CAN总线点对点带滤波的单片机例程源码 -

#include "stdio.h"
#include "string.h"
#include "intrins.h"
#include "Function.h"
#include "reg51.h"
void CAN_Send_anylength(unsigned char *CAN_TX_Buf,unsigned char length1);
void display(unsigned char num);
//定义SJA1000的基址
//#define SJA_BaseAdr 0X7F00
#define SJA_BaseAdr 0XFE00 //P2.0
// 控制寄存器
#define REG_CONTROL SJA_BaseAdr+0x00 //内部控制寄存器
#define REG_COMMAND SJA_BaseAdr+0x01 //命令寄存器
#define REG_STATUS SJA_BaseAdr+0x02 //状态寄存器
#define REG_INTERRUPT SJA_BaseAdr+0x03 //中断寄存器
#define REG_INTENABLE SJA_BaseAdr+0x04 //中断使能寄存器
#define REG_BTR0 SJA_BaseAdr+0x06 //总线定时寄存器0
#define REG_BTR1 SJA_BaseAdr+0x07 //总线定时寄存器1
#define REG_OCR SJA_BaseAdr+0x08 //输出控制寄存器
#define REG_TEST SJA_BaseAdr+0x09 //测试寄存器
#define REG_RESVER1 SJA_BaseAdr+0x0A //保留1
#define REG_ARBITRATE SJA_BaseAdr+0x0B //仲裁丢失捕捉
#define REG_ERRCATCH SJA_BaseAdr+0x0C //错误代码捕捉
#define REG_ERRLIMIT SJA_BaseAdr+0x0D //错误报警限额
#define REG_RXERR SJA_BaseAdr+0x0E //接收错误计数器
#define REG_TXERR SJA_BaseAdr+0x0F //发送错误计数器
#define REG_ACR1 SJA_BaseAdr+0x10 //验收代码寄存器
#define REG_ACR2 SJA_BaseAdr+0x11 //验收代码寄存器
#define REG_ACR3 SJA_BaseAdr+0x12 //验收代码寄存器
#define REG_ACR4 SJA_BaseAdr+0x13 //验收代码寄存器
#define REG_AMR1 SJA_BaseAdr+0x14 //验收屏蔽寄存器
#define REG_AMR2 SJA_BaseAdr+0x15 //验收屏蔽寄存器
#define REG_AMR3 SJA_BaseAdr+0x16 //验收屏蔽寄存器
#define REG_AMR4 SJA_BaseAdr+0x17 //验收屏蔽寄存器
// 发送缓冲区寄存器
#define REG_TXBuffer1 SJA_BaseAdr+0x10 //发送缓冲区1
#define REG_TXBuffer2 SJA_BaseAdr+0x11 //发送缓冲区2
#define REG_TXBuffer3 SJA_BaseAdr+0x12 //发送缓冲区3
#define REG_TXBuffer4 SJA_BaseAdr+0x13 //发送缓冲区4
#define REG_TXBuffer5 SJA_BaseAdr+0x14 //发送缓冲区5
#define REG_TXBuffer6 SJA_BaseAdr+0x15 //发送缓冲区6
#define REG_TXBuffer7 SJA_BaseAdr+0x16 //发送缓冲区7
#define REG_TXBuffer8 SJA_BaseAdr+0x17 //发送缓冲区8
#define REG_TXBuffer9 SJA_BaseAdr+0x18 //发送缓冲区9
#define REG_TXBuffer10 SJA_BaseAdr+0x19 //发送缓冲区10
#define REG_TXBuffer11 SJA_BaseAdr+0x1A //发送缓冲区11
#define REG_TXBuffer12 SJA_BaseAdr+0x1B //发送缓冲区12
#define REG_TXBuffer13 SJA_BaseAdr+0x1C //发送缓冲区13
// 接收缓冲区寄存器
#define REG_RXBuffer1 SJA_BaseAdr+0x10 //接收缓冲区1
#define REG_RXBuffer2 SJA_BaseAdr+0x11 //接收缓冲区2
#define REG_RXBuffer3 SJA_BaseAdr+0x12 //接收缓冲区3
#define REG_RXBuffer4 SJA_BaseAdr+0x13 //接收缓冲区4
#define REG_RXBuffer5 SJA_BaseAdr+0x14 //接收缓冲区5
#define REG_RXBuffer6 SJA_BaseAdr+0x15 //接收缓冲区6
