基于CAN总线的通讯子程序.docx

基于CAN总线的通讯子程序.docx

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基于CAN总线的通讯子程序

接收程序：

//------------------------------------------------------------------------------

//F04x_CAN1.c

//------------------------------------------------------------------------------

//

//

//DEVICE:

C8051F040

//

//AUTHOR:

LS

//

//TOOLS:

KeilC-compilerandSiliconLabsIDE

//

//

//CAN1.candCAN2.careasimpleexampleofconfiguringaCANnetworkto

//transmitandreceivedataonaCANnetwork,andhowtomoveinformationto

//andfromCANRAMmessageobjects.EachC8051F040-TBCANnodeisconfigured

//tosendamessagewhenit'sP3.7buttonisdepressed/released,witha0x11

//toindicatethebuttonispushed,and0x00whenreleased.Eachnodealsohas

//amessageobjectconfiguredtoreceivemessages.TheC8051teststhe

//receiveddataandwillturnon/offthetargetboard'sLED.Whenonetarget

//isloadedwithCAN2.candtheotherisloadedwithCAN1.c,onetarget

//board'spush-buttonwillcontroltheothertargetboard'sLED,establishing

//asimplecontrollinkviatheCANbusandcanbeobserveddirectlyonthe

//targetboards.

////////////////////////////////////////////////////////////////////////////////

////////////////////////////////////////////////////////////////////////////////

//Includes

////////////////////////////////////////////////////////////////////////////////

#include//SFRdeclarations

//CANProtocolRegisterIndexforCAN0ADR,fromTABLE18.1oftheC8051F040

//datasheet

////////////////////////////////////////////////////////////////////////////////

#defineCANCTRL0x00//ControlRegister

#defineCANSTAT0x01//Statusregister

#defineERRCNT0x02//ErrorCounterRegister

#defineBITREG0x03//BitTimingRegister

#defineINTREG0x04//InterruptLowByteRegister

#defineCANTSTR0x05//Testregister

#defineBRPEXT0x06//BRPExtensionRegister

////////////////////////////////////////////////////////////////////////////////

//IF1InterfaceRegisters

////////////////////////////////////////////////////////////////////////////////

#defineIF1CMDRQST0x08//IF1CommandRestRegister

#defineIF1CMDMSK0x09//IF1CommandMaskRegister

#defineIF1MSK10x0A//IF1Mask1Register

#defineIF1MSK20x0B//IF1Mask2Register

#defineIF1ARB10x0C//IF1Arbitration1Register

#defineIF1ARB20x0D//IF1Arbitration2Register

#defineIF1MSGC0x0E//IF1MessageControlRegister

#defineIF1DATA10x0F//IF1DataA1Register

#defineIF1DATA20x10//IF1DataA2Register

#defineIF1DATB10x11//IF1DataB1Register

#defineIF1DATB20x12//IF1DataB2Register

////////////////////////////////////////////////////////////////////////////////

//IF2InterfaceRegisters

////////////////////////////////////////////////////////////////////////////////

#defineIF2CMDRQST0x20//IF2CommandRestRegister

#defineIF2CMDMSK0x21//IF2CommandMaskRegister

#defineIF2MSK10x22//IF2Mask1Register

#defineIF2MSK20x23//IF2Mask2Register

#defineIF2ARB10x24//IF2Arbitration1Register

#defineIF2ARB20x25//IF2Arbitration2Register

#defineIF2MSGC0x26//IF2MessageControlRegister

#defineIF2DATA10x27//IF2DataA1Register

#defineIF2DATA20x28//IF2DataA2Register

#defineIF2DATB10x29//IF2DataB1Register

#defineIF2DATB20x2A//IF2DataB2Register

////////////////////////////////////////////////////////////////////////////////

//MessageHandlerRegisters

////////////////////////////////////////////////////////////////////////////////

#defineTRANSREQ10x40//TransmissionRest1Register

#defineTRANSREQ20x41//TransmissionRest2Register

#defineNEWDAT10x48//NewData1Register

#defineNEWDAT20x49//NewData2Register

#defineINTPEND10x50//InterruptPending1Register

#defineINTPEND20x51//InterruptPending2Register

#defineMSGVAL10x58//MessageValid1Register

#defineMSGVAL20x59//MessageValid2Register

typedefunsignedcharuchar;

typedefunsignedintuint;

typedefunsignedlongulong;

unionintchar{

uinttempval;

struct{

ucharhig;

ucharlow;}

bytek;

