475 lines
12 KiB
C
475 lines
12 KiB
C
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#include <stdint.h>
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#include "mcp2515.h"
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#include "ql_api_spi.h"
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#include "ql_api_osi.h"
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// #include "hw.h"
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#include "ql_log.h"
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#define LOGD(msg, ...) QL_LOG(QL_LOG_LEVEL_DEBUG, "mcp2515", msg, ##__VA_ARGS__)
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#define LOGI(msg, ...) QL_LOG(QL_LOG_LEVEL_INFO, "mcp2515", msg, ##__VA_ARGS__)
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#define LOGW(msg, ...) QL_LOG(QL_LOG_LEVEL_WARN, "mcp2515", msg, ##__VA_ARGS__)
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#define LOGE(msg, ...) QL_LOG(QL_LOG_LEVEL_ERROR, "mcp2515", msg, ##__VA_ARGS__)
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extern struct can_status *can_status[2];
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#define mcp_cs(fd) // ql_spi_cs_low(fd)
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#define mcp_ncs(fd) // ql_spi_cs_high(fd)
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static uint8_t spi_txbuf[32] __attribute__((aligned(32)));
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static uint8_t spi_rxbuf[32] __attribute__((aligned(32)));
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unsigned char spi_put(unsigned char);
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void mcp_wr_can_eid(int fd, unsigned char add, unsigned long can_id)
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{
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unsigned char txbuf[4];
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uint16_t canid;
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canid = (uint16_t)can_id;
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txbuf[EID0] = canid & 0xff;
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txbuf[EID8] = (canid >> 8) & 0xff;
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canid = (uint16_t)(can_id >> 16);
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txbuf[SIDL] = canid & 0x03;
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canid = canid << 3;
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txbuf[SIDL] |= (canid & 0xe0);
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txbuf[SIDL] |= 0x8;
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txbuf[SIDH] = canid >> 8;
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mcp_wrs(fd, add, txbuf, 4);
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}
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unsigned long mcp_rd_can_eid(int fd, unsigned char add)
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{
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unsigned char rcbuf[4];
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uint32_t can_id;
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uint16_t canid;
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mcp_rds(fd, add, rcbuf, 4);
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can_id = rcbuf[EID0] + (rcbuf[EID8] << 8);
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canid = rcbuf[SIDL] + (rcbuf[SIDH] << 8);
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canid = canid >> 3;
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canid |= (rcbuf[SIDL] & 0x03);
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can_id |= (canid << 16);
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return can_id;
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}
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void mcp_wr_can_id(int fd, unsigned char add, unsigned int CanId)
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{
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unsigned char txbuf[4];
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uint16_t sid;
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uint32_t eid;
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if (CanId & CAN_EFF_FLAG) // eid
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{
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sid = (CanId >> 18) & 0x7ff;
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eid = CanId & 0x3ffff;
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txbuf[SIDH] = (uint8_t)(sid >> 3);
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txbuf[SIDL] = (sid << 5) & 0xe0;
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txbuf[SIDL] |= (1 << 3);
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txbuf[SIDL] |= (eid >> 16);
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txbuf[EID8] = (eid >> 8) & 0xff;
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txbuf[EID0] = eid & 0xff;
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}
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else
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{
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sid = CanId & 0x7ff;
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txbuf[SIDH] = (uint8_t)(sid >> 3);
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txbuf[SIDL] = (sid << 5) & 0xe0;
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txbuf[EID8] = 0;
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txbuf[EID0] = 0;
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}
