www.pudn.com > can——SJA1000.rar > testcan.c
#include//#include #include //#include #include #include void Init_Cpu(void); void Init_T0(void); void Sja_1000_Init(void); void disp_ok(void); void disp_err(void); bit flag_sec; unsigned char data a[5]; unsigned char data send_data[10],rcv_data[10]; unsigned char databuf,sec_data,second; unsigned char data Tmod_data; unsigned char bdata flag_init; sbit rcv_flag=flag_init^0; sbit err_flag=flag_init^2; void main(void) { Sja_1000_Init(); //initialize Sja100 Init_T0(); //initialize T0 Init_Cpu(); //initialize mcu flag_init=0x00; while(1) { if(rcv_flag) //if there is receive interrupt { rcv_flag=0; BCAN_DATA_RECEIVE(rcv_data); BCAN_CMD_PRG(0x04); disp_ok(); } if(flag_sec) // { flag_sec=0; //send data if reach 1 s //send_data[0]=0xaa; //Basic can send_data[0]=0x48; //Pelican send_data[1]=0xaa; send_data[2]=0x00; send_data[3]=second; BCAN_DATA_WRITE(send_data); BCAN_CMD_PRG(0x12); } if (err_flag) { err_flag=0; disp_err(); Sja_1000_Init(); } display(a); } } void ex0_int(void) interrupt 0 using 1 { SJA_BCANAdr=REG_INTERRUPT; flag_init=*SJA_BCANAdr; } void T0_int(void) interrupt 1 using 2 { TR0=0; sec_data--; if(sec_data==0) { sec_data=0x10; TH0=0x80; TL0=0x60; flag_sec=1; second++; } TR0=1; } void Init_Cpu(void) { PX0=1; IT0=1; EX0=1; ET0=1; EA=1; sec_data=0x10; } void Init_T0(void) { Tmod_data=TMOD; Tmod_data&=0xf0; Tmod_data|=0x01; TMOD=Tmod_data; TH0=0x80; TL0=0x60; TR0=1; sec_data=0x20; second=0x00; } void Sja_1000_Init(void) { bit s; s=BCAN_CREATE_COMMUNATION(); s=BCAN_ENTER_RETMODEL(); s=BCAN_SET_OUTCLK(0xaa,0xc8); //Pelican s=BCAN_SET_BANDRATE(0x04); s=BCAN_SET_OBJECT(0xaa,0xff); //s=BCAN_SET_OUTCLK(0xaa,0x48); s=BCAN_SET_MOD(); s=BCAN_QUIT_RETMODEL(); SJA_BCANAdr=REG_IER; *SJA_BCANAdr|=0xff; SJA_BCANAdr=REG_CONTROL; //*SJA_BCANAdr|=0x1e; } void disp_ok(void) { a[0]=0x00; a[1]=0x11; a[2]=0x10; databuf=rcv_data[2]; databuf>>=0x04; a[3]=databuf; databuf=rcv_data[2]; databuf=databuf&0x0f; a[4]=databuf; } void disp_err(void) { a[0]=0x00; a[1]=0x0e; a[2]=0x10; a[3]=0x0f; a[4]=0x0c; } bit BCAN_CREATE_COMMUNATION(void) { SJA_BCANAdr=REG_TEST; //访问测试寄存器 *SJA_BCANAdr =0xaa; //写入测试值 if(*SJA_BCANAdr == 0xaa) { return 0; //读测试正确 } else { return 1; } } bit BCAN_ENTER_RETMODEL(void) { unsigned char TempData; SJA_BCANAdr = REG_CONTROL; //访问地址指向控制寄存器 TempData= *SJA_BCANAdr; //保存原始值 *SJA_BCANAdr=(TempData|0x01); //置位复位请求 if((*SJA_BCANAdr&0x01) == 1) { return 0; } else { return 1; } } bit BCAN_QUIT_RETMODEL(void) { unsigned char TempData; SJA_BCANAdr = REG_CONTROL; //访问地址指向控制寄存器 TempData = *SJA_BCANAdr; //保存原始值 *SJA_BCANAdr=(TempData&0xfe); //清除复位请求 if((*SJA_BCANAdr&0x01) == 0) { return 0; // } else { return 1; //退出成功 } } unsigned char code SJA_BTR_CODETAB[]={ 0x53,0x2F, // ;20KBPS的预设值 0x87,0xFF, //;40KBPS的预设值 0x47,0x2F, //;50KBPS的预设值 0x83,0xFF, //;80KBPS的预设值 0x43,0x2f, //;100KBPS的预设值 0x03,0x1c, //;125KBPS的预设值 0x81,0xfa, //;200KBPS的预设值 