玩转移远SC60 Android开发板------（3）SPI转CAN总线

旧城等待， 2023-01-11 01:10 377阅读 0赞

SC60开发板默认是不支持CAN接口的，需要外接转换芯片，选取MICROCHIP的MCP25625这一款。

**芯片特点如下：**  
• Stand-Alone CAN 2.0B Controller with Integrated CAN Transceiver and Serial Peripheral  
Interface (SPI)  
• Up to 1 Mb/s Operation  
• Very Low Standby Current (10 μA, typical)  
• Up to 10 MHz SPI Clock Speed  
• Interfaces Directly with Microcontrollers with 2.7V to 5.5V I/Os  
• Available in SSOP-28L and 6x6 QFN-28L  
• Temperature Ranges: - Extended (E): -40°C to +125°C  
最主要的特点是集成了Transceiver，避免了外接Transceiver的电路，设计简单。

**参考原理图：**  
![在这里插入图片描述][watermark_type_ZmFuZ3poZW5naGVpdGk_shadow_10_text_aHR0cHM6Ly9ibG9nLmNzZG4ubmV0L2Nvcm5lcnN0b25lMQ_size_16_color_FFFFFF_t_70]  
osc1接8M晶振，CANL和CANH连接到外部CAN网络，串联120欧的阻抗匹配，使用4线SPI和主控通讯。

**驱动参考：**

/*
     * CAN bus driver for Microchip 251x CAN Controller with SPI Interface
     *
     * MCP2510 support and bug fixes by Christian Pellegrin
     * <chripell@evolware.org>
     *
     * Copyright 2009 Christian Pellegrin EVOL S.r.l.
     *
     * Copyright 2007 Raymarine UK, Ltd. All Rights Reserved.
     * Written under contract by:
     *   Chris Elston, Katalix Systems, Ltd.
     *
     * Based on Microchip MCP251x CAN controller driver written by
     * David Vrabel, Copyright 2006 Arcom Control Systems Ltd.
     *
     * Based on CAN bus driver for the CCAN controller written by
     * - Sascha Hauer, Marc Kleine-Budde, Pengutronix
     * - Simon Kallweit, intefo AG
     * Copyright 2007
     *
     * This program is free software; you can redistribute it and/or modify
     * it under the terms of the version 2 of the GNU General Public License
     * as published by the Free Software Foundation
     *
     * This program is distributed in the hope that it will be useful,
     * but WITHOUT ANY WARRANTY; without even the implied warranty of
     * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
     * GNU General Public License for more details.
     *
     * You should have received a copy of the GNU General Public License
     * along with this program; if not, write to the Free Software
     * Foundation, Inc., 59 Temple Place, Suite 330, Boston, MA  02111-1307  USA
     *
     *
     *
     * Your platform definition file should specify something like:
     *
     * static struct mcp251x_platform_data mcp251x_info = {
     *         .oscillator_frequency = 8000000,
     *         .board_specific_setup = &mcp251x_setup,
     *         .power_enable = mcp251x_power_enable,
     *         .transceiver_enable = NULL,
     * };
     *
     * static struct spi_board_info spi_board_info[] = {
     *         {
     *                 .modalias = "mcp2510",
     *			// or "mcp2515" depending on your controller
     *                 .platform_data = &mcp251x_info,
     *                 .irq = IRQ_EINT13,
     *                 .max_speed_hz = 2*1000*1000,
     *                 .chip_select = 2,
     *         },
     * };
     *
     * Please see mcp251x.h for a description of the fields in
     * struct mcp251x_platform_data.
     *
     */
    
    #include <linux/can/core.h>
    #include <linux/can/dev.h>
    #include <linux/can/led.h>
    #include <linux/can/platform/mcp251x.h>
    #include <linux/completion.h>
    #include <linux/delay.h>
    #include <linux/device.h>
    #include <linux/dma-mapping.h>
    #include <linux/freezer.h>
    #include <linux/interrupt.h>
    #include <linux/io.h>
    #include <linux/kernel.h>
    #include <linux/module.h>
    #include <linux/netdevice.h>
    #include <linux/platform_device.h>
    #include <linux/slab.h>
    #include <linux/spi/spi.h>
    #include <linux/uaccess.h>
    //stone added
    #include <linux/of_gpio.h>
    
    
    /* SPI interface instruction set */
    #define INSTRUCTION_WRITE	0x02
    #define INSTRUCTION_READ	0x03
    #define INSTRUCTION_BIT_MODIFY	0x05
    #define INSTRUCTION_LOAD_TXB(n)	(0x40 + 2 * (n))
    #define INSTRUCTION_READ_RXB(n)	(((n) == 0) ? 0x90 : 0x94)
    #define INSTRUCTION_RESET	0xC0
    #define RTS_TXB0		0x01
    #define RTS_TXB1		0x02
    #define RTS_TXB2		0x04
    #define INSTRUCTION_RTS(n)	(0x80 | ((n) & 0x07))
    
    
    /* MPC251x registers */
    #define CANSTAT	      0x0e
    #define CANCTRL	      0x0f
    #  define CANCTRL_REQOP_MASK	    0xe0
    #  define CANCTRL_REQOP_CONF	    0x80
    #  define CANCTRL_REQOP_LISTEN_ONLY 0x60
    #  define CANCTRL_REQOP_LOOPBACK    0x40
    #  define CANCTRL_REQOP_SLEEP	    0x20
    #  define CANCTRL_REQOP_NORMAL	    0x00
    #  define CANCTRL_OSM		    0x08
    #  define CANCTRL_ABAT		    0x10
    #define TEC	      0x1c
    #define REC	      0x1d
    #define CNF1	      0x2a
    #  define CNF1_SJW_SHIFT   6
    #define CNF2	      0x29
    #  define CNF2_BTLMODE	   0x80
    #  define CNF2_SAM         0x40
    #  define CNF2_PS1_SHIFT   3
    #define CNF3	      0x28
    #  define CNF3_SOF	   0x08
    #  define CNF3_WAKFIL	   0x04
    #  define CNF3_PHSEG2_MASK 0x07
    #define CANINTE	      0x2b
    #  define CANINTE_MERRE 0x80
    #  define CANINTE_WAKIE 0x40
    #  define CANINTE_ERRIE 0x20
    #  define CANINTE_TX2IE 0x10
    #  define CANINTE_TX1IE 0x08
    #  define CANINTE_TX0IE 0x04
    #  define CANINTE_RX1IE 0x02
    #  define CANINTE_RX0IE 0x01
    #define CANINTF	      0x2c
    #  define CANINTF_MERRF 0x80
    #  define CANINTF_WAKIF 0x40
    #  define CANINTF_ERRIF 0x20
    #  define CANINTF_TX2IF 0x10
    #  define CANINTF_TX1IF 0x08
    #  define CANINTF_TX0IF 0x04
    #  define CANINTF_RX1IF 0x02
    #  define CANINTF_RX0IF 0x01
    #  define CANINTF_RX (CANINTF_RX0IF | CANINTF_RX1IF)
    #  define CANINTF_TX (CANINTF_TX2IF | CANINTF_TX1IF | CANINTF_TX0IF)
    #  define CANINTF_ERR (CANINTF_ERRIF)
    #define EFLG	      0x2d
    #  define EFLG_EWARN	0x01
    #  define EFLG_RXWAR	0x02
    #  define EFLG_TXWAR	0x04
    #  define EFLG_RXEP	0x08
    #  define EFLG_TXEP	0x10
    #  define EFLG_TXBO	0x20
    #  define EFLG_RX0OVR	0x40
    #  define EFLG_RX1OVR	0x80
    #define TXBCTRL(n)  (((n) * 0x10) + 0x30 + TXBCTRL_OFF)
    #  define TXBCTRL_ABTF	0x40
    #  define TXBCTRL_MLOA	0x20
    #  define TXBCTRL_TXERR 0x10
    #  define TXBCTRL_TXREQ 0x08
    #define TXBSIDH(n)  (((n) * 0x10) + 0x30 + TXBSIDH_OFF)
    #  define SIDH_SHIFT    3
    #define TXBSIDL(n)  (((n) * 0x10) + 0x30 + TXBSIDL_OFF)
    #  define SIDL_SID_MASK    7
    #  define SIDL_SID_SHIFT   5
    #  define SIDL_EXIDE_SHIFT 3
    #  define SIDL_EID_SHIFT   16
    #  define SIDL_EID_MASK    3
    #define TXBEID8(n)  (((n) * 0x10) + 0x30 + TXBEID8_OFF)
    #define TXBEID0(n)  (((n) * 0x10) + 0x30 + TXBEID0_OFF)
    #define TXBDLC(n)   (((n) * 0x10) + 0x30 + TXBDLC_OFF)
    #  define DLC_RTR_SHIFT    6
    #define TXBCTRL_OFF 0
    #define TXBSIDH_OFF 1
    #define TXBSIDL_OFF 2
    #define TXBEID8_OFF 3
    #define TXBEID0_OFF 4
    #define TXBDLC_OFF  5
    #define TXBDAT_OFF  6
    #define RXBCTRL(n)  (((n) * 0x10) + 0x60 + RXBCTRL_OFF)
    #  define RXBCTRL_BUKT	0x04
    #  define RXBCTRL_RXM0	0x20
    #  define RXBCTRL_RXM1	0x40
    #define RXBSIDH(n)  (((n) * 0x10) + 0x60 + RXBSIDH_OFF)
    #  define RXBSIDH_SHIFT 3
    #define RXBSIDL(n)  (((n) * 0x10) + 0x60 + RXBSIDL_OFF)
    #  define RXBSIDL_IDE   0x08
    #  define RXBSIDL_SRR   0x10
    #  define RXBSIDL_EID   3
    #  define RXBSIDL_SHIFT 5
    #define RXBEID8(n)  (((n) * 0x10) + 0x60 + RXBEID8_OFF)
    #define RXBEID0(n)  (((n) * 0x10) + 0x60 + RXBEID0_OFF)
    #define RXBDLC(n)   (((n) * 0x10) + 0x60 + RXBDLC_OFF)
    #  define RXBDLC_LEN_MASK  0x0f
    #  define RXBDLC_RTR       0x40
    #define RXBCTRL_OFF 0
    #define RXBSIDH_OFF 1
    #define RXBSIDL_OFF 2
    #define RXBEID8_OFF 3
    #define RXBEID0_OFF 4
    #define RXBDLC_OFF  5
    #define RXBDAT_OFF  6
    #define RXFSIDH(n) ((n) * 4)
    #define RXFSIDL(n) ((n) * 4 + 1)
    #define RXFEID8(n) ((n) * 4 + 2)
    #define RXFEID0(n) ((n) * 4 + 3)
    #define RXMSIDH(n) ((n) * 4 + 0x20)
    #define RXMSIDL(n) ((n) * 4 + 0x21)
    #define RXMEID8(n) ((n) * 4 + 0x22)
    #define RXMEID0(n) ((n) * 4 + 0x23)
    
