[问答]

CAN总线应用sja1000 首发数据。

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问答对人有帮助，内容完整，我也想知道答案 0 有哪位大神帮我看看程序，目前初始化过了，但是SJA1000不能发送数据。 #include #include #include #define SJA1000_BASE 0xf700 //定义sja1000的片选基址 #define CONTROL SJA1000_BASE+0x00 //内部控制寄存器 #define COMMAND SJA1000_BASE+0x01 //命令寄存器 #define STATUS SJA1000_BASE+0x02 //状态寄存器 #define INTERRUPT SJA1000_BASE+0x03 //中断寄存器 //#define ACR SJA1000_BASE+0x04 //验收代码寄存器 //#define AMR SJA1000_BASE+0x05 //验收屏蔽寄存器 //#define BTR0 SJA1000_BASE+0x06 //总线定时寄存器0 //#define BTR1 SJA1000_BASE+0x07 //总线定时寄存器1 #define OCR SJA1000_BASE+0x08 //输出控制寄存器 #define TEST SJA1000_BASE+0x09 //测试寄存器 /***************************************/ #define TxBuffer1 SJA1000_BASE+0x0A //发送缓冲区1 #define TxBuffer2 SJA1000_BASE+0x0B //发送缓冲区2 #define TxBuffer3 SJA1000_BASE+0x0C //发送缓冲区3 #define TxBuffer4 SJA1000_BASE+0x0D //发送缓冲区4 #define TxBuffer5 SJA1000_BASE+0x0E //发送缓冲区5 #define TxBuffer6 SJA1000_BASE+0x0F //发送缓冲区6 #define TxBuffer7 SJA1000_BASE+0x10 //发送缓冲区7 #define TxBuffer8 SJA1000_BASE+0x11 //发送缓冲区8 #define TxBuffer9 SJA1000_BASE+0x12 //发送缓冲区9 #define TxBuffer10 SJA1000_BASE+0x13 //发送缓冲区10 /************************************/ #define RxBuffer1 SJA1000_BASE+0x14 //接收缓冲区1 #define RxBuffer2 SJA1000_BASE+0x15 //接收缓冲区2 #define RxBuffer3 SJA1000_BASE+0x16 //接收缓冲区3 #define RxBuffer4 SJA1000_BASE+0x17 //接收缓冲区4 #define RxBuffer5 SJA1000_BASE+0x18 //接收缓冲区5 #define RxBuffer6 SJA1000_BASE+0x19 //接收缓冲区6 #define RxBuffer7 SJA1000_BASE+0x1A //接收缓冲区7 #define RxBuffer8 SJA1000_BASE+0x1B //接收缓冲区8 #define RxBuffer9 SJA1000_BASE+0x1C //接收缓冲区9 #define RxBuffer10 SJA1000_BASE+0x1D //接收缓冲区10 #define CDR SJA1000_BASE+0x1F //时钟分频寄存器 /************************************ 定义CAN地址指针 ************************************/ unsigned char xdata SJA1000_Address; unsigned char xdata BTR0 _at_ 0xf706; unsigned char xdata BTR1 _at_ 0xf707; unsigned char xdata ACR _at_ 0xf704; unsigned char xdata AMR _at_ 0xf705; /************************ 定义SJA1000操作的命令字 **************************/ #define TR_order 0x01 //发送请求命令 #define AT_order 0x02 //终止发送命令 #define RRB_order 0x04 //释放接受缓存区 #define CDO_order 0x08 //清除数据溢出 #define GTS_order 0x10 //进入顺眠状态命令 /******** CAN通信基本函数 ***********/ bit enter_RST (void);//进入复为工作模式函数 bit quit_RST (void);//退出复为工作模式函数 bit set_rate (unsigned char CAN_rate_num); //设置CAN的通信波特率函数 bit set_ACR_AMR(unsigned char ACR_DATA,unsigned char AMR_DATA);//设置验收代码寄存器和接收屏蔽寄存器 bit set_CLK (unsigned charSJA_OUT_MODE,unsigned char SJA_Clock_Out); //设置输出控制器和时钟分频寄存器 bit SJA_send_data(unsigned char senddatabuf);//CAN总线发送数据函数 bit SJA_rcv_data(unsigned char * rcvdatabuf); //CAN总线接收数据函数 bit SJA_command_control(unsigned char order);//SJA1000控制命令函数 /***********/ /*********/ bit create_communication(void) { SJA1000_Address=TEST; //访问SJA1000的测试寄存器 SJA1000_Address=0xaa;//写入测试值0xaa if(SJA1000_Address==0xaa) {return 0;} else {return 1;} } /*******************/ /*********************/ bit enter_RST(void) { unsigned char MID_DATA;//定义一个字节变量，用与储存SJA1000控制寄存器读出的数据 SJA1000_Address=CONTROL;//访问地址指向SJA1000的控制寄存器 MID_DATA=SJA1000_Address;//保存原始值 SJA1000_Address=(MID_DATA\|0x01);//设置复位请求 if((SJA1000_Address&0x01)==1) //读取SJA1000的控制寄存器数值 //判断复位是否有效 {return 0;} else {return 1;} } /********************** **********************/ bit quit_RST(void) { unsigned char MID_DATA;//定义一个字节变量，用于储存从SJA1000控制寄存器读取数据 SJA1000_Address=CONTROL; //访问地址指向SJA1000控制寄存器 MID_DATA=SJA1000_Address;//保持原始值 SJA1000_Address=(MID_DATA&0xfe);//清除复位请求 if((SJA1000_Address&0x01)==0)//读取SJA1000的控制寄存器数值，判断清除复位请求是否有效 {return 0;} else {return 1;} } /********************************/ //unsigned char code rate_tab[]={ // 0x53,0x2F, //20 kbit/s 预设值 // 0x87,0xFF, //40 // 0x47,0x2F, //50 // 0x83,0xFF, //80 // 0x43,0x2f, //100 // 0x03,0x1c, //125 // 0x81,0xfa, //200 // 0x01,0x1c, //250 // 0x80,0xfa, //400 // 0x00,0x1c, //500 // 0x80,0xb6, //666 // 0x00,0x16, //800 // 0x00,0x14, //1000 //}; ///**************/ //bit set_rate(unsigned char CAN_rate_num) //{ // bit wrong_flag=1; //定义错误标志 // unsigned char BTR0_data,BTR1_data; //两字节变量用于储存从波特率数组中读出的数值 // unsigned char wrong_count=32; //32次错误报告 // if(rate_tab>12) //设置CAN通信波特率的数组列表中的序列范围0~12 // {wrong_flag=1;} //如果超出范围，则报错，波特率设置失败 // else{ // while(--wrong_count) //最多32次设置SJA1000内部寄存器BTR0 BTR1数值 // { // BTR0_data=rate_tab[CAN_rate_num2]; // BTR1_data=rate_tab[CAN_rate_num2+1]; //数组中读出波特率预设值 // SJA1000_Address=BTR0; //访问地址指向CAN总线定时寄存器0 // SJA1000_Address=BTR0; //写入参数 // if(SJA1000_Address!=BTR0_data)continue;//校验写入值 // wrong_flag=0; // break; // } //while语句结束 // } // return wrong_flag; //} ///**********************/ //bit set_ARC_AMR(unsigned char ACR_DATA,unsigned char AMR_DATA) // { // SJA1000_Address=ACR; //访问地址指向SJA1000验收码寄存器 // SJA1000_Address=ACR_DATA;//写入设置的ACR参数值 // if(SJA1000_Address!=ACR_DATA) // {return 1;} // return 0; //} /******************/ bit set_CLK(unsigned char SJA_OUT_MODE,unsigned char SJA_Clock_Out) { SJA1000_Address=OCR; SJA1000_Address=SJA_OUT_MODE; if(SJA1000_Address!=SJA_OUT_MODE) {return 1;} SJA1000_Address=CDR; SJA1000_Address=SJA_Clock_Out; return 0; } /***************/ bit SJA_send_data(unsigned char senddatabuf) { unsigned char send_num,STATUS_data; SJA1000_Address=STATUS; STATUS_data=SJA1000_Address; if(STATUS_data & 0x10) {return 1;} if((STATUS_data&0x04)==0) {return 1;} if((STATUS_data&0x08)==0) {return 1;} SJA1000_Address=TxBuffer1; if((senddatabuf[1]&0x10)==0) { send_num=(senddatabuf[1]&0x0f)+2; } else { send_num=2; } memcpy (SJA1000_Address,senddatabuf,send_num); return 0; } /**************/ bit SJA_rcv_data(unsigned char rcvdatabbuf) { unsigned char rcv_num,STATUS_data; SJA1000_Address=STATUS; STATUS_data= * SJA1000_Address; if((STATUS_data&0x01)==0) {return 1;} SJA1000_Address = RxBuffer2; if(( * SJA1000_Address&0x10)==0) { rcv_num=(SJA1000_Address&0x0f)+2; } else {rcv_num=2;} SJA1000_Address=RxBuffer1; memcpy(rcvdatabbuf,SJA1000_Address,rcv_num); return 0; } /**************/ bit SJA_command_control(unsigned char order) { unsigned char STATUS_data; SJA1000_Address=COMMAND; SJA1000_Address=order; switch(order) { case TR_order: return 0; break; case AT_order: SJA1000_Address=STATUS; STATUS_data=SJA1000_Address; if((STATUS_data & 0x20)==0) {return 0;} else {return 1;} break; case RRB_order: SJA1000_Address=STATUS; STATUS_data=SJA1000_Address; if((STATUS_data & 0x10)==1) {return 1;} else {return 