/////////can 交互通訊接收程序//////////////
/////////inter_can_r.c////////////////////
#include "candeal1.h"
#define LEN 8
#define MSGNUMA 2
#define MSGNUMB 5
#define MSGNUMC 6
#define MSGNUMD 7
#define NUMAPEND 0x0002
#define NUMBPEND 0x0010
xdata uchar rr1[LEN];
xdata uchar rr2[LEN];
union longchar{
	long tempval;
	struct {uchar hi1;uchar hi0;uchar low1;uchar low0;}bytek;
};
union floatchar{
	float tempval;
	struct {uchar hi1;uchar hi0;uchar low1;uchar low0;}bytek;
};
xdata union intchar tcfint;
xdata union longchar tcflong;
xdata union floatchar tcffloat;
bit isnewdata_A,isnewdata_B;
void canini(){
	clear_msg_objects();
	init_msg_object_RX (MSGNUMA,2);//初始化發(fā)送
	init_msg_object_RX (MSGNUMB,4);
	init_msg_object_TX (MSGNUMC,5);
	init_msg_object_TX (MSGNUMD,6);
	EIE2 |= 0x20;
	EA = 1;
	SFRPAGE = CAN0_PAGE;
	CAN0CN=0X41;
	CAN0ADR=BITREG;
	CAN0DAT=0X34c0;//調(diào)波特率
	start_CAN();
}
void delay1ms(uint time){//延遲1ms*time,這不是一個精確值
	uint i;
	uint j;
	for (i=0;i<time;i++){
		for(j=0;j<300;j++);
	}
}
void float2ch(float f,uchar *p){//用指針擴(kuò)展性比較強，但是運行時間比較長
	tcffloat.tempval=f;
	*p++=tcffloat.bytek.low0;
	*p++=tcffloat.bytek.low1;
	*p++=tcffloat.bytek.hi0;
	*p=tcffloat.bytek.hi1;
}
void long2ch(long l,uchar *p){
	tcflong.tempval=l;
	*p++=tcflong.bytek.low0;
	*p++=tcflong.bytek.low1;
	*p++=tcflong.bytek.hi0;
	*p=tcflong.bytek.hi1;
}
float ch2float(uchar *p){
	tcffloat.bytek.low0=*p++;
	tcffloat.bytek.low1=*p++;
	tcffloat.bytek.hi0=*p++;
	tcffloat.bytek.hi1=*p;
	return tcffloat.tempval;
}
long ch2long(uchar *p){
	tcflong.bytek.low0=*p++;
	tcflong.bytek.low1=*p++;
	tcflong.bytek.hi0=*p++;
	tcflong.bytek.hi1=*p;
	return tcflong.tempval;
}
void config(){
//看門狗禁止
	WDTCN = 0x07;	
    WDTCN = 0xDE;   
   	WDTCN = 0xAD;
	SFRPAGE = 0x0F;
//交叉開關(guān)使能，但沒有進(jìn)行外圍設(shè)備配置
	XBR0 = 0x00;	
	XBR1 = 0x00;	
	XBR2 = 0x40;
 	XBR3 = 0x00;   
//管腳輸出配置，P0口為開漏輸出，其中P0.6接上拉電阻，P0為數(shù)字輸入口
 	SFRPAGE = 0x0F;
 	P0MDOUT = 0x00; 
 	P1MDIN = 0xFF;  
//晶振配置，采用內(nèi)部晶振8分頻
	SFRPAGE = 0x0F;
 	CLKSEL = 0x00;  
	OSCXCN = 0x00;	
	OSCICN = 0x84;	
}
main(){
	xdata float ff;
	xdata long ll;
	xdata float fff[2];
	xdata long lll[2];
	xdata uchar ss1[LEN];
	xdata uchar ss2[LEN];
	uchar i;
	config();
	for(i=0;i<LEN;i++){
		rr1[i]=0;
		rr2[i]=0;
	}
	canini();
	isnewdata_A=0;
	isnewdata_B=0;
	while(1){
		if(isnewdata_A){
			isnewdata_A=0;
			ff=ch2float(rr1);
			ll=ch2long(&rr1[4]);
			fff[0]=ff;
			lll[0]=ll;
			ff+=3.0;
			ll+=1000L;
			float2ch(ff,&ss1[0]);
			long2ch(ll,&ss1[4]);
			transmit (MSGNUMC,ss1,LEN);
		}
		if(isnewdata_B){
			isnewdata_B=0;
			ff=ch2float(rr2);
			ll=ch2long(&rr2[4]);
			fff[1]=ff;
			lll[1]=ll;
			ff+=3.0;
			ll+=1000L;
			float2ch(ff,&ss2[0]);
			long2ch(ll,&ss2[4]);
			transmit (MSGNUMD,ss2,LEN);
		}
	}
}
void ISRname (void) interrupt 19

{	uint temp;
	temppage=SFRPAGE;
  	SFRPAGE = CAN0_PAGE;
  	status = CAN0STA;
	if((status&0x10) != 0){
   		 CAN0STA&=0xef;
  		 CAN0ADR=INTPEND1;
  		 temp=CAN0DAT;
		if((temp&NUMAPEND)!=0){
			receive_data (MSGNUMA,rr1,LEN);
			isnewdata_A=1;
		}
		if((temp&NUMBPEND)!=0){
			receive_data (MSGNUMB,rr2,LEN);
			isnewdata_B=1;
		}
	}
   SFRPAGE=temppage;
}