///////////多消息can接收程序////////////////
/////////mul_can_r.c///////////////////////
#include "candeal1.h"
#define LEN 8
#define MSGNUMA 2
#define MSGNUMB 5
#define NUMAPEND 0x0002
#define NUMBPEND 0x0010
xdata uchar rr1[LEN];
xdata uchar rr2[LEN];
void canini(){
	clear_msg_objects();
	init_msg_object_RX (MSGNUMA,2);//初始化發送
	init_msg_object_RX (MSGNUMB,4);
	EIE2 |= 0x20;
	EA = 1;
	SFRPAGE = CAN0_PAGE;
	CAN0CN=0X41;
	CAN0ADR=BITREG;
	CAN0DAT=0X34c0;//調波特率
	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 config(){
//看門狗禁止
	WDTCN = 0x07;	
    WDTCN = 0xDE;   
   	WDTCN = 0xAD;
	SFRPAGE = 0x0F;
//交叉開關使能，但沒有進行外圍設備配置
	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為數字輸入口
 	SFRPAGE = 0x0F;
 	P0MDOUT = 0x00; 
 	P1MDIN = 0xFF;  
//晶振配置，采用內部晶振8分頻
	SFRPAGE = 0x0F;
 	CLKSEL = 0x00;  
	OSCXCN = 0x00;	
	OSCICN = 0x84;	
}
main(){
	uchar i;
	config();
	for(i=0;i<LEN;i++){
		rr1[i]=0;
		rr2[i]=0;
	}
	canini();
	while(1);
	
}
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)/*注意若寫成	if(temp&NUMAPEND!=0)可能會出現預料之外的結果*/
			receive_data (MSGNUMA,rr1,LEN);
		if((temp&NUMBPEND)!=0)
			receive_data (MSGNUMB,rr2,LEN);
   } 
   SFRPAGE=temppage;
}