#define REG_RXBuffer7 SJA_BaseAdr+0x16 //接收缓冲区7
#define REG_RXBuffer8 SJA_BaseAdr+0x17 //接收缓冲区8
#define REG_RXBuffer9 SJA_BaseAdr+0x18 //接收缓冲区9
#define REG_RXBuffer10 SJA_BaseAdr+0x19 //接收缓冲区10
#define REG_RXBuffer11 SJA_BaseAdr+0x1A //接收缓冲区11
#define REG_RXBuffer12 SJA_BaseAdr+0x1B //接收缓冲区12
#define REG_RXBuffer13 SJA_BaseAdr+0x1C //接收缓冲区13
#define REG_RXCOUNT SJA_BaseAdr+0x1D //RX报文计数器
#define REG_RBSA SJA_BaseAdr+0x1E //接收缓冲区起始地址
#define REG_CDR SJA_BaseAdr+0x1F //时钟分频寄存器
//功能说明: CAN控制器SJA1000通讯波特率.SJA1000的晶振为必须为24MHZ*/
#define BTR0_Rate_10k 0xEF //20KBPS的预设值
#define BTR1_Rate_10k 0xFF //20KBPS的预设值
/*
功能说明: CAN控制器SJA1000通讯波特率.SJA1000的晶振为必须为16MHZ*/
#define BTR0_Rate_20k 0x53 //20KBPS的预设值
#define BTR1_Rate_20k 0x2F //20KBPS的预设值
#define BTR0_Rate_40k 0x87 //40KBPS的预设值
#define BTR1_Rate_40k 0xFF //40KBPS的预设值
#define BTR0_Rate_50k 0x47 //50KBPS的预设值
#define BTR1_Rate_50k 0x2F //50KBPS的预设值
#define BTR0_Rate_80k 0x83 //80KBPS的预设值
#define BTR1_Rate_80k 0xFF //80KBPS的预设值
#define BTR0_Rate_100k 0x43 //100KBPS的预设值
#define BTR1_Rate_100k 0x2f //100KBPS的预设值
#define BTR0_Rate_125k 0x03 //125KBPS的预设值
#define BTR1_Rate_125k 0x1c //125KBPS的预设值
#define BTR0_Rate_200k 0x81 //200KBPS的预设值
#define BTR1_Rate_200k 0xFA //200KBPS的预设值
#define BTR0_Rate_250k 0x01 //250KBPS的预设值
#define BTR1_Rate_250k 0x1c //250KBPS的预设值
#define BTR0_Rate_400k 0x80 //400KBPS的预设值
#define BTR1_Rate_400k 0xfa //400KBPS的预设值
#define BTR0_Rate_500k 0x00 //500KBPS的预设值
#define BTR1_Rate_500k 0x1c //500KBPS的预设值
#define BTR0_Rate_666k 0x80 //666KBPS的预设值
#define BTR1_Rate_666k 0xb6 //666KBPS的预设值
#define BTR0_Rate_800k 0x00 //800KBPS的预设值
#define BTR1_Rate_800k 0x16 //800KBPS的预设值
#define BTR0_Rate_1000k 0x00 //1000KBPS的预设值
#define BTR1_Rate_1000k 0x14 //1000KBPS的预设值
//BPS
#define ByteRate_10k 10 //24MHZ**********************
#define ByteRate_40k 40
#define ByteRate_50k 50
#define ByteRate_80k 80
#define ByteRate_100k 100
#define ByteRate_125k 125
#define ByteRate_200k 200
#define ByteRate_250k 250
#define ByteRate_400k 400
#define ByteRate_500k 500
#define ByteRate_800k 800
#define ByteRate_1000k 1000
//命令字
#define TR_CMD 0X01
#define AT_CMD 0X02
#define RRB_CMD 0X04
#define COS_CMD 0X08
#define SRR_CMD 0X10
#define GTS_CMD 0X10
//错误字
#define CAN_INTERFACE_OK 0
#define CAN_BUS_OK 0
#define CAN_INTERFACE_ERR 0XFF
#define CAN_ENTERSET_ERR 0XFE
#define CAN_QUITSET_ERR 0XFD
