📄 can.lst
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C51 COMPILER V7.02a CAN 08/31/2006 08:52:05 PAGE 4
176 ** 函数名称: CAN_SendMsg()
177 ** 功能描述: 发送msg.
178 ** 入口参数: 无
179 ** 出口参数: 无
180 ** 全局变量: 无
181 ** 调用模块: 无
182 ** 说明:
183 ****************************************************************************/
184 /*
185 void CAN_SendMsg(int8 MsgNum, uint8 ByteNum)
186 {
187 uint8 i = 0;
188
189 SFRPAGE = CAN0_PAGE; // IF1 already set up for TX
190 CAN0ADR = IF1CMDMSK; // Point to Command Mask 1
191 CAN0DAT = 0x0087; // Config to WRITE to CAN RAM, write data bytes,
192 // set TXrqst/NewDat, Clr IntPnd
193
194 CAN0ADR = IF1ARB2; // Point to Arbitration2 register
195 CAN0DATH |= 0x80; // MsgVal = 1, Msg Valid.
196 CAN0ADR = IF1DATA1; // Point to 1st byte of Data Field
197
198 CAN0DATH = CAN_SendDATA[i]; // Autoincrement through IF data bytes
199 if(i > ByteNum ) // DATA0
200 goto CAN_Send_DONE;
201
202 i++;
203 CAN0DATL = CAN_SendDATA[i]; // DATA1
204 if(i > ByteNum )
205 goto CAN_Send_DONE;
206
207 i++;
208 CAN0DATH = CAN_SendDATA[i]; // DATA2
209 if(i > ByteNum )
210 goto CAN_Send_DONE;
211
212 i++;
213 CAN0DATL = CAN_SendDATA[i]; // DATA3
214 if(i > ByteNum )
215 goto CAN_Send_DONE;
216
217 i++;
218 CAN0DATH = CAN_SendDATA[i]; // DATA4
219 if(i > ByteNum )
220 goto CAN_Send_DONE;
221
222 i++;
223 CAN0DATL = CAN_SendDATA[i]; // DATA5
224 if(i > ByteNum )
225 goto CAN_Send_DONE;
226
227 i++;
228 CAN0DATH = CAN_SendDATA[i]; // DATA6
229 if(i > ByteNum )
230 goto CAN_Send_DONE;
231
232 i++;
233 CAN0DATL = CAN_SendDATA[i]; // DATA7
234 if(i > ByteNum )
235 goto CAN_Send_DONE;
236
237 CAN_Send_DONE: // CAN_Send_DONE
C51 COMPILER V7.02a CAN 08/31/2006 08:52:05 PAGE 5
238 CAN0ADR = IF1CMDRQST; // Point to Command Request Reg.
239 CAN0DATL = MsgNum; // Move new data for TX to Msg Obj "MsgNum"
240 }
241 */
242
243
244 /****************************************************************************
245 ** 函数名称: CAN_RecvMsg()
246 ** 功能描述: 接收msg.
247 ** 入口参数: 无
248 ** 出口参数: 无
249 ** 全局变量: 无
250 ** 调用模块: 无
251 ** 说明:
252 ****************************************************************************/
253 /*
254 void CAN_RecvMsg(int8 MsgNum)
255 {
256 SFRPAGE = CAN0_PAGE; // IF1 already set up for RX
257 CAN0ADR = IF2CMDRQST; // Point to Command Request Reg.
258 CAN0DATL = MsgNum; // Move new data for RX from Msg Obj "MsgNum"
259 // Move new data to a
260 CAN0ADR = IF2DATA1; // Point to 1st byte of Data Field
261
262 CAN_RecvDATA[0] = CAN0DATH;
263 CAN_RecvDATA[1] = CAN0DATL;
264 CAN_RecvDATA[2] = CAN0DATH;
265 CAN_RecvDATA[3] = CAN0DATL;
266 CAN_RecvDATA[4] = CAN0DATH;
267 CAN_RecvDATA[5] = CAN0DATL;
268 CAN_RecvDATA[6] = CAN0DATH;
269 CAN_RecvDATA[7] = CAN0DATL;
270 }
271 */
272
273
274 /****************************************************************************
275 ** 函数名称: CAN_ISR()
276 ** 功能描述: CAN控制器中断服务程序.