    #define GET_BYTE(val, byte)			\
    	(((val) >> ((byte) * 8)) & 0xff)
    #define SET_BYTE(val, byte)			\
    	(((val) & 0xff) << ((byte) * 8))
    
    /*
     * Buffer size required for the largest SPI transfer (i.e., reading a
     * frame)
     */
    #define CAN_FRAME_MAX_DATA_LEN	8
    #define SPI_TRANSFER_BUF_LEN	(6 + CAN_FRAME_MAX_DATA_LEN)
    #define CAN_FRAME_MAX_BITS	128
    
    #define TX_ECHO_SKB_MAX	1
    
    #define DEVICE_NAME "mcp25625"
    
    static int mcp251x_enable_dma; /* Enable SPI DMA. Default: 0 (Off) */
    module_param(mcp251x_enable_dma, int, S_IRUGO);
    MODULE_PARM_DESC(mcp251x_enable_dma, "Enable SPI DMA. Default: 0 (Off)");
    
    static const struct can_bittiming_const mcp251x_bittiming_const = {
    	.name = DEVICE_NAME,
    	.tseg1_min = 3,
    	.tseg1_max = 16,
    	.tseg2_min = 2,
    	.tseg2_max = 8,
    	.sjw_max = 4,
    	.brp_min = 1,
    	.brp_max = 64,
    	.brp_inc = 1,
    };
    
    enum mcp251x_model {
    	CAN_MCP251X_MCP2510	= 0x2510,
    	CAN_MCP251X_MCP2515	= 0x2515,
    };
    
    struct mcp251x_priv {
    	struct can_priv	   can;
    	struct net_device *net;
    	struct spi_device *spi;
    	enum mcp251x_model model;
    
    	struct mutex mcp_lock; /* SPI device lock */
    
    	u8 *spi_tx_buf;
    	u8 *spi_rx_buf;
    	dma_addr_t spi_tx_dma;
    	dma_addr_t spi_rx_dma;
    
    	struct sk_buff *tx_skb;
    	int tx_len;
    
    	struct workqueue_struct *wq;
    	struct work_struct tx_work;
    	struct work_struct restart_work;
    
    	//stone added
        struct work_struct irq_work;
    
    	int force_quit;
    	int after_suspend;
    #define AFTER_SUSPEND_UP 1
    #define AFTER_SUSPEND_DOWN 2
    #define AFTER_SUSPEND_POWER 4
    #define AFTER_SUSPEND_RESTART 8
    	int restart_tx;
    };
    
    #define MCP251X_IS(_model) \
    static inline int mcp251x_is_##_model(struct spi_device *spi) \
    { \
    	struct mcp251x_priv *priv = spi_get_drvdata(spi); \
    	return priv->model == CAN_MCP251X_MCP##_model; \
    }
    
    MCP251X_IS(2510);
    MCP251X_IS(2515);
    
    
    
    //Begin:stone added
    static struct mcp251x_platform_data mcp251x_info = {
    	.oscillator_frequency = 8000000,
    	//.board_specific_setup = &mcp251x_setup,
    	//.power_enable = mcp251x_power_enable,
    	.transceiver_enable = NULL,
    };
    //End:stone added
    
    static void mcp251x_clean(struct net_device *net)
    {
    	struct mcp251x_priv *priv = netdev_priv(net);
    
    	if (priv->tx_skb || priv->tx_len)
    		net->stats.tx_errors++;
    	if (priv->tx_skb)
    		dev_kfree_skb(priv->tx_skb);
    	if (priv->tx_len)
    		can_free_echo_skb(priv->net, 0);
    	priv->tx_skb = NULL;
    	priv->tx_len = 0;
    }
    
    /*
     * Note about handling of error return of mcp251x_spi_trans: accessing
     * registers via SPI is not really different conceptually than using
     * normal I/O assembler instructions, although it's much more
     * complicated from a practical POV. So it's not advisable to always
     * check the return value of this function. Imagine that every
     * read{b,l}, write{b,l} and friends would be bracketed in "if ( < 0)
     * error();", it would be a great mess (well there are some situation
     * when exception handling C++ like could be useful after all). So we
     * just check that transfers are OK at the beginning of our
     * conversation with the chip and to avoid doing really nasty things
     * (like injecting bogus packets in the network stack).
     */
    static int mcp251x_spi_trans(struct spi_device *spi, int len)
    {
    	struct mcp251x_priv *priv = spi_get_drvdata(spi);
    	struct spi_transfer t = {
    		.tx_buf = priv->spi_tx_buf,
    		.rx_buf = priv->spi_rx_buf,
    		.len = len,
    		.cs_change = 0,
    	};
    	struct spi_message m;
    	int ret;
    
    	spi_message_init(&m);
    
    	if (mcp251x_enable_dma) {
    		t.tx_dma = priv->spi_tx_dma;
    		t.rx_dma = priv->spi_rx_dma;
    		m.is_dma_mapped = 1;
    	}
    
    	spi_message_add_tail(&t, &m);
    
    	ret = spi_sync(spi, &m);
    	if (ret)
    		dev_err(&spi->dev, "spi transfer failed: ret = %d\n", ret);
    	return ret;
    }
    
    static u8 mcp251x_read_reg(struct spi_device *spi, uint8_t reg)
    {
    	struct mcp251x_priv *priv = spi_get_drvdata(spi);
    	u8 val = 0;
    
    	priv->spi_tx_buf[0] = INSTRUCTION_READ;
    	priv->spi_tx_buf[1] = reg;
    
    	mcp251x_spi_trans(spi, 3);
    	val = priv->spi_rx_buf[2];
    
    	return val;
    }
    
    static void mcp251x_read_2regs(struct spi_device *spi, uint8_t reg,
    		uint8_t *v1, uint8_t *v2)
    {
    	struct mcp251x_priv *priv = spi_get_drvdata(spi);
    
    	priv->spi_tx_buf[0] = INSTRUCTION_READ;
    	priv->spi_tx_buf[1] = reg;
    
    	mcp251x_spi_trans(spi, 4);
    
    	*v1 = priv->spi_rx_buf[2];
    	*v2 = priv->spi_rx_buf[3];
    }
    
    static void mcp251x_write_reg(struct spi_device *spi, u8 reg, uint8_t val)
    {
    	struct mcp251x_priv *priv = spi_get_drvdata(spi);
    
    	priv->spi_tx_buf[0] = INSTRUCTION_WRITE;
    	priv->spi_tx_buf[1] = reg;
    	priv->spi_tx_buf[2] = val;
    
    	mcp251x_spi_trans(spi, 3);
    }
    
    static void mcp251x_write_bits(struct spi_device *spi, u8 reg,
    			       u8 mask, uint8_t val)
    {
    	struct mcp251x_priv *priv = spi_get_drvdata(spi);
    
    	priv->spi_tx_buf[0] = INSTRUCTION_BIT_MODIFY;
    	priv->spi_tx_buf[1] = reg;
    	priv->spi_tx_buf[2] = mask;
    	priv->spi_tx_buf[3] = val;
    
    	mcp251x_spi_trans(spi, 4);
    }
    
    static void mcp251x_hw_tx_frame(struct spi_device *spi, u8 *buf,
    				int len, int tx_buf_idx)
    {
    	struct mcp251x_priv *priv = spi_get_drvdata(spi);
    
    	//stone added
    	dev_err(&spi->dev, "-----mcp251x_hw_tx_frame-----");
    
    	//stone modify 
    	if (mcp251x_is_2510(spi)) {
    	//if(1){
    		int i;
    
    		for (i = 1; i < TXBDAT_OFF + len; i++)
    			mcp251x_write_reg(spi, TXBCTRL(tx_buf_idx) + i,
    					  buf[i]);
    	}
    
    	else {
    		//stone added
    		dev_err(&spi->dev, "-----mcp251x_hw_tx_frame else-----");
    		memcpy(priv->spi_tx_buf, buf, TXBDAT_OFF + len);
    		mcp251x_spi_trans(spi, TXBDAT_OFF + len);
    	}
    }
    
    static void mcp251x_hw_tx(struct spi_device *spi, struct can_frame *frame,
    			  int tx_buf_idx)
    {
    	//stone delete
    	//struct mcp251x_priv *priv = spi_get_drvdata(spi);
    	u32 sid, eid, exide, rtr;
    	u8 buf[SPI_TRANSFER_BUF_LEN];
    
    	dev_err(&spi->dev, "-----mcp251x_hw_tx-----");
    
    	exide = (frame->can_id & CAN_EFF_FLAG) ? 1 : 0; /* Extended ID Enable */
    	if (exide)
    		sid = (frame->can_id & CAN_EFF_MASK) >> 18;
    	else
    		sid = frame->can_id & CAN_SFF_MASK; /* Standard ID */
    	
    	eid = frame->can_id & CAN_EFF_MASK; /* Extended ID */
    	rtr = (frame->can_id & CAN_RTR_FLAG) ? 1 : 0; /* Remote transmission */
    
    	buf[TXBCTRL_OFF] = INSTRUCTION_LOAD_TXB(tx_buf_idx);
    	buf[TXBSIDH_OFF] = sid >> SIDH_SHIFT;
    	buf[TXBSIDL_OFF] = ((sid & SIDL_SID_MASK) << SIDL_SID_SHIFT) |
    		(exide << SIDL_EXIDE_SHIFT) |
    		((eid >> SIDL_EID_SHIFT) & SIDL_EID_MASK);
    	buf[TXBEID8_OFF] = GET_BYTE(eid, 1);
    	buf[TXBEID0_OFF] = GET_BYTE(eid, 0);
    	buf[TXBDLC_OFF] = (rtr << DLC_RTR_SHIFT) | frame->can_dlc;
    	memcpy(buf + TXBDAT_OFF, frame->data, frame->can_dlc);
    	mcp251x_hw_tx_frame(spi, buf, frame->can_dlc, tx_buf_idx);
    	
    	//stone added this line
        mcp251x_write_reg(spi, TXBCTRL(tx_buf_idx), TXBCTRL_TXREQ);//请求发送tx0
        
    	/* use INSTRUCTION_RTS, to avoid "repeated frame problem" */
    	//stone delete
    	//priv->spi_tx_buf[0] = INSTRUCTION_RTS(1 << tx_buf_idx);
    	//mcp251x_spi_trans(priv->spi, 1);
    }
    
    static void mcp251x_hw_rx_frame(struct spi_device *spi, u8 *buf,
    				int buf_idx)
    {
    	struct mcp251x_priv *priv = spi_get_drvdata(spi);
    
    	if (mcp251x_is_2510(spi)) {
    		int i, len;
    
    		for (i = 1; i < RXBDAT_OFF; i++)
    			buf[i] = mcp251x_read_reg(spi, RXBCTRL(buf_idx) + i);
    
    		len = get_can_dlc(buf[RXBDLC_OFF] & RXBDLC_LEN_MASK);
    		for (; i < (RXBDAT_OFF + len); i++)
    			buf[i] = mcp251x_read_reg(spi, RXBCTRL(buf_idx) + i);
    	} else {
    		priv->spi_tx_buf[RXBCTRL_OFF] = INSTRUCTION_READ_RXB(buf_idx);
    		mcp251x_spi_trans(spi, SPI_TRANSFER_BUF_LEN);
    		memcpy(buf, priv->spi_rx_buf, SPI_TRANSFER_BUF_LEN);
    	}
    }
    
    static void mcp251x_hw_rx(struct spi_device *spi, int buf_idx)
    {
    	struct mcp251x_priv *priv = spi_get_drvdata(spi);
    	struct sk_buff *skb;
    	struct can_frame *frame;
    	u8 buf[SPI_TRANSFER_BUF_LEN];
    	
