at91sam7a3_can.html

1、程序目的：AT91SAM7A3的CAN功能验证与使用指导。 2、功能说明：该程序包括三个常用CAN功能的测试 1）、测试1:将CAN0 Mailbox 0中的数据传到CAN1 Mailbox

<tr><td align="CENTER" bgcolor="#FFFFCC">27</td><td align="CENTER"><a name="CAN_FERR"></a><b>CAN_FERR</b><font size="-2"><br><a href="AT91SAM7A3_h.html#AT91C_CAN_FERR">AT91C_CAN_FERR</a></font></td><td><b>Form Error</b></td></tr>
<tr><td align="CENTER" bgcolor="#FFFFCC">28</td><td align="CENTER"><a name="CAN_BERR"></a><b>CAN_BERR</b><font size="-2"><br><a href="AT91SAM7A3_h.html#AT91C_CAN_BERR">AT91C_CAN_BERR</a></font></td><td><b>Bit Error</b></td></tr>
<tr><td align="CENTER" bgcolor="#FFFFCC">29</td><td align="CENTER"><a name="CAN_RBSY"></a><b>CAN_RBSY</b><font size="-2"><br><a href="AT91SAM7A3_h.html#AT91C_CAN_RBSY">AT91C_CAN_RBSY</a></font></td><td><b>Receiver Busy</b></td></tr>
<tr><td align="CENTER" bgcolor="#FFFFCC">30</td><td align="CENTER"><a name="CAN_TBSY"></a><b>CAN_TBSY</b><font size="-2"><br><a href="AT91SAM7A3_h.html#AT91C_CAN_TBSY">AT91C_CAN_TBSY</a></font></td><td><b>Transmitter Busy</b></td></tr>
<tr><td align="CENTER" bgcolor="#FFFFCC">31</td><td align="CENTER"><a name="CAN_OVLY"></a><b>CAN_OVLY</b><font size="-2"><br><a href="AT91SAM7A3_h.html#AT91C_CAN_OVLY">AT91C_CAN_OVLY</a></font></td><td><b>Overload Busy</b></td></tr>
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<a name="CAN_BR"></a><h4><a href="#CAN">CAN</a>: <i><a href="AT91SAM7A3_h.html#AT91_REG">AT91_REG</a></i> CAN_BR  <i>Baudrate Register</i></h4><ul><null><font size="-2"><li><b>CAN0</b> <i><a href="AT91SAM7A3_h.html#AT91C_CAN0_BR">AT91C_CAN0_BR</a></i> 0xFFF80014</font><font size="-2"><li><b>CAN1</b> <i><a href="AT91SAM7A3_h.html#AT91C_CAN1_BR">AT91C_CAN1_BR</a></i> 0xFFF84014</font></null></ul><table border=1 cellpadding=0 cellspacing=0 width="100%"><null><th bgcolor="#FFFFCC"><b>Offset</b></th><th bgcolor="#FFFFCC"><b>Name</b></th><th bgcolor="#FFFFCC"><b>Description</b></th><tr><td align="CENTER" bgcolor="#FFFFCC">2..0</td><td align="CENTER"><a name="CAN_PHASE2"></a><b>CAN_PHASE2</b><font size="-2"><br><a href="AT91SAM7A3_h.html#AT91C_CAN_PHASE2">AT91C_CAN_PHASE2</a></font></td><td><b>Phase 2 segment</b></td></tr>
<tr><td align="CENTER" bgcolor="#FFFFCC">6..4</td><td align="CENTER"><a name="CAN_PHASE1"></a><b>CAN_PHASE1</b><font size="-2"><br><a href="AT91SAM7A3_h.html#AT91C_CAN_PHASE1">AT91C_CAN_PHASE1</a></font></td><td><b>Phase 1 segment</b></td></tr>
<tr><td align="CENTER" bgcolor="#FFFFCC">10..8</td><td align="CENTER"><a name="CAN_PROPAG"></a><b>CAN_PROPAG</b><font size="-2"><br><a href="AT91SAM7A3_h.html#AT91C_CAN_PROPAG">AT91C_CAN_PROPAG</a></font></td><td><b>Programmation time segment</b></td></tr>
<tr><td align="CENTER" bgcolor="#FFFFCC">13..12</td><td align="CENTER"><a name="CAN_SYNC"></a><b>CAN_SYNC</b><font size="-2"><br><a href="AT91SAM7A3_h.html#AT91C_CAN_SYNC">AT91C_CAN_SYNC</a></font></td><td><b>Re-synchronization jump width segment</b></td></tr>