#define CAN_INITOBJECT_ERR 0XFC
#define CAN_INITBTR_ERR 0XFB
#define CAN_INITOUTCTL_ERR 0XFA
#define CAN_INTCLKDIV_ERR 0XF9
#define CAN_BUS_ERR 0XF8
//系统指针，指向SJA1000
unsigned char xdata *SJA_BCANAdr;
unsigned char data Tmod_data;
unsigned char run_lamp_flush_count = 0;
unsigned char run_lamp_flush_time = 10;
sbit run_lamp = P1^0;
unsigned char data send_data[10],RevceData[10];
//unsigned int data rxbuffer[10]={REG_RXBuffer1,REG_RXBuffer2,REG_RXBuffer3,REG_RXBuffer4,REG_RXBuffer5,REG_RXBuffer6,REG_RXBuffer7,REG_RXBuffer8,REG_RXBuffer9,REG_RXBuffer10};
//unsigned int data txbuffer[10]={REG_TXBuffer1,REG_TXBuffer2,REG_TXBuffer3,REG_TXBuffer4,REG_TXBuffer5,REG_TXBuffer6,REG_TXBuffer7,REG_TXBuffer8,REG_TXBuffer9,REG_TXBuffer10};
//unsigned char data Send_CAN_Info_ID[5]={0x08,0x55,0xe0,0x55,0x55};
//unsigned char data Send_CAN_Info_ID[5]={0x01,0x55,0xe0,0x55,0x55};
unsigned char data Com_RecBuff[8]={0x01,0x02,0x03,0x4,0x05,0x06,0x07,0x08};
//unsigned char data Com_RecBuff[8];
unsigned char bdata flag_init;
//*************************
#define INBUF_LEN 8 //数据长度
unsigned char inbuf1[INBUF_LEN];
unsigned char checksum,count3=0;
bit read_flag=0;
sbit P10=P1^0;
sbit P11=P1^1;
sbit P12=P1^2;
sbit P13=P1^3;
sbit P16=P1^6;
sbit P37=P3^7;
sbit P34=P3^4;
sbit key=P2^5; //Button按键
sbit P3_5=P3^5;//数码管位选
sbit P2_6=P2^6;
//***************************
sbit rcv_flag=flag_init^0;
sbit err_flag=flag_init^0;
sbit CS=P2^0;
//sbit RECOK=P3^4;
unsigned char RECOK;
unsigned int msg;
/************************************************************************
*函数原型: void init_serialcomm(void) *
*参数说明: 串口初始化 * *
*说明: 设值单片机的定时器1的方式选择波特率。该子程序只能用于复位模式
************************************************************************/
void init_serialcomm(void)
{
SCON = 0x50; //SCON: serail mode 1, 8-bit UART, enable ucvr
TMOD |= 0x20; //TMOD: timer 1, mode 2, 8-bit reload
PCON |= 0x80; //SMOD=1;
TH1 = 0xF4; //Baud:57600 fosc=11.0592MHz
TL1 = 0xF4; //baud:57600 fosc=22.1184MHz 0xFE
IE |= 0x90; //Enable Serial Interrupt
TR1 = 1; // timer 1 run
// TI=1;
}
//定时器0初始化
void timer0initial()
{
TMOD |= 0x1; //工作方式16位定时计数器
TH0=0xb8;TL0=0x00; //50MS定时初值（T0计时用）
IE |= 0x90; //Enable Serial Interrupt
ET0=0;TR0=0;
}
//向串口发送一个字符
void send_char_com(unsigned char ch)
{
SBUF=ch;
while(!TI);
TI=0;
}
//向串口发送一个字符串，strlen为该字符串长度
