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stm32驱动MCP2515芯片，项目已通过测试

news 2025/7/22 7:57:08

最近公司做一个项目，需要3路can通道，但是stm32看了很久，最多也就只有2个can，所以找到了一款MCP2515芯片，可以用spi驱动can。
已经实现了can的发送和接收，接收采用的是外部中断接收的方式。和单片机本身带的can功能一样。
还有就是要注意的是CAN的接收是通过外部中断引脚下拉来确定接收缓冲器接收到数据，可以通过设置接收屏蔽和滤波。
spi的初始化就不介绍 直接放出MCP2515的关键代码
首先是MCP2515的头文件 主要是一些宏定义和API

#ifndef MCP2515_H_
#define MCP2515_H_
#include "stm32f10x.h"#define USE_INT_STAT            1   // use INT pin indicate recived data//MCP2515 RX/TX buffers selection
#define MCP2515_RX_BUF_0        0
#define MCP2515_RX_BUF_1        1
#define MCP2515_TX_BUF_0        0
#define MCP2515_TX_BUF_1        1
#define MCP2515_TX_BUF_2        2//MCP2515 SPI instructions
#define MCP2515_RESET                   0xC0
#define MCP2515_READ                    0x03
#define MCP2515_READ_BUF_RXB0SIDH       0x90    //read data from begin address of Standard ID (MSB) of RX buffer 0
#define MCP2515_READ_BUF_RXB0D0         0x92    //read data from begin address of data byte 0 of RX buffer 0
#define MCP2515_READ_BUF_RXB1SIDH       0x94    //...RX buffer 1
#define MCP2515_READ_BUF_RXB1D0         0x96    //...RX buffer 1
#define MCP2515_WRITE                   0x02
#define MCP2515_LOAD_BUF_TXB0SIDH       0x40    //load data from begin address of Standard ID (MSB) of TX buffer 0
#define MCP2515_LOAD_BUF_TXB0D0         0X41    //load data from begin address of data byte 0 of TX buffer 0
#define MCP2515_LOAD_BUF_TXB1SIDH       0x42    //...TX buffer 1
#define MCP2515_LOAD_BUF_TXB1D0         0X43    //...TX buffer 1
#define MCP2515_LOAD_BUF_TXB2SIDH       0x44    //...TX buffer 2
#define MCP2515_LOAD_BUF_TXB2D0         0X45    //...TX buffer 2
#define MCP2515_RTS_TXB0                0x81    //activate the RTS of TX buffer 0.
#define MCP2515_RTS_TXB1                0x82    //...TX buffer 1.
#define MCP2515_RTS_TXB2                0x84    //...TX buffer 2.
#define MCP2515_RTS_ALL                 0x87    //...TX buffer 0, 1 and 2.
#define MCP2515_READ_RXTX_STATUS        0xA0
#define MCP2515_RX_STATUS               0xB0
#define MCP2515_BIT_MODIFY              0x05//MCP2515 control settings register address.
//All can be used with the Bit Modify command, except the CANSTAT register.
#define MCP2515_BFPCTRL         0x0C    //RXnBF pin control/status
#define MCP2515_TXRTSCTRL       0x0D    //TXnRTS pin control/status
#define MCP2515_CANSTAT         0x0E    //CAN status. any addr of MSB will give the same info???
#define MCP2515_CANCTRL         0x0F    //CAN control status. any addr of MSB will give the same info???
#define MCP2515_TEC             0x1C    //Transmit Error Counter
#define MCP2515_REC             0x1D    //Receive Error Counter
#define MCP2515_CNF3            0x28    //Phase segment 2
#define MCP2515_CNF2            0x29    //Propagation segment & Phase segment 1 & n sample setting
#define MCP2515_CNF1            0x2A    //Baud rate prescaler & Sync Jump Width
#define MCP2515_CANINTE         0x2B    //CAN interrupt enable
#define MCP2515_CANINTF         0x2C    //Interrupt flag
#define MCP2515_EFLG            0x2D    //Error flag
#define MCP2515_TXB0CTRL        0x30    //TX buffer 0 control
#define MCP2515_TXB1CTRL        0x40    //TX buffer 1 control
#define MCP2515_TXB2CTRL        0x50    //TX buffer 2 control
#define MCP2515_RXB0CTRL        0x60    //RX buffer 0 control
#define MCP2515_RXB1CTRL        0x70    //RX buffer 1 control//MCP2515 relate to CAN settings/status register address.