<tr><td align="CENTER" bgcolor="#FFFFCC">22..16</td><td align="CENTER"><a name="CAN_BRP"></a><b>CAN_BRP</b><font size="-2"><br><a href="AT91SAM7A3_h.html#AT91C_CAN_BRP">AT91C_CAN_BRP</a></font></td><td><b>Baudrate Prescaler</b></td></tr>
<tr><td align="CENTER" bgcolor="#FFFFCC">24</td><td align="CENTER"><a name="CAN_SMP"></a><b>CAN_SMP</b><font size="-2"><br><a href="AT91SAM7A3_h.html#AT91C_CAN_SMP">AT91C_CAN_SMP</a></font></td><td><b>Sampling mode</b></td></tr>
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<a name="CAN_TIM"></a><h4><a href="#CAN">CAN</a>: <i><a href="AT91SAM7A3_h.html#AT91_REG">AT91_REG</a></i> CAN_TIM  <i>Timer Register</i></h4><ul><null><font size="-2"><li><b>CAN0</b> <i><a href="AT91SAM7A3_h.html#AT91C_CAN0_TIM">AT91C_CAN0_TIM</a></i> 0xFFF80018</font><font size="-2"><li><b>CAN1</b> <i><a href="AT91SAM7A3_h.html#AT91C_CAN1_TIM">AT91C_CAN1_TIM</a></i> 0xFFF84018</font></null></ul><table border=1 cellpadding=0 cellspacing=0 width="100%"><null><th bgcolor="#FFFFCC"><b>Offset</b></th><th bgcolor="#FFFFCC"><b>Name</b></th><th bgcolor="#FFFFCC"><b>Description</b></th><tr><td align="CENTER" bgcolor="#FFFFCC">15..0</td><td align="CENTER"><a name="CAN_TIMER"></a><b>CAN_TIMER</b><font size="-2"><br><a href="AT91SAM7A3_h.html#AT91C_CAN_TIMER">AT91C_CAN_TIMER</a></font></td><td><b>Timer field</b></td></tr>
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<a name="CAN_TIMESTP"></a><h4><a href="#CAN">CAN</a>: <i><a href="AT91SAM7A3_h.html#AT91_REG">AT91_REG</a></i> CAN_TIMESTP  <i>Time Stamp Register</i></h4><ul><null><font size="-2"><li><b>CAN0</b> <i><a href="AT91SAM7A3_h.html#AT91C_CAN0_TIMESTP">AT91C_CAN0_TIMESTP</a></i> 0xFFF8001C</font><font size="-2"><li><b>CAN1</b> <i><a href="AT91SAM7A3_h.html#AT91C_CAN1_TIMESTP">AT91C_CAN1_TIMESTP</a></i> 0xFFF8401C</font></null></ul><table border=1 cellpadding=0 cellspacing=0 width="100%"><null><th bgcolor="#FFFFCC"><b>Offset</b></th><th bgcolor="#FFFFCC"><b>Name</b></th><th bgcolor="#FFFFCC"><b>Description</b></th><tr><td align="CENTER" bgcolor="#FFFFCC">15..0</td><td align="CENTER"><a name="CAN_MTIMESTAMP"></a><b>CAN_MTIMESTAMP</b><font size="-2"><br><a href="AT91SAM7A3_h.html#AT91C_CAN_MTIMESTAMP">AT91C_CAN_MTIMESTAMP</a></font></td><td><b>Timer Value</b></td></tr>
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<a name="CAN_ECR"></a><h4><a href="#CAN">CAN</a>: <i><a href="AT91SAM7A3_h.html#AT91_REG">AT91_REG</a></i> CAN_ECR  <i>Error Counter Register</i></h4><ul><null><font size="-2"><li><b>CAN0</b> <i><a href="AT91SAM7A3_h.html#AT91C_CAN0_ECR">AT91C_CAN0_ECR</a></i> 0xFFF80020</font><font size="-2"><li><b>CAN1</b> <i><a href="AT91SAM7A3_h.html#AT91C_CAN1_ECR">AT91C_CAN1_ECR</a></i> 0xFFF84020</font></null></ul><table border=1 cellpadding=0 cellspacing=0 width="100%"><null><th bgcolor="#FFFFCC"><b>Offset</b></th><th bgcolor="#FFFFCC"><b>Name</b></th><th bgcolor="#FFFFCC"><b>Description</b></th><tr><td align="CENTER" bgcolor="#FFFFCC">7..0</td><td align="CENTER"><a name="CAN_REC"></a><b>CAN_REC</b><font size="-2"><br><a href="AT91SAM7A3_h.html#AT91C_CAN_REC">AT91C_CAN_REC</a></font></td><td><b>Receive Error Counter</b></td></tr>