void send_string_com(unsigned char *str,unsigned int strlen)
{
unsigned int k=0;
do
{
send_char_com(*(str + k));
k++;
} while(k < strlen);
}
//定时器0中断,不够8个就在此发送
void time_intt0(void) interrupt 1 using 2
{
ET0=0;TR0=0;TH0=0xb8;TL0=0x00;
CAN_Send_anylength(inbuf1,count3);
count3=0;
memset(inbuf1,0,8);
}
//串口接收中断函数
void serial () interrupt 4 using 1
{
if(RI)
{
unsigned char ch;
RI = 0;
ET0=1;TR0=1;
ch=SBUF;
{
inbuf1[count3]=ch;
count3=count3+1;
if( count3==INBUF_LEN)
{
ET0=0;TR0=0;TH0=0xb8;TL0=0x00;//关闭定时中断，停止定时中断
count3=0;
/*P34=0;
P10=!P10;
P11=!P11;
P12=!P12;
P13=!P13;*/
CAN_Send_anylength(inbuf1,8);
memset(inbuf1,0,8);
}
}
}
}
//***********************************************************************
/************************************************************************
*函数原型: bit BCAN_SET_OUTCLK( unsigned char Clock_Out) *
*参数说明: *
* Clock_Out:存放时钟分频寄存器(CDR)的参数设置 *
*返回值: *
* 0 ;设置成功 *
* 1 ;设置失败 *
*说明:设置SJA1000的时钟分频。该子程序只能用于复位模式
************************************************************************/
bit BCAN_SET_OUTCLK(unsigned char Clock_Out)
{
SJA_BCANAdr=REG_CDR;
*SJA_BCANAdr=Clock_Out;
if(*SJA_BCANAdr != Clock_Out)
return 1;
else
return 0;
}
/************************************************************************
*函数原型: bit BCAN_SET_OBJECT(unsigned char BCAN_ACR0,BCAN_ACR1,BCAN_ACR2,BCAN_ACR3
BCAN_AMR0, BCAN_AMR1, BCAN_AMR2, BCAN_AMR3
*参数说明: *
* BCAN_ACR(0-3):存放验收代码寄存器（ACR）的参数设置 *
* BCAN_AMR(0-3):存放接收屏蔽寄存器（AMR）的参数设置 *
*返回值: *
* 0 ;设置成功 *
* 1 ;设置失败 *
*说明:设置CAN节点的通讯对象，允许接收的报文,是由AMR和ACR共同决定的. *
*************************************************************************/
bit BCAN_SET_OBJECT(unsigned char BCAN_ACR0,BCAN_ACR1,BCAN_ACR2,BCAN_ACR3,BCAN_AMR0,BCAN_AMR1,BCAN_AMR2,BCAN_AMR3)
{
SJA_BCANAdr=REG_TXBuffer1;
*SJA_BCANAdr=BCAN_ACR0; //写入参数
SJA_BCANAdr=REG_TXBuffer2;
*SJA_BCANAdr=BCAN_ACR1;
SJA_BCANAdr=REG_TXBuffer3;
*SJA_BCANAdr=BCAN_ACR2;
SJA_BCANAdr=REG_TXBuffer4;
*SJA_BCANAdr=BCAN_ACR3;
//校验写入值
if(*SJA_BCANAdr != BCAN_ACR3) return 1;
SJA_BCANAdr=REG_TXBuffer5;
*SJA_BCANAdr=BCAN_AMR0; //写入参数
SJA_BCANAdr=REG_TXBuffer6;
*SJA_BCANAdr=BCAN_AMR1;
SJA_BCANAdr=REG_TXBuffer7;
*SJA_BCANAdr=BCAN_AMR2;
SJA_BCANAdr=REG_TXBuffer8;
*SJA_BCANAdr=BCAN_AMR3;
//校验写入值
if(*SJA_BCANAdr != BCAN_AMR3) return 1;
return 0;
}
/************************************************************************