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mcp_wrs(fd, add, txbuf, 4);
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}
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unsigned int mcp_rd_can_id(int fd, unsigned char add)
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{
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unsigned int CanId;
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unsigned char rcbuf[4];
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mcp_rds(fd, add, rcbuf, 4);
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CanId = (rcbuf[SIDL] + (rcbuf[SIDH] << 8));
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CanId >>= 5;
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CanId &= 0x7ff;
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if (rcbuf[SIDL] & (1 << 3))
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{
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unsigned int eid;
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eid = rcbuf[EID0] | (rcbuf[EID8] << 8);
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eid |= (rcbuf[SIDL] & 0x03) << 16;
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CanId <<= 18;
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CanId |= eid;
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CanId |= CAN_EFF_FLAG;
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}
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return CanId;
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}
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void mcp_reset(int fd)
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{
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mcp_cs(fd);
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spi_txbuf[0] = RESET;
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spi_write(fd, spi_txbuf, 1);
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mcp_ncs(fd);
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}
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// 单字节写
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void mcp_wr(int fd, unsigned char add, unsigned char DAT)
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{
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spi_txbuf[0] = WRITE;
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spi_txbuf[1] = add;
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spi_txbuf[2] = DAT;
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mcp_cs(fd);
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spi_write(fd, spi_txbuf, 3);
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mcp_ncs(fd);
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}
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// 多字节写
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void mcp_wrs(int fd, unsigned char add, unsigned char *wr_dat, unsigned char length)
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{
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spi_txbuf[0] = WRITE;
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spi_txbuf[1] = add;
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mcp_cs(fd);
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for (int i = 0; i < length; i++)
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{
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spi_txbuf[i + 2] = wr_dat[i];
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}
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spi_write(fd, spi_txbuf, length + 2);
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mcp_ncs(fd);
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}
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// 单字节读
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unsigned char mcp_rd(int fd, unsigned char add)
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{
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spi_txbuf[0] = READ;
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spi_txbuf[1] = add;
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spi_txbuf[2] = 0;
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mcp_cs(fd);
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spi_write_read(fd, spi_txbuf, spi_rxbuf, 3);
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mcp_ncs(fd);
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return (spi_rxbuf[2]);
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}
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// 多字节读
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void mcp_rds(int fd, unsigned char add, unsigned char *DAT, unsigned char length)
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{
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spi_txbuf[0] = READ;
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spi_txbuf[1] = add;
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for (int i = 0; i < length; i++)
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{
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spi_txbuf[2 + i] = 0;
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}
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mcp_cs(fd);
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spi_write_read(fd, spi_txbuf, spi_rxbuf, length + 2);
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for (int i = 0; i < length; i++)
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{
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*DAT++ = spi_rxbuf[2 + i];
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}
