can总线通信程序.doc

CAN总线通信程序/CAN UART的协议转换器/说明：/1，单片机使用P89C61X2BA/-晶振11.0592MHZ /-CAN总线中断使用单片机的中断0，外部有上拉电阻,波特率可以设定/2，CAN总线发送采用查询方式，接收采用中断方式/3，看门狗复位时间1.2S/4，SJA1000晶振8MHZ,Peil模式/5，串口中断接收，查询发送，波特率可设置/6，当串口收到数据后，每8个数一组打包，通过CAN总线发送出去/-10.16日，重新修改程序完成以下功能-/-此功能已经改为，每收到一帧数据，启动一次CAN传输，传输字节数等于串口收到的数据/-串行帧的帧间界定通过当前波特率下传输5个字节为时间间隔，具体为当顺序接收到的任意两个数据，它们之间的时间间隔大于5个字节传送时间，认为这两个数据分属于两个不同的帧/7，当CAN总线每接收一帧信息后，通过串口发送出去/改为可以识别CAN的报文字节长度，即串口只发送CAN报文长度个字节/8，看门狗芯片MAX1232CPA，硬件溢出时间1.2S/-#include#include#include#include CANCOM.hunsigned char UART_TX_Data8 = 0,1,2,3,4,5,6,7;unsigned char CAN_TX_Data8 = 0,1,2,3,4,5,6,7;unsigned char xdata UART_RX_Data255;/串口接收到的串行帧unsigned char xdata CAN_TX_Data255;/待发送的数据缓冲区unsigned char code ACR_ID4 = 0,0,0,0;/CAN初始设置验收滤波值unsigned char code AMR_ID4 = 0xff,0xff,0xff,0xff;unsigned char CAN_TX_ID4 = 0,0,0,0;/待发送的目标的IDunsigned char CAN_RX_ID4 = 0,0,0,0;/接收到的信息来自何IDunsigned char CAN_RX_Data8 = 7,6,5,4,3,2,1,0;/接受到的数据缓冲unsigned char code CAN_BTR010 =0xdf,0xcf,0xc7,0xc3,0x43,0xc1,0xc1,0xc0,0xc0,0x80;unsigned char code CAN_BTR110 = 0x7f,0x7f,0x7f,0x7f,0x2f,0x7f,0x4d,0x3e,0x3a,0x23;/5K 10K 20K 40K 50K 80K 100K 200K 250K 500Kunsigned char code UART_BTR4 = 0xe8,0xf4,0xfa;/ 1.2K,2.4K,4.8Kunsigned char CAN_flag;/CAN发送标志位unsigned char UART_flag;/unsigned char CAN_ERROR_flag = NOT;/unsigned char CAN_DataLength = 8;/CAN信息的报文长度unsigned char UART_DataLength = 0;/串口接收时的当前指示unsigned char UART_Length = 0;/串口接收区的长度指示/sbit AAA = P14;void main(void)EA = 0;System_init();/系统初始化Timer_init();/定时器初始化Interrupt_init();/中断UART_ini();CAN_init();Delay(1);W_WDT();EA = 1;/Delay(1);/UART_Length = 8;/CAN_Transmit(0);/UART_Transmit();while (1)W_WDT();if (CAN_flag = YES)CAN_flag = NOT;CAN_Transmit(0);LED1 = !LED1;elseCAN_flag = NOT;/*if (UART_flag = YES)UART_flag = NOT;/Delay(50);UART_Transmit();/Clear_Buffer(CAN_RX_Data,8);/LED3 = !LED3;elseUART_flag = NOT;*/if (CAN_ERROR_flag = YES)CAN_ERROR_flag = NOT;CAN_init();elseCAN_ERROR_flag = NOT;/-/功能：系统设置/-外部数据存储区访问使能/-LED指示灯关（1on，0off）/-流程控制标志置为无效NOT/-清空串口，CAN的相关数据缓冲区/-void System_init(void)CKCON = 0x00;/Fosc devide 12AUXR = 0x00;/0x02;/EXM enableLED1 = 0;/LED0-3 off指示灯，共阴接法，1时亮LED2 = 0;LED3 = 0;LED4 = 0;WDT = 1;/WDT iniCAN_DataLength = 8;UART_DataLength = 0;UART_Length = 0;CAN_flag = NOT;CAN_ERROR_flag = NOT;/UART_flag = NOT;Clear_Buffer(UART_RX_Data,255);Clear_Buffer(CAN_TX_Data,255);Clear_Buffer(CAN_TX_ID,4);Clear_Buffer(CAN_RX_ID,4);Clear_Buffer(CAN_RX_Data,8);/*CAN_flag = YES;UART_flag = YES;*/-/软件延时（非精确）/-内置清看门狗定时器子函数/防止多次调用延时过长导致/看门狗复位/-void Delay(unsigned char time)unsigned char i;unsigned int j;for (i = 0;i time;i+)W_WDT();for (j=0;j30000;j+)/-/串行口初始化设置/方式1，8数据位，一个停止位，无奇偶校验/串口中断允许/-void UART_ini(void)SCON = 0x50;/方式1，波特率可变，8bits，接受允许PCON&= 0x7F;/SMOD = 0TMOD |= 0x20;/timer1 mode 2TL1 = UART_BTR2;/|f/|波特率-TH1 = UART_BTR2;/|32*2smod*12*(256-TL1)TCON |= 0x40;/startTI = 0;/-/看门狗“喂狗”程序，WDT的一个下降沿触发一次/-void W_WDT(void)/triggle WDTunsigned char i;WDT = 1;for (i=0;i CAN_TX_buffer/-void Timer0_ISR(void) interrupt 1 using 2static unsigned char i;/unsigned char counter;/TH0 = temp_TH0;/TL0 = temp_TL0;/*counter += 1;if (counter = 20)/到1S了么？