;*函数原型: bit BCAN_SET_BANDRATE(unsigned char CAN_ByteRate) *
;*返回值: *
;* 0 ;波特率设置成功 *
;* 1 ;波特率设置失败 *
;* *
;*说明:设置CAN控制器SJA1000通讯波特率.SJA1000的晶振必须为16MHZ, *
;* 其它晶体的频率的值的波特率，需自己计算。该子程序只能用于 *
;* 复位模式 *
;************************************************************************/
bit BCAN_SET_BANDRATE(unsigned char CAN_ByteRate) //波特率选择
{
unsigned char BR_Num= CAN_ByteRate,BTR0_num,BTR1_num;
switch (BR_Num)
{
case ByteRate_10k:
BTR0_num=0xef;
BTR1_num=0xff;
break;
case ByteRate_40k :
BTR0_num=0x87;
BTR1_num=0xff;
break;
case ByteRate_50k:
//BTR0_num=0x47;
//BTR1_num=0x2f;
BTR0_num=0x0e;
BTR1_num=0x1c;
break;
case ByteRate_80k :
//BTR0_num=0x83;
//BTR1_num=0xff;
BTR0_num=0x49; //ok
BTR1_num=0x1b;
break;
case ByteRate_100k :
//BTR0_num=0x43;
//BTR1_num=0x2f;
BTR0_num=0x04; //ok
BTR1_num=0x1c;
break;
case ByteRate_125k : //SJA1000的晶振为必须为16MHZ,波特率设置为125kpbs
BTR0_num=0x03;
BTR1_num=0x1c;
//BTR0_num=0x44; //ok
//BTR1_num=0x1f;
break;
case ByteRate_200k ://24MHZ
// BTR0_num=0xc5; //
// BTR1_num=0xa5;
BTR0_num=0x43; //ok
BTR1_num=0x1b;
break;
case ByteRate_250k ://24MHZ
// BTR0_num=0xc5; //
// BTR1_num=0xa5;
BTR0_num=0x01; //ok
BTR1_num=0x1c;
break;
/* case ByteRate_200k ://24MHZ
BTR0_num=0x81;
BTR1_num=0xFA;
break;*/
case ByteRate_400k :
BTR0_num=0x80;
BTR1_num=0xfa;
break;
case ByteRate_500k :
BTR0_num=0x01;
BTR1_num=0x1c;
break;
case ByteRate_800k :
BTR0_num=0x00;
BTR1_num=0x16;
break;
case ByteRate_1000k :
BTR0_num=0x00;
BTR1_num=0x14;
break;
default :
return 1;
break;
}
SJA_BCANAdr=REG_BTR0;
*SJA_BCANAdr=BTR0_num;
if(*SJA_BCANAdr!=BTR0_num)
{return 1;}
SJA_BCANAdr=REG_BTR1;
*SJA_BCANAdr=BTR1_num;
if(*SJA_BCANAdr!=BTR1_num)
{return 1;}
return 0;
}
/************************************************************************
*函数原型: bit BCAN_SET_CONTROL(unsigend char CMD) *
*参数说明: 设置控制寄存器 *
************************************************************************/
bit BCAN_SET_CONTROL(unsigned char CMD)
{ unsigned char TempData;
SJA_BCANAdr=REG_CONTROL; //SJA_BaseAdr+0x00 控制寄存器
TempData= *SJA_BCANAdr;
*SJA_BCANAdr=CMD;
if (*SJA_BCANAdr == CMD)
return 0;
else
return 1;
}
/************************************************************************
*函数原型: bit BCAN_CREATE_COMMUNATION(void) *
*参数说明: 无 *
*返回值: *
* 0 ; 表示SJA1000接口正常 *
* 1 ; 表示SJA1000与处理器接口不正常 *
*说明:该函数用于检测CAN控制器的接口是否正常 *
