can.c

基于MST-G240128点阵液晶的 状态机机制 人机界面四级滚屏菜单 源代码 ,带时间片机制模拟操作系统

/****************************************************************************
 **
 ** 文件名：  CAN.c
 ** 功能：    C8051Fxxx的CAN控制器驱动；
 ** 创建时间：2005.08.05

 ** 修改时间：2005.12.01
 ** 修改说明：

 ** 作者：    李立学
 ** 版权申明：可以拷贝，可以修改，但必须保留修改时间和作者信息
 ** 
 ****************************************************************************/

#include "LZK.H"

uint8 xdata CAN_SendDATA[8];
uint8 xdata CAN_RecvDATA[8];

/****************************************************************************
** 函数名称: CAN_Init(void)
** 功能描述: 初始化CAN控制器定时、波特率，使能CAN控制器
** 入口参数: 无
** 出口参数: 无
** 全局变量: 无
** 调用模块: 无
** 说明: 
****************************************************************************/
void CAN_Init(void)
{
   SFRPAGE = CAN0_PAGE;
   CAN0CN  = 0x41;  // 0100_0001, Set  CCE and INIT      
   // Bit7: TEST: Test Mode Enable bit.                   0: Disabled;
   // Bit6: CCE:  Configuration Change Enable bit, "CCE". 0: Disabled;
   // Bit5: DAR:  Disable Automatic Retransmission bit.   0: Eabled;
   // Bit4: CANIF:Module Interrupt Flag.                  1: CAN interrupt has occurred and is active, Cleared by hardware.        
   // Bit3: EIE:  Module Error  Interrupt Enable Bit.     1: Enabled;
   // Bit2: SIE:  Status change Interrupt Enable Bit.     1: Enabled;
   // Bit1: IE:   Module Interrupt Enable Bit.            1: Enabled IRQ_B;
   // Bit0: INIT: Initialization bit.                     0: Normal Operation;
   CAN0ADR = BRPEXT;     // Address for BRP Extension Register.
   CAN0DAT = 0x0000;     // BRPE = 0x00;

   CAN0ADR = BITREG;     // Address for Bit Timing register.
                         // Prop_Seg = 7 * 4 / 24 = 1166.7nS > 400nS.
   CAN0DAT = 7  << 12 |  // TSeg2 = (Phase_Seg2 - 1) = 8 - 1 = 7; 
             14 << 8  |  // Tseg1 = (Prop_Seg + Phase_Seg1 - 1) = 7 + 8 - 1 = 14  
             3  << 6  |  // SWJp  =  SWJ - 1 = 4 - 1 = 3; 
             3;          // BRP   =  4. 
                         // Bit Time = Sync_Seg(1) + Prop_Seg(7) + Phase_Seg1(8) + Phase_Seg2(8);
                         // BautRate = 24M / 4 /(1 + 7 + 8 + 8) = 250K.
   // CAN0TST = 0x04;    // Basic Mode Enabled. IF1 Used as Tx Buffer, IF2 Used as Rx Buffer. 
   // Bit7:      Rx Monitors the actual value of the CAN_RX Pin
   //            CAN bus is recessive (CAN_RX = ‘1’) or dominant (CAN_RX = ‘0’).
   // Bit[6..5]: Tx1-0 Control of CAN_TX pin
   //        00: Reset value, CAN_TX is controlled by the CAN Core.
   //        01: Sample Point can be monitored at CAN_TX pin.
   //        10: CAN_TX pin drives a dominant (‘0’) value.
   //        11: CAN_TX pin drives a recessive (‘1’) value.
   // Bit4:      LBack Loop Back Mode
   //  0/1:      Loop Back Mode is disabled / enabled.
   // Bit3:      Silent Silent Mode
   //  0/1:      Normal operation / The module is in Silent Mode
   // Bit2:      Basic Basic Mode
   //  0/1:      Basic Basic Mode Disabled / Eanabled. 
   //            In Basic Mode, IF1 Registers used as Tx Buffer, IF2 Registers used as Rx Buffer.