    	//stone added debug
        int i;
    
    	skb = alloc_can_skb(priv->net, &frame);
    	if (!skb) {
    		dev_err(&spi->dev, "cannot allocate RX skb\n");
    		priv->net->stats.rx_dropped++;
    		return;
    	}
    
    	mcp251x_hw_rx_frame(spi, buf, buf_idx);
    	
    	//Begin:stone added debug for rx data  
    	dev_err(&spi->dev, "buf_idx=%d\n",buf_idx);
        for(i=0; i<SPI_TRANSFER_BUF_LEN; i++)
        {
        	dev_err(&spi->dev, "buf[%d]=%x\n",i,buf[i]);
        }
    	//End:stone added debug for rx data  
    	
    	if (buf[RXBSIDL_OFF] & RXBSIDL_IDE) {
    		/* Extended ID format */
    		frame->can_id = CAN_EFF_FLAG;
    		frame->can_id |=
    			/* Extended ID part */
    			SET_BYTE(buf[RXBSIDL_OFF] & RXBSIDL_EID, 2) |
    			SET_BYTE(buf[RXBEID8_OFF], 1) |
    			SET_BYTE(buf[RXBEID0_OFF], 0) |
    			/* Standard ID part */
    			(((buf[RXBSIDH_OFF] << RXBSIDH_SHIFT) |
    			  (buf[RXBSIDL_OFF] >> RXBSIDL_SHIFT)) << 18);
    		/* Remote transmission request */
    		if (buf[RXBDLC_OFF] & RXBDLC_RTR)
    			frame->can_id |= CAN_RTR_FLAG;
    	} else {
    		/* Standard ID format */
    		frame->can_id =
    			(buf[RXBSIDH_OFF] << RXBSIDH_SHIFT) |
    			(buf[RXBSIDL_OFF] >> RXBSIDL_SHIFT);
    		if (buf[RXBSIDL_OFF] & RXBSIDL_SRR)
    			frame->can_id |= CAN_RTR_FLAG;
    	}
    	/* Data length */
    	frame->can_dlc = get_can_dlc(buf[RXBDLC_OFF] & RXBDLC_LEN_MASK);
    	memcpy(frame->data, buf + RXBDAT_OFF, frame->can_dlc);
    
    	priv->net->stats.rx_packets++;
    	priv->net->stats.rx_bytes += frame->can_dlc;
    
    	can_led_event(priv->net, CAN_LED_EVENT_RX);
    
    	netif_rx_ni(skb);
    }
    
    static void mcp251x_hw_sleep(struct spi_device *spi)
    {
    	mcp251x_write_reg(spi, CANCTRL, CANCTRL_REQOP_SLEEP);
    }
    
    static netdev_tx_t mcp251x_hard_start_xmit(struct sk_buff *skb,
    					   struct net_device *net)
    {
    	struct mcp251x_priv *priv = netdev_priv(net);
    	struct spi_device *spi = priv->spi;
    
    	if (priv->tx_skb || priv->tx_len) {
    		dev_warn(&spi->dev, "hard_xmit called while tx busy\n");
    		return NETDEV_TX_BUSY;
    	}
    
    	if (can_dropped_invalid_skb(net, skb))
    		return NETDEV_TX_OK;
    
    	netif_stop_queue(net);
    	priv->tx_skb = skb;
    	queue_work(priv->wq, &priv->tx_work);
    
    	return NETDEV_TX_OK;
    }
    
    static int mcp251x_do_set_mode(struct net_device *net, enum can_mode mode)
    {
    	struct mcp251x_priv *priv = netdev_priv(net);
    
    	switch (mode) {
    	case CAN_MODE_START:
    		mcp251x_clean(net);
    		/* We have to delay work since SPI I/O may sleep */
    		priv->can.state = CAN_STATE_ERROR_ACTIVE;
    		priv->restart_tx = 1;
    		if (priv->can.restart_ms == 0)
    			priv->after_suspend = AFTER_SUSPEND_RESTART;
    		queue_work(priv->wq, &priv->restart_work);
    		break;
    	default:
    		return -EOPNOTSUPP;
    	}
    
    	return 0;
    }
    
    static int mcp251x_set_normal_mode(struct spi_device *spi)
    {
    	struct mcp251x_priv *priv = spi_get_drvdata(spi);
    	unsigned long timeout;
    
    	/* Enable interrupts */
    	mcp251x_write_reg(spi, CANINTE,
    			  CANINTE_ERRIE | CANINTE_TX2IE | CANINTE_TX1IE |
    			  CANINTE_TX0IE | CANINTE_RX1IE | CANINTE_RX0IE);
    
    	if (priv->can.ctrlmode & CAN_CTRLMODE_LOOPBACK) {
    		/* Put device into loopback mode */
    		mcp251x_write_reg(spi, CANCTRL, CANCTRL_REQOP_LOOPBACK);
    	} else if (priv->can.ctrlmode & CAN_CTRLMODE_LISTENONLY) {
    		/* Put device into listen-only mode */
    		mcp251x_write_reg(spi, CANCTRL, CANCTRL_REQOP_LISTEN_ONLY);
    	} else {
    	  	dev_err(&spi->dev, "mcp251x_set_normal_mode  else \n");  
    		/* Put device into normal mode */
    		mcp251x_write_reg(spi, CANCTRL, CANCTRL_REQOP_NORMAL);
    
    		/* Wait for the device to enter normal mode */
    		timeout = jiffies + HZ;
    		while (mcp251x_read_reg(spi, CANSTAT) & CANCTRL_REQOP_MASK) {
    			schedule();
    			if (time_after(jiffies, timeout)) {
    				dev_err(&spi->dev, "MCP251x didn't"
    					" enter in normal mode\n");
    				return -EBUSY;
    			}
    		}
    	}
    	priv->can.state = CAN_STATE_ERROR_ACTIVE;
    	return 0;
    }
    
    static int mcp251x_do_set_bittiming(struct net_device *net)
    {
    	struct mcp251x_priv *priv = netdev_priv(net);
    	struct can_bittiming *bt = &priv->can.bittiming;
    	struct spi_device *spi = priv->spi;
    
    	dev_err(&spi->dev, "before CNF: 0x%02x 0x%02x 0x%02x\n",
    		 mcp251x_read_reg(spi, CNF1),
    		 mcp251x_read_reg(spi, CNF2),
    		 mcp251x_read_reg(spi, CNF3));
    
    
    	mcp251x_write_reg(spi, CNF1, ((bt->sjw - 1) << CNF1_SJW_SHIFT) |
    			  (bt->brp - 1));
    	mcp251x_write_reg(spi, CNF2, CNF2_BTLMODE |
    			  (priv->can.ctrlmode & CAN_CTRLMODE_3_SAMPLES ?
    			   CNF2_SAM : 0) |
    			  ((bt->phase_seg1 - 1) << CNF2_PS1_SHIFT) |
    			  (bt->prop_seg - 1));
    	mcp251x_write_bits(spi, CNF3, CNF3_PHSEG2_MASK,
    			   (bt->phase_seg2 - 1));
    	dev_err(&spi->dev, "CNF: 0x%02x 0x%02x 0x%02x\n",
    		 mcp251x_read_reg(spi, CNF1),
    		 mcp251x_read_reg(spi, CNF2),
    		 mcp251x_read_reg(spi, CNF3));
    
    	return 0;
    }
    
    static int mcp251x_setup(struct net_device *net, struct mcp251x_priv *priv,
    			 struct spi_device *spi)
    {
    	mcp251x_do_set_bittiming(net);
    
    	mcp251x_write_reg(spi, RXBCTRL(0),
    			  RXBCTRL_BUKT | RXBCTRL_RXM0 | RXBCTRL_RXM1);
    	mcp251x_write_reg(spi, RXBCTRL(1),
    			  RXBCTRL_RXM0 | RXBCTRL_RXM1);
    	return 0;
    }
    
    static int mcp251x_hw_reset(struct spi_device *spi)
    {
    	struct mcp251x_priv *priv = spi_get_drvdata(spi);
    	int ret;
    	unsigned long timeout;
    
    	priv->spi_tx_buf[0] = INSTRUCTION_RESET;
    	ret = spi_write(spi, priv->spi_tx_buf, 1);
    	if (ret) {
    		dev_err(&spi->dev, "reset failed: ret = %d\n", ret);
    		return -EIO;
    	}
    
    	/* Wait for reset to finish */
    	timeout = jiffies + HZ;
    	mdelay(10);
    	while ((mcp251x_read_reg(spi, CANSTAT) & CANCTRL_REQOP_MASK)
    	       != CANCTRL_REQOP_CONF) {
    		schedule();
    		if (time_after(jiffies, timeout)) {
    			dev_err(&spi->dev, "MCP251x didn't"
    				" enter in conf mode after reset\n");
    			return -EBUSY;
    		}
    	}
    	return 0;
    }
    
    static int mcp251x_hw_probe(struct spi_device *spi)
    {
    	int st1, st2;
    
    	mcp251x_hw_reset(spi);
    
    	//stone added
    	printk(KERN_ERR "------mcp251x_hw_probe ------\n");
    
    
    	/*
    	 * Please note that these are "magic values" based on after
    	 * reset defaults taken from data sheet which allows us to see
    	 * if we really have a chip on the bus (we avoid common all
    	 * zeroes or all ones situations)
    	 */
    	st1 = mcp251x_read_reg(spi, CANSTAT) & 0xEE;
    	st2 = mcp251x_read_reg(spi, CANCTRL) & 0x17;
    
    	//stone
    	//dev_dbg(&spi->dev, "CANSTAT 0x%02x CANCTRL 0x%02x\n", st1, st2);
    	printk(KERN_ERR "CANSTAT 0x%02x CANCTRL 0x%02x\n", st1, st2);
    
    	/* Check for power up default values */
    	return (st1 == 0x80 && st2 == 0x07) ? 1 : 0;
    }
    
    static void mcp251x_open_clean(struct net_device *net)
    {
    	struct mcp251x_priv *priv = netdev_priv(net);
    	struct spi_device *spi = priv->spi;
    	struct mcp251x_platform_data *pdata = spi->dev.platform_data;
    
    	free_irq(spi->irq, priv);
    	mcp251x_hw_sleep(spi);
    	if (pdata->transceiver_enable)
    		pdata->transceiver_enable(0);
    	close_candev(net);
    }
    
    static int mcp251x_stop(struct net_device *net)
    {
    	struct mcp251x_priv *priv = netdev_priv(net);
    	struct spi_device *spi = priv->spi;
    	struct mcp251x_platform_data *pdata = spi->dev.platform_data;
    
    	close_candev(net);
    
    	priv->force_quit = 1;
    	free_irq(spi->irq, priv);
    	destroy_workqueue(priv->wq);
    	priv->wq = NULL;
    
    	mutex_lock(&priv->mcp_lock);
    