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mcp_ncs(fd);
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}
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// 发送请求
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void rts(int fd, unsigned char ch)
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{
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ch &= 0x7;
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ch |= 0x80;
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spi_txbuf[0] = ch;
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mcp_cs(fd);
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spi_write(fd, spi_txbuf, 1);
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mcp_ncs(fd);
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}
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// 状态读
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unsigned char get_mcp_status(int fd)
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{
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spi_txbuf[0] = STATUS;
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spi_txbuf[1] = 0;
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mcp_cs(fd);
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spi_write_read(fd, spi_txbuf, spi_rxbuf, 2);
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mcp_ncs(fd);
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return (spi_rxbuf[1]);
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}
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void mcp_wr_bit(int fd, unsigned char add, unsigned char DAT, unsigned char mask)
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{
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spi_txbuf[0] = 0x05;
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spi_txbuf[1] = add;
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spi_txbuf[2] = mask;
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spi_txbuf[3] = DAT;
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mcp_cs(fd);
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spi_write(fd, spi_txbuf, 4);
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mcp_ncs(fd);
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}
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void mcp_rd_rxbuf(int fd, unsigned char buf, unsigned char *DAT, unsigned char length)
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{
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buf <<= 1;
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buf &= 0x06;
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buf |= 0x90;
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spi_txbuf[0] = buf;
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for (int i = 0; i < length; i++)
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{
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spi_txbuf[i + 1] = 0;
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}
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mcp_cs(fd);
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spi_write_read(fd, spi_txbuf, spi_rxbuf, length + 1);
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for (int i = 0; i < length; i++)
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{
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*DAT++ = spi_rxbuf[1 + i];
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}
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mcp_ncs(fd);
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}
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void mcp_ld_txbuf(int fd, unsigned char buf, unsigned char *DAT, unsigned char length)
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{
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mcp_cs(fd);
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buf &= 0x07;
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buf |= 0x40;
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spi_txbuf[0] = buf;
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for (int i = 0; i < length; i++)
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{
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spi_txbuf[i + 1] = 0;
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}
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spi_write_read(fd, spi_txbuf, spi_rxbuf, length + 1);
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for (int i = 0; i < length; i++)
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{
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*DAT++ = spi_rxbuf[i + 1];
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}
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mcp_ncs(fd);
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}
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unsigned char get_mcp_rxstatus(int fd)
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{
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spi_txbuf[0] = 0xb0;
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spi_txbuf[1] = 0;
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mcp_cs(fd);
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spi_write_read(fd, spi_txbuf, spi_rxbuf, 2);
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mcp_ncs(fd);
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return spi_rxbuf[1];
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}
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int mcp_can_init(int ch, can_config_t *cfg)
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{