   CAN0ADR = IF1CMDMSK; // Point to Command Mask 1
   CAN0DAT = 0x0087;    // Config IF1 as TX.
	// WR/RD Mask Arb Control ClrIntPnd TxRqst/NewDat DataA DataB
   // 1(WR) 0    0   0       0         1             1     1

   CAN0ADR = IF2CMDMSK; // Point to Command Mask 2
   CAN0DAT = 0x001F;    // Config IF2 as RX.
	// WR/RD Mask Arb Control ClrIntPnd TxRqst/NewDat DataA DataB
   // 0(RD) 0    0   1       1         1             1     1

   CAN0CN &= ~0x41;     // CAN0CN = 0x00, Clear CCE and INIT bits, Starts CAN State machine
}


/****************************************************************************
** 函数名称: CAN_ClrMsgObject(void)
** 功能描述: 清除所有CAN控制器msg object.
** 入口参数: 无
** 出口参数: 无
** 全局变量: 无
** 调用模块: 无
** 说明: 
****************************************************************************/
void CAN_ClrMsgObject(void)
{
   uint8 i;   

   SFRPAGE  = CAN0_PAGE;
   CAN0ADR  = IF1CMDMSK;     // Point to Command Mask Register 1
   CAN0DATL = 0xFF;          // Set direction to WRITE all IF registers to Msg Obj
   for(i=1; i<=32; i++)
   {   
      CAN0ADR  = IF1CMDRQST; // Write blank (reset) IF registers to each msg obj
      CAN0DATL = i;
      DuS( CAN_6CLK );       // CAN_CLK = 6MHz, 6 CAN_CLK = 1uS. 
   }
}


// Initialize Message Object use IF2

// IFx Mask 1 Register: 15..0
//                      Msk15-0
// IFx Mask 2 Register: 15     14    13    12..0
//                      MXtd   MDir  reg   Msk28-16

// IFx Arbitration 1 Register: 15..0
//                             ID15-0
// IFx Arbitration 2 Register: 15      14   13   12..0
//                             MsgVal  Xtd  Dir  ID28-16

// IFx Message Control Register:
//     bit  15      14      13     12     11    10     9      8      7    6..4  3..0
//         NewDat  MsgLst  IntPnd  UMask  TxIE  RxIE  RmtEn  TxRqst  EoB  reg   DLC3-0

// IFx Data A and Data B Registers
// IFx Message Data A1:    data1    data0
// IFx Message Data A2:    data3    data2
// IFx Message Data B1:    data5    data4
// IFx Message Data B2:    data7    data6

/****************************************************************************
** 函数名称: CAN_ClrMsgObject(void)
** 功能描述: 清除所有CAN控制器msg object.
** 入口参数: 无
** 出口参数: 无
** 全局变量: 无
** 调用模块: 无
** 说明: 
****************************************************************************/
void CAN_InitMsgObj(unsigned char MsgNum,unsigned int CmdMsk,unsigned int Msk1,unsigned int Msk2,unsigned int Arb1,unsigned int Arb2,unsigned int MsgCtrl)
{
   SFRPAGE = CAN0_PAGE;          // 3-6 CAN clock cycles to move IF reg contents to the Msg Obj in CAN RAM.
	CAN0ADR = IF1CMDMSK;          // Point to Command Mask 1
	CAN0DAT = CmdMsk;             // Set Command Mask Registers
	CAN0ADR = IF1MSK1;            // Point to Mask Registers
	CAN0DAT = Msk1;               // Mask1
	CAN0DAT = Msk2;               // Mask2
	CAN0DAT = Arb1;               // Arbitration1
	CAN0DAT = Arb2;               // Arbitration2
	CAN0DAT = MsgCtrl;            // Msg Cntrl
	CAN0ADR = IF1CMDRQST;         // Point to Command Request reg.
	CAN0DAT = MsgNum;             // Select Msg Obj passed into function parameter list --initiates write to Msg Obj.   
}