    	/* Disable and clear pending interrupts */
    	mcp251x_write_reg(spi, CANINTE, 0x00);
    	mcp251x_write_reg(spi, CANINTF, 0x00);
    
    	mcp251x_write_reg(spi, TXBCTRL(0), 0);
    	mcp251x_clean(net);
    
    	mcp251x_hw_sleep(spi);
    
    	if (pdata->transceiver_enable)
    		pdata->transceiver_enable(0);
    
    	priv->can.state = CAN_STATE_STOPPED;
    
    	mutex_unlock(&priv->mcp_lock);
    
    	can_led_event(net, CAN_LED_EVENT_STOP);
    
    	return 0;
    }
    
    static void mcp251x_error_skb(struct net_device *net, int can_id, int data1)
    {
    	struct sk_buff *skb;
    	struct can_frame *frame;
    
    	skb = alloc_can_err_skb(net, &frame);
    	if (skb) {
    		frame->can_id |= can_id;
    		frame->data[1] = data1;
    		netif_rx_ni(skb);
    	} else {
    		netdev_err(net, "cannot allocate error skb\n");
    	}
    }
    
    static void mcp251x_tx_work_handler(struct work_struct *ws)
    {
    	struct mcp251x_priv *priv = container_of(ws, struct mcp251x_priv,
    						 tx_work);
    	struct spi_device *spi = priv->spi;
    	struct net_device *net = priv->net;
    	struct can_frame *frame;
    
    	//stone added log
    	dev_err(&spi->dev, "-----mcp251x_tx_work_handler-----");
    
    	
    	mutex_lock(&priv->mcp_lock);
    	if (priv->tx_skb) {
    		if (priv->can.state == CAN_STATE_BUS_OFF) {
    			mcp251x_clean(net);
    		} 
    		else 
    		{
    			dev_err(&spi->dev, "-----mcp251x_tx_work_handler else-----");
    		
    			frame = (struct can_frame *)priv->tx_skb->data;
    
    			if (frame->can_dlc > CAN_FRAME_MAX_DATA_LEN)
    				frame->can_dlc = CAN_FRAME_MAX_DATA_LEN;
    			mcp251x_hw_tx(spi, frame, 0);
    			priv->tx_len = 1 + frame->can_dlc;
    			can_put_echo_skb(priv->tx_skb, net, 0);
    			priv->tx_skb = NULL;
    		}
    	}
    	mutex_unlock(&priv->mcp_lock);
    }
    
    static void mcp251x_restart_work_handler(struct work_struct *ws)
    {
    	struct mcp251x_priv *priv = container_of(ws, struct mcp251x_priv,
    						 restart_work);
    	struct spi_device *spi = priv->spi;
    	struct net_device *net = priv->net;
    
    	mutex_lock(&priv->mcp_lock);
    	if (priv->after_suspend) {
    		mdelay(10);
    		mcp251x_hw_reset(spi);
    		mcp251x_setup(net, priv, spi);
    		if (priv->after_suspend & AFTER_SUSPEND_RESTART) {
    			mcp251x_set_normal_mode(spi);
    		} else if (priv->after_suspend & AFTER_SUSPEND_UP) {
    			netif_device_attach(net);
    			mcp251x_clean(net);
    			mcp251x_set_normal_mode(spi);
    			netif_wake_queue(net);
    		} else {
    			mcp251x_hw_sleep(spi);
    		}
    		priv->after_suspend = 0;
    		priv->force_quit = 0;
    	}
    
    	if (priv->restart_tx) {
    		priv->restart_tx = 0;
    		mcp251x_write_reg(spi, TXBCTRL(0), 0);
    		mcp251x_clean(net);
    		netif_wake_queue(net);
    		mcp251x_error_skb(net, CAN_ERR_RESTARTED, 0);
    	}
    	mutex_unlock(&priv->mcp_lock);
    }
    
    //stone modify isr to work
    #if 0
    static irqreturn_t mcp251x_can_isr(int irq, void *dev_id)
    {
    	struct mcp251x_priv *priv = dev_id;
    
    	struct spi_device *spi = priv->spi;
    	struct net_device *net = priv->net;
    
    	dev_err(&spi->dev, "-----mcp251x_can_isr-----\n");
    	
    	mutex_lock(&priv->mcp_lock);
    	while (!priv->force_quit) {
    		enum can_state new_state;
    		u8 intf, eflag;
    		u8 clear_intf = 0;
    		int can_id = 0, data1 = 0;
    
    		mcp251x_read_2regs(spi, CANINTF, &intf, &eflag);
    
    		/* mask out flags we don't care about */
    		intf &= CANINTF_RX | CANINTF_TX | CANINTF_ERR;
    
    		/* receive buffer 0 */
    		if (intf & CANINTF_RX0IF) {
    			mcp251x_hw_rx(spi, 0);
    			/*
    			 * Free one buffer ASAP
    			 * (The MCP2515 does this automatically.)
    			 */
    			if (mcp251x_is_2510(spi))
    				mcp251x_write_bits(spi, CANINTF, CANINTF_RX0IF, 0x00);
    		}
    
    		/* receive buffer 1 */
    		if (intf & CANINTF_RX1IF) {
    			mcp251x_hw_rx(spi, 1);
    			/* the MCP2515 does this automatically */
    			if (mcp251x_is_2510(spi))
    				clear_intf |= CANINTF_RX1IF;
    		}
    
    		/* any error or tx interrupt we need to clear? */
    		if (intf & (CANINTF_ERR | CANINTF_TX))
    			clear_intf |= intf & (CANINTF_ERR | CANINTF_TX);
    		if (clear_intf)
    			mcp251x_write_bits(spi, CANINTF, clear_intf, 0x00);
    
    		if (eflag)
    			mcp251x_write_bits(spi, EFLG, eflag, 0x00);
    
    		/* Update can state */
    		if (eflag & EFLG_TXBO) {
    			new_state = CAN_STATE_BUS_OFF;
    			can_id |= CAN_ERR_BUSOFF;
    		} else if (eflag & EFLG_TXEP) {
    			new_state = CAN_STATE_ERROR_PASSIVE;
    			can_id |= CAN_ERR_CRTL;
    			data1 |= CAN_ERR_CRTL_TX_PASSIVE;
    		} else if (eflag & EFLG_RXEP) {
    			new_state = CAN_STATE_ERROR_PASSIVE;
    			can_id |= CAN_ERR_CRTL;
    			data1 |= CAN_ERR_CRTL_RX_PASSIVE;
    		} else if (eflag & EFLG_TXWAR) {
    			new_state = CAN_STATE_ERROR_WARNING;
    			can_id |= CAN_ERR_CRTL;
    			data1 |= CAN_ERR_CRTL_TX_WARNING;
    		} else if (eflag & EFLG_RXWAR) {
    			new_state = CAN_STATE_ERROR_WARNING;
    			can_id |= CAN_ERR_CRTL;
    			data1 |= CAN_ERR_CRTL_RX_WARNING;
    		} else {
    			new_state = CAN_STATE_ERROR_ACTIVE;
    		}
    
    		/* Update can state statistics */
    		switch (priv->can.state) {
    		case CAN_STATE_ERROR_ACTIVE:
    			if (new_state >= CAN_STATE_ERROR_WARNING &&
    			    new_state <= CAN_STATE_BUS_OFF)
    				priv->can.can_stats.error_warning++;
    		case CAN_STATE_ERROR_WARNING:	/* fallthrough */
    			if (new_state >= CAN_STATE_ERROR_PASSIVE &&
    			    new_state <= CAN_STATE_BUS_OFF)
    				priv->can.can_stats.error_passive++;
    			break;
    		default:
    			break;
    		}
    		priv->can.state = new_state;
    
    		if (intf & CANINTF_ERRIF) {
    			/* Handle overflow counters */
    			if (eflag & (EFLG_RX0OVR | EFLG_RX1OVR)) {
    				if (eflag & EFLG_RX0OVR) {
    					net->stats.rx_over_errors++;
    					net->stats.rx_errors++;
    				}
    				if (eflag & EFLG_RX1OVR) {
    					net->stats.rx_over_errors++;
    					net->stats.rx_errors++;
    				}
    				can_id |= CAN_ERR_CRTL;
    				data1 |= CAN_ERR_CRTL_RX_OVERFLOW;
    			}
    			mcp251x_error_skb(net, can_id, data1);
    		}
    
    		if (priv->can.state == CAN_STATE_BUS_OFF) {
    			if (priv->can.restart_ms == 0) {
    				priv->force_quit = 1;
    				can_bus_off(net);
    				mcp251x_hw_sleep(spi);
    				break;
    			}
    		}
    
    		if (intf == 0)
    			break;
    
    		if (intf & CANINTF_TX) {
    			net->stats.tx_packets++;
    			net->stats.tx_bytes += priv->tx_len - 1;
    			can_led_event(net, CAN_LED_EVENT_TX);
    			if (priv->tx_len) {
    				can_get_echo_skb(net, 0);
    				priv->tx_len = 0;
    			}
    			netif_wake_queue(net);
    		}
    
    	}
    	mutex_unlock(&priv->mcp_lock);
    	return IRQ_HANDLED;
    }
    #endif
    
    static irqreturn_t mcp251x_can_isr(int irq, void *dev_id)
    {
    	struct mcp251x_priv *priv = dev_id;
    
    	//stone added for debug
    	printk(KERN_ERR "----mcp251x_can_isr----\n");
    
    	disable_irq_nosync(irq);
    
    	if (!work_pending(&priv->irq_work))
    	queue_work(priv->wq, &priv->irq_work);
    
    	return IRQ_HANDLED;
    }
    
    void can_irq_work(struct work_struct *ws)
    {
    
         struct mcp251x_priv *priv = container_of(ws, struct mcp251x_priv,
                             irq_work);
         struct spi_device *spi = priv->spi;
         struct net_device *net = priv->net;
    
    
    	//stone added for debug
    	dev_err(&spi->dev, "Int lower half: can_irq_work\n");
    
        mutex_lock(&priv->mcp_lock);
    
        while (!priv->force_quit) {
            enum can_state new_state;
            u8 intf, eflag;
          
            u8 clear_intf = 0;
            int can_id = 0, data1 = 0;
               
            mcp251x_read_2regs(spi, CANINTF, &intf, &eflag);
            
            /* mask out flags we don't care about */
            intf &= CANINTF_RX | CANINTF_TX | CANINTF_ERR ;//| CANINTF_MERRF;
    		//stone added for debug
    		printk(KERN_ERR "intf = %x\n", intf);
    
            if (intf & CANINTF_TX) {
                net->stats.tx_packets++;
                net->stats.tx_bytes += priv->tx_len - 1;
                if (priv->tx_len) {
                    can_get_echo_skb(net, 0);
                    priv->tx_len = 0;
                }
                netif_wake_queue(net);
            }
            
