AT90CAN128的CAN编程1.doc

这几天一直在忙活 AT90CAN128的CAN编程，几天终于有眉目了。其实他的can用起来不复杂，只是一开始没有仔细看手册，走了不少弯路。编译器ICCAVR4M晶振50K波特率void can_init(void) / CAN Controller initialization / CAN Controller initialization / CAN System Clock: 400.0 kHz CANBT1=0x12; / Propagation Time Segement: 7.500 us / Re-Sync Jump Width: 2.500 us CANBT2=0x04; / Sample Point(s): 3 / Phase Segment 1: 5.000 us / Phase Segment 2: 5.000 us CANBT3=0x13; / CAN Timer Clock Period: 2.000 us CANTCON=0x00; /-can_MOB INITIAL- /MOB0=RX CANPAGE = 0x00; /MOB0,自动增量，初值为0 CANSTMOB = 0; CANCDMOB = 0x80; / RX /can2a,DLC=8 CANIDT4 = 0x00; / CANIDT3 = 0x00; / CANIDT2 = 0x00; / CANIDT1 = 0x00; / CANIDM4 = 0x00; / 11111 100 CANIDM3 = 0x00; / 11111 111 CANIDM2 = 0x00; / 11111 111 CANIDM1 = 0x00; /CANIDM4-1数据校验屏蔽寄存器 00000 111 /MOB1=TX CANPAGE = 0x10; CANSTMOB = (16); /txok CANCDMOB = 0x08; CANIDT4 = 0x00; / CANIDT3 = 0x00; / CANIDT2 = 0xe0; / CANIDT1 = 0x00; / CANIDM4 = 0x00; / 11111 100 CANIDM3 = 0x00; / 11111 111 CANIDM2 = 0x00; / 11111 111 CANIDM1 = 0x00; /CANIDM4-1数据校验屏蔽寄存器 00000 111 / CAN Interrupts: / Timer Overrun: Off / General Errors: Off / Frame Buffer: Off / MOb Errors: Off / Transmit: Off / Receive: Off / Bus Off: Off / All, except Timer Overrun: On CANGIE=0xf0; / MOb0: Enabled, MOb1: Enabled, MOb2: Disabled, MOb3: Disabled, MOb4: Disabled, MOb5: Disabled, MOb6: Disabled, MOb7: Disabled CANEN2=0xff; / MOb8: Disabled, MOb9: Disabled, MOb10: Disabled, MOb11: Disabled, MOb12: Disabled, MOb13: Disabled, MOb14: Disabled CANEN1=0xff; / MOb0.7 Interrupts: MOb0: On, MOb1: On, MOb2: Off, MOb3: Off, MOb4: Off, MOb5: Off, MOb6: Off, MOb7: Off CANIE2=0x03; / MOb8.14 Interrupts: MOb8: Off, MOb9: Off, MOb10: Off, MOb11: Off, MOb12: Off, MOb13: Off, MOb14: Off CANIE1=0x00; / Highest Interrupt Priority: MOb0 CANHPMOB=0x00; CANGCON |= 0x02; /CAN控制器启动/ CAN interrupt service routine#pragma interrupt_handler can_isr:19void can_isr(void) / Place your code here unsigned char i, flag; CANGIE &= (1ENRX); /关接收中断* LED_RUN(ON); flag = CANSIT2; /- if (flag & (10) CANPAGE = 04; for(i = 0; i 8; i+) data_bufi=CANMSG; /取得8个字节的数据 CANPAGE = 04; CANSTMOB &= (1RXOK); /清中断标志* CANCDMOB = 0x80; /接收使能 if (flag & (11) CANPAGE = 14; CANSTMOB &= (1TXOK); /清中断标志* /- LED_RUN(OFF); CANGIE |=(1ENRX);void can_send (unsigned char n) unsigned char i; CANGIE &= (1ENRX); CANPAGE = (n4); /MOB_n, auto increment, inde