/UART_flag = YES;if (counter = 40)/到2S了么？/CAN_flag = YES;counter = 0;*/AAA = !AAA;TR0 = 0;/定时器关,开始次CAN信息传送for (i=0;iCAN_TX_Datai = UART_RX_Datai;UART_Length = UART_DataLength;UART_DataLength = 0;CAN_flag = YES;/-/串口中断服务程序/-只有接收使用/-每收一个数重新初始化定时器/-void RX_INT(void) interrupt 4 using 3static unsigned char n;if (RI=1)doRI = 0;while (RI != 0);/UART_RX_DataUART_DataLength+ = SBUF;n = SBUF;UART_Send_Byte(n);TH0 = temp_TH0;TL0 = temp_TL0;TR0 = 1;/启动数据间隔定时，判断是否分属两帧else/TX/-/串口发送单字节程序/-void UART_Send_Byte(unsigned char Data)SBUF = Data;while (TI = 0)/等待发送完毕TI = 0;/-/初始化定时器程序/-定时器0方式1，定时器1方式2留给串口/-void Timer_init(void)TMOD |= 0x01;/使用定时器0方式1TH0 = temp_TH0;TL0 = temp_TL0;/TR0 = 1;/这里不打开定时器void CAN_init(void)EA = 0;MOD_CAN1 |= 0x08;/单滤波方式doMOD_CAN1 |= 0x01; /request to reset modewhile (MOD_CAN1&0x01) != 0x01);CDR_CAN1 = 0xc8;/选择PeliCAN模式，使用输入比较器，clk_out关闭IER_CAN1 = 0x01;/允许发送中断，其他中断禁能ACR0_CAN1 = ACR_ID0;ACR1_CAN1 = ACR_ID1;ACR2_CAN1 = ACR_ID2;ACR3_CAN1 = ACR_ID3;AMR0_CAN1 = AMR_ID0;AMR1_CAN1 = AMR_ID1;AMR2_CAN1 = AMR_ID2;AMR3_CAN1 = AMR_ID3;/ECC_CAN1 = 0;/TXERR_CAN1 = 0;/RBSA_CAN1 = 0;BTR0_CAN1 = CAN_BTR00;BTR1_CAN1 = CAN_BTR10;OCR_CAN1 = 0xaa;/normal outputW_WDT();doMOD_CAN1 &= 0xfe;while (MOD_CAN1&0x01) != 0x00);EA = 1;/-/串口发送一帧接受到的CAN数据/-长度18，根据接收到的CAN信息来确定/-void UART_Transmit(void) /using 0unsigned char i;LED3 = !LED3;for (i=0;iUART_Send_Byte(CAN_RX_Datai);/-/CAN发送接受到的一帧串口数据/-最大长度255，根据接收到的串口信息的/个数来确定/-按每依次8个数据作为一个CAN帧的报文部分/不足8个或超过8的倍数的部分按实际个数作/为CAN报文/-FarmeType = 1为扩展帧，FarmeType = 0为/标准帧/-void CAN_Transmit(bit FarmeType)unsigned char i;unsigned char m;unsigned char can_status;unsigned char xdata *pointer;if (FarmeType = 0)/标准帧for (m=0;m(UART_Length/8);m+)W_WDT();do/发送缓冲区空么？can_status = SR_CAN1;while (can_status&0x04) != 0x04);TXFrameInfo1 = 0x00 + 0x08;pointer = &TXID1;for (i=0;i2;i+)*(pointer+) = CAN_TX_IDi;pointer = &TXID3;for (i=0;i8;i+)*(pointer+) = CAN_TX_Datai+8*m;CMR_CAN1 = Request_TX;W_WDT();if (UART_Length%8) != 0)W_WDT();do /发送缓冲区空么？can_status = SR_CAN1;while (can_status&0x04) != 0x04);TXFrameInfo1 = 0x00 + UART_Length%8;pointer = &TXID1;for (i=0;i2;i+)*(pointer+) = CAN_TX_IDi;pointer = &TXID3;for (i=0;i(UART_Length%8);i+)*(pointer+) = CAN_TX_Datai+8*(UART_Length/8);CMR_CAN1 = Request_TX;W_WDT();elseelse/扩展帧for (m=0;m(UART_Length/8);m+)W_WDT();do/发送缓冲区空么？can_status = SR_CAN1;while (can_status&0x04) != 0x04);TXFrameInfo1 = 0x80 + 0x08;pointer = &TXID1;for (i=0;i4;i+)*(pointer+) = CAN_TX_IDi;pointer = &TXDATA1;for (i=0;i8;i+)*(pointer+) = CAN_TX_Datai+8*m;CMR_CAN1 = Request_TX;W_WDT();if (UART_Length%8) != 0)W_WDT();do/发送缓冲区空么？