            /* receive buffer 1 */
            if (intf & CANINTF_RX1IF) {
    			//stone added for debug
    			printk(KERN_ERR "receive buffer 1\n");
                mcp251x_hw_rx(spi, 1);
                /* the MCP2515 does this automatically */
                if (mcp251x_is_2510(spi))
                    clear_intf |= CANINTF_RX1IF;
            }
    
                    /* receive buffer 0 */
            if (intf & CANINTF_RX0IF) {
    			//stone added for debug
    			printk(KERN_ERR "receive buffer 0\n");
                mcp251x_hw_rx(spi, 0);
                /*
                 * Free one buffer ASAP
                 * (The MCP2515 does this automatically.)
                 */
                if (mcp251x_is_2510(spi))
                    mcp251x_write_bits(spi, CANINTF, CANINTF_RX0IF, 0x00);
            }
    
       
            /* any error or tx interrupt we need to clear? */
            if (intf & (CANINTF_ERR | CANINTF_TX))
                clear_intf |= intf & (CANINTF_ERR | CANINTF_TX);
            if (clear_intf)
                mcp251x_write_bits(spi, CANINTF, clear_intf, 0x00);
    
            if (eflag)
                mcp251x_write_bits(spi, EFLG, eflag, 0x00);
    
    
                   
            /* Update can state */
            if (eflag & EFLG_TXBO) {
                new_state = CAN_STATE_BUS_OFF;
                can_id |= CAN_ERR_BUSOFF;
            } else if (eflag & EFLG_TXEP) {
                new_state = CAN_STATE_ERROR_PASSIVE;
                can_id |= CAN_ERR_CRTL;
                data1 |= CAN_ERR_CRTL_TX_PASSIVE;
            } else if (eflag & EFLG_RXEP) {
                new_state = CAN_STATE_ERROR_PASSIVE;
                can_id |= CAN_ERR_CRTL;
                data1 |= CAN_ERR_CRTL_RX_PASSIVE;
            } else if (eflag & EFLG_TXWAR) {
                new_state = CAN_STATE_ERROR_WARNING;
                can_id |= CAN_ERR_CRTL;
                data1 |= CAN_ERR_CRTL_TX_WARNING;
            } else if (eflag & EFLG_RXWAR) {
                new_state = CAN_STATE_ERROR_WARNING;
                can_id |= CAN_ERR_CRTL;
                data1 |= CAN_ERR_CRTL_RX_WARNING;
            } else {
                new_state = CAN_STATE_ERROR_ACTIVE;
            }
    
            /* Update can state statistics */
            switch (priv->can.state) {
            case CAN_STATE_ERROR_ACTIVE:
                if (new_state >= CAN_STATE_ERROR_WARNING &&
                    new_state <= CAN_STATE_BUS_OFF)
                    priv->can.can_stats.error_warning++;
            case CAN_STATE_ERROR_WARNING:    /* fallthrough */
                if (new_state >= CAN_STATE_ERROR_PASSIVE &&
                    new_state <= CAN_STATE_BUS_OFF)
                    priv->can.can_stats.error_passive++;
                break;
            default:
                break;
            }
            priv->can.state = new_state;
    
            if (intf & CANINTF_ERRIF) {
                /* Handle overflow counters */
                if (eflag & (EFLG_RX0OVR | EFLG_RX1OVR)) {
                    if (eflag & EFLG_RX0OVR) {
                        net->stats.rx_over_errors++;
                        net->stats.rx_errors++;
                    }
                    if (eflag & EFLG_RX1OVR) {
                        net->stats.rx_over_errors++;
                        net->stats.rx_errors++;
                    }
                    can_id |= CAN_ERR_CRTL;
                    data1 |= CAN_ERR_CRTL_RX_OVERFLOW;
                }
                mcp251x_error_skb(net, can_id, data1);
            }
    
    
            if (priv->can.state == CAN_STATE_BUS_OFF) {
                if (priv->can.restart_ms == 0) {
                    priv->force_quit = 1;
                    can_bus_off(net);
                    mcp251x_hw_sleep(spi);
                    break;
                }
            }
    
            if (intf == 0)
                break;
        }
    	
        mutex_unlock(&priv->mcp_lock);  
        enable_irq(spi->irq);
    }
    
    
    
    static int mcp251x_open(struct net_device *net)
    {
    	struct mcp251x_priv *priv = netdev_priv(net);
    	struct spi_device *spi = priv->spi;
    	struct mcp251x_platform_data *pdata = spi->dev.platform_data;
    	unsigned long flags;
    	int ret;
    
    	ret = open_candev(net);
    	if (ret) {
    		dev_err(&spi->dev, "unable to set initial baudrate!\n");
    		return ret;
    	}
    
    	//stone added log
    	dev_err(&spi->dev, "mcp251x_open-->open_candev");
    	
    	mutex_lock(&priv->mcp_lock);
    	if (pdata->transceiver_enable)
    		pdata->transceiver_enable(1);
    
    	priv->force_quit = 0;
    	priv->tx_skb = NULL;
    	priv->tx_len = 0;
    
    	flags = IRQF_ONESHOT;
    	if (pdata->irq_flags)
    		flags |= pdata->irq_flags;
    	else
    		flags |= IRQF_TRIGGER_FALLING;
    
    	//中断处理接收
    	//stone added irq
    	spi->irq = gpio_to_irq(pdata->gpio_int1);
    	dev_err(&spi->dev, "Interrupt gpio=%d, irq=%d\n", pdata->gpio_int1, spi->irq);
    
    	if(spi->irq)
    	{
    		ret = request_threaded_irq(spi->irq, NULL, mcp251x_can_isr,
    				   flags, DEVICE_NAME, priv);
    		if (ret) {
    			dev_err(&spi->dev, "failed to acquire irq %d\n", spi->irq);
    			if (pdata->transceiver_enable)
    				pdata->transceiver_enable(0);
    			close_candev(net);
    			goto open_unlock;
    		}
    
    		INIT_WORK(&priv->irq_work, can_irq_work);
    	}
    
    	priv->wq = create_freezable_workqueue("mcp251x_wq");
    	INIT_WORK(&priv->tx_work, mcp251x_tx_work_handler);
    	INIT_WORK(&priv->restart_work, mcp251x_restart_work_handler);
    
    	ret = mcp251x_hw_reset(spi);
    	//stone added log
    	dev_err(&spi->dev, "mcp251x_hw_reset");
    	if (ret) {
    		mcp251x_open_clean(net);
    		goto open_unlock;
    	}
    	ret = mcp251x_setup(net, priv, spi);
    	dev_err(&spi->dev, "mcp251x_setup");
    	if (ret) {
    		mcp251x_open_clean(net);
    		goto open_unlock;
    	}
    	ret = mcp251x_set_normal_mode(spi);
    	dev_err(&spi->dev, "mcp251x_set_normal_mode");
    	if (ret) {
    		mcp251x_open_clean(net);
    		goto open_unlock;
    	}
    
    	can_led_event(net, CAN_LED_EVENT_OPEN);
    
    	netif_wake_queue(net);
    
    open_unlock:
    	mutex_unlock(&priv->mcp_lock);
    	return ret;
    }
    
    static const struct net_device_ops mcp251x_netdev_ops = {
    	.ndo_open = mcp251x_open,
    	.ndo_stop = mcp251x_stop,
    	.ndo_start_xmit = mcp251x_hard_start_xmit,
    };
    
    
    //stone added for int
    #ifdef CONFIG_OF
    static int mcp25625_parse_dt(struct device *dev,
    			struct mcp251x_platform_data *pdata)
    {
    #if 0
    	//u32 temp_val;
    	//int rc;
    
    	//rc = of_property_read_u32(np, "bosch,init-interval", &temp_val);
    	if (rc && (rc != -EINVAL)) {
    		dev_err(dev, "Unable to read init-interval\n");
    		return rc;
    	} else {
    		pdata->poll_interval = temp_val;
    	}
    #endif
    
    	pdata->gpio_int1 = of_get_named_gpio_flags(dev->of_node,
    				"mcp25625,irq-gpio", 0, &pdata->int1_flag);
    
    	return 0;
    }
    #else
    static int mcp25625_parse_dt(struct device *dev,
    			struct mcp251x_platform_data *pdata)
    {
    	return -EINVAL;
    }
    #endif
    
    
    static int mcp251x_can_probe(struct spi_device *spi)
    {
    	struct net_device *net;
    	struct mcp251x_priv *priv;
    	//stone added
    	struct mcp251x_platform_data *pdata;
    	//struct mcp251x_platform_data *pdata = spi->dev.platform_data;
    	int ret = -ENODEV;
    
    	//这里platform_data都指到一起mcp251x_info
    	spi->dev.platform_data = &mcp251x_info;
    	pdata = spi->dev.platform_data;
    
    	if (spi->dev.of_node) {
    		ret = mcp25625_parse_dt(&spi->dev, pdata);
    		if (ret) {
    			dev_err(&spi->dev, "Failed to parse device tree\n");
    			ret = -EINVAL;
    			goto error_out;
    		}
    	}
    
    	//stone added for gpio int 
    	{
    		if (!gpio_is_valid(pdata->gpio_int1)) {
    			dev_err(&spi->dev,
    				"gpio(%d) is invalid,\n", pdata->gpio_int1);
    			return -EINVAL;
    		}
    
    		ret = gpio_request(pdata->gpio_int1, "mscp25625_gpio_int");
    		if (ret) {
    			dev_err(&spi->dev,
    				"Unable to request gpio %d, err=%d\n",
    				pdata->gpio_int1, ret);
    			return ret;
    		}
    
    		ret = gpio_direction_input(pdata->gpio_int1);
    		if (ret) {
    			dev_err(&spi->dev,
    				"Unable to set gpio direction %d, err=%d\n",
    				pdata->gpio_int1, ret);
    			gpio_free(pdata->gpio_int1);
    			return ret;
    		}
    	}
    
    	//stone added
    	priv = kzalloc(sizeof(struct mcp251x_priv), GFP_KERNEL);
    	if (!priv) {
    		goto error_out;
    	}
    
    	mcp251x_enable_dma = 1;
    	
    	spi_set_drvdata(spi, priv);
    	//data->client = client;
    	//data->dev = &client->dev;
    
    	printk(KERN_ERR "------mcp251x_can_probe------\n");
    
    	if (!pdata)
    		/* Platform data is required for osc freq */
    		goto error_out;
    
    	/* Allocate can/net device */
    	net = alloc_candev(sizeof(struct mcp251x_priv), TX_ECHO_SKB_MAX);
    	if (!net) {
    		ret = -ENOMEM;
    		goto error_alloc;
    	}
    