//Only the most used are listed below. please see the datasheet MCP2515.pdf p61 for complete info.
#define MCP2515_RXF0SIDH        0x00    //RX standard ID (High bits) filter 0
#define MCP2515_RXF0SIDL        0x01    //RX standard ID (Low bits) filter 0
#define MCP2515_RXF0EID8        0x02    //RX Extended ID (High bits) filter 0 ->can be reached by bust read/write Standard ID then Ext. ID
#define MCP2515_RXF0EID0        0x03    //RX Extended ID (Low bits) filter 0
#define MCP2515_RXF1SIDH        0x04    //RX standard ID (High bits) filter 1
#define MCP2515_RXF1SIDL        0x05    //RX standard ID (Low bits) filter 1
#define MCP2515_RXF1EID8        0x06    //RX Extended ID (High bits) filter 1
#define MCP2515_RXF1EID0        0x07    //RX Extended ID (Low bits) filter 1
#define MCP2515_RXF2SIDH        0x08    //RX standard ID (High bits) filter 2
#define MCP2515_RXF2SIDL        0x09    //RX standard ID (Low bits) filter 2
#define MCP2515_RXF2EID8        0x0A    //RX Extended ID (High bits) filter 2
#define MCP2515_RXF2EID0        0x0B    //RX Extended ID (Low bits) filter 2
#define MCP2515_RXF3SIDH        0x10    //RX standard ID (High bits) filter 3
#define MCP2515_RXF3SIDL        0x11    //RX standard ID (Low bits) filter 3
#define MCP2515_RXF3EID8        0x12    //RX Extended ID (High bits) filter 3
#define MCP2515_RXF3EID0        0x13    //RX Extended ID (Low bits) filter 3
#define MCP2515_RXF4SIDH        0x14    //RX standard ID (High bits) filter 4
#define MCP2515_RXF4SIDL        0x15    //RX standard ID (Low bits) filter 4
#define MCP2515_RXF4EID8        0x16    //RX Extended ID (High bits) filter 4
#define MCP2515_RXF4EID0        0x17    //RX Extended ID (Low bits) filter 4
#define MCP2515_RXF5SIDH        0x18    //RX standard ID (High bits) filter 5
#define MCP2515_RXF5SIDL        0x19    //RX standard ID (Low bits) filter 5
#define MCP2515_RXF5EID8        0x1A    //RX Extended ID (High bits) filter 5
#define MCP2515_RXF5EID0        0x1B    //RX Extended ID (Low bits) filter 5
#define MCP2515_RXM0SIDH        0x20    //RX standard ID (High bits) mask filter 0
#define MCP2515_RXM0SIDL        0x21    //RX standard ID (Low bits) mask filter 0
#define MCP2515_RXM0EID8        0x22    //RX Extended ID (High bits) mask filter 0
#define MCP2515_RXM0EID0        0x23    //RX Extended ID (Low bits) mask filter 0
#define MCP2515_RXM1SIDH        0x24    //RX standard ID (High bits) mask filter 1
#define MCP2515_RXM1SIDL        0x25    //RX standard ID (Low bits) mask filter 1
#define MCP2515_RXM1EID8        0x26    //RX Extended ID (High bits) mask filter 1
#define MCP2515_RXM1EID0        0x27    //RX Extended ID (Low bits) mask filter 1
#define MCP2515_RXB0SIDH        0x61    //RX buffer 0 standard ID (High bits)
#define MCP2515_RXB0SIDL        0x62    //RX buffer 0 standard ID (Low bits)
#define MCP2515_RXB0EID8        0x63    //RX buffer 0 Extended ID (High bits) ->can be reached by bust read/write Standard ID then Ext. ID
#define MCP2515_RXB0EID0        0x64    //RX buffer 0 Extended ID (Low bits)
