canint.c18.ex.txt

微芯公司提供的18系列单片机can通讯程序

#include  <p18cxxx.h>
#include "can.h"

#define I_WANT_DISABLE_CAN_MODULE 0

#pragma interrupt HighISR save=section(".tmpdata")
void HighISR(void)
{
	CANISR();
}

#pragma code highVector=0x08
void HighVector (void)
{
    _asm goto HighISR _endasm
}


#pragma code /* return to default code section */
void main()			//Main entry
{
	struct CANMessage RX_Message, TX_Message;	//Declare one message structure for transmission and one for reception
	char i, I_Have_Something_To_Send = 0;		
	CANInit();			//Initialize CAN module
	INTCONbits.GIE = 1;			//Enable interrupts
	INTCONbits.PEIE = 1;		
	while(1)
	{
		if(CANRXMessageIsPending())	//Check if there is an unread CAN message
		{
			RX_Message = CANGet();	//Get the message
			if(RX_Message.Remote == 1 && RX_Message.Address == MY_ADDRESS_IDENTIFIER)
			{						//Check if it was a Remote Transmission Request message and My Identifier
				I_Have_Something_To_Send = 1;	//Set the send flag
			}
		}
		
		
		if(I_Have_Something_To_Send)	
		{
			TX_Message.Address = MY_ADDRESS_IDENTIFIER;		//Set the address to My identifier
#ifdef MY_ADDRESS_IS_STANDARD
			TX_Message.Ext = 0;								//If the identifier is standard, clear the Ext flag
#else
			TX_Message.Ext = 1;								//If the identifier is extended, set the Ext flag
#endif
			TX_Message.NoOfBytes = RX_Message.NoOfBytes;	//Set number of bytes to send
			for(i=0; i<TX_Message.NoOfBytes; i++)			//Fill the Data bytes
			{
				TX_Message.Data[i] = i;
			}
			TX_Message.Remote = 0;							//clear the remote flag
			TX_Message.Priority = 0;						//Internal CAN module priority 0-> least priority, 3-> most priority
			CANPut(TX_Message);								//Put the message in the FIFO
			I_Have_Something_To_Send = 0;
		}
		if(I_WANT_DISABLE_CAN_MODULE)
		{
			CANSetMode(CAN_DISABLE_MODE);				//Set a new CAN mode
		}
	}	
}

void CANErrorHandler(void)
{
	//If CAN error handler is enabled
	//Perform error handling code here
}