/****************************************************************************
** 函数名称: CAN_RunCtrl(bit RunCtrl)
** 功能描述: 启动/停止CAN控制器
** 入口参数: 无
** 出口参数: 无
** 全局变量: 无
** 调用模块: 无
** 说明: 
****************************************************************************/
/*
void CAN_RunCtrl(bit RunCtrl)
{
   SFRPAGE = CAN0_PAGE;

	if( RunCtrl )
     CAN0CN &= 0xfe;        // Clear the INIT bit.
   else
     CAN0CN |= 0x01;        // Set   the INIT bit.
}
*/

/****************************************************************************
** 函数名称: CAN_SendMsg()
** 功能描述: 发送msg.
** 入口参数: 无
** 出口参数: 无
** 全局变量: 无
** 调用模块: 无
** 说明: 
****************************************************************************/
/*
void CAN_SendMsg(int8 MsgNum, uint8 ByteNum)
{
   uint8 i = 0;   

   SFRPAGE  = CAN0_PAGE;        // IF1 already set up for TX
   CAN0ADR  = IF1CMDMSK;        // Point to Command Mask 1
   CAN0DAT  = 0x0087;           // Config to WRITE to CAN RAM, write data bytes,
                                // set TXrqst/NewDat, Clr IntPnd

   CAN0ADR   = IF1ARB2;         // Point to Arbitration2 register
   CAN0DATH |= 0x80;            // MsgVal = 1, Msg Valid.
   CAN0ADR   = IF1DATA1;        // Point to 1st byte of Data Field

   CAN0DATH = CAN_SendDATA[i];  // Autoincrement through IF data bytes
   if(i > ByteNum )             // DATA0 
     goto CAN_Send_DONE; 

   i++;
   CAN0DATL = CAN_SendDATA[i];  // DATA1 
   if(i > ByteNum )
     goto CAN_Send_DONE;

   i++;
   CAN0DATH = CAN_SendDATA[i];  // DATA2
   if(i > ByteNum )
     goto CAN_Send_DONE;

   i++;
   CAN0DATL = CAN_SendDATA[i];  // DATA3 
   if(i > ByteNum )
     goto CAN_Send_DONE;

   i++;
   CAN0DATH = CAN_SendDATA[i];  // DATA4 
   if(i > ByteNum )
     goto CAN_Send_DONE;

   i++;
   CAN0DATL = CAN_SendDATA[i];  // DATA5 
   if(i > ByteNum )
     goto CAN_Send_DONE;

   i++;
   CAN0DATH = CAN_SendDATA[i];  // DATA6 
   if(i > ByteNum )
     goto CAN_Send_DONE;
  
   i++;
   CAN0DATL = CAN_SendDATA[i];  // DATA7
   if(i > ByteNum )
     goto CAN_Send_DONE;

   CAN_Send_DONE:               // CAN_Send_DONE
   CAN0ADR = IF1CMDRQST;        // Point to Command Request Reg.
   CAN0DATL = MsgNum;           // Move new data for TX to Msg Obj "MsgNum"
}
*/


/****************************************************************************
** 函数名称: CAN_RecvMsg()
** 功能描述: 接收msg.
** 入口参数: 无
** 出口参数: 无
** 全局变量: 无
** 调用模块: 无
** 说明: 
****************************************************************************/
/*
void CAN_RecvMsg(int8 MsgNum)
{
   SFRPAGE  = CAN0_PAGE;       // IF1 already set up for RX
   CAN0ADR  = IF2CMDRQST;      // Point to Command Request Reg.
   CAN0DATL = MsgNum;          // Move new data for RX from Msg Obj "MsgNum"
                               // Move new data to a
   CAN0ADR  = IF2DATA1;        // Point to 1st byte of Data Field

   CAN_RecvDATA[0] = CAN0DATH;
   CAN_RecvDATA[1] = CAN0DATL;