************************************************************************/
bit BCAN_CREATE_COMMUNATION(void)
{
SJA_BCANAdr=REG_TEST;
*SJA_BCANAdr=0xaa; //写入测试值
if(*SJA_BCANAdr == 0xaa)
return 0; //读测试正确
else
return 1;
}
/************************************************************************
*函数原型: bit BCAN_ENTER_RETMODEL(void) *
*参数说明: 无 *
*返回值: *
* 0 ; 表示成功进入复位工作模式 *
* 1 ; 表示不能进入复位工作模式 *
* *
*说明: CAN控制器进入复位工作模式 *
************************************************************************/
bit BCAN_ENTER_RETMODEL(void) //置位复位请求
{
unsigned char TempData;
SJA_BCANAdr = REG_CONTROL;
TempData= *SJA_BCANAdr;
*SJA_BCANAdr=0x01; //置位复位请求和双滤波模式
if((*SJA_BCANAdr&0x01) == 1)
return 0;
else
return 1;
}
/************************************************************************
*函数原型: BCAN_CMD_PRG(unsigned char cmd) *
*参数说明: unsigned char cmd *
*返回值: *
* 0 ; 请求成功 *
* 1 ; 请求失败 *
* *
*说明: 启动命令字 *
************************************************************************/
bit BCAN_CMD_PRG(unsigned char cmd)
{
SJA_BCANAdr=REG_COMMAND; //访问地址指向命令寄存器
*SJA_BCANAdr=cmd; //启动命令字
switch(cmd)
{ case TR_CMD:
return 0;
break;
case SRR_CMD:
return 0;
break;
case AT_CMD:
SJA_BCANAdr = REG_STATUS; //访问地址指向状态寄存器
if((*SJA_BCANAdr & 0x20)==0) //判断是否正在发送
return 0;
else
return 1;
break;
case RRB_CMD:
SJA_BCANAdr = REG_STATUS; //访问地址指向状态寄存器
if((*SJA_BCANAdr & 0x01)==1)
return 1;
else
return 0;
break;
case COS_CMD:
SJA_BCANAdr = REG_STATUS;
if((*SJA_BCANAdr & 0x02)==0)//判断清除超载是否成功
return 0;
else
return 1;
break;
default:
return 1;
break;
}
}
/****************************************************
**函数原型： void ex0_int(void) interrupt 0 //using 1
**功能：中断接收函数
**入口参数: 无
**出口参数: RevceData[]数组
**说明: 当sja1000 收到正确的报文时,会产生int中断
*****************************************************/
void ex0_int(void) interrupt 0 using 1
{
unsigned char tt,tt1,length,i;
/*msg++;
if(msg==2)
{
msg=0;
P34=0;
P10=!P10;
P11=!P11;
P12=!P12;
P13=!P13;
} */
SJA_BCANAdr=REG_INTERRUPT;
if((*SJA_BCANAdr)&0x01) //产生了接收中断
{
SJA_BCANAdr=REG_RXBuffer1;
tt=*SJA_BCANAdr;
tt1=*SJA_BCANAdr;
length=tt1&0x0F;
if ((tt&0x40)!=0x40) //数据帧 = 为远程帧
{
SJA_BCANAdr =REG_RXBuffer4 ; //宏定义的变量不能memcpy(RevceData,REG_RXBuffer4,8);
memcpy(RevceData,SJA_BCANAdr,length); //功能：由src所指内存区域复制count个字节到dest所指内存区域
//memcpy(Com_RecBuff,RevceData,8); //测试用的主要是把接收到的数据在发出去，验证数据的正确
//以下代码是发送到串
for(i=0;i<length;i++)
