can总线通信程序

1、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/

2、 -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.h unsigned char uart_tx_data8 = 0,1,2,3,4,5,6,7; unsigned char can_tx

3、_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 = 0 xff,0 xff,0 xff,0 xff; unsigned char can_tx_id4 = 0,0,0,0; /待发送的目标的id unsigned char can_rx_id4 = 0,

4、0,0,0; /接收到的信息来自何id unsigned 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 =0 xdf,0 xcf,0 xc7,0 xc3,0 x43,0 xc1,0 xc1,0 xc0,0 xc0,0 x80; unsigned char code can_btr110 = 0 x7f,0 x7f,0 x7f,0 x7f,0 x2f,0 x7f,0 x4d,0 x3e,0 x3a,0 x23; / 5k 10k 20k 40k 50k 80k 100k 200k 250k

5、500k unsigned char code uart_btr4 = 0 xe8,0 xf4,0 xfa; / 1.2k,2.4k,4.8k unsigned 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

6、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); le

7、d1 = !led1; else can_flag = not; /* if (uart_flag = yes) uart_flag = not; /delay(50); uart_transmit(); /clear_buffer(can_rx_data,8); /led3 = !led3; else uart_flag = not; */ if (can_error_flag = yes) can_error_flag = not; can_init(); else can_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（ 1

8、on ，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 = 0 x00; /fosc devide 12 auxr = 0 x00;/0 x02; /exm enable led1 = 0; /led0-3 off 指示灯，共阴接法，1 时亮 led2 = 0; led3 = 0; led4 = 0; wdt = 1; /wdt ini can_datalength = 8; uart_datalength = 0; uart_length = 0; can_flag = not; can_

9、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 ch

10、ar 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 = 0 x50; /方式 1，波特率可变，8bits ，接受允许 pcon&= 0 x7f; /smod = 0 tmod |= 0 x20; /timer1 mode 2 tl1 = uart_btr2; /| f /| 波特率 - th1 = uart_b

11、tr2; /| 32*2smod*12*(256-tl1) tcon |= 0 x40; /start ti = 0; /- / / 看门狗 “ 喂狗 ” 程序， wdt 的一个下降沿触发一次/ /- void w_wdt(void) /triggle wdt unsigned char i; wdt = 1; for (i=0;i can_tx_buffer / /- void timer0_isr(void) interrupt 1 using 2 static unsigned char i; /unsigned char counter; /th0 = temp_th0; /tl0 =

12、 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;i can_tx_datai = uart_rx_datai; uart_length = uart_datalength; uart_datalength = 0; can_flag = yes; /- / / 串口中断服务程序

13、/ / -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 3 static unsigned char n; if (ri=1) do ri = 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_s

14、end_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 |= 0 x01; /使用定时器0方式 1 th0 = temp_th0; tl0 = temp_tl0; /tr0 = 1; /这里不打开定时器 void can_init(void) ea = 0; mod_can1 |= 0 x08; /单滤波方式 do mod_can1 |= 0 x01;

15、/request to reset mode while (mod_can1&0 x01) != 0 x01); cdr_can1 = 0 xc8; /选择 pelican模式，使用输入比较器，clk_out关闭 ier_can1 = 0 x01; /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

16、 = amr_id3; /ecc_can1 = 0; /txerr_can1 = 0; /rbsa_can1 = 0; btr0_can1 = can_btr00; btr1_can1 = can_btr10; ocr_can1 = 0 xaa; /normal output w_wdt(); do mod_can1 &= 0 xfe; while (mod_can1&0 x01) != 0 x00); 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) /

17、using 0 unsigned char i; led3 = !led3; for (i=0;i uart_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; unsigne

18、d 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&0 x04) != 0 x04); txframeinfo1 = 0 x00 + 0 x08; pointer = &txid1; for (i=0;i2;i+) *(pointer+) = can_tx_idi; po

19、inter = &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&0 x04) != 0 x04); txframeinfo1 = 0 x00 + uart_length%8; pointer = &txid1; for (i=0;i2;i+) *(pointer+) =

20、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(); else else /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&0 x04) != 0 x04); txframeinfo1 = 0 x80 + 0 x08;

21、 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&0 x04) != 0 x04); txframeinfo1 = 0 x80 +

22、 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(); else uart_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

23、断说明can 总线出现错误或脱离/ /- void can_isr(void) interrupt 0 using 1 unsigned char can_int; ea = 0; can_int = ir_can1; if (can_int&0 x01) = 0 x01) /接收中断 can_receive(); cmr_can1 |= releaserxbuf; else can_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

24、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 1 unsigned char i; unsigned char xdata *pointer; unsigned char info; info = rxframeinfo1; if (info&0 x80) = 0) /standard frame /can_rx_id0 = rxid1; /can_rx_id1 = rxid2; can_datalength = info&0 x0f; pointer = &rxid3; for (i

25、=0;i can_rx_datai = *(pointer+); for (;i8;i+) can_rx_datai = 0 x00; else /ex frame /can_rx_id0 = rxid1; /can_rx_id1 = rxid2; /can_rx_id2 = rxid3; /can_rx_id3 = rxid4; can_datalength = info&0 x0f; pointer = &rxdata1; for (i=0;i can_rx_datai = *(pointer+); /pointer += 1; for (;i p2.7,low level

26、 active #define mod_can1 xbytecs1_sja1000+0 /peli #define cmr_can1 xbytecs1_sja1000+1 /command #define sr_can1 xbytecs1_sja1000+2 /state #define ir_can1 xbytecs1_sja1000+3 /interrupt #define ier_can1 xbytecs1_sja1000+4 /interrupt enable /peli #define btr0_can1 xbytecs1_sja1000+6 /bus timing0 #define

27、 btr1_can1 xbytecs1_sja1000+7 /bus timing1 #define ocr_can1 xbytecs1_sja1000+8 #define test_can1 xbytecs1_sja1000+9 #define ecc_can1 xbytecs1_sja1000+12 /error catch #define ewlr_can1 xbytecs1_sja1000+13 /error warning limit #define rxerr_can1 xbytecs1_sja1000+14 / #define txerr_can1 xbytecs1_sja100

28、0+15 #define acr0_can1 xbytecs1_sja1000+16 #define acr1_can1 xbytecs1_sja1000+17 #define acr2_can1 xbytecs1_sja1000+18 #define acr3_can1 xbytecs1_sja1000+19 #define amr0_can1 xbytecs1_sja1000+20 #define amr1_can1 xbytecs1_sja1000+21 #define amr2_can1 xbytecs1_sja1000+22 #define amr3_can1 xbytecs1_sj

29、a1000+23 #define rbsa_can1 xbytecs1_sja1000+30 /beginning of receive #define cdr_can1 xbytecs1_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 #de

30、fine 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 xbyt