#define MCP2515_RXB0DLC         0x65    //RX buffer 0 DLC  ->can be reached by bust read/write Standard ID, Ext. ID then DLC
#define MCP2515_RXB0D0          0x66    //RX buffer 0 data byte0
#define MCP2515_RXB1SIDH        0x71    //RX buffer 1 standard ID (High bits)
#define MCP2515_RXB1SIDL        0x72    //RX buffer 1 standard ID (Low bits)
#define MCP2515_RXB1EID8        0x73    //RX buffer 1 Extended ID (High bits)
#define MCP2515_RXB1EID0        0x74    //RX buffer 1 Extended ID (Low bits)
#define MCP2515_RXB1DLC         0x75    //RX buffer 1 DLC
#define MCP2515_RXB1D0          0x76    //RX buffer 1 data byte0#define MCP2515_TXB0SIDH        0x31    //TX buffer 0 standard ID (High bits)
#define MCP2515_TXB0SIDL        0x32    //TX buffer 0 standard ID (Low bits)
#define MCP2515_TXB0EID8        0x33    //TX buffer 0 Extended ID (High bits) ->can be reached by bust read/write Standard ID then Ext. ID
#define MCP2515_TXB0EID0        0x34    //TX buffer 0 Extended ID (Low bits)
#define MCP2515_TXB0DLC         0x35    //TX buffer 0 DLC  ->can be reached by bust read/write Standard ID, Ext. ID then DLC
#define MCP2515_TXB0D0          0x36    //TX buffer 0 data byte0
#define MCP2515_TXB1SIDH        0x41    //TX buffer 1 standard ID (High bits)
#define MCP2515_TXB1SIDL        0x42    //TX buffer 1 standard ID (Low bits)
#define MCP2515_TXB1EID8        0x43    //TX buffer 1 Extended ID (High bits)
#define MCP2515_TXB1EID0        0x44    //TX buffer 1 Extended ID (Low bits)
#define MCP2515_TXB1DLC         0x45    //TX buffer 1 DLC
#define MCP2515_TXB1D0          0x46    //TX buffer 1 data byte0
#define MCP2515_TXB2SIDH        0x51    //TX buffer 2 standard ID (High bits)
#define MCP2515_TXB2SIDL        0x52    //TX buffer 2 standard ID (Low bits)
#define MCP2515_TXB2EID8        0x53    //TX buffer 2 Extended ID (High bits)
#define MCP2515_TXB2EID0        0x54    //TX buffer 2 Extended ID (Low bits)
#define MCP2515_TXB2DLC         0x55    //TX buffer 2 DLC
#define MCP2515_TXB2D0          0x56    //TX buffer 2 data byte0//MCP2515 limit values
#define MCP2515_MIN_TQ          0x07    //7 = Minimum TQ in 1 bit of CAN bus time
#define MCP2515_MAX_TQ          0x19    //25 = Maximum TQ in 1 bit of CAN bus time
#define MCP2515_MIN_BRP         0x00    //0 = Minimum baud rate prescaler clock
#define MCP2515_MAX_BRP         0x3F    //63 = Maximum baud rate prescaler clock
#define MCP2515_MAX_SJW         0x03    //4 = Maximum Synchronization Jump Width. 4-1 = 3 actually
#define MCP2515_MAX_BYTE_CANFRM 0x08//8 = Maximun bytes in a CAN frame//MCP2515 register values: CANCTRL register
#define MCP2515_MODE_NORMAL     0x00
#define MCP2515_MODE_SLEEP      0x20
#define MCP2515_MODE_LOOPBACK   0x40
#define MCP2515_MODE_LISTENONLY 0x60
#define MCP2515_MODE_CONFIG     0x80
#define MCP2515_ABORT_TX        0x10
#define MCP2515_MODE_MASK       0xE0
#define MCP2515_MODE_ONESHOT    0x08
#define MCP2515_CLKOUT_ENABLE   0x04
#define MCP2515_CLKOUT_PS1      0x00    //Set CLK out prescaler to 1. Note: not the same as the CAN CLK prescaler.