};

xdataunionintcharrdata[4];

xdataucharsdata[8]={0x32,0x33,0x34,0x35,0xb3,0xb4,0xb5,0xb6};

////////////////////////////////////////////////////////////////////////////////

//GlobalVariables

////////////////////////////////////////////////////////////////////////////////

charMsgNum;

charstatus;

inti;

intMOTwoIndex=0;

intMOOneIndex=0;

intStatusCopy;

intRXbuffer[4];

intTXbuffer[8];

intMsgIntNum;

intTemperature;

sbitBUTTON=P3^7;

sbitLED=P1^6;

sfr16CAN0DAT=0xD8;

sbitP20=P2^0;

sbitP21=P2^1;

sbitWRn=P0^7;

sbitRDn=P0^6;

////////////////////////////////////////////////////////////////////////////////

//FunctionPROTOTYPES

////////////////////////////////////////////////////////////////////////////////

//InitializeMessageObject

voidclear_msg_objects（void）;

//voidinit_msg_object_TX（charMsgNum）;

voidinit_msg_object_RX（charMsgNum,uintdevID）;

voidstart_CAN（void）;

//voidtransmit_turn_LED_ON（charMsgNum）;

//voidtransmit_turn_LED_OFF（charMsgNum）;

voidreceive_data（charMsgNum）;

voidexternal_osc（void）;

voidconfig_IO（void）;

voidflash_LED（void）;

voidtest_reg_write（chartest）;

voidstop_CAN（void）;

////////////////////////////////////////////////////////////////////////////////

//MAINRoutine

////////////////////////////////////////////////////////////////////////////////

voidmain（void）{

//disablewatchdogtimer

WDTCN=0xde;

WDTCN=0xad;

//configurePortI/O

config_IO（）;

//switchtoexternaloscillator

external_osc（）;

////////////////////////////////////////////////////////////////////////////////

//ConfigureCANcommunications

//

//IF1usedforprocedurescallesbymainprogram

//IF2usedforinterruptserviceprocedurereceive_data

//

//MessageObjectassignments:

//0x02:

UsedtotransmitcommandstotoggleitsLED,arbitrationnumber1

//

////////////////////////////////////////////////////////////////////////////////

//ClearCANRAM

clear_msg_objects（）;

//Initializemessageobjecttotransmitdata

//init_msg_object_TX（0x02）;

//init_msg_object_TX（0x03）;

//Initializemessageobjecttoreceivedata

//init_msg_object_RX（0x01）;

init_msg_object_RX（0x01,65）;//ID=130

//EnableCANinterruptsinCIP-51

EIE2=0x20;

//FunctioncalltostartCAN

start_CAN（）;

//Globalenable8051interrupts

EA=1;

//Loopandwaitforinterrupts

while

（1）

{

/*if（BUTTON==0）

{

while（BUTTON==0）{}

transmit_turn_LED_OFF（0x03）;

}

else

{

while（BUTTON==1）{}

transmit_turn_LED_ON（0x03）;

}*/

}

}

////////////////////////////////////////////////////////////////////////////////

//SetupC8051F040

////////////////////////////////////////////////////////////////////////////////

//Switchtoexternaloscillator

voidexternal_osc（void）

{

intn;//localvariableusedindelayFORloop.

