CAN总线硬件连接与程序文件

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3、9.40.41./ F04x CAN1.C/ / / DEVICE: C8051F040/ AUTHOR: LS/TOOLS:Keil C-compiler andSilic onLabs IDE/CAN1.Cand CAN2.c are asimpleexample of con figuri nga CAN network to/tran smitand receive dataon aCAN network, and howto move informationto/and from CAN RAM messageobjects.Each C8051

4、F040-TBCAN nodeiscon figured/tosend a message when itsP3.7butt onis depressed/released,witha 0x11/toin dicatethebutt onispushed,and0x00 whe n released.Eachnodealso has/a message objectcon figuredtoreceivemessages.TheC8051 tests the/received data andwillturnon/offthe targetboardsLED. When one target/

5、is loaded with CAN2.candtheotheris loadedwithCAN1.c, one target/boardspush-butt onwillcon troltheother targetboards LED, establishi ng/a simplecon trollinkviatheCANbus and canbeobserved directlyon the/targetboards./ In cludes/ SFR declarations#in clude/ CAN Protocol RegisterIndex for CAN0ADR, from T

6、ABLE 18.1 of the C8051F040/ datasheet/#defineCANCTRL0x00/Con trolRegister#defineCANSTAT0x01/Statusregister#defineERRCNT0x02/ErrorCoun terRegister#defineBITREG0x03/BitTimi ng Register#defineINTREG0x04/In terruptLow Byte Register#defineCANTSTR0x05/Testregister#defineBRPEXT0x06/BRPExte nsionRegister/42

7、.IF1InterfaceRegisters43./44.#defi neIF1CMDRQST0x08/IF1Comma nd RestRegister45.#defi neIF1CMDMSK0x09/IF1Comma nd MaskRegister46.#defi neIF1MSK10x0A/IF1Mask1Register47.#defi neIF1MSK20x0B/IF1Mask2Register48.#defi neIF1ARB10x0C/IF1Arbitrati on1Register49.#defi neIF1ARB20x0D/IF1Arbitrati on2Register50.

8、#defi neIF1MSGC0x0E/IF1Message ControlRegister51.#defi neIF1DATA10x0F/IF1Data A1Register52.#defi neIF1DATA20x10/IF1Data A2Register53.#defi neIF1DATB10x11/IF1Data B1Register54.#defi neIF1DATB20x12/IF1Data B2Register55./56./IF2InterfaceRegisters57./58.#defi neIF2CMDRQST0x20/IF2Comma nd RestRegister59.

9、#defi neIF2CMDMSK0x21/IF2Comma nd MaskRegister60.#defi neIF2MSK10x22/IF2Mask1Register61.#defi neIF2MSK20x23/IF2Mask2Register62.#defi neIF2ARB10x24/IF2Arbitrati on1Register63.#defi neIF2ARB20x25/IF2Arbitrati on2Register64.#defi neIF2MSGC0x26/IF2Message ControlRegister65.#defi neIF2DATA10x27/IF2Data A

10、1Register66.#defineIF2DATA20x28Register67.#defi neIF2DATB10x29Register68.#defi neIF2DATB20x2ARegister69./70./Message Han dler Registers71./72.#defi neTRANSREQ10x4073.#defi neTRANSREQ20x4174.75.#defi neNEWDAT10x48Register76.#defi neNEWDAT20x49Register77.78.#defi neINTPEND10x50ter79.#defi neINTPEND20x

11、51ter80.81.#defi neMSGVAL10x58Register82.#defi neMSGVAL20x59Register83.84./85./GlobalVariables86./87.char MsgNum;88.char status;89.int i;90.int MOTwoI ndex = 0;91.int MOOn eI ndex = 0;92.int StatusCopy;93.int RXbuffer 4;94.int TXbuffer 8;95.int MsgI ntNum;96.int Temperature;97.sbit BUTTON = P3A7;98.

12、sbit LED =P1A6;IF2Data A2IF2 Data B1IF2Data B2/Tra nsmissi onRestl Register/Tra nsmissi onRest2 Register/New Data 1/New Data 2/In terruptPending 1Regis/In terruptPending 2Regis/Message Valid 1/Message Valid 2sfr16 CAN0DAT =0xD8;000

13、41.142./Fun ctio nPROTOTYPES/In itializeMessageObjectvoidclear_msg_objects(void );voidini t_msg_object_TX(charMsgNum);voidin it_msg_object_RX(charMsgNum);voidstart_CAN (void );voidtransmit turn LED ON(cha

14、rMsgNum);voidtran smit turn LED OFF(char MsgNum);voidreceive data(charMsgNum);voidexter nal osc(void );voidconfigO(void );voidflash LED(void );voidtest_reg_write(chartest);voidstop_CAN ( void );/ MAIN Routine/void main (void )/ disablewatchdog timerWDTCN = 0xde;WDTCN = 0xad;/con figurePort I/Ocon fi

15、g_IO();/ switch to exter nal oscillator exter nal_osc();service procedure receive_data/Con figureCANcomm uni cati ons/IF1 usedforprocedures callesby main program/ IF2 used for in terrupt143. /144./Message Objectassignments:145./0x02:Used to tran smitcomma nds to toggle its LED, arbitrati onn umber 1

16、146./147./148.149./ Clear CAN RAM150.clear_msg_objects();151.152./ In itializemessage object to tran smitdata153.in it_msg_object_TX(0x02);154.155./In itializemessage object to receivedata156.in it_msg_object_RX(0x01);157.158./Enable CAN interruptsin CIP-51159.EIE2 = 0x20;160.161./Fu nctioncallto st