    	//stone added
    	printk(KERN_ERR "------mcp251x_can_probe1------\n");
    
    	net->netdev_ops = &mcp251x_netdev_ops;
    	net->flags |= IFF_ECHO;
    
    	priv = netdev_priv(net);
    	priv->can.bittiming_const = &mcp251x_bittiming_const;
    	priv->can.do_set_mode = mcp251x_do_set_mode;
    	priv->can.clock.freq = pdata->oscillator_frequency / 2;
    	priv->can.ctrlmode_supported = CAN_CTRLMODE_3_SAMPLES |
    		CAN_CTRLMODE_LOOPBACK | CAN_CTRLMODE_LISTENONLY;
    	priv->model = spi_get_device_id(spi)->driver_data;
    	priv->net = net;
    	spi_set_drvdata(spi, priv);
    
    	priv->spi = spi;
    	mutex_init(&priv->mcp_lock);
    
    	/* If requested, allocate DMA buffers */
    	if (mcp251x_enable_dma) {
    		spi->dev.coherent_dma_mask = ~0;
    
    		/*
    		 * Minimum coherent DMA allocation is PAGE_SIZE, so allocate
    		 * that much and share it between Tx and Rx DMA buffers.
    		 */
    		priv->spi_tx_buf = dma_alloc_coherent(&spi->dev,
    						      PAGE_SIZE,
    						      &priv->spi_tx_dma,
    						      GFP_DMA);
    
    		if (priv->spi_tx_buf) {
    			priv->spi_rx_buf = (priv->spi_tx_buf + (PAGE_SIZE / 2));
    			priv->spi_rx_dma = (dma_addr_t)(priv->spi_tx_dma +
    							(PAGE_SIZE / 2));
    		} else {
    			/* Fall back to non-DMA */
    			mcp251x_enable_dma = 0;
    		}
    	}
    
    	/* Allocate non-DMA buffers */
    	if (!mcp251x_enable_dma) {
    		priv->spi_tx_buf = kmalloc(SPI_TRANSFER_BUF_LEN, GFP_KERNEL);
    		if (!priv->spi_tx_buf) {
    			ret = -ENOMEM;
    			goto error_tx_buf;
    		}
    		priv->spi_rx_buf = kmalloc(SPI_TRANSFER_BUF_LEN, GFP_KERNEL);
    		if (!priv->spi_rx_buf) {
    			ret = -ENOMEM;
    			goto error_rx_buf;
    		}
    	}
    
    	if (pdata->power_enable)
    		pdata->power_enable(1);
    
    	/* Call out to platform specific setup */
    	if (pdata->board_specific_setup)
    		pdata->board_specific_setup(spi);
    
    	SET_NETDEV_DEV(net, &spi->dev);
    
    	/* Configure the SPI bus */
    	spi->mode = SPI_MODE_0;
    	spi->bits_per_word = 8;
    	spi_setup(spi);
    
    	/* Here is OK to not lock the MCP, no one knows about it yet */
    	if (!mcp251x_hw_probe(spi)) {
    		dev_info(&spi->dev, "Probe failed\n");
    		goto error_probe;
    	}
    	mcp251x_hw_sleep(spi);
    
    	if (pdata->transceiver_enable)
    		pdata->transceiver_enable(0);
    
    	ret = register_candev(net);
    	if (ret)
    		goto error_probe;
    
    	devm_can_led_init(net);
    
    	dev_info(&spi->dev, "probed\n");
    
    	//stone added
    	printk(KERN_ERR "------mcp251x_can_probe OK------\n");
    
    	return ret;
    
    error_probe:
    	if (!mcp251x_enable_dma)
    		kfree(priv->spi_rx_buf);
    error_rx_buf:
    	if (!mcp251x_enable_dma)
    		kfree(priv->spi_tx_buf);
    error_tx_buf:
    	free_candev(net);
    	if (mcp251x_enable_dma)
    		dma_free_coherent(&spi->dev, PAGE_SIZE,
    				  priv->spi_tx_buf, priv->spi_tx_dma);
    error_alloc:
    	if (pdata->power_enable)
    		pdata->power_enable(0);
    	dev_err(&spi->dev, "probe failed\n");
    		//stone added
    	printk(KERN_ERR "------mcp251x_can_probe err------\n");
    error_out:
    	return ret;
    }
    
    static int mcp251x_can_remove(struct spi_device *spi)
    {
    	struct mcp251x_platform_data *pdata = spi->dev.platform_data;
    	struct mcp251x_priv *priv = spi_get_drvdata(spi);
    	struct net_device *net = priv->net;
    
    	unregister_candev(net);
    	free_candev(net);
    
    	if (mcp251x_enable_dma) {
    		dma_free_coherent(&spi->dev, PAGE_SIZE,
    				  priv->spi_tx_buf, priv->spi_tx_dma);
    	} else {
    		kfree(priv->spi_tx_buf);
    		kfree(priv->spi_rx_buf);
    	}
    
    	if (pdata->power_enable)
    		pdata->power_enable(0);
    
    	return 0;
    }
    
    #ifdef CONFIG_PM_SLEEP
    
    static int mcp251x_can_suspend(struct device *dev)
    {
    	struct spi_device *spi = to_spi_device(dev);
    	struct mcp251x_platform_data *pdata = spi->dev.platform_data;
    	struct mcp251x_priv *priv = spi_get_drvdata(spi);
    	struct net_device *net = priv->net;
    
    	priv->force_quit = 1;
    	disable_irq(spi->irq);
    	/*
    	 * Note: at this point neither IST nor workqueues are running.
    	 * open/stop cannot be called anyway so locking is not needed
    	 */
    	if (netif_running(net)) {
    		netif_device_detach(net);
    
    		mcp251x_hw_sleep(spi);
    		if (pdata->transceiver_enable)
    			pdata->transceiver_enable(0);
    		priv->after_suspend = AFTER_SUSPEND_UP;
    	} else {
    		priv->after_suspend = AFTER_SUSPEND_DOWN;
    	}
    
    	if (pdata->power_enable) {
    		pdata->power_enable(0);
    		priv->after_suspend |= AFTER_SUSPEND_POWER;
    	}
    
    	return 0;
    }
    
    static int mcp251x_can_resume(struct device *dev)
    {
    	struct spi_device *spi = to_spi_device(dev);
    	struct mcp251x_platform_data *pdata = spi->dev.platform_data;
    	struct mcp251x_priv *priv = spi_get_drvdata(spi);
    
    	if (priv->after_suspend & AFTER_SUSPEND_POWER) {
    		pdata->power_enable(1);
    		queue_work(priv->wq, &priv->restart_work);
    	} else {
    		if (priv->after_suspend & AFTER_SUSPEND_UP) {
    			if (pdata->transceiver_enable)
    				pdata->transceiver_enable(1);
    			queue_work(priv->wq, &priv->restart_work);
    		} else {
    			priv->after_suspend = 0;
    		}
    	}
    	priv->force_quit = 0;
    	enable_irq(spi->irq);
    	return 0;
    }
    #endif
    
    static SIMPLE_DEV_PM_OPS(mcp251x_can_pm_ops, mcp251x_can_suspend,
    	mcp251x_can_resume);
    
    //stone added 	mcp25625
    static const struct spi_device_id mcp251x_id_table[] = {
    	//{ "mcp2510",	CAN_MCP251X_MCP2510 },
    	//{ "mcp2515",	CAN_MCP251X_MCP2515 },
    	//{ },
    	{"mcp25625", 0},
    };
    MODULE_DEVICE_TABLE(spi, mcp251x_id_table);
    
    //stone added mcp251x_of_match
    static const struct of_device_id mcp251x_of_match[] = {
    	{ .compatible = "mcp25625", },
    	{ },
    };
    
    static struct spi_driver mcp251x_can_driver = {
    	.driver = {
    		.owner = THIS_MODULE,
    		.name = DEVICE_NAME,
    		.pm = &mcp251x_can_pm_ops,
    		//stone added
    		.of_match_table = mcp251x_of_match,
    	},
    
    	.id_table = mcp251x_id_table,
    	.probe = mcp251x_can_probe,
    	.remove = mcp251x_can_remove,
    };
    
    //stone added
    #if 1
    static int __init mcp251x_init(void)
    {
    	return spi_register_driver(&mcp251x_can_driver);
    }
    
    static void __exit mcp251x_exit(void)
    {
    	spi_unregister_driver(&mcp251x_can_driver);
    }
    
    module_init(mcp251x_init);
    module_exit(mcp251x_exit);
    
    #else
    module_spi_driver(mcp251x_can_driver);
    #endif
    
    MODULE_AUTHOR("Chris Elston <celston@katalix.com>");
    MODULE_DESCRIPTION("Microchip 251x CAN driver");
    MODULE_LICENSE("GPL v2");

由于没有找到CAN分析仪来验证，找了一块stm32的开发板，自己写了个简单的测试程序，main程序参考如下：

/****************************************Copyright (c)****************************************************
    **                                      
    **                                 http://www.powermcu.com
    **
    **--------------File Info---------------------------------------------------------------------------------
    ** File name:               main.c
    ** Descriptions:            The CAN-BUS application function
    **
    **--------------------------------------------------------------------------------------------------------
    ** Created by:              AVRman
    ** Created date:            2010-10-30
    ** Version:                 v1.0
    ** Descriptions:            The original version
    **
    **--------------------------------------------------------------------------------------------------------
    ** Modified by:             
    ** Modified date:           
    ** Version:                 
    ** Descriptions:            
    **
    *********************************************************************************************************/
    
    
    /* Includes ------------------------------------------------------------------*/
    #include "stm32f10x.h"
    #include "systick.h" 
    #include <stdlib.h>
    #include <stdio.h>
    
    
    #ifdef __GNUC__
      /* With GCC/RAISONANCE, small printf (option LD Linker->Libraries->Small printf
         set to 'Yes') calls __io_putchar() */
      #define PUTCHAR_PROTOTYPE int __io_putchar(int ch)
    #else
      #define PUTCHAR_PROTOTYPE int fputc(int ch, FILE *f)
    #endif /* __GNUC__ */
    
    /* Private variables ---------------------------------------------------------*/
    uint16_t CAN_ID;
    uint8_t CAN_DATA0,CAN_DATA1,CAN_DATA2,CAN_DATA3,CAN_DATA4,CAN_DATA5,CAN_DATA6,CAN_DATA7;
    uint8_t CanFlag,Display;
    
    /* Private function prototypes -----------------------------------------------*/
    void GPIO_Configuration(void);
    void USART_Configuration(void);
    void NVIC_Configuration(void);
    void CAN_Configuration(void);
    void CanWriteData(uint16_t ID);
    
    
    /*******************************************************************************
    * Function Name  : main
    * Description    : Main program
    * Input          : None
    * Output         : None
    * Return         : None
    * Attention		 : None
    *******************************************************************************/
    int main(void)
    {
    	delay_init();
        CAN_Configuration();
    	USART_Configuration();
    	printf("\r\n");
    	printf("*****************************************************************\r\n");
        printf("*                                                               *\r\n");
    	printf("*  Thank you for using HY-RedBull V3.0 Development Board ！^_^  *\r\n");
    	printf("*                                                               *\r\n");
    	printf("*****************************************************************\r\n");
       	printf("CAN-Bus Test \r\n");
       	printf("CAN-Bus Speed 500kHz \r\n");
    