SFRPAGE=CONFIG_PAGE;//switchtoconfigpagetoconfigoscillator

OSCXCN=0x77;//startexternaloscillator;22.1MHzCrystal

//systemclockis22.1MHz/2=11.05MHz

for（n=0;n<255;n++）;//delayabout1ms

while（（OSCXCN&0x80）==0）;//waitforoscillatortostabilize

CLKSEL|=0x01;//switchtoexternaloscillator

}

voidconfig_IO（void）

{

SFRPAGE=CONFIG_PAGE;//PortSFR'sonConfigurationpage

XBR3=0x80;//ConfigureCANTXpin（CTX）aspush-pulldigitaloutput

P1MDOUT|=0x40;//ConfigureP1.6aspush-pulltodriveLED

XBR2=0x40;//EnableCrossbar/lowports

//enableP2.0aspush-pulloutput

P2MDOUT|=0x03;

//enableP0.7

P0MDOUT|=0x80;

//enableP0.6

P0MDOUT|=0x40;

//enableP3推挽输出

P3MDOUT=0xff;

//P3漏极开路输出

//P3MDOUT=0x00;

//P3MDIN=0xff;//P3数字输入

//setP2.0,P2.1

//P20=0;

//P21=0;

//setXMIFwrn

WRn=0;

RDn=1;

}

////////////////////////////////////////////////////////////////////////////////

//CANFunctions

////////////////////////////////////////////////////////////////////////////////

//ClearMessageObjects

voidclear_msg_objects（void）

{

SFRPAGE=CAN0_PAGE;

CAN0ADR=IF1CMDMSK;//PointtoCommandMaskRegister1

CAN0DATL=0xFF;//SetdirectiontoWRITEallIFregisterstoMsgObj

for（i=1;i<33;i++）

{

CAN0ADR=IF1CMDRQST;//Writeblank（reset）IFregisterstoeachmsgobj

CAN0DATL=i;

}

}

//InitializeMessageObjectforRX

voidinit_msg_object_RX（charMsgNum,uintdevID）

{

uinttemp;

SFRPAGE=CAN0_PAGE;

CAN0ADR=IF1CMDMSK;//PointtoCommandMask1

CAN0DAT=0x00BB;//SettoWRITE,andalterallMsgObjexceptIDMASK

//anddatabits

CAN0ADR=IF1ARB1;//Pointtoarbitration1register

CAN0DAT=0x0000;//Setarbitration1IDto"0"

//CAN0DAT=0x8004;//Arb2highbyte:

SetMsgValbit,noextendedID,can2.cCAN0DAT=0x8000;

//Dir=RECEIVE

temp=devID<<2;

temp&=0x1fff;//000ID28--ID16

temp|=0x8000;

CAN0DAT=temp;

//CAN0DAT=0x8000;

CAN0DAT=0x0482;//MsgCntrl:

setRXIE,remoteframefunctiondisabled

//DLC=4;

CAN0ADR=IF1CMDRQST;//PointtoCommandRequestreg.

CAN0DATL=MsgNum;//SelectMsgObjpassedintofunctionparameterlist

//--initiateswritetoMsgObj

//3-6CANclockcyclestomoveIFregistercontentstotheMsgObjinCANRAM

}

//InitializeMessageObjectforTX

/*voidinit_msg_object_TX（charMsgNum）

{

SFRPAGE=CAN0_PAGE;

CAN0ADR=IF2CMDMSK;//PointtoCommandMask1

CAN0DAT=0x00B2;//SettoWRITE,&alterallMsgObjexceptIDMASKbits

CAN0ADR=IF2ARB1;//Pointtoarbitration1register

CAN0DAT=0x0000;//Setarbitration1IDtohighestpriority

CAN0DAT=0xA000;//AutoincrementtoArb2highbyte:

can2.cCAN0DAT=0xA004;

//SetMsgValbit,noextendedID,Dir=WRITE

CAN0DAT=0x0081;//MsgCntrl:

DLC=1,remoteframefunctionnotenabled

CAN0ADR=IF2CMDRQST;//PointtoCommandReq