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                            &#

2、160;                                                  &

3、#160; /   -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-

4、0;  /    -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MAX1232CP

5、A，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_Data8 = 0,1,2,3,4,5,6,7;     unsigned char xdata UART_RX_Data255;       

6、60;/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;   

7、     /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;

8、  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;   / &#

9、160;        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

10、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();   

11、;/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)   

12、60; CAN_flag = NOT;   CAN_Transmit(0);   LED1 = !LED1;    else     CAN_flag = NOT;  /*  if (UART_flag = YES)     UART_flag = NOT;   /Delay(50);   

13、;UART_Transmit();   /Clear_Buffer(CAN_RX_Data,8);   /LED3 = !LED3;    else     UART_flag = NOT;   */  if (CAN_ERROR_flag = YES)     CAN_ERROR_flag = NOT;   CAN_

14、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（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;

15、   /Fosc devide 12 AUXR  = 0x00;/0x02;   /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;  

16、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(C

17、AN_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

18、 < time;i+)   W_WDT();  for (j=0;j<30000;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 = 0   

19、;                         TMOD |= 0x20;  /timer1 mode 2                  &#

20、160;     TL1 = UART_BTR2; /|     f                     /| 波特率-     TH1 = UART_BTR2; /|   3

21、2*2smod*12*(256-TL1)    TCON |= 0x40;  /start                                     

22、60;                                                 

23、60;                                                 

24、60;      TI = 0;                                          &#

25、160;   /-/ 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<10;i+)   WDT = 0;/-/ 中断初始化/  /  -外部中断0有效，下降沿触发，用于SJA1000产生CAN事件中断/  -定时器中断，用于判定串口接收的顺序两个字节是否

26、分属两帧/  -串口中断，RX使用中断，TX未使用/  -中断优先级暂时未设定/-void Interrupt_init(void) /IP = 0x00;      IT0 = 0x01;      /外部0中断沿触发  ET0 = 1;      /定时器0中断使能 EX0 = 1;     &

27、#160;/外部中断使能 ES = 1;                /串行中断使能/-/ 定时中断程序 /  /  一旦中断，说明一帧的接收已经结束，开始启动CAN发送程序/  把串口接收到的数据准备好给CAN总线发送/  RX_buffer => CAN_TX_buffer/-void Timer0_ISR(void) int

28、errupt 1 using 2 static 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？  

29、 /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;/-/&

30、#160; 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 3 static unsigned char  n;  if (RI=1)   do     RI = 0;    while (RI != 0);  /UART_RX_Dat

31、aUART_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

32、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;   

33、  /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 |= 0x08;     /单滤波方式 do   MOD_CAN1 |= 0x01;    

34、           /request to reset mode  while (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

35、= 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;   

36、; BTR1_CAN1 = CAN_BTR10; OCR_CAN1 = 0xaa;     /normal output W_WDT(); do   MOD_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

37、息来确定/-void UART_Transmit(void) /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

38、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 x

39、data *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？      &#

40、160;can_status = SR_CAN1;      while (can_status&0x04) != 0x04);      TXFrameInfo1 = 0x00 + 0x08;   pointer = &TXID1;   for (i=0;i<2;i+)       *(pointer+) = CAN_TX_

41、IDi;      pointer = &TXID3;    for (i=0;i<8;i+)       *(pointer+) = CAN_TX_Datai+8*m;      CMR_CAN1 = Request_TX;   W_WDT();      if

42、(UART_Length%8) != 0)     W_WDT();   do          /发送缓冲区空么？       can_status = SR_CAN1;      while (can_status&0x04) != 0x04);   TXF

43、rameInfo1 = 0x00 + UART_Length%8;   pointer = &TXID1;   for (i=0;i<2;i+)       *(pointer+) = CAN_TX_IDi;      pointer = &TXID3;    for (i=0;i<(UART_Length%8);i+) 

44、0;     *(pointer+) = CAN_TX_Datai+8*(UART_Length/8);      CMR_CAN1 = Request_TX;   W_WDT();    else      else        /扩展帧   &

45、#160;for (m=0;m<(UART_Length/8);m+)     W_WDT();                                     &#

46、160;               do         /发送缓冲区空么？                       

47、60;                                            can_status = SR_CAN1;  

48、                                                  

49、                                            while (can_status&0x04) != 0x04)

50、;                          TXFrameInfo1 = 0x80 + 0x08;   pointer = &TXID1;   for (i=0;i<4;i+)      

51、0;*(pointer+) = CAN_TX_IDi;      pointer = &TXDATA1;     for (i=0;i<8;i+)       *(pointer+) = CAN_TX_Datai+8*m;      CMR_CAN1 = Request_TX;   W_WDT(); &#

52、160;    if (UART_Length%8) != 0)     W_WDT();   do         /发送缓冲区空么？       can_status = SR_CAN1;      while (can_status&0x04)

53、!= 0x04);   TXFrameInfo1 = 0x80 + UART_Length%8;   pointer = &TXID1;   for (i=0;i<4;i+)       *(pointer+) = CAN_TX_IDi;      pointer = &TXDATA1;     for (

54、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;/-/  

55、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 1 unsigned char can_int; EA = 0; can_int = IR_CAN1; if (can_int&0x

56、01) = 0x01)   /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接收数据函数/

57、60;  /   -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; I

58、nfo = RXFrameInfo1; if (Info&0x80) = 0)   /standard Frame   /CAN_RX_ID0 = RXID1;    /CAN_RX_ID1 = RXID2;  CAN_DataLength = Info&0x0f;  pointer = &RXID3;  for (i=0;i     CAN_RX_Da

59、tai = *(pointer+);    for (;i<8;i+)     CAN_RX_Datai = 0x00;     else       /Ex  Frame   /CAN_RX_ID0 = RXID1;    /CAN_RX_ID1 = RXID2;  /CAN_RX

60、_ID2 = RXID3;    /CAN_RX_ID3 = RXID4;  CAN_DataLength = Info&0x0f;  pointer = &RXDATA1;  for (i=0;i     CAN_RX_Datai = *(pointer+);   /pointer += 1;    for (;i<8;i+)  &#

61、160;  CAN_RX_Datai = 0x00;     /-/  清0缓冲区/   /   -pointer,指向待清0 的缓冲区首地址/   -length 清0 的长度   /-void Clear_Buffer(unsigned char *pointer,unsigned char length) unsigned char i; for (i=0;i&

62、#160;  *(pointer+) = 0x00; 另外头文件为：#ifndef _CANCOM_H#define _CANCOM_H#define CS1_SJA1000  0x7f00       /SJA1000 Pin /CS -> P2.7,low level active   #define MOD_CAN1  XBYTECS1_SJA1000+0   /Peli#define CMR_CAN1&

63、#160; 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

64、60; XBYTECS1_SJA1000+6        /bus timing0#define BTR1_CAN1  XBYTECS1_SJA1000+7        /bus timing1#define OCR_CAN1  XBYTECS1_SJA1000+8#define TEST_CAN1  XBYTECS1_SJA1000+9#define ECC_CAN1 &

65、#160;XBYTECS1_SJA1000+12  /error catch#define EWLR_CAN1  XBYTECS1_SJA1000+13  /error warning limit#define RXERR_CAN1  XBYTECS1_SJA1000+14  /#define TXERR_CAN1  XBYTECS1_SJA1000+15#define ACR0_CAN1  XBYTECS1_SJA1000+16#define ACR1_

66、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_SJA1000+23#define RBSA_CAN1  XBYTECS1_SJA1000+30  /beginning of receive#define CDR_CAN1  XBYTECS1_SJA1000+31  /clock de