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#include <reg51.h>
#include <absacc.h>
/************** SJA1000 內部寄存器地址定義 ********/
#define CAN_MODE 0 /* 模式寄存器 */
#define CAN_CMR 1 /* 命令寄存器 */
#define CAN_SR 2 /* 狀態寄存器 */
#define CAN_IR 3 /* 中斷寄存器 */
#define CAN_IER 4 /* 中斷允許寄存器 */
#define CAN_BTR0 6 /* 總線定時寄存器0 */
#define CAN_BTR1 7 /* 總線定時寄存器1 */
#define CAN_OCR 8 /* 輸出控制寄存器 */
#define CAN_TEST 9
#define CAN_ALC 11 /* 仲裁丟失捕捉寄存器 */
#define CAN_ECC 12 /* 錯誤代碼捕捉寄存器 */
#define CAN_EWLR 13 /* 錯誤報警限額寄存器 */
#define CAN_RXERR 14 /* 接受錯誤計數寄存器 */
#define CAN_TXERR 15 /* 發送錯誤計數寄存器 */
#define CAN_RBSA 30 /* 接受緩存器起始地址寄存器 */
#define CAN_CDR 31 /* 時鐘分頻寄存器 */
#define CAN_ACR0 16 /* 驗收代碼寄存器0 */
#define CAN_ACR1 17 /* 驗收代碼寄存器1 */
#define CAN_ACR2 18 /* 驗收代碼寄存器2 */
#define CAN_ACR3 19 /* 驗收代碼寄存器3 */
#define CAN_AMR0 20 /* 驗收屏蔽寄存器0 */
#define CAN_AMR1 21 /* 驗收屏蔽寄存器1 */
#define CAN_AMR2 22 /* 驗收屏蔽寄存器2 */
#define CAN_AMR3 23 /* 驗收屏蔽寄存器3 */
unsigned char tx_data[13]={0x88,0x99,0x99,0x99,0x99, /* */
0x11,0x22,0x33,0x44, /* */
0x55,0x66,0x77,0x88}; /* 輸入輸出數據數組 其中tx_data[0]的4，5位
在SJA1000中保留未用，在此用來區分輸入，輸出數據*/
unsigned char rx_data[13]={0,0,0,0,0,
0,0,0,0,
0,0,0,0};
unsigned char bdata sr ,ir; /* 記錄SJA1000 內部狀態 */
bit getremote=0; /* 遠程幀標記 收到遠程幀請求后 置1 */
bit timer0up=0; /* 秒計時 到1秒 置1 */
unsigned char t0count=0;
unsigned char mytime; /* 用于記錄0到9的ASCII 每秒增加1，遠程幀訪問增加1 */
void can_init( void ) ;
void can_txdata ( void ) ;
void can_rxdata ( void ) ;
void dealmessage_remote3( void ) ;
/******************************************************************/
/******************* write reg of SJA1000 ****************/
/******************************************************************/
void writeSJAreg ( unsigned char SJAadd , unsigned char value)
{
unsigned char temp_write = value ;
XBYTE[ 0x8000 + SJAadd ] = temp_write ;
}
/******************************************************************/
/******************* read reg of SJA1000 ****************/
/******************************************************************/
unsigned char readSJAreg( unsigned char SJAadd )
{
return( XBYTE[ 0x8000 + SJAadd ] );
}
/******************************************************************/
/******************* set the reg bit of SJA1000 ****************/
/******************************************************************/
void setREGbit(unsigned char SJAadd , unsigned char value)
{
unsigned char temp ;
temp = readSJAreg( SJAadd ) ;
temp |= value ;
writeSJAreg( SJAadd , temp ) ;
}
/******************************************************************/
/******************* clear the reg bit of SJA1000 ****************/
/******************************************************************/
void clearREGbit(unsigned char SJAadd , unsigned char value)
{
unsigned char temp ;
temp = readSJAreg( SJAadd ) ;
temp &= value ;
writeSJAreg( SJAadd , temp ) ;
}
/******************************************************************/
/******************* test bit of SJA1000 ****************/
/******************************************************************/
unsigned char testREGbit(unsigned char SJAadd , unsigned char value)
{
unsigned char temp ;
temp = readSJAreg( SJAadd ) ;
temp &= value ;
