/////////CAN 消息初始化程序////////////////
//////can.h//////////////////
#include "C8051F040.h"	
#include "canreg.h"
typedef unsigned char uchar;
typedef unsigned int uint;
typedef unsigned long ulong;
union intchar{
	uint tempval;
	struct {uchar hi;uchar low;}bytek;
};
bit isnewdata;
data uchar temppage;
data uchar status;
xdata uchar sdata[8]={0x32,0x33,0x34,0x35,0xb2,0xb3,0xb4,0xb5};//發送緩沖區
xdata union intchar rdata[4];
void init_msg_object_TX (uchar MsgNum,uchar id);
void init_msg_object_RX (uchar MsgNum,uchar id);
void clear_msg_objects (void);
void start_CAN (void);
void init_msg_object_TX (char MsgNum,uint id) 
{
	uint temp;
  	SFRPAGE = CAN0_PAGE;
	CAN0ADR = IF1CMDMSK; //指向IF1 Command Mask Registers
	CAN0DAT = 0x00b3; 
	/*   IF1 Command Mask Registers  =0x00b3 
	WR/RD=1,Mask=0,Arb=1,Control=1,ClrIntPnd=0,TxRqst=0,DataA=1,DataB=1,一次發送8字節數據*/
	CAN0ADR = IF1ARB1;            
	CAN0DAT = 0x0000;  
	/*IF1 Arbitration Registers1 =0x0000，即ID15-0=0*/
	temp=id<<2;//標準id為ID28-ID18,所以要左移2位
	temp&=0x1fff;
	temp|=0xa000;
	CAN0DAT = temp; //地址自增，指向IF1 Arbitration Registers2
	/*IF1 Arbitration Registers2=101(id)00b
	MsgVal=1,Xtd=0,為標準模式，擴展ID無效，Dir=1，為發送*/
	CAN0DAT = 0x0088;
	/*IF1 Message Control Registers=0x0088
	NewDat=0,MsgLst=0,IntPnd=0,UMask=0,TxIE=0,RxIE=0,RmtEn=0,TxRqst=0
	EoB=1,DLC3-0=1000,即數據長度為8*/
	CAN0ADR = IF1CMDRQST;         
	CAN0DAT = MsgNum;   
	/*IF1 Command Request Registers=MsgNum,將以上配置寫入MsgNum號消息*/
}
void init_msg_object_RX (char MsgNum,uchar id) 
{
	uint temp;
   	SFRPAGE = CAN0_PAGE;
	CAN0ADR = IF2CMDMSK; 
	CAN0DAT = 0x00bb;             
	/*   IF2 Command Mask Registers  =0x00bb 
	WR/RD=1,Mask=0,Arb=1,Control=1,ClrIntPnd=1,TxRqst=0,DataA=1,DataB=1,一次發送8字節數據*/
	CAN0ADR = IF2ARB1;           
	CAN0DAT = 0x0000; 
	/*IF2 Arbitration Registers1 =0x0000，即ID15-0=0*/            
	temp=id<<2;//標準id為ID28-ID18,所以要左移2位
	temp&=0x1fff;
	temp|=0x8000;
	CAN0DAT = temp; 
	/*IF2 Arbitration Registers2=100(id)00b
	MsgVal=1,Xtd=0,為標準模式，擴展ID無效，Dir=0，為接收*/
	CAN0DAT = 0x0488;
	/*IF2 Message Control Registers=0x0488
	NewDat=0,MsgLst=0,IntPnd=0,UMask=0,TxIE=0,RxIE=1,接收中斷使能;RmtEn=0,TxRqst=0
	EoB=1,DLC3-0=1000,即數據長度為8*/
	CAN0ADR = IF2CMDRQST;        
	CAN0DATL = MsgNum;           
  	/*IF2 Command Request Registers=MsgNum,將以上配置寫入MsgNum號消息*/
}
void clear_msg_objects (void) //將所有消息清零
{	
	uchar i;
   	SFRPAGE = CAN0_PAGE;
	CAN0ADR = IF1CMDMSK;       
	CAN0DATL = 0xFF;            
	for (i=1;i<33;i++)
      {
		CAN0ADR = IF1CMDRQST;     
		CAN0DATL = i;
      }   
}
void start_CAN (void) 
{
   	SFRPAGE = CAN0_PAGE;
	CAN0CN= 0x02;	
	/*IE置1，使能CAN模塊中斷，Init清零，結束初始化操作，CAN控制器進入正常工作*/
	
}