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// uint8_t value;
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int can_clock = 24000000;
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uint8_t brp;
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int bit_time;
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mcp_reset(ch);
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ql_rtos_task_sleep_ms(20);
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mcp_wr(ch, CANCTRL, MODE_CONFIG);
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if (mcp_rd(ch, CANCTRL) != MODE_CONFIG)
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{
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return -1;
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}
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bit_time = can_clock / 2 / cfg->baud_rate;
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if (bit_time % 12 == 0) // ±ê×¼²¨ÌØÂÊ 125,250,500,10000
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{
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mcp_wr(ch, CNF2, BTLMODE_CNF3 + SEG3 * 8 + SEG5);
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mcp_wr(ch, CNF3, SEG3);
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brp = bit_time / 12 - 1;
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if (brp > 7)
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{
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return -2;
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}
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mcp_wr(ch, CNF1, SJW1 + brp);
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}
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else if (bit_time % 15 == 0) // 100,200,400,800
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{
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mcp_wr(ch, CNF2, BTLMODE_CNF3 + SEG4 * 8 + SEG6);
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mcp_wr(ch, CNF3, SEG4);
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brp = bit_time / 15 - 1;
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if (brp > 7)
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{
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return -2;
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}
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mcp_wr(ch, CNF1, SJW1 + brp);
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}
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else if (bit_time % 16 == 0) // 750,325
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{
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mcp_wr(ch, CNF2, BTLMODE_CNF3 + SEG5 * 8 + SEG6);
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mcp_wr(ch, CNF3, SEG4);
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brp = bit_time / 16 - 1;
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if (brp > 7)
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{
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return -2;
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}
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mcp_wr(ch, CNF1, SJW1 + brp);
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}
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else // ²»Ö§³ÖµÄ²¨ÌØÂÊ
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{
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return -2;
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}
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mcp_wr(ch, RXB0CTRL, cfg->rx_ctrl[0]); // Â˲¨Æ÷0
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mcp_wr_can_id(ch, RXM0SIDH, cfg->rx_mask[0]);
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mcp_wr_can_id(ch, RXF0SIDH, cfg->rx_filter[0]);
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mcp_wr(ch, RXB1CTRL, cfg->rx_ctrl[1]); // Â˲¨Æ÷1
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mcp_wr_can_id(ch, RXF1SIDH, cfg->rx_filter[1]);
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mcp_wr_can_id(ch, RXM1SIDH, cfg->rx_mask[1]);
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mcp_wr_can_id(ch, RXF2SIDH, cfg->rx_filter[2]);
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mcp_wr_can_id(ch, RXF3SIDH, cfg->rx_filter[3]);
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mcp_wr_can_id(ch, RXF4SIDH, cfg->rx_filter[4]);
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mcp_wr_can_id(ch, RXF5SIDH, cfg->rx_filter[5]);
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mcp_wr(ch, CANINTE, 0x03);
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mcp_wr(ch, CANINTF, 0x00);
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mcp_wr_bit(ch, TXRTSCTRL, 0x0, 0xff);
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mcp_wr_bit(ch, BFPCTRL, 0x3c, 0xff);
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mcp_wr(ch, CANCTRL, (cfg->can_mode & 0xf0));
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LED0_ON(ch);
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LED1_ON(ch);
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LOGD("[%s] can%d init ok", __FUNCTION__, ch);
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return 0;
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}
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int can_read_rxbuf(int ch, CanRxMsg *RxMsg)
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{
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unsigned char status;
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uint32_t can_id;