        GPIO_SetBits(GPIOA , GPIO_Pin_7);	//LED1 off
        GPIO_SetBits(GPIOA , GPIO_Pin_6);	//LED2 off
        GPIO_SetBits(GPIOA , GPIO_Pin_5);	//LED3 off
        GPIO_SetBits(GPIOA , GPIO_Pin_4);	//LED4 off
    
        /* Infinite loop */
        while (1)
    	{
    	  if( CanFlag == ENABLE )
    	  {
    	    CanFlag = DISABLE;
    		printf("CAN Received Data \r\n");
    		printf("CAN ID %x \r\n",CAN_ID);
    		printf("CAN_DATA0 %x \r\n",CAN_DATA0);
    		printf("CAN_DATA1 %x \r\n",CAN_DATA1);
    		printf("CAN_DATA2 %x \r\n",CAN_DATA2);
    		printf("CAN_DATA3 %x \r\n",CAN_DATA3);
    		printf("CAN_DATA4 %x \r\n",CAN_DATA4);
    		printf("CAN_DATA5 %x \r\n",CAN_DATA5);
    		printf("CAN_DATA6 %x \r\n",CAN_DATA6);
    		printf("CAN_DATA7 %x \r\n",CAN_DATA7);
    	  }
    	  
    	  CanWriteData(0x88);
    
          if( Display ) 
    	  { 
            /*====LED-ON=======*/
    	    GPIO_ResetBits(GPIOA , GPIO_Pin_7);
    	    //GPIO_ResetBits(GPIOA , GPIO_Pin_6);
    	    //GPIO_ResetBits(GPIOA , GPIO_Pin_5);
    	    //GPIO_ResetBits(GPIOA , GPIO_Pin_4);	 
    	  }  
    	  else 
    	  { 
    	    /*====LED-OFF=======*/ 
    	    GPIO_SetBits(GPIOA , GPIO_Pin_7);
    	    //GPIO_SetBits(GPIOA , GPIO_Pin_6);
    	    //GPIO_SetBits(GPIOA , GPIO_Pin_5);
    	    //GPIO_SetBits(GPIOA , GPIO_Pin_4);		 
    	  }
    	  Display = ~Display;   	
    	  delay_ms(500);  /* delay 200ms */  
        }
    }
    
    /*******************************************************************************
    * Function Name  : GPIO_Configuration
    * Description    : Configures the different GPIO ports.
    * Input          : None
    * Output         : None
    * Return         : None
    * Attention		 : None
    *******************************************************************************/
    void GPIO_Configuration(void)
    {
      GPIO_InitTypeDef GPIO_InitStructure;
      /* CAN Periph clock enable */
      //stone comment :RCC_APB2Periph_GPIOA must add for config GPIOA
      RCC_APB2PeriphClockCmd(RCC_APB2Periph_GPIOB | RCC_APB2Periph_GPIOD | RCC_APB2Periph_GPIOA | RCC_APB2Periph_AFIO ,ENABLE);
      RCC_APB1PeriphClockCmd(RCC_APB1Periph_CAN1, ENABLE);
      //Begin:stone added
      /* Enable GPIO clock */
      //RCC_APB2PeriphClockCmd(CAN_TX_GPIO_CLK|CAN_RX_GPIO_CLK, ENABLE);
      //End:stone added
    
      GPIO_PinRemapConfig(GPIO_Remap1_CAN1,ENABLE); 
      /* Configure CAN pin: RX  PB8 */
      GPIO_InitStructure.GPIO_Pin = GPIO_Pin_8;
      GPIO_InitStructure.GPIO_Speed = GPIO_Speed_50MHz;
      GPIO_InitStructure.GPIO_Mode = GPIO_Mode_IN_FLOATING;
      GPIO_Init(GPIOB, &GPIO_InitStructure);   
      /* Configure CAN pin: TX PB9*/
      GPIO_InitStructure.GPIO_Pin = GPIO_Pin_9;
      GPIO_InitStructure.GPIO_Mode = GPIO_Mode_AF_PP;
      GPIO_Init(GPIOB, &GPIO_InitStructure);	     
    /**
     *  LED1 -> PA7 , LED2 -> PA6 , LED3 -> PA5 , LED4 -> PA4
     */					 
      GPIO_InitStructure.GPIO_Pin =  GPIO_Pin_7 | GPIO_Pin_6 | GPIO_Pin_5 | GPIO_Pin_4;
      GPIO_InitStructure.GPIO_Speed = GPIO_Speed_50MHz;
      GPIO_InitStructure.GPIO_Mode = GPIO_Mode_Out_PP; 
      GPIO_Init(GPIOA, &GPIO_InitStructure);
    }
    
    /*******************************************************************************
    * Function Name  : NVIC_Configuration
    * Description    : Configures the nested vectored interrupt controller.
    * Input          : None
    * Output         : None
    * Return         : None
    * Attention		 : None
    *******************************************************************************/
    void NVIC_Configuration(void)
    {
      NVIC_InitTypeDef NVIC_InitStructure;
    
      /* Enable CAN1 RX0 interrupt IRQ channel */
      NVIC_InitStructure.NVIC_IRQChannel = USB_LP_CAN1_RX0_IRQn;
      NVIC_InitStructure.NVIC_IRQChannelPreemptionPriority = 0;
      NVIC_InitStructure.NVIC_IRQChannelSubPriority = 0;
      NVIC_InitStructure.NVIC_IRQChannelCmd = ENABLE;
      NVIC_Init(&NVIC_InitStructure);
    }
    
    /*******************************************************************************
    * Function Name  : USART_Configuration
    * Description    : Configure USART1 
    * Input          : None
    * Output         : None
    * Return         : None
    * Attention		 : None
    *******************************************************************************/
    void USART_Configuration(void)
    { 
      GPIO_InitTypeDef GPIO_InitStructure;
      USART_InitTypeDef USART_InitStructure; 
    
      RCC_APB2PeriphClockCmd( RCC_APB2Periph_GPIOA | RCC_APB2Periph_USART1,ENABLE);
      /*
      *  USART1_TX -> PA9 , USART1_RX ->	PA10
      */				
      GPIO_InitStructure.GPIO_Pin = GPIO_Pin_9;	         
      GPIO_InitStructure.GPIO_Mode = GPIO_Mode_AF_PP; 
      GPIO_InitStructure.GPIO_Speed = GPIO_Speed_50MHz; 
      GPIO_Init(GPIOA, &GPIO_InitStructure);		   
    
      GPIO_InitStructure.GPIO_Pin = GPIO_Pin_10;	        
      GPIO_InitStructure.GPIO_Mode = GPIO_Mode_IN_FLOATING;  
      GPIO_InitStructure.GPIO_Speed = GPIO_Speed_50MHz; 
      GPIO_Init(GPIOA, &GPIO_InitStructure);
    
      USART_InitStructure.USART_BaudRate = 115200;
      USART_InitStructure.USART_WordLength = USART_WordLength_8b;
      USART_InitStructure.USART_StopBits = USART_StopBits_1;
      USART_InitStructure.USART_Parity = USART_Parity_No;
      USART_InitStructure.USART_HardwareFlowControl = USART_HardwareFlowControl_None;
      USART_InitStructure.USART_Mode = USART_Mode_Rx | USART_Mode_Tx;
    
      USART_Init(USART1, &USART_InitStructure); 
      USART_ITConfig(USART1, USART_IT_RXNE, ENABLE);
      USART_ITConfig(USART1, USART_IT_TXE, ENABLE);
      USART_Cmd(USART1, ENABLE);
    }
    
    /*******************************************************************************
    * Function Name  : CAN_Configuration
    * Description    : Configures the CAN
    * Input          : None
    * Output         : None
    * Return         : None
    * Attention		 : None
    *******************************************************************************/
    void CAN_Configuration(void)
    {
      CAN_InitTypeDef        CAN_InitStructure;
      CAN_FilterInitTypeDef  CAN_FilterInitStructure;
    
      NVIC_Configuration();
      GPIO_Configuration();
      /* CAN register init */
      CAN_DeInit(CAN1);
      CAN_StructInit(&CAN_InitStructure);
    
      /* CAN cell init */
      CAN_InitStructure.CAN_TTCM = DISABLE; /* 时间触发禁止, 时间触发：CAN硬件的内部定时器被激活，并且被用于产生时间戳 */
      CAN_InitStructure.CAN_ABOM = DISABLE; /* 自动离线禁止，自动离线：一旦硬件监控到128次11个隐性位，就自动退出离线状态。在这里要软件设定后才能退出 */
      CAN_InitStructure.CAN_AWUM = ENABLE; /* 自动唤醒禁止，有报文来的时候自动退出休眠	*/
      CAN_InitStructure.CAN_NART = DISABLE; /* 报文重传, 如果错误一直传到成功止，否则只传一次 */
      CAN_InitStructure.CAN_RFLM = DISABLE; /* 接收FIFO锁定, 1--锁定后接收到新的报文摘不要，0--接收到新的报文则覆盖前一报文	*/
      CAN_InitStructure.CAN_TXFP = ENABLE;  /* 发送优先级  0---由标识符决定  1---由发送请求顺序决定	*/
      CAN_InitStructure.CAN_Mode = CAN_Mode_Normal; /* 模式	*/
      CAN_InitStructure.CAN_SJW = CAN_SJW_2tq;      /* 重新同步跳宽，只有can硬件处于初始化模式时才能访问这个寄存器 */
    
      CAN_InitStructure.CAN_BS1 = CAN_BS1_5tq;      /* 时间段1 */
      CAN_InitStructure.CAN_BS2 = CAN_BS2_3tq;      /* 时间段2 */
      //CAN_InitStructure.CAN_Prescaler = 45;         /* 波特率预分频数 */  
      CAN_InitStructure.CAN_Prescaler = 12;         /* 波特率预分频数  stone modify to 500K*/  
      /*注意：12M的晶振配置为5 3 12才能得到500Kbps  比较奇怪*/
     