#define MCP2515_CLKOUT_PS2      0x01    //... to 2
#define MCP2515_CLKOUT_PS4      0x02    //... to 4
#define MCP2515_CLKOUT_PS8      0x03    //... to 8//MCP2515 CAN Status Register bits (CANSTAT 0xXE, ICOD)
#define MCP2515_CANSTAT_NO_INT   0x00
#define MCP2515_CANSTAT_ERR_INT  0x02
#define MCP2515_CANSTAT_WAK_INT  0x04 //Wake-up Interrupt
#define MCP2515_CANSTAT_TXB0_INT 0x06
#define MCP2515_CANSTAT_TXB1_INT 0x08
#define MCP2515_CANSTAT_TXB2_INT 0x0A
#define MCP2515_CANSTAT_RXB0_INT 0x0C
#define MCP2515_CANSTAT_RXB1_INT 0x0E//MCP2515 CAN Interrupt Flag Define
#define MCP2515_CANINTF_MERRF   0x80
#define MCP2515_CANINTF_WAKIF   0x40
#define MCP2515_CANINTF_ERRIF   0x20
#define MCP2515_CANINTF_TX2IF   0x10
#define MCP2515_CANINTF_TX1IF   0x08
#define MCP2515_CANINTF_TX0IF   0x04
#define MCP2515_CANINTF_RX1IF   0x02
#define MCP2515_CANINTF_RX0IF   0x01#define MCP2515_CANINT_MERR     0x80
#define MCP2515_CANINT_WAKI     0x40
#define MCP2515_CANINT_ERRI     0x20
#define MCP2515_CANINT_TX2I     0x10
#define MCP2515_CANINT_TX1I     0x08
#define MCP2515_CANINT_TX0I     0x04
#define MCP2515_CANINT_RX1I     0x02
#define MCP2515_CANINT_RX0I     0x01#define MCP2515_CAN_Standard             (0)  /*!< Standard Id */
#define MCP2515_CAN_Extended             (8)  /*!< Extended Id */
/** * @brief  MCP2515_CAN Tx message structure definition  */typedef struct
{uint32_t StdId;  /*!< Specifies the standard identifier.This parameter can be a value between 0 to 0x7FF. */uint32_t ExtId;  /*!< Specifies the extended identifier.This parameter can be a value between 0 to 0x1FFFFFFF. */unsigned char IDE;     /*!< Specifies the type of identifier for the message that will be transmitted. This parameter can be a value of @ref CAN_identifier_type */unsigned char RTR;     /*!< Specifies the type of frame for the message that will be transmitted. This parameter can be a value of @ref CAN_remote_transmission_request */unsigned char DLC;     /*!< Specifies the length of the frame that will be transmitted. This parameter can be a value between 0 to 8 */unsigned char Data[8]; /*!< Contains the data to be transmitted. It ranges from 0 to 0xFF. */
}MCP2515_CanTxMsg;/** * @brief  MCP2515_CAN Rx message structure definition  */typedef struct
{uint32_t StdId;  /*!< Specifies the standard identifier.This parameter can be a value between 0 to 0x7FF. */uint32_t ExtId;  /*!< Specifies the extended identifier.This parameter can be a value between 0 to 0x1FFFFFFF. */unsigned char IDE;     /*!< Specifies the type of identifier for the message that will be received. This parameter can be a value of @ref CAN_identifier_type */unsigned char RTR;     /*!< Specifies the type of frame for the received message.This parameter can be a value of @ref CAN_remote_transmission_request */unsigned char DLC;     /*!< Specifies the length of the frame that will be received.This parameter can be a value between 0 to 8 */unsigned char Data[8]; /*!< Contains the data to be received. It ranges from 0 to 0xFF. */unsigned char FMI;     /*!< Specifies the index of the filter the message stored in the mailbox passes through. This parameter can be a value between 0 to 0xFF */