send_char_com(RevceData[i]);
display(RevceData[0]);
/* send_char_com(RevceData[0]);
send_char_com(RevceData[1]);
send_char_com(RevceData[2]);
send_char_com(RevceData[3]);
send_char_com(RevceData[4]);
send_char_com(RevceData[5]);
send_char_com(RevceData[6]);
send_char_com(RevceData[7]);*/
// RECOK=1; //测试用的主要是把接收到的数据在发出去，验证数据的正确
}
BCAN_CMD_PRG(RRB_CMD); //释放SJA1000接收缓冲区，****已经修改
}
}
unsigned char BCAN_DATA_WRITE(unsigned char *SendDataBuf)
{ unsigned char temp;
SJA_BCANAdr = REG_STATUS;
temp=*SJA_BCANAdr;
if ((temp&0x08)==0) return 1; //上次发送未完成
if ((temp&0x04)==0) return 2; //发送缓冲区是否锁定
if ((temp&0x10)==0x10) return 3; //判断是否正在接收
SJA_BCANAdr = REG_RXBuffer1; //访问地址指向发送缓冲区1,修改成头文件
memcpy(SJA_BCANAdr,SendDataBuf,4);
BCAN_CMD_PRG(TR_CMD); //请求发送
return 0;
}
//CAN发送任意长度字节
void CAN_Send_anylength(unsigned char *CAN_TX_Buf,unsigned char length1)
{
unsigned char temptt;
loop:
SJA_BCANAdr = REG_STATUS;
temptt=*SJA_BCANAdr;
//temptt=Read_SJA1000(REG_STATUS);
if((temptt&0x04)==0x00) goto loop; //循环检测等待
//可以向发送缓冲器写数据
{
SJA_BCANAdr = REG_RXBuffer1; //访问地址指向发送缓冲区1,修改成头文件
*SJA_BCANAdr=length1;
SJA_BCANAdr = REG_RXBuffer2; //访问地址指向发送缓冲区1,修改成头文件
*SJA_BCANAdr=0x00;
SJA_BCANAdr = REG_RXBuffer3; //访问地址指向发送缓冲区1,修改成头文件
*SJA_BCANAdr=0x00;
SJA_BCANAdr = REG_RXBuffer4;
memcpy(SJA_BCANAdr,CAN_TX_Buf,length1);
//数据发送请求
BCAN_CMD_PRG(TR_CMD); //请求发送
}
}
//CAN发送一个字节
void CAN_Send_onebyte(unsigned char CAN_TX_data,unsigned char length1)
{
unsigned char temptt;
loop:
SJA_BCANAdr = REG_STATUS;
temptt=*SJA_BCANAdr;
//temptt=Read_SJA1000(REG_STATUS);
if((temptt&0x04)==0x00) goto loop; //循环检测等待
//可以向发送缓冲器写数据
{
SJA_BCANAdr = REG_RXBuffer1; //访问地址指向发送缓冲区1,修改成头文件
*SJA_BCANAdr=length1;
SJA_BCANAdr = REG_RXBuffer2; //访问地址指向发送缓冲区1,修改成头文件
*SJA_BCANAdr=0x00;
SJA_BCANAdr = REG_RXBuffer3; //访问地址指向发送缓冲区1,修改成头文件
*SJA_BCANAdr=0x00;
SJA_BCANAdr = REG_RXBuffer4;
//memcpy(SJA_BCANAdr,CAN_TX_Buf,length1);
*SJA_BCANAdr=CAN_TX_data;
//数据发送请求
BCAN_CMD_PRG(TR_CMD); //请求发送
}
}
/****************************************************
**函数原型： bit Sja_1000_Init(void)
**功能：初始化SJA10000
**入口参数: 无
**返回值:
0：初始化成功
1：复位失败
2: 测试sja1000失败
3：设置失败
4：设置验收滤波器失败
5：设置波特率失败
*****************************************************/
unsigned char Sja_1000_Init(void)
{
bit s;
EA=0; //关总中断
s=BCAN_ENTER_RETMODEL();
if (s==1) return 1;
s=BCAN_CREATE_COMMUNATION(); //建立通信