      /* 波特率计算方法 CAN 时钟频率为 APB1 = 36 MHz */
      /* CANbps= Fpclk/((BRP+1)*((Tseg1+1)+(Tseg2+1)+1)  此处计算为  CANbps=36000000/(45*(4+3+1))=100kHz */   														  //此处Tseg1+1 = CAN_BS1_8tp
      /* 配置大方向: Tseg1>=Tseg2  Tseg2>=tq; Tseg2>=2TSJW */
        
      if (CAN_Init(CAN1,&CAN_InitStructure) == CANINITFAILED) 		
      {
        /* 初始化时先设置CAN_MCR的初始化位 */  														
        /* 然后查看硬件是否真的设置了CAN_MSR的初始化位来确认是否进入了初始化模式  */		 													                  
      }	
      /* 配置CAN过滤器 */
      /* 32位对应的id */
      /* stdid[10:0]，extid[17:0],ide,rtr	*/
      /* 16位对应的id */
      /* stdid[10:0],ide,rtr,extid[17:15] */
      /* 一般使用屏蔽模式	*/
      /* 要注意的是fifo接收存满了中断，还有就是fifo的概念，即取的一直是最早那一个数据， 要释放才能取下一个数据 */
      /* 常使用的中断有 */
      /* 1,有信息中断，即fifo挂号中断 */
      /* 2,fifo满中断	*/
      /* 3,fifo满之后又有信息来则中断，即fifo溢出中断	*/
      CAN_FilterInitStructure.CAN_FilterNumber=0;     /* 过滤器0 */
      CAN_FilterInitStructure.CAN_FilterMode=CAN_FilterMode_IdMask;  /* 屏敝模式 */
      CAN_FilterInitStructure.CAN_FilterScale=CAN_FilterScale_32bit; /* 32位 */
      CAN_FilterInitStructure.CAN_FilterIdHigh=0x0000;  /* 以下四个都为0, 表明不过滤任何id */
      CAN_FilterInitStructure.CAN_FilterIdLow=0x0000;
      CAN_FilterInitStructure.CAN_FilterMaskIdHigh=0x0000;
      CAN_FilterInitStructure.CAN_FilterMaskIdLow=0x0000;
      CAN_FilterInitStructure.CAN_FilterFIFOAssignment=0;  /* 能够通过该过滤器的报文存到fifo0中 */
      CAN_FilterInitStructure.CAN_FilterActivation=ENABLE;
      CAN_ITConfig(CAN1,CAN_IT_FMP0, ENABLE);   /* 挂号中断, 进入中断后读fifo的报文函数释放报文清中断标志 */
      CAN_FilterInit(&CAN_FilterInitStructure);
    }
    
    /*******************************************************************************
    * Function Name  : CanWriteData
    * Description    : Can Write Date to CAN-BUS
    * Input          : None
    * Output         : None
    * Return         : None
    * Attention		 : None
    *******************************************************************************/
    void CanWriteData(uint16_t ID)
    {
      CanTxMsg TxMessage;
    
      CAN_DATA0=rand()%0xff;  CAN_DATA1=rand()%0xff;  
      CAN_DATA2=rand()%0xff;  CAN_DATA3=rand()%0xff;  
      CAN_DATA4=rand()%0xff;  CAN_DATA5=rand()%0xff;
      CAN_DATA6=rand()%0xff;  CAN_DATA7=rand()%0xff; 
    
      /* transmit */
      TxMessage.StdId = ID;  /* 设置标准id  注意标准id的最高7位不能全是隐性(1)。共11位 */
    //TxMessage.ExtId = 0x00;     //设置扩展id  扩展id共18位
      TxMessage.RTR = CAN_RTR_DATA; /* 设置为数据帧 */
      TxMessage.IDE = CAN_ID_STD;   /* 使用标准id	*/
      TxMessage.DLC = 8;            /* 数据长度, can报文规定最大的数据长度为8字节 */
      TxMessage.Data[0] = CAN_DATA0;    
      TxMessage.Data[1] = CAN_DATA1;    
      TxMessage.Data[2] = CAN_DATA2;    
      TxMessage.Data[3] = CAN_DATA3;    
      TxMessage.Data[4] = CAN_DATA4;    
      TxMessage.Data[5] = CAN_DATA5;     
      TxMessage.Data[6] = CAN_DATA6;    
      TxMessage.Data[7] = CAN_DATA7;      
      CAN_Transmit(CAN1,&TxMessage);  /* 返回这个信息请求发送的邮箱号0,1,2或没有邮箱申请发送no_box */	
    }
    
    /*******************************************************************************
    * Function Name  : USB_LP_CAN1_RX0_IRQHandler
    * Description    : This function handles USB Low Priority or CAN RX0 interrupts 
    * Input          : None
    * Output         : None
    * Return         : None
    * Attention		 : None
    *******************************************************************************/
    void USB_LP_CAN1_RX0_IRQHandler(void)
    {
      CanRxMsg RxMessage;
      CAN_Receive(CAN1,CAN_FIFO0, &RxMessage);  /* 此函数包含释放提出报文了的,在非必要时,不需要自己释放 */
      CAN_ID=RxMessage.StdId;
      CAN_DATA0=RxMessage.Data[0];
      CAN_DATA1=RxMessage.Data[1];
      CAN_DATA2=RxMessage.Data[2];
      CAN_DATA3=RxMessage.Data[3];
      CAN_DATA4=RxMessage.Data[4];
      CAN_DATA5=RxMessage.Data[5];
      CAN_DATA6=RxMessage.Data[6];
      CAN_DATA7=RxMessage.Data[7];
      CAN_ClearITPendingBit(CAN1,CAN_IT_FMP0);  /* 清除挂起中断 */
      CanFlag = ENABLE;
    }
    
    /**
      * @brief  Retargets the C library printf function to the USART.
      * @param  None
      * @retval None
      */
    PUTCHAR_PROTOTYPE
    {
      /* Place your implementation of fputc here */
      /* e.g. write a character to the USART */
      USART_SendData(USART1, (uint8_t) ch);
    
      /* Loop until the end of transmission */
      while (USART_GetFlagStatus(USART1, USART_FLAG_TC) == RESET)
      {}
    
      return ch;
    }
    
    #ifdef  USE_FULL_ASSERT
    
    /**
      * @brief  Reports the name of the source file and the source line number
      *   where the assert_param error has occurred.
      * @param  file: pointer to the source file name
      * @param  line: assert_param error line source number
      * @retval None
      */
    void assert_failed(uint8_t* file, uint32_t line)
    { 
      /* User can add his own implementation to report the file name and line number,
         ex: printf("Wrong parameters value: file %s on line %d\r\n", file, line) */
    
      /* Infinite loop */
      while (1)
      {
      }
    }
    #endif
    
    /*********************************************************************************************************
          END FILE
    *********************************************************************************************************/

在Android侧还需要找个apk去设置CAN参数来通讯，懒得去写apk了。参考网上的例子简单写了个可执行程序运行验证是否正确：

/*
     *  can_test_send_and_dump.c
     *
     *  Created on: 2018-8-25
     *  Author: tanghanyue
    */
    #include <stdio.h>
    #include <stdlib.h>
    #include <string.h>
    #include <unistd.h>
    #include <net/if.h>
    #include <sys/ioctl.h>
    #include <sys/socket.h>
    #include <linux/can.h>
    #include <linux/can/raw.h>
    
    int main(int argc, char *argv[])
    {
    	int s, nbytes;
        unsigned char number=0;
    	struct sockaddr_can addr;
    	struct ifreq ifr;
    	struct can_frame frame;
    	struct can_frame frame_send;
    	struct can_filter rfilter[1];
    	pid_t pid = -1;
    	int i;
    	
    	/* handle (optional) flags first */
    	if(argc != 2) {
    	    fprintf(stderr, "Usage:  %s <-r> <can interface name> for receiving\nor <-s> <can interface name> for sending\n", argv[0]);
    	    exit(1);
    	}
    	/* create socket */
    	if ((s = socket(PF_CAN, SOCK_RAW, CAN_RAW)) < 0)
    	{
    	   perror("Create socket failed");
    	   exit(-1);
    	}
    
    	/* set up can interface */
    	strcpy(ifr.ifr_name, argv[1]);
    	printf("can port is %s\n",ifr.ifr_name);
    	/* assign can device */
    	ioctl(s, SIOCGIFINDEX, &ifr);
    	addr.can_family = AF_CAN;
    	addr.can_ifindex = ifr.ifr_ifindex;
    	/* bind can device */
    	if(bind(s, (struct sockaddr *)&addr, sizeof(addr)) < 0)
    	{
    	     perror("Bind can device failed\n");
    	     close(s);
    	     exit(-2);
    	}
    
    	pid = fork();
        if(pid == -1) 
        { 
    		perror("\n\tfailed to fork!!\n\n");
    		return  -1;
        }
    	
        else if(pid==0)/* configure receiving can data*/
    	{
    	   /* set filter for only receiving packet with can id 0x88 */
    	   rfilter[0].can_id = 0x88;
    	   rfilter[0].can_mask = CAN_SFF_MASK;
    	   if(setsockopt(s, SOL_CAN_RAW, CAN_RAW_FILTER, &rfilter, sizeof(rfilter)) < 0)
    	   {
    	        perror("set receiving filter error\n");
    	        close(s);
    	        exit(-3);
    	   }
    	   /* keep reading */
    	   while(1)
    	   {
    	       nbytes = read(s, &frame, sizeof(frame));
    	       if(nbytes > 0)
    	       {
    		   printf("read datas:%s ID=%#x data length=%d\n", ifr.ifr_name, frame.can_id, frame.can_dlc);
    		   for ( i=0; i < frame.can_dlc; i++)
    		        printf("%#x ", frame.data[i]);
    		   printf("\n");
    	       }
    	       printf("read can data over\n");
    
    	   }
    	}/* configure sending can data*/
        
    	else
    	{   
    		while(1)
    		{
    			/* configure can_id and can data length */
    			frame_send.can_id = 0x88;
    			frame_send.can_dlc = 8;
    			printf("%s ID=%#x data length=%d\n", ifr.ifr_name, frame_send.can_id, frame_send.can_dlc);
    			/* prepare data for sending: 0x11,0x22...0x88 */
    			for (i=0; i<8; i++)
    			{
    				frame_send.data[i] = ((i+1)<<4) | (i+1);
    				frame_send.data[7] =number;
    				printf("%#x ", frame_send.data[i]);
    			}
    			printf("success to Sent out\n");
    			/* Sending data */
    			if(write(s, &frame_send, sizeof(frame_send)) < 0)
    			{
    				perror("Send failed");
    				close(s);
    				exit(-4);
    			}
    			sleep(1);
    			number++;
            }  
    	}
    	
    	close(s);
    	return 0;
    }

把两块板子的CAN总线连接在一起，验证和stm32可以正常通讯，中断log如下：

[  105.920481] ----mcp251x_can_isr----
    [  105.923041] mcp25625 spi4.0: Int lower half: can_irq_work
    [  105.928635] intf = 1
    [  105.930614] receive buffer 0
    [  105.933581] mcp25625 spi4.0: buf_idx=0
    [  105.937203] mcp25625 spi4.0: buf[0]=ff
    [  105.942904] mcp25625 spi4.0: buf[1]=11
    [  105.945622] mcp25625 spi4.0: buf[2]=0
    [  105.949728] mcp25625 spi4.0: buf[3]=ff
    [  105.953206] mcp25625 spi4.0: buf[4]=57
    [  105.960300] mcp25625 spi4.0: buf[5]=8
    [  105.962932] mcp25625 spi4.0: buf[6]=5d
    [  105.966664] mcp25625 spi4.0: buf[7]=e3
    [  105.971056] mcp25625 spi4.0: buf[8]=4c
    [  105.974610] mcp25625 spi4.0: buf[9]=cf
    [  105.978517] mcp25625 spi4.0: buf[10]=60
    [  105.981858] mcp25625 spi4.0: buf[11]=1
    [  105.986312] mcp25625 spi4.0: buf[12]=7a
    [  105.990031] mcp25625 spi4.0: buf[13]=16
    [  105.993205] intf = 0

至此调试完成。

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