can_status = SR_CAN1;while (can_status&0x04) != 0x04);TXFrameInfo1 = 0x80 + UART_Length%8;pointer = &TXID1;for (i=0;i4;i+)*(pointer+) = CAN_TX_IDi;pointer = &TXDATA1;for (i=0;i(UART_Length%8);i+)*(pointer+) = CAN_TX_Datai+8*(UART_Length/8);CMR_CAN1 = Request_TX;W_WDT();elseUART_Length = 0;/-/CAN接收中断服务程序/-判断是否是RX中断，如果是/把接受到的CAN信息通过串行口发送出去/-其他的中断说明CAN总线出现错误或脱离/-void CAN_ISR(void) interrupt 0 using 1unsigned char can_int;EA = 0;can_int = IR_CAN1;if (can_int&0x01) = 0x01)/接收中断CAN_Receive();CMR_CAN1 |= ReleaseRXBuf;elseCAN_ERROR_flag = YES;/其他中断，暂时未用/UART_flag = YES;/CAN_flag = YES;UART_Transmit();EA = 1;/-/CAN接收数据函数/-根据接受到的帧信息，按不同的长度存储/报文数据/-void CAN_Receive(void) using 1unsigned char i;unsigned char xdata *pointer;unsigned char Info;Info = RXFrameInfo1;if (Info&0x80) = 0)/standard Frame/CAN_RX_ID0 = RXID1;/CAN_RX_ID1 = RXID2;CAN_DataLength = Info&0x0f;pointer = &RXID3;for (i=0;iCAN_RX_Datai = *(pointer+);for (;i8;i+)CAN_RX_Datai = 0x00;else/Ex Frame/CAN_RX_ID0 = RXID1;/CAN_RX_ID1 = RXID2;/CAN_RX_ID2 = RXID3;/CAN_RX_ID3 = RXID4;CAN_DataLength = Info&0x0f;pointer = &RXDATA1;for (i=0;iCAN_RX_Datai = *(pointer+);/pointer += 1;for (;i P2.7,low level active#define MOD_CAN1XBYTECS1_SJA1000+0 /Peli#define CMR_CAN1XBYTECS1_SJA1000+1/command#define SR_CAN1XBYTECS1_SJA1000+2 /state#define IR_CAN1XBYTECS1_SJA1000+3 /interrupt#define IER_CAN1XBYTECS1_SJA1000+4/interrupt enable /Peli#define BTR0_CAN1XBYTECS1_SJA1000+6 /bus timing0#define BTR1_CAN1XBYTECS1_SJA1000+7 /bus timing1#define OCR_CAN1XBYTECS1_SJA1000+8#define TEST_CAN1XBYTECS1_SJA1000+9#define ECC_CAN1XBYTECS1_SJA1000+12/error catch#define EWLR_CAN1XBYTECS1_SJA1000+13/error warning limit#define RXERR_CAN1XBYTECS1_SJA1000+14/#define TXERR_CAN1XBYTECS1_SJA1000+15#define ACR0_CAN1XBYTECS1_SJA1000+16#define ACR1_CAN1XBYTECS1_SJA1000+17#define ACR2_CAN1XBYTECS1_SJA1000+18#define ACR3_CAN1XBYTECS1_SJA1000+19#define AMR0_CAN1XBYTECS1_SJA1000+20#define AMR1_CAN1XBYTECS1_SJA1000+21#define AMR2_CAN1XBYTECS1_SJA1000+22#define AMR3_CAN1XBYTECS1_SJA1000+23#define RBSA_CAN1XBYTECS1_SJA1000+30/beginning of receive#define CDR_CAN1XBYTECS1_SJA1000+31/clock devide#define TXFrameInfo1 XBYTECS1_SJA1000+16#define TXID1 XBYTECS1_SJA1000+17#define TXID2 XBYTECS1_SJA1000+18#define TXID3 XBYTECS1_SJA1000+19#define TXID4 XBYTECS1_SJA1000+20#define TXDATA1 XBYTECS1_SJA1000+21#define TXDATA2 XBYTECS1_SJA1000+22#define TXDATA3 XBYTECS1_SJA1000+23#define TXDATA4 XBYTECS1_SJA1000+24#define TXDATA5 XBYTECS1_SJA1000+25#define TXDATA6 XBYTECS1_SJA1000+26#define TXDATA7 XBYTECS1_SJA1000+27#define TXDATA8 XBYTECS1_SJA1000+28#define RXFrameInfo1 XBYTECS1_SJA1000+16#define RXID1 XBYTECS1_SJA1000+17#define RXID2 XBYTECS1_SJA1000+18#define RXID3 XBYTECS1_SJA1000+19#define RXID4 XBYTECS1_SJA1000+20#define RXDATA