0;} break; case CDO_order: SJA1000_Address=STATUS; STATUS_data=SJA1000_Address; if((STATUS_data & 0x02)==0) {return 0;} else {return 1;} break; case GTS_order: return 0; break ; default: return 1; break; } } /**************************** ************************** ***************************/ void Init_T0(void); bit SJA_1000_Init(void); void Delay(unsigned int x); void read_p1(void); void InitCPU(void); void Can_DATA_Rcv(void); void Can_DATA_Send(void); void Can_error(void); void Can_DATA_OVER(void); //******************************** bit send_flag; unsigned char data send_data[10],rcv_data[10]; unsigned char TIME_data; unsigned char DATA_CHANGE; unsigned char bdata Can_INT_DATA; it rcv_flag=Can_INT_DATA^0; it err_flag=Can_INT_DATA^2; it Over_Flag=Can_INT_DATA^3; it CAN_RESET=P2^0; it LED0=P1^0; it LED1=P1^1; it LED2=P1^2; it LED4=P1^4; it LED5=P1^5; it LED6=P1^6; it LED7=P1^7; it P2_0=P2^0; it P2_1=P2^1; it P2_2=P2^2; it P2_4=P2^4; /延时* ********/ void Delay(unsigned int x) { unsigned int j; while(x--) { for(j=0;j<125;j++) {;} } } //************* void ex0_int(void) interrupt 0 using 1 { SJA1000_Address=INTERRUPT; Can_INT_DATA=* SJA1000_Address; } void T0_int(void) interrupt 1 using 2 { TR0=0; TIME_data--; if(TIME_data==0) { TIME_data=30; TH0=0x80; TL0=0x60; send_flag=1; DATA_CHANGE++; } TR0=1; } /***********************/ void Init_T0(void) { TMOD=0x01; TH0=0x80; TL0=0x60; TR0=1; TIME_data=30; DATA_CHANGE=0x00; ET0=1; } /************************/ void read_p1(void) { if(P2_0==0) {send_data[4]=0X02;} else{send_data[4]=0X03;} if(P2_1==0) {send_data[5]=0X02;} else{send_data[5]=0X03;} if(P2_2==0) {send_data[6]=0X02;} else{send_data[6]=0X03;} if(P2_4==0) {send_data[7]=0X02;} else{send_data[7]=0X03;} } /*****************c初始化****/ bit SJA_1000_Init(void) { if(enter_RST()) {return 1;} if(create_communication()) {return 1;} // if(set_rate(0x06)) // {return 1;} // if(set_ACR_AMR(0xac,0x00)) // {return 1;} BTR0=0x53; BTR1=0x2f; ACR=0x0A; AMR=0x00; if(set_CLK(0x1a,0x40)) //0xaa,0x40 {return 1;} if(quit_RST()) {return 1;} SJA1000_Address=CONTROL; SJA1000_Address\|=0x1e; return 0; } /******************初始化cpu/ void InitCPU(void) { EA=1; IT0=1; EX0=1; PX0=1; Init_T0(); } /*****错误中断/ void Can_error() { bit sja_status1; do{ Delay(6); sja_status1=Sja_1000_Init(); } while(sja_status1); } /*************溢出中断处理、/ void Can_DATA_OVER(void) { SJA_command_control(CDO_order); SJA_command_control(RRB_order); } /*************/ void Can_DATA_Rcv() { SJA_rcv_data(rcv_data); SJA_command_control(0x04); } /**********/ void Can_DATA_Send() { send_data[0]=0xAA; send_data[1]=0x08; send_data[2]=0x05; send_data[3]=DATA_CHANGE; SJA_send_data(send_data); SJA_command_control(0x01); } /*****************/ void main(void) { bit sja_status; Delay(1); CAN_RESET=0; do{ Delay(6); LED2=~LED2; sja_status=SJA_1000_Init(); }while(sja_status); InitCPU(); LED0=0; Can_INT_DATA=0x00; while(1) { read_p1(); if(_testbit_(rcv_flag)) {Can_DATA_Rcv();} if(_testbit_(send_flag)) { Can_DATA_Send(); LED1=~LED1; } if(_testbit_(Over_Flag)) {Can_DATA_OVER();} if(_testbit_(err_flag)) { LED0=1 ; Can_error(); LED0=0; } } } 0
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