277 ** 入口参数: 无
278 ** 出口参数: 无
279 ** 全局变量: 无
280 ** 调用模块: 无
281 ** 说明:
282 ****************************************************************************/
283 /*
284 void CAN_ISR(void) interrupt 19
285 {
286 unsigned char CanSTATUS, ucTMP;
287
288 CanSTATUS = CAN0STA;
289 // Bit7: BOff: Busoff Status;
290 // 0/1: Not BusOff / BusOff.
291 // Bit6: EWarn: Warning Status;
292 // 0/1: BothEML < 96 / At Least OneEML > 96.
293 // Bit5: EPass: Error Passive;
294 // 0/1: CAN Core IS Error Active / error passive state.
295 // Bit4: RxOk: Received a Message Successfully, Cleared by SoftWare.
296 // Bit3: TxOk: Transmitted a Message Successfully, Cleared by SoftWare.
297 // Bit[2..0]: LEC[2..0]: Last Error Code. Type of the last error to occur on the CAN bus
298 // 0: No Error
299 // 1: Stuff Error: 位填充错误
C51 COMPILER V7.02a CAN 08/31/2006 08:52:05 PAGE 6
300 // 2: Form Error: 接收帧格式错误
301 // 3: AckError: 对方接收CAN控制器无应答
302 // 4: Bit1Error: 发送隐性电平“1”，监测为“0”
303 // 5: Bit0Error: 发送显性电平“0”，监测为“1”，应答错误等
304 // 6: CRCError: 接收数据的CRC校验码错误
305 // 7: Unused: 无CAN事件发生
306
307 if( (CanSTATUS&0x10) != 0 ) // RX OK.
308 {
309 CAN0STA = (CAN0STA & 0xEF) | 0x07; // Reset RxOk, Set LEC to NoChange
310 receive_data (0x01); // Up to now, we have only one RX message
311 }
312 if( (CanSTATUS&0x08) != 0) // Tx OK.
313 {
314 CAN0STA = (CAN0STA & 0xF7) | 0x07; // Reset TxOk, set LEC to NoChange
315 }
316
317 ucTMP = CanSTATUS & 0x07;
318 if( ( ucTMP != 0) && ( ucTMP != 7) ) // Not Equal 0 AND Equal 7.
319 { // CAN Controllor Error Process.
320 switch( ucTMP )
321 {
322 case 1:
323 break;
324 case 2:
325 break;
326 case 3:
327 break;
328 case 4:
329 break;
330 case 5:
331 break;
332 case 6:
333 break;
334 default:
335 break;
336 }
337 CAN0STA = CAN0STA | 0x07; // Set LEC to NoChange
338 }
339 }
340 */
341
342
343 /*
344 CAN0CN / CANCTRL // CAN Control Register
345 // Configuration Change Enable CCE and INIT
346 // Bit7: CAN Test Mode Enable bit.
347 // Bit6: CAN Configuration Change Enable bit, "CCE".
348 // Bit5: CAN Disable Automatic Retransmission bit.
349 // Bit4: CAN Module Interrupt Flag.
350 // Bit3: CAN Module Error Interrupt Enable Bit.
351 // Bit2: CAN Status change Interrupt Enable Bit.
352 // Bit1: CAN Module Interrupt Enable Bit, "INIT".
353 // Bit0: CAN Initialization bit.
354
355 CAN0STA / CANSTAT // Status Register
356 // Bit7: BOff: Busoff Status; 0/1: Not BusOff / BusOff.
357 // Bit6: EWarn: Warning Status;0/1: BothEML < 96 / At Least OneEML > 96.
358 // Bit5: EPass: Error Passive; 0/1: CAN Core IS Error Active / error passive state.
359 // Bit4: RxOk: Received a Message Successfully. Cleared by SoftWare.
360 // Bit3: TxOk: Transmitted a Message Successfully.Cleared by SoftWare.
361 // Bit[2..0]: LEC[2..0]: Last Error Code. Type of the last error to occur on the CAN bus
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