}MCP2515_CanRxMsg;extern MCP2515_CanRxMsg MCP2515_Rxmsg;
extern MCP2515_CanTxMsg MCP2515_Txmsg;/*KEY API*/
void MCP2515_CAN_Init(unsigned char brp,unsigned char ps1,unsigned char ps2);
unsigned char MCP2515_CAN_ReceiveData(MCP2515_CanRxMsg * rxmsg);
void MCP2515_CAN_SendData(MCP2515_CanTxMsg *txmsg);
void CANINT_GPIO_Init(void);/*General API*/
void MCP2515_Reset(void);
unsigned char MCP2515_ReadByte(unsigned char addr);
void MCP2515_WriteByte(unsigned char addr,unsigned char data);
void MCP2515_BitModify(unsigned char Addr, unsigned char MASK, unsigned char data);
uint8_t MCP2515_Get_ReadStatus(void);
uint8_t MCP2515_Get_RxStatus(void);
void MCP2515_RTS(unsigned char TxBn);/*Set MCP2515*/
void MCP2515_SetCNF1(unsigned char data);
void MCP2515_SetCNF2(unsigned char data);
void MCP2515_SetCNF3(unsigned char data);
void MCP2515_SetMode(unsigned char data);
unsigned char MCP2515_GetCanStatus(void);/*TX API*/
void MCP2515_SetTXID(unsigned char TxBnID,MCP2515_CanTxMsg *txmsg);
void MCP2515_SetTXDLC(unsigned char TxBnDLC,MCP2515_CanTxMsg *txmsg);
void MCP2515_SetTXDATA(unsigned char TxBnDm,MCP2515_CanTxMsg *txmsg);/*RX API*/#endif /*MCP2515_H_*/

接下来就是MCP2515的源文件代码 和头文件是对应的

#include "mcp2515.h"
#include "spi.h"
#include "System/Utils.h"
#include "GPIO/GPIO.h"
#include <stdio.h>MCP2515_CanRxMsg MCP2515_Rxmsg;
MCP2515_CanTxMsg MCP2515_Txmsg;void EXTI9_5_IRQHandler(void)
{if(!GPIO_ReadInputDataBit(GPIOD,GPIO_Pin_9)){/*can中断*/MCP2515_CAN_ReceiveData(&MCP2515_Rxmsg);}EXTI_ClearITPendingBit(EXTI_Line9); //清除LINE9上的中断标志位  
}
void CANINT_GPIO_Init(void)
{GPIO_InitTypeDef GPIO_InitStructure;EXTI_InitTypeDef EXTI_InitStructure;NVIC_InitTypeDef NVIC_InitStructure;RCC_APB2PeriphClockCmd(RCC_APB2Periph_GPIOD|RCC_APB2Periph_AFIO,ENABLE);GPIO_InitStructure.GPIO_Pin  = GPIO_Pin_9;GPIO_InitStructure.GPIO_Mode = GPIO_Mode_IPU; //设置成上拉输入GPIO_Init(GPIOD, &GPIO_InitStructure);//中断线以及中断初始化配置 下降沿触发GPIO_EXTILineConfig(GPIO_PortSourceGPIOD,GPIO_PinSource9); EXTI_InitStructure.EXTI_Line=EXTI_Line9;EXTI_InitStructure.EXTI_Mode = EXTI_Mode_Interrupt;	EXTI_InitStructure.EXTI_Trigger = EXTI_Trigger_Falling;EXTI_InitStructure.EXTI_LineCmd = ENABLE;EXTI_Init(&EXTI_InitStructure);	  	//根据EXTI_InitStruct中指定的参数初始化外设EXTI寄存器NVIC_PriorityGroupConfig(NVIC_PriorityGroup_2);NVIC_InitStructure.NVIC_IRQChannel = EXTI9_5_IRQn;NVIC_InitStructure.NVIC_IRQChannelPreemptionPriority = 0x01; NVIC_InitStructure.NVIC_IRQChannelSubPriority = 0x01;NVIC_InitStructure.NVIC_IRQChannelCmd = ENABLE;NVIC_Init(&NVIC_InitStructure); 	}/*********  * @brief  MCP2515_CAN_Init* @param  brp:0~63* @param  ps1:0~7* @param  ps2:1~7* Baudrate=Fosc/( 2+ (ps1+1)  + (ps2+1) ) * 2*(1+brp) )* eg:brp=1 ps1=3 ps2=1Baudrate=8Mhz/(2+(3+1)+(1+1))*2*(1+1) =250Khz* eg:brp=0 ps1=3 ps2=1Baudrate=8Mhz/(2+(1+1)+(1+1))*2*(1+1) =250Khz* @retval none*/