17、artCAN162.start_CAN();163.164./Globalen able8051in terrupts165.EA =1;166.167./Loop and wait forin terrupts168.while (1)169.170.if (BUTTON = 0)171.while (BUTTON =0)172.tran smit_turn_LED_OFF(0x02);173.else 174.while (BUTTON =1)175.tran smit_turn_LED_ON(0x02);79.180./181./Set up C8051F040

18、182./183.184./Switch to externaloscillator185.voidexternal_osc(void )186. 187.int n;/ localvariableusedindelay FOR loop.188.SFRPAGE = CONFIG_PAGE;/switch to configpage toconfigoscillator189.OSCXCN =0x77;/ startexter naloscillator;22.1MHz Crystal190./ system clock is22.1MHz /2= 11.05 MHz191.for(n=0;n

19、 255; n+);/delay about 1ms192.while (OSCXCN & 0x80)=0);/ wait for oscillatorto stabilize193.CLKSEL |=0x01;/ switch to externaloscillator194.195.196.voidconfigO(void )197.198.SFRPAGE = CONFIG_PAGE;/PortSFRs on Con figurationpage199.XBR3=0x80;/ConfigureCAN TX pin (CTX) as push-pulldigitaloutput200.P1M

20、DOUT |=0x40;/Con figureP1.6 as push-pullto driveLED201.XBR2=0x40;/En ableCrossbar/lowports202.203.204./205./CAN Fun ctio ns206./207.208.209./ClearMessage Objects210.voidclear_msg_objects(void )211.212.SFRPAGE = CAN0_PAGE;213.CAN0ADR = IF1CMDMSK;/Poi ntto Comma nd Mask Register 1214.CAN0DATL = 0xFF;/

21、 Setdirectionto WRITE all IFregisterstoMsg Obj215.for (i=1;i= 400 ns).273.274.275.276.277.278.279.280.281.282.283.284.285.286.287.288.289.290.291.292.293.294.295.296.297.298.299.300.301.302.303.304.305.306.307.308.309.310.311.312.313.314.315.316.Syn c_Seg =1 tqPhase_seg1+ Phase_Seg2(11-6) tq5 tqPhas

22、e_seg1 Phase_seg12 tq and Phase_Seg2 =3 tqTSEG2 = (Phase_Seg21)SJW = (min (Phase_Seg1, 4) tq = 2 tq1)TSEG1 = (Prop_Seg + Phase_Seg1SJW_p = (SJW -1)BitTimi ngRegisterBRP +SJW_p*0x0040TSEG1*0x0100 +TSEG2*0x10002640Clocktolera needfA: df 2/(2*(13*11-3)=1/(141-3)B: df 2/(20*11)1/= 0.7246%=1/110=0.9091%A

23、ctual clock tolera neeis 0.7246%0.5381%0.1865% (no problemforquartz)A:df min( Phase_Seg1,Phase_Seg2) /(2* (13*bit_time-Phase_Seg2)B:df SJW /(20*bit_time)*/SFRPAGE = CAN0_PAGE;CAN0CN |=0x41;/Con figurati onChange Enable CCE and INITCAN0ADR =BITREG; /Poi nt to BitTim ingregisterCAN0DAT =0x2640;/see ab

24、oveCAN0ADR=IF1CMDMSK;/Poi nttoComma nd Mask 1CAN0DAT=0x0087;/ Co nfigfor TX : WRITE to CANRAM,write data bytes,/ set TXrqst/NewDat,clrIntPndTX-IF1 operation/ RX-IF2 operationmay interruptCAN0ADRIF2CMDMSK; /Poi ntto Comma nd Mask 2/Tran smitCAN frame to turnother nodes LED ONCAN0DATL=0x1F;/Co nfigfor

25、RX : READ CANRAM, readdatabytes,/clr NewDatandIntPndCAN0CN|=0x06;/GlobalInt.En able IEandSIECAN0CN&=0x41;/ClearCCEand INIT bits,startsCANstatemach ine(char MsgNum)voidtran smit_turn_LED_ONSFRPAGE =CAN0_PAGE;/IF1 already set upforTXCAN0ADR =IF1CMDMSK;/Poi nttoComma nd Mask1CAN0DAT =0x0087;/ Co nfigto

26、 WRITEtoCAN RAM, writedatabytes：/ setTXrqst/NewDat,ClrIntPndCAN0ADR =IF1DATA1;/Poi ntto1st byteofData FieldCAN0DATL =0x11;/On essig nalstoturni LEDs lightON indataCAN0ADR =IF1CMDRQST;/Poi nttoComma nd RequestReg.A1 fieldCAN0DATL =MsgNum;dataforTXto Msg ObjMsgNum/ Move new317.318.319.320.321.322.323.

27、324.325.326.327.328.329.330.331.332.333.334.335.336.337.338.339.340.341.342.343.344.345.346.347.348.349.350.351.352.353.354.355.356.357.358.359.360./Tran smitCANFrame toturnotherno desLEDOFFvoidtransmit turnLED OFF(charMsgNum)SFRPAGE =CAN0_PAGE;/ IF1 already setupforTXCAN0ADR =IF1DATA1;/Poi ntto 1st

28、byteofData FieldCAN0DATL =0x00;/ Zero sig nalstoturnLEDs lightON in DataCAN0ADR =IF1CMDRQST;/ Point to Comma nd RequestReg.CAN0DATL =MsgNum;/ Move new dataforTXto Msg ObjMsgNumA1 field/ReceiveData from theIF2 buffervoid receive_data (char MsgNum)char virtual_butt on;SFRPAGE=CAN0_PAGE; /IF1already set up forRXCA