CE6.0系统的CAN模块驱动程序-MCP2515、MCP2510都可用

#include <windows.h> #include <types.h> //#include <drv_glob.h> #include <nkintr.h> //#include <oalintr.h> #include <MCP2510.h> unsigned short ReadBuf[256] ; //TE6410定义CAN的接口 /*************************************************************************** MCP2510_SO GPC4 input ( SPIMISO1 ) MCP2510_SCK GPC5 output ( SPICLK1 ) MCP2510_SI GPC6 output ( SPIMOSI1 ) MCP2510_CS GPC7 output ( nSS1 ) MCP2510_INT GPL10 input ( EINT18 ) ****************************************************************************/ #define GPIOCON v_pIOPregs->GPCCON #define GPIODAT v_pIOPregs->GPCDAT TCHAR read_buf[256] ; // Pointer to device control registers volatile S3C6410_GPIO_REG *v_pIOPregs; BOOL InitializeAddresses(VOID) { /* IO Register Allocation */ PHYSICAL_ADDRESS ioPhysicalBase = {0,0}; ioPhysicalBase.LowPart = S3C6410_BASE_REG_PA_GPIO; v_pIOPregs = (S3C6410_GPIO_REG *)MmMapIoSpace(ioPhysicalBase, sizeof(S3C6410_GPIO_REG), FALSE); if (v_pIOPregs == NULL) { RETAILMSG(1,(_T("[PMU: pGPIOReg MmMapIoSpace() Failed \n\r"))); return FALSE; } GPIOCON =(GPIOCON & ~(0xF<<16))|(0<<16); GPIOCON =(GPIOCON & ~(0xF<<20))|(1<<20); GPIOCON =(GPIOCON & ~(0xF<<24))|(1<<24); GPIOCON =(GPIOCON & ~(0xF<<28))|(1<<28); RETAILMSG(1,(TEXT("CAN Initalize address \r\n"))); return(TRUE); } //liudiping static void Delay(USHORT count) { volatile int i, j = 0; volatile static int loop = 400000000/100000; for(;count > 0;count--) for(i=0;i < loop; i++) { j++; } } /**************************************************************************** 【功能说明】SPI接口IO片选初始化 ****************************************************************************/ void MCP2510_IO_CS_Init( void ) { InitializeAddresses(); GPIODAT &= (~(1<<6)) ; //SI put 0 GPIODAT &= (~(1<<5)) ; //SCK put 0 { U16 k=0; for( ; k <= DELAY_TIME; k++ ) ; } //延时至少300ns GPIODAT |= (1<<7) ; // unselect the MCP2510 { U16 k=0; for( ; k <= DELAY_TIME; k++ ) ; } //延时至少300ns } /**************************************************************************** 【功能说明】SPI接口读写开始，片选有效 ****************************************************************************/ void MCP2510_RW_Start( void ) { GPIODAT &= (~(1<<6)) ; //SI put 0 GPIODAT &= (~(1<<5)) ; //SCK put 0 { U16 k=0; for( ; k <= DELAY_TIME; k++ ) ; } //延时至少300ns GPIODAT &= (~(1<<7)) ; // Select the MCP2510 { U16 k=0; for( ; k <= DELAY_TIME; k++ ) ; } //延时至少300ns } /**************************************************************************** 【功能说明】SPI接口写入数据 ****************************************************************************/ void Spi_Write( U8 Data ) { U8 m ; for( m = 0; m < 8; m++ ) { if( (Data&0x80)==0x80 ) GPIODAT |= (1<<6); //SI put 1 else GPIODAT &= (~(1<<6)); //SI put 0 { U16 k=0; for( ; k <= DELAY_TIME; k++ ) ; } //延时至少300ns GPIODAT |= (1<<5) ; //SCK put 1 Data = Data<<1 ; GPIODAT &= (~(1<<5)) ; //SCK put 0 { U16 k=0; for( ; k <= DELAY_TIME; k++ ) ; } //延时至少300ns } } /**************************************************************************** 【功能说明】SPI接口读出数据 ****************************************************************************/ U8 Spi_Read( ) { U8 m ; U8 data = 0 ; for( m = 0; m < 8; m++ ) { GPIODAT |= (1<<5) ; //SCK put 1 { U16 k=0; for( ; k <= DELAY_TIME; k++ ) ; } //延时至少300ns data = data<<1; if( (GPIODAT & (1<<4)) != 0 ) data |= 0x01 ; else data &= 0xfe; { U16 k=0; for( ; k <= DELAY_TIME; k++ ) ; } //延时至少300ns GPIODAT &= (~(1<<5)) ; //SCK put 0 { U16 k=0; for( ; k <= DELAY_TIME; k++ ) ; } //延时至少300ns } return (data); } /**************************************************************************** 【功能说明】 Send Command to MCP2510 via SPI ****************************************************************************/ void SendCMDMCP2510( U8 CMD ) { MCP2510_RW_Start() ; //Initial IO port and CS is select Spi_Write( CMD ); GPIODAT |= (1<<7) ; // Deselect the MCP2510 } /**************************************************************************** 【功能说明】软件复位MCP2510 ****************************************************************************/ void MCP2510_Reset() { MCP2510_RW_Start() ; Spi_Write( MCP2510INSTR_RESET ); GPIODAT |= (1<<7) ; } /**************************************************************************** 【功能说明】向MCP2510指定地址写入一个字节 ****************************************************************************/ void MCP2510_Write( U8 address, U8 value) { MCP2510_RW_Start() ; Spi_Write(MCP2510INSTR_WRITE); Spi_Write( address ); Spi_Write( value ); GPIODAT |= (1<<7) ; } /**************************************************************************** 【功能说明】修改指定地址寄存器的某些位 ****************************************************************************/ void MCP2510_WriteBits( U8 address, U8 data, U8 mask ) { MCP2510_RW_Start() ; Spi_Write( MCP2510INSTR_BITMDFY ); Spi_Write( address); Spi_Write( mask); Spi_Write( data); GPIODAT |= (1<<7) ; } /**************************************************************************** 【功能说明】 Read often used status //Status 7 6 5 4 3 2 1 0 // | | | | | | | | // | | | | | | | |___CANINTF.RX0IF // | | | | | | |_______CANINTF.RX1IF // | | | | | |___________TXB0CTRL.TXREQ // | | | | |_______________CANINTF.TX0IF // | | | |___________________TXB1CTRL.TXREQ // | | |_______________________CANINTF.TX1IF // | |___________________________TXB2CTRL.TXREQ // |_______________________________CANINTF.TX2IF ****************************************************************************/ unsigned char MCP2510_ReadStatus() { unsigned char result; MCP2510_RW_Start() ; Spi_Write(MCP2510INSTR_RDSTAT); result = Spi_Read() ; Spi_Write( 0 ) ; //数据重复输出 GPIODAT |= (1<<7) ; //if( MCP2510_DEBUG ) Uart_Printf( "StatusREG = 0x%x\n", result ) ; return result; } /**************************************************************************** 【功能说明】从MCP2510指定地址中读出一个字节 ****************************************************************************/ unsigned char MCP2510_Read( U8 address ) { unsigned char result; MCP2510_RW_Start() ; Spi_Write(MCP2510INSTR_READ) ; //0x03 Spi_Write( address ) ; result = Spi_Read() ; GPIODAT |= (1<<7) ; return result ; } /**************************************************************************** 【功能说明】序列读取MCP2510数据 ****************************************************************************/ void MCP2510_SRead( U8 address, unsigned char* pdata, U8 nlength ) { int i; MCP2510_RW_Start() ; Spi_Write(MCP2510INSTR_READ); Spi_Write( address ); for (i=0; i<nlength; i++) { *pdata=Spi_Read(); //if( MCP2510_DEBUG ) Uart_Printf( " 0x%x\n", (unsigned char)*pdata ) ; pdata++; } GPIODAT |= (1<<7) ; } /**************************************************************************** 【功能说明】序列写入MCP2510数据 ****************************************************************************/ void MCP2510_Swrite( U8 address, unsigned char* pdata, U8 nlength) { int i; MCP2510_RW_Start() ; Spi_Write(MCP2510INSTR_WRITE); Spi_Write((unsigned char)address); for (i=0; i < nlength; i++) { Spi_Write( (unsigned char)*pdata ); //if( MCP2510_DEBUG ) Uart_Printf( "0x%x\n", (unsigned char)*pdata ) ; pdata++; } GPIODAT |= (1<<7) ; } /**************************************************************************** 【功能说明】 ****************************************************************************/ void MCP2510_SetBandRate(CanBan