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status = get_mcp_rxstatus(ch);
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if (status & 0x40)
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{
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RxMsg->Id = mcp_rd_can_id(ch, 0x61);
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if (RxMsg->Id & (1 << 31))
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{
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RxMsg->Id &= 0x1fffffff;
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RxMsg->IDE = CAN_Id_Extended;
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}
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else
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{
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RxMsg->Id &= 0x7ff;
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RxMsg->IDE = CAN_Id_Standard;
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}
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RxMsg->DLC = mcp_rd(ch, 0x65);
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if (RxMsg->DLC & 0x40)
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{
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RxMsg->DLC = 0;
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RxMsg->RTR = 1;
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goto ret1; // Ë͵½rtr
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}
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RxMsg->RTR = 0;
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if (RxMsg->DLC > 8)
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{
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RxMsg->DLC = 8;
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}
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mcp_rd_rxbuf(ch, 0x1, RxMsg->Data, RxMsg->DLC);
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ret1:
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mcp_wr_bit(ch, CANINTF, 0x00, 0x01);
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return 1;
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}
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if (status & 0x80)
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{
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RxMsg->Id = mcp_rd_can_id(ch, 0x71);
|
||
|
|
if (can_id & (1 << 31))
|
||
|
|
{
|
||
|
|
RxMsg->Id &= 0x1fffffff;
|
||
|
|
RxMsg->IDE = CAN_Id_Extended;
|
||
|
|
}
|
||
|
|
else
|
||
|
|
{
|
||
|
|
RxMsg->Id &= 0x7ff;
|
||
|
|
RxMsg->IDE = CAN_Id_Standard;
|
||
|
|
}
|
||
|
|
RxMsg->DLC = mcp_rd(ch, 0x75);
|
||
|
|
if (RxMsg->DLC & 0x40)
|
||
|
|
{
|
||
|
|
RxMsg->DLC = 0;
|
||
|
|
RxMsg->RTR = 1;
|
||
|
|
goto ret2; // ÊÕµ½rtr
|
||
|
|
}
|
||
|
|
RxMsg->RTR = 0;
|
||
|
|
if (RxMsg->DLC > 8)
|
||
|
|
{
|
||
|
|
RxMsg->DLC = 8;
|
||
|
|
}
|
||
|
|
mcp_rd_rxbuf(ch, 0x3, RxMsg->Data, RxMsg->DLC);
|
||
|
|
ret2:
|
||
|
|
mcp_wr_bit(ch, CANINTF, 0x00, 0x02);
|
||
|
|
return 2;
|
||
|
|
}
|
||
|
|
|
||
|
|
return 0;
|
||
|
|
}
|
||
|
|
|
||
|
|
int can_tx_pack(int ch, CanTxMsg *TxPack)
|
||
|
|
{
|
||
|
|
// #ifdef _CAN_DEBUG_
|
||
|
|
// char msg[256];
|
||
|
|
// int i;
|
||
|
|
// int n = sprintf(msg, "CAN%d Tx: Id=0x%x,IDE=%x,DLC=%d,Data=[", ch, TxPack->Id, TxPack->IDE, TxPack->DLC);
|
||
|
|
// for (i = 0; i < TxPack->DLC; i++)
|
||
|
|
// {
|
||
|
|
// n += sprintf(&msg[n], "%02x ", TxPack->Data[i]);
|
||
|
|
// }
|
||
|
|
// msg[n - 1] = ']';
|
||
|
|
// eat_trace(msg);
|
||
|
|
// #endif
|
||
|
|
can_status[0]->tx_cnt++;
|
||
|
|
if (!(mcp_rd(ch, 0x30) & 0x08))
|
||
|
|
{ // ·¢ËÍ»º³åÇø0¿Õ£¿
|
||
|
|
LED1_ON(ch);
|
||
|
|
if (TxPack->IDE == CAN_Id_Extended)
|
||
|
|
{
|
||
|
|
TxPack->Id |= (1 << 31);
|
||
|
|
}
|
||
|
|
else
|
||
|
|
{
|
||
|
|
TxPack->Id &= 0x7ff;
|
||
|
|
}
|
||
|
|
mcp_wr_can_id(ch, 0x31, TxPack->Id);
|
||
|
|
if (TxPack->RTR)
|
||
|
|
{
|
||
|
|
mcp_wr(ch, 0x35, 0x40); // ·¢ËÍRTR
|
||
|
|
}
|
||
|
|
else
|
||
|
|
{
|
||
|
|
mcp_wr(ch, 0x35, TxPack->DLC);
|
||
|
|
mcp_ld_txbuf(ch, 0x1, (uint8_t *)&TxPack->Data[0], TxPack->DLC);
|
||
|
|
}
|
||
|
|
rts(ch, 1);
|
||
|
|
LED1_OFF(ch);
|
||
|
|
|
||
|
|
return 0;
|
||
|
|
}
|
||
|
|
if (!(mcp_rd(ch, 0x40) & 0x08))
|
||
|
|
{ // ·¢ËÍ»º³åÇø1¿Õ£¿
|
||
|
|
LED1_ON(ch);
|
||
|
|
if (TxPack->IDE == CAN_Id_Extended)
|
||
|
|
{
|
||
|
|
TxPack->Id |= (1 << 31);
|
||
|
|
}
|
||
|
|
else
|
||
|
|
{
|
||
|
|
TxPack->Id &= 0x7ff;
|
||
|
|
}
|
||
|
|
mcp_wr_can_id(ch, 0x41, TxPack->Id);
|
||
|
|
if (TxPack->RTR)
|
||
|
|
{
|
||
|
|
mcp_wr(ch, 0x45, 0x40); // ·¢ËÍRTR
|
||
|
|
}
|
||
|
|
else
|
||
|
|
{
|
||
|
|
mcp_wr(ch, 0x45, TxPack->DLC);
|
||
|
|
mcp_ld_txbuf(ch, 0x3, (uint8_t *)&TxPack->Data[0], TxPack->DLC);
|
||
|
|
}
|
||
|
|
rts(ch, 2);
|
||
|
|
LED1_OFF(ch);
|
||
|
|
return 0;
|
||
|
|
}
|
||
|
|
if (!(mcp_rd(ch, 0x50) & 0x08))
|
||
|
|
{ // ·¢ËÍ»º³åÇø2¿Õ£¿
|
||
|
|
LED1_ON(ch);
|
||
|
|
if (TxPack->IDE == CAN_Id_Extended)
|
||
|
|
{
|
||
|
|
TxPack->Id |= (1 << 31);
|
||
|
|
}
|
||
|
|
else
|
||
|
|
{
|
||
|
|
TxPack->Id &= 0x7ff;
|
||
|
|
}
|
||
|
|
mcp_wr_can_id(ch, 0x51, TxPack->Id);
|
||
|
|
if (TxPack->RTR)
|
||
|
|
{
|
||
|
|
mcp_wr(ch, 0x55, 0x40); // ·¢ËÍRTR
|
||
|
|
}
|
||
|
|
else
|
||
|
|
{
|
||
|
|
mcp_wr(ch, 0x55, TxPack->DLC);
|
||
|
|
mcp_ld_txbuf(ch, 0x5, (uint8_t *)&TxPack->Data[0], TxPack->DLC);
|
||
|
|
}
|
||
|
|
rts(ch, 4);
|
||
|
|
LED1_OFF(ch);
|
||
|
|
return 0;
|
||
|
|
}
|
||
|
|
if (mcp_rd(ch, EFLG) & (1 << 5))
|
||
|
|
{
|
||
|
|
mcp_wr(ch, TEC, 0);
|
||
|
|
}
|
||
|
|
return 1; // ·¢ËÍ»º³åÇøÂú,·¢ËÍʧ°Ü
|
||
|
|
}
|