待发送的数据 * 输出 : 无 * 返回值 : 无 * 说明 : 无 *******************************************************************************/ void SPI_SendByte(unsigned char dt) { unsi