0x01,0x1c, //;250KBPS的预设值 0x80,0xfa, //;400KBPS的预设值 0x00,0x1c, //;500KBPS的预设值 0x80,0xb6, //;666KBPS的预设值 0x00,0x16, //;800KBPS的预设值 0x00,0x14 //;1000KBPS的预设值 }; bit BCAN_SET_BANDRATE(unsigned char CAN_ByteRate) { unsigned char BTR0_num,BTR1_num; BTR0_num = SJA_BTR_CODETAB[CAN_ByteRate*2]; BTR1_num = SJA_BTR_CODETAB[CAN_ByteRate*2+1]; //将波特率的的预设值装入sja1000的总线定时器 SJA_BCANAdr=REG_BTR0; //访问地址指向总线定时寄存器0 *SJA_BCANAdr=BTR0_num; //写入参数 if(*SJA_BCANAdr != BTR0_num) //校验写入值 { return 1; } SJA_BCANAdr=REG_BTR1; //访问地址指向总线定时寄存器0 *SJA_BCANAdr=BTR1_num; //写入参数 if(*SJA_BCANAdr != BTR1_num) //校验写入值 { return 1; } return 0; } bit BCAN_SET_OBJECT(unsigned char BCAN_ACR,unsigned char BCAN_AMR) { SJA_BCANAdr=REG_TxBuffer5; //访问地址指向验收屏蔽寄存器(AMR) *SJA_BCANAdr=BCAN_AMR; //写入参数 *(SJA_BCANAdr+1)=BCAN_AMR; *(SJA_BCANAdr+2)=BCAN_AMR; *(SJA_BCANAdr+3)=BCAN_AMR; if(*SJA_BCANAdr != BCAN_AMR) //校验写入值 { return 1; } SJA_BCANAdr=REG_TxBuffer1; //访问地址指向验收代码寄存器(ACR) *SJA_BCANAdr=BCAN_ACR; //写入参数 if(*SJA_BCANAdr != BCAN_ACR) //校验写入值 { return 1; } return 0; } bit BCAN_SET_OUTCLK (unsigned char Out_Control, unsigned char Clock_Out) { SJA_BCANAdr=REG_OCR ; //访问地址指向输出控制寄存器 *SJA_BCANAdr=Out_Control; //写入参数 if(*SJA_BCANAdr != Out_Control) //校验写入值 { return 1; } SJA_BCANAdr=REG_CDR; //访问地址指向输出控制寄存器 *SJA_BCANAdr=Clock_Out; //写入参数 return 0; } bit BCAN_DATA_WRITE(unsigned char *SendDataBuf) { unsigned char TempCount; SJA_BCANAdr = REG_STATUS; //访问地址指向状态寄存器 if((*SJA_BCANAdr&0x08) == 0) //判断上次发送是否完成 { return 1; } if((*SJA_BCANAdr&0x04)==0) //判断发送缓冲区是否锁定 { return 1; } SJA_BCANAdr = REG_TxBuffer1; //访问地址指向发送缓冲区1 if((SendDataBuf[0]&0x40)==0) //判断RTR，从而得出是数据帧还是远程帧 { TempCount =(SendDataBuf[0]&0x0f)+3; //输入数据帧 } else { TempCount =3; //远程帧 } memcpy(SJA_BCANAdr,SendDataBuf,TempCount); return 0; } bit BCAN_DATA_RECEIVE(unsigned char *RcvDataBuf) { unsigned char TempCount; SJA_BCANAdr = REG_STATUS; //访问地址指向状态寄存器 if((*SJA_BCANAdr&0x01)==0) //判断报文是否有效 { return 1; } SJA_BCANAdr = REG_RxBuffer1; //访问地址指向接收缓冲区2 if((*SJA_BCANAdr&0x40)==0) //如果是数据帧 { TempCount=(*SJA_BCANAdr&0x0f)+3; //计算报文中数据的个数 } else { TempCount=3; } SJA_BCANAdr = REG_RxBuffer1; //访问地址指向接收缓冲区1 memcpy(RcvDataBuf,SJA_BCANAdr,TempCount);//读取接收缓冲区的报文 return 0; } 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: //发送请求命令 return 0; break; case SRR_CMD: //自接收请求 return 0; break; case AT_CMD: //夭折发送命令 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: //释放接收缓冲区 SJA_BCANAdr = REG_STATUS; //访问地址指向状态寄存器 if((*SJA_BCANAdr & 0x01)==1)//判断是否释放成功 { return 1; } else { return 0; } break; case COS_CMD: //清除超载状态 SJA_BCANAdr = REG_STATUS; //访问地址指向状态寄存器 if((*SJA_BCANAdr & 0x02)==0)//判断清除超载是否成功 { return 0; } else { return 1; } break; /* case GTS_CMD: //进入睡眠状态命令 return 0; break; */ default: return 1; break; } } bit BCAN_SET_MOD(void) { unsigned char TempData; SJA_BCANAdr=REG_CONTROL; TempData= *SJA_BCANAdr; *SJA_BCANAdr=(TempData|0x04); if ((*SJA_BCANAdr&0x04)==0) { return 1; } return 0; }