return (temp) ;
}
/******************************************************************/
/******************* initializtion of CPU ****************/
/******************************************************************/
void cpu_init(void)
{
IE = 0x03; /* EX0=1 t0 =1 */
IP = 0x01; /* INT0 為高優先*/
TCON = 0x10 ; /* T0 and INT0 */
TMOD = 0x01; /* T0 方式1 ，定時器 */
TH0 = 0x3c;
TL0 = 0x0b0;
EA = 1;
}
/******************************************************************/
/******************* initializtion of SJA1000 ****************/
/******************************************************************/
void can_init(void)
{
// while (readSJAreg( CAN_MODE )!= 0x01)
writeSJAreg( CAN_MODE , 0x01 ) ; /* 進入復位模式 */
while (readSJAreg( CAN_CDR )!= 0x88)
writeSJAreg( CAN_CDR , 0x88 ) ; /* 工作在pelican模式，時鐘關閉CLOCK OFF */
while( readSJAreg( CAN_RBSA )!= 0x00)
writeSJAreg( CAN_RBSA , 0x00 ); /* 設置接收緩沖器地址FIFO起始地址為0 */
while( readSJAreg( CAN_OCR )!= 0x1A)
writeSJAreg( CAN_OCR , 0x1A ); /* 推挽輸出 */
while( readSJAreg( CAN_BTR0 )!= 0x01)
writeSJAreg( CAN_BTR0 , 0x01 ); /* BRT0 = 0x01, BRT1 = 0x1c 500kbps */
while( readSJAreg( CAN_BTR1 )!= 0x1c)
writeSJAreg( CAN_BTR1 , 0x1c ); /* 設置為250kbps BRT0 = 0x03, BRT1 = 0x1c */
while( readSJAreg( CAN_AMR0 )!= 0xff)
writeSJAreg( CAN_AMR0 , 0xff );
while( readSJAreg( CAN_AMR1 )!= 0xff)
writeSJAreg( CAN_AMR1 , 0xff );
while( readSJAreg( CAN_AMR2 )!= 0xff)
writeSJAreg( CAN_AMR2 , 0xff );
while( readSJAreg( CAN_AMR3 )!= 0xff)
writeSJAreg( CAN_AMR3 , 0xff );
while( readSJAreg( CAN_ACR0 )!= 0xff)
writeSJAreg( CAN_ACR0 , 0xff );
while( readSJAreg( CAN_ACR1 )!= 0xff)
writeSJAreg( CAN_ACR1 , 0xff );
while( readSJAreg( CAN_ACR2 )!= 0xff)
writeSJAreg( CAN_ACR2 , 0xff );
while( readSJAreg( CAN_ACR3 )!= 0xff)
writeSJAreg( CAN_ACR3 , 0xff );
while( readSJAreg( CAN_IER )!= 0x01)
writeSJAreg( CAN_IER , 0x01 ); /* 開放，接收中斷，出錯報警，數據溢出 */
while( readSJAreg( CAN_TXERR )!= 0x00)
writeSJAreg( CAN_TXERR , 0x00 ); /* 清除發送錯誤計數寄存器 */
while( readSJAreg( CAN_RXERR )!= 0x00)
writeSJAreg( CAN_RXERR , 0x00 ); /* 清除接收錯誤計數寄存器 */
while( readSJAreg( CAN_MODE )!= 0x0c)
writeSJAreg( CAN_MODE , 0x0c ); /* 單向濾波器，自檢測模式 */
}
/*************************************************************/
/************* 發送子程序 ****************/
/************* 通過tx_data[]傳參 ****************/
/************* 使用此程序前要預先將數據放入tx_data[]中 ******/
/*************************************************************/
void can_txdata ( )
{
unsigned char i , length ;
sr = CAN_SR;
do{ ;}
while(!(sr^3)) ; /* 判斷上次發送是否完成，未完成，等待 */
do{ ;}
while(sr^2) ; /* 判斷發送緩沖器是否鎖定，鎖定，等待 */
// if(sr^1)
// writeSJAreg( CAN_CMR , 0X0C ); /* 清除數據溢出 釋放接收緩沖器*/
// do{ can_rxdata ( );}
// while(readSJAreg(29)) ;
switch(tx_data[0]&0xC0)
{
case 0x00: /*標準幀、數據幀*/
length = ( tx_data[0] & 0x0f ) ;
if(length>8) length = 8;
length += 3; break ;
case 0x40: /*標準幀、遠程幀*/
length = 3; break ;
case 0x80: /*擴展幀、數據幀*/
length = ( tx_data[0] & 0x0f ) ;
if(length>8) length = 8;
length += 5; break ;
case 0xc0: /*擴展幀、遠程幀*/
length = 5; break ;
default: break;
}
for(i=0 ; i<length ; i++)
{
writeSJAreg( 16+i , tx_data[i] );
}
writeSJAreg( CAN_CMR , 0X11 ); /* 啟動自收發*/
// writeSJAreg( CAN_CMR , 0X02 );
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