void MCP2515_CAN_Init(unsigned char brp,unsigned char ps1,unsigned char ps2)
{这个是CAN初始化的代码 主要是配置CAN的波特率 模式 通道等具体代码可以小窗找我
}/*********  * @brief  Receive n bytes from MCP2515 RXB0* @param  rxmsg:RxDataStruct* @retval Data:return the effectively data from RXB0*/
unsigned char MCP2515_CAN_ReceiveData(MCP2515_CanRxMsg * rxmsg)
{这个是CAN的接收函数  可以在中断中来读取这个API 得到接收的can数据具体代码可以小窗找我}
/********* * @brief   Send n bytes to MCP2515 txb0* @param   txmsg: data to be sent    * @retval  None*/
void MCP2515_CAN_SendData(MCP2515_CanTxMsg *txmsg)
{这个是CAN的发送函数  代入CAN的结构体参数就可以具体代码可以小窗找我
}//功能：复位MCP2515
void MCP2515_Reset(void)
{MC2515_CS(0);SPI_MCP2515_Write_Read(MCP2515_RESET);MC2515_CS(1);
}
//功能：读MCP2515的数据
//入口参数：Addr:寄存器地址
//返回值：寄存器地址中的数据
unsigned char MCP2515_ReadByte(unsigned char addr)
{unsigned char ReadData;MC2515_CS(0);SPI_MCP2515_Write_Read(MCP2515_READ);SPI_MCP2515_Write_Read(addr);ReadData=SPI_MCP2515_Write_Read(0xff);MC2515_CS(1);return ReadData;
}
//功能：读MCP2515的寄存器
//入口参数：Addr:寄存器地址    data:数据字节
void MCP2515_WriteByte(unsigned char addr,unsigned char data)
{MC2515_CS(0);SPI_MCP2515_Write_Read(MCP2515_WRITE);SPI_MCP2515_Write_Read(addr);SPI_MCP2515_Write_Read(data);MC2515_CS(1);
}
//功能：只修改寄存器中的某些位
//入口参数：Addr:寄存器地址  MASK：屏蔽字  data:数据字节
void MCP2515_BitModify(unsigned char Addr, unsigned char MASK, unsigned char data)
{MC2515_CS(0);SPI_MCP2515_Write_Read(MCP2515_BIT_MODIFY);SPI_MCP2515_Write_Read(Addr);SPI_MCP2515_Write_Read(MASK);SPI_MCP2515_Write_Read(data);MC2515_CS(1);
}
//功能：获取读状态指令中的数据
//返回值：读状态指令中的数据
uint8_t MCP2515_Get_ReadStatus(void)
{unsigned char ReadData;MC2515_CS(0);	ReadData=SPI_MCP2515_Write_Read(MCP2515_READ_RXTX_STATUS);MC2515_CS(1);return ReadData;
}
//功能：获取读状态指令中的数据
//返回值：读状态指令中的数据
uint8_t MCP2515_Get_RxStatus(void)
{unsigned char ReadData;MC2515_CS(0);	ReadData=SPI_MCP2515_Write_Read(MCP2515_RX_STATUS);MC2515_CS(1);return ReadData;	
}
//功能：请求发送功能
//入口参数：TxBn 发送缓冲器序号 
//MCP2515_RTS_TXB0/MCP2515_RTS_TXB1/MCP2515_RTS_TXB2/MCP2515_RTS_ALL
void MCP2515_RTS(unsigned char TxBn)
{MC2515_CS(0);	SPI_MCP2515_Write_Read(TxBn);MC2515_CS(1);
}
/*
bit 7-6 SJW：同步跳转宽度位 <1:0>11 = 长度 = 4 x TQ10 = 长度 = 3 x TQ01 = 长度 = 2 x TQ00 = 长度 = 1 x TQ
bit 5-0 BRP：波特率预分频比位 <5:0>TQ = 2 x (BRP + 1)/FOSC
*/
void MCP2515_SetCNF1(unsigned char data)
{MCP2515_WriteByte(MCP2515_CNF1,data);
}/*
bit 7 BTLMODE：相位缓冲段 PS2 位时间长度位1 = PS2 时间长度由 CNF3 的 PHSEG22:PHSEG20 位决定0 = PS2 时间长度为 PS1 和 IPT （2 TQ）两者的较大值
bit 6 SAM：采样点配置位1 = 在采样点对总线进行三次采样0 = 在采样点对总线进行一次采样
bit 5-3 PHSEG1：相位缓冲段 PS1 位时间长度位 <2:0>(PHSEG1 + 1) x TQ
bit 2-0 PRSEG：传播段长度位 <2:0>(PRSEG + 1) x TQ
*/
void MCP2515_SetCNF2(unsigned char data)
{MCP2515_WriteByte(MCP2515_CNF2,data);
}/*
bit 7 SOF：起始帧信号位如果 CANCTRL.CLKEN = 1：1 = CLKOUT 引脚使能为 SOF 信号0 = CLKOUT 引脚使能为时间输出功能如果 CANCTRL.CLKEN = 0，该位为任意状态 .