if (s==1) return 2;
s=BCAN_SET_OUTCLK(0xC8); //Pelican
if (s==1) return 3;
s=BCAN_SET_OBJECT(0x01,0xe0,0x02,0xe0,0x00,0x0F,0x00,0x0F);//屏蔽寄存器，都设为无关，接收所有报文
//当屏蔽位为1，不滤波，0就滤波必须相等
//s=BCAN_SET_OBJECT(0x55,0xe0,0xaa,0xa1,0x00,0x00,0xff,0xff);//验收码&屏蔽码
if (s==1) return 4;
s=BCAN_SET_BANDRATE(ByteRate_125k); //设置波特率125K 16MHZ
if (s==1) return 5;
SJA_BCANAdr=REG_OCR ; //输出控制寄存器
*SJA_BCANAdr=0x1a;
SJA_BCANAdr=REG_INTENABLE;
*SJA_BCANAdr=0x1D; //设置中断，接收和发送中断
// s=BCAN_SET_CONTROL(0x08);
SJA_BCANAdr=REG_CONTROL; //退出复位模式
*SJA_BCANAdr=*SJA_BCANAdr&0xfe;
if(*SJA_BCANAdr!=0x00)
return 6;
//if (s==1) return 6;
EA=1;
return 0;
}
/****************************************************
**函数原型： void display(unsigned char num)
**功能：数码管显示
**入口参数: 要显示字符
**出口参数: 无
**说明: 当SJA1000收到正确的报文时,然后显示出来
*****************************************************/
unsigned char code table[]={0xC0,0xF9,0xA4,0xB0,0x99,0x92,0x82,0xF8,0x80,0x90,0x88,0x83,0xc6,0xa1,0x86,0x8e};
void display(unsigned char num) // 显示子函数
{
P3_5=0;//选通第一位数码管的阳极位选端,即给数码管的共阳极供电
P2_6=0;//选通第二位数码管的阳极位选端,即给数码管的共阳极供电
P1=table[num]; //将第num个显示编码送P0口
}
//***************************************************
//初始化cpu
//**************************************************
void Init_Cpu(void) //单片机初始化,开放外部中断0
{
PX0=1;
EX0=1;
IT0=0;
// EA=1;
}
/****************************************************
**函数原型： void main(void)
**功能：主程序部分:
**入口参数: 无
**返回值:
*****************************************************/
void main(void)
{
unsigned char temptt,ss;
unsigned char num=0;
CS=0; //片选择引脚
EA=0;
Init_Cpu();
init_serialcomm(); //初始化串口
timer0initial(); //定时器0初始化
P34=0; //选通数码管控制开关
display(11); //显示该板号A
//初始化SJA1000
ss=Sja_1000_Init();
if (ss!=0) //初始化失败
//send_string_com("init fail!");**********************
send_char_com(0xBB); //测试专用发送到串口看状态
else
EA=1; //初始化成功，开总中断
//次标识位可以作为，串口接收完，置标志然后发送出去或者当作按键发送******
while(1)
{
//CAN_Send_anylength(Com_RecBuff,8);
if(key==0)
{
delay10ms();
while(key==0);
num=num+1;if(num==16) num=0;
CAN_Send_onebyte(num); //发送按键状态
// CAN_Send_anylength(Com_RecBuff,8);
CAN_Send_onebyte(num,1);
display(num);
if(num==16) num=0;
delay10ms();
}
SJA_BCANAdr = REG_STATUS;
temptt=*SJA_BCANAdr;
delay_ms(100);
if ((temptt&0x40)==0x40) //读错误状态
{
Sja_1000_Init();
send_char_com(0xee); //测试专用发送到串口看状态
}
}
}

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