can.txt

CAN通信程序

// ========CAN通信程序======= 


#include	<pic.h>
#include	<pic16f87x.h>
#include	<mcp2510.h>			
// =========常数和变量定义=========  
#define	READ	0x03				
#define	WRITE	0x02			
#define	RESET	0xC0			
#define	RTS	0x80				
#define	STA2510	0xA0			
#define	BITMOD	0x05			
int	a[12];					
int	b[8];					
int	c[8];					
int	i;						
int	count;					
int	count1=0;				
int	RecID_H=0;
int	RecID_L=0;
int	DLC=8;
void SPIINT();
void TMR1INT();
void CCP1INT();
void SPIEXCHANGE(int count);
void WAIT_SPI();
void RESET2510();
int  RD2510(int adress,int n);
void WR2510(int adress,int n);
void RTS2510(int RTSn);
int  GETS2510();
void BM2510(int adress,int mask,int data);
void SETNORMAL();
void TXCOMPLETE(int adress);
void TXMSG(int DLC);
int  RXMSG();
void INIT2510();
void INIT877();
void INITSPI();
void ACK();
void wait();
// ========主程序======= 
main(void)
{
	int l,detect=0;
	SSPIE=1;
	TMR1IE=1;
	CCP1IE=1;
	CCP2IE=1;
	PEIE=1;
	ei();					
	INIT877();				
	INITSPI();				
	INIT2510();				
	flag1=0;
	flag2=0;
	CCP1CON=0x05;
	CCP2CON=0x04;
	while(1)	{
		RXMSG();
		TXMSG(8);
	}
}
// ========中断服务程序=======  
void SPIINT()
{
	SSPIF=0;
	a[i++]=SSPBUF;			
	count-=1;
	if(count>0)  SSPBUF=a[i];
	else  RE2=1;				
	return;
}
void TMR1INT()
{
	TMR1IF=0;
	T1CON=0;
	if(!flag1){
		TMR1H=0xfe;				
		TMR1L=0x00;
		T1CON=0x01;
		PORTD=0xff;				
		flag1=1;
	}
	else	{
		flag1=0;
		PORTD=0;
		T1CON=0;
	}
	return;
} 
void CCP1INT()
{
	CCP1IF=0;
	T1CON=0x01;
	return;
}
 void CCP2INT()
{
	CCP2IF=0;
	T1CON=0x01;
	return;
}
void interrupt INTS()
{
	di();
	if(TMR1IF)  TMR1INT();		
	else if(CCP1IF)  CCP1INT();	
	else if(CCP2IF)  CCP2INT();	
	else if(SSPIF)  SPIINT();	
	ei();
}
// ========子程序======= 
 void SPIEXCHANGE(count)
 int count;
{
	if(count>0) {				 
	  i=0;
	  RE2=0;						 
	  SSPBUF=a[i];				
	}
	else
	  ;							 
	return;
}
 void WAIT_SPI()
{
	do{
	  ;
	}while(count>0);				 
	return;
}
void RESET2510()
{
	a[0]=RESET;
	count=1;
	SPIEXCHANGE(count);			
	WAIT_SPI();
	return;
}
 int RD2510(adress,n)
 int 	adress;
 int		n;
{
	int j;
	a[0]=READ;
	a[1]=adress;
	for(j=0;j<n;j++)  a[j+2]=0;
	count=n+2;				
	SPIEXCHANGE(count);
	WAIT_SPI();
	for(j=0;j<n;j++)  b[j]=a[j+2];
	return;
}
 void WR2510(adress,n)
 int		adress;
 int		n;
{
	int j;
	a[0]=WRITE;
	a[1]=adress;
	for(j=0;j<n;j++) a[j+2]=b[j];
	count=n+2;				
	SPIEXCHANGE(count);
	WAIT_SPI();
	return;
}
 void RTS2510(RTSn)
 int RTSn;
{
	a[0]=RTS^RTSn;
	count=1;
	SPIEXCHANGE(count);			
	WAIT_SPI();
	return;
}
 int GETS2510()
{
	a[0]=STA2510;
	a[1]=0;
	count=2;
	SPIEXCHANGE(count);			
	WAIT_SPI();
	b[0]=a[1];					
	return;
}
 void BM2510(adress,mask,data)
 int  adress;
 int  mask;
 int  data;
{
	a[0]=BITMOD;					
	a[1]=adress;					
	a[2]=mask;					
	a[3]=data;					
	count=4;
	SPIEXCHANGE(count);
	WAIT_SPI();
	return;
}
void  SETNORMAL()
{
	int  k=1;
	BM2510(CANCTRL,0xe0,0x00);	
	do	{
	  RD2510(CANSTAT,1);
	  k=b[0]&0xe0;
	}while(k);					
	return;
}
void INIT2510()
{
	RESET2510();					
	b[0]=0x02;
	b[1]=0x90;
	b[2]=0x07;
	WR2510(CNF3,3);				
	b[0]=0x00;
	b[1]=0x00;
	WR2510(RXM0SIDH,2);
	b[0]=0x00;
	b[1]=0x00;
	WR2510(RXF0SIDH,2);		
	b[0]=0x00;
	WR2510(CANINTE,1);			
	SETNORMAL();					
	return;
}
void TXCOMPLETE(adress)
int adress;
{
	int k=1;
	do	{
	  RD2510(adress,1);
	  k=b[0]&0x08;
	}while(k);				
	return;
}
void INIT877()
{
	PORTA=0;
	PORTB=0;
	PORTC=0;
	PORTD=0;
	PORTE=0;
	TRISA=0xff;
	TRISB=0xfd;
	TRISC=0xd7;				 
	TRISD=0;
	TRISE=0x03;					
	PORTA=0xff;
	PORTB=0x03;				
	PORTC=0;
	PORTD=0xff;
	PORTE=0x04;
	return;
} 
 void INITSPI()
{
	SSPCON=0x11;
	SSPEN=1;						
	SSPSTAT=0;
	return;
}
 void  TXMSG(int DLC)
{
	for(i=0;i<DLC;i++)  b[i]=c[i];
	WR2510(TXB0D0,DLC);	
	b[0]=DLC;
	WR2510(TXB0DLC,1);
	b[0]=0x03;
	b[1]=RecID_H;
	b[2]=RecID_L;
	WR2510(TXB0CTRL,3);
	RTS2510(0x01);					
	TXCOMPLETE(TXB0CTRL);	 			
	return;
} 
 int RXMSG()
{
	int k;
	RD2510(CANINTF,1);
	k=b[0]&0x01;
	if(k==1)	{ 
	BM2510(CANINTF,0x01,0x00);
		RD2510(RXB0SIDH,2);
		RecID_H=b[0];
	RecID_L=b[1]&0xe0;
	RD2510(RXB0DLC,1);
	DLC=b[0]&0x0f;
	RD2510(RXB0D0,DLC);
		for(i=0;i<DLC;i++) c[i]=b[i];
		return 1;
	}
	return 0;
}