bit 6 WAKFIL：唤醒滤波使能位1 = 唤醒滤波器使能0 = 唤醒滤波器禁止
bit 2-0 PHSEG2：相位缓冲段 PS2 长度 <2:0>(PHSEG2 + 1) x TQ 注： PS2 的最小有效值为 2 TQ
*/
void MCP2515_SetCNF3(unsigned char data)
{MCP2515_WriteByte(MCP2515_CNF3,data);
}/*
bit 7-5 REQOP<2:0>：请求工作模式的位000 = 设定为正常工作模式001 = 设定为休眠模式010 = 设定为环回模式011 = 设定为仅监听模式100 = 设定为配置模式REQOP 位不应设置为其他值，因为这些值都是无效的。
注： 上电时， REQOP = b’111’
bit 4 ABAT：中止所有当前报文发送的位1 = 请求中止所有当前报文发送的缓冲器0 = 终止对所有报文发送中止的请求
bit 3 OSM：单触发模式位1 = 使能。报文仅尝试发送一次0 = 禁止。如有需要，报文会重新发送。
bit 2 CLKEN：CLKOUT 引脚使能位1 = CLKOUT 引脚使能0 = CLKOUT 引脚禁止 （引脚处于高阻态）
bit 1-0 CLKPRE<1:0>：CLKOUT 引脚预分频比位00 =FCLKOUT = 系统时钟频率 /101 =FCLKOUT = 系统时钟频率 /210 =FCLKOUT = 系统时钟频率 /411 =FCLKOUT = 系统时钟频率 /8
*/
void MCP2515_SetMode(unsigned char data)
{MCP2515_WriteByte(MCP2515_CANCTRL,data);
}/*
bit 7-5 OPMOD：工作模式位 <2:0>000 = 器件处于正常工作模式001 = 器件处于休眠模式010 = 器件处于环回模式011 = 器件处于仅监听模式100 = 器件处于配置模式
bit 4 未用：读为 0
bit 3-1 ICOD：中断标志代码位 <2:0>000 = 无中断001 = 出错中断010 = 唤醒中断011 = TXB0 中断100 = TXB1 中断101 = TXB2 中断110 = RXB0 中断111 = RXB1 中断bit 0 未用：读为 0
*/
unsigned char MCP2515_GetCanStatus(void)
{return MCP2515_ReadByte(MCP2515_CANSTAT);
}void MCP2515_SetTXID(unsigned char TxBnID,MCP2515_CanTxMsg *txmsg)
{unsigned char HSID,LSID,EID8,EID0;unsigned int SendId[2];if(txmsg->IDE==MCP2515_CAN_Standard){SendId[0]=txmsg->StdId;HSID=(unsigned char)(SendId[0]>>3);LSID=(unsigned char)((SendId[0]<<5)&0xE0);		MCP2515_WriteByte(MCP2515_TXB0SIDH,HSID);MCP2515_WriteByte(MCP2515_TXB0SIDL,LSID);	MCP2515_WriteByte(MCP2515_TXB0DLC,txmsg->DLC);}else if(txmsg->IDE==MCP2515_CAN_Extended){SendId[0]=(txmsg->ExtId)>>18;SendId[1]=(txmsg->ExtId)&0x03FFFF;HSID=(unsigned char)(SendId[0]>>3);LSID=((unsigned char)((SendId[0]<<5)&0xE0) | MCP2515_CAN_Extended | (unsigned char)((SendId[1]>>16)&0x03) );EID8=(unsigned char)(SendId[1]>>8);EID0=(unsigned char)SendId[1];
//		printf("\r\nHSID=%x HSID=%x EID8=%x EID0=%x",HSID,LSID,EID8,EID0);MCP2515_WriteByte(MCP2515_TXB0SIDH,HSID);MCP2515_WriteByte(MCP2515_TXB0SIDL,LSID);	MCP2515_WriteByte(MCP2515_TXB0EID8,EID8);MCP2515_WriteByte(MCP2515_TXB0EID0,EID0);		}
}void MCP2515_SetTXDLC(unsigned char TxBnDLC,MCP2515_CanTxMsg *txmsg)
{if(txmsg->DLC>=8)txmsg->DLC=8;MCP2515_WriteByte(TxBnDLC,txmsg->DLC|0x40);//默认数据帧
}/*
TXBnDM7:TXBnDM0：发送缓冲器 n 数据字段字节 m
*/
void MCP2515_SetTXDATA(unsigned char TxBnDm,MCP2515_CanTxMsg *txmsg)
{for(unsigned char i=0;i<txmsg->DLC;i++){MCP2515_WriteByte(TxBnDm+i,txmsg->Data[i]);}
}

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