我的一些小程序模块 2007-12-06 18:44:18 阅读5 评论0   字号：大中小 订阅 

调试好的can总线程序（c语言）

 //**********程序功能************************************************

//节点1向CAN节点2发送数据,数据的头两个字节分别是:节点1的ID和要求节点2回复的数据长度

//节点2收到节点1的信息后,立即按照节点1的要求回复数据

＃i nclude 

＃i nclude                            //SJA存储器定义头文件

＃i nclude                            //SJA子程序文件

＃i nclude                               //显示头文件

＃i nclude         //字符串函数

//***************************头文件***************************************************//

void Init_Cpu(void);                                //初始化单片机

void Sja_1000_Init(void);                           //初始化SIA

//************************************************************************************

bit s;                                              //配置sja标志

bit flag_send;                                      //发送命令标志

unsigned char data a[5]={0x05,0x05,0x05,0x05,0x05}; //显示"5"

unsigned char b[5]={0x12,0x12,0x12,0x12,0x12};      //显示"p"

unsigned char c[5]={0x01,0x01,0x01,0x01,0x01};      //显示"1"

unsigned char data  send_data[10],rcv_data[10];     //发送和接收数组

unsigned char bdata flag_init;                      //保存中断寄存器值

unsigned int count_k;                               //延时记数用

sbit rcv_flag=flag_init^0;                          //接收中断标志

sbit err_flag=flag_init^2;                          //错误中断标志

//***********************************************************************************//

void main(void)

{   

    s=0;                                            //配置sja1000出现错误时,重新初始化

    do{

       Sja_1000_Init();

      }while(s!=0);                                    

    Init_Cpu();                                        //initialize mcu

    flag_init=0x00;                                 //保存中断寄存器值清零

    while(1)

    {

        if(rcv_flag)                                //if there is receive interrupt

        {

            rcv_flag=0;                             //接收标志位清零

            BCAN_DATA_RECEIVE(rcv_data);            //接收数据

            BCAN_CMD_PRG(RRB_CMD);                  //释放接收缓冲区

            flag_send=1;                            //发送命令置位

        }

        if(flag_send)                                

        {

            flag_send=0;                            //发送位清零

            send_data[0]=rcv_data[2];                //接收到的"发送方ID10~ID3"

            send_data[1]=rcv_data[3];               //接收到的"发送方ID2~ID0"和要求的数据长度

            send_data[2]=0x88;

            send_data[3]=0x;

            BCAN_DATA_WRITE(send_data);             //发送数据

            BCAN_CMD_PRG(TR_CMD);                   //置位发送请求位

            for(count_k=0;count_k<200;count_k++)

            display(a);                             //延时显示"5"

        }

        if (err_flag)                               //错误中断

        {   

            for(count_k=0;count_k<280;count_k++)   

            display(c);                             //错误显示"1"

            err_flag=0;                             //错误标志位清零

            Sja_1000_Init();                        //初始化SJA

        }

        display(b);                                 //显示"p"

    }

}

void ex0_int(void) interrupt 0 using 1              //外部中断0

{

    SJA_BCANAdr=REG_INTERRUPT;                      //指针指向中断寄存器

    flag_init=*SJA_BCANAdr;                         //保持中断寄存器值

}

void Init_Cpu(void)                                 //单片机初始化,开放外部中断0

{

    PX0=1;

    EX0=1;

    EA=1;

}

void Sja_1000_Init(void)

{

    s=BCAN_CREATE_COMMUNATION();  //SJA自测

    s=BCAN_ENTER_RETMODEL();      //进入复位

    s=BCAN_SET_BANDRATE(0x04);    //设置波特率100K/S

    s=BCAN_SET_OBJECT(0xaa,0x00); //设置地址ID:550

    s=BCAN_SET_OUTCLK(0xaa,0x48); //设置输出方式,禁止COLOCKOUT输出

    s=BCAN_QUIT_RETMODEL();       //退出复位模式

    SJA_BCANAdr=REG_CONTROL;      //地址指针指向控制寄存器

    *SJA_BCANAdr|=0x1e;           //开放错误\接收\发送中断

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