<tr><td align="CENTER" bgcolor="#FFFFCC">23..16</td><td align="CENTER"><a name="CAN_TEC"></a><b>CAN_TEC</b><font size="-2"><br><a href="AT91SAM7A3_h.html#AT91C_CAN_TEC">AT91C_CAN_TEC</a></font></td><td><b>Transmit Error Counter</b></td></tr>
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<a name="CAN_TCR"></a><h4><a href="#CAN">CAN</a>: <i><a href="AT91SAM7A3_h.html#AT91_REG">AT91_REG</a></i> CAN_TCR  <i>Transfer Command Register</i></h4><ul><null><font size="-2"><li><b>CAN0</b> <i><a href="AT91SAM7A3_h.html#AT91C_CAN0_TCR">AT91C_CAN0_TCR</a></i> 0xFFF80024</font><font size="-2"><li><b>CAN1</b> <i><a href="AT91SAM7A3_h.html#AT91C_CAN1_TCR">AT91C_CAN1_TCR</a></i> 0xFFF84024</font></null></ul><br>MB0 to MB15: Transfer Request for Mailbox 0 to 15.<table border=1 cellpadding=0 cellspacing=0 width="100%"><null><th bgcolor="#FFFFCC"><b>Offset</b></th><th bgcolor="#FFFFCC"><b>Name</b></th><th bgcolor="#FFFFCC"><b>Description</b></th><tr><td align="CENTER" bgcolor="#FFFFCC">0</td><td align="CENTER"><a name="CAN_MB0"></a><b>CAN_MB0</b><font size="-2"><br><a href="AT91SAM7A3_h.html#AT91C_CAN_MB0">AT91C_CAN_MB0</a></font></td><td><b>Mailbox 0 Flag</b></td></tr>
<tr><td align="CENTER" bgcolor="#FFFFCC">1</td><td align="CENTER"><a name="CAN_MB1"></a><b>CAN_MB1</b><font size="-2"><br><a href="AT91SAM7A3_h.html#AT91C_CAN_MB1">AT91C_CAN_MB1</a></font></td><td><b>Mailbox 1 Flag</b></td></tr>
<tr><td align="CENTER" bgcolor="#FFFFCC">2</td><td align="CENTER"><a name="CAN_MB2"></a><b>CAN_MB2</b><font size="-2"><br><a href="AT91SAM7A3_h.html#AT91C_CAN_MB2">AT91C_CAN_MB2</a></font></td><td><b>Mailbox 2 Flag</b></td></tr>
<tr><td align="CENTER" bgcolor="#FFFFCC">3</td><td align="CENTER"><a name="CAN_MB3"></a><b>CAN_MB3</b><font size="-2"><br><a href="AT91SAM7A3_h.html#AT91C_CAN_MB3">AT91C_CAN_MB3</a></font></td><td><b>Mailbox 3 Flag</b></td></tr>
<tr><td align="CENTER" bgcolor="#FFFFCC">4</td><td align="CENTER"><a name="CAN_MB4"></a><b>CAN_MB4</b><font size="-2"><br><a href="AT91SAM7A3_h.html#AT91C_CAN_MB4">AT91C_CAN_MB4</a></font></td><td><b>Mailbox 4 Flag</b></td></tr>
<tr><td align="CENTER" bgcolor="#FFFFCC">5</td><td align="CENTER"><a name="CAN_MB5"></a><b>CAN_MB5</b><font size="-2"><br><a href="AT91SAM7A3_h.html#AT91C_CAN_MB5">AT91C_CAN_MB5</a></font></td><td><b>Mailbox 5 Flag</b></td></tr>
<tr><td align="CENTER" bgcolor="#FFFFCC">6</td><td align="CENTER"><a name="CAN_MB6"></a><b>CAN_MB6</b><font size="-2"><br><a href="AT91SAM7A3_h.html#AT91C_CAN_MB6">AT91C_CAN_MB6</a></font></td><td><b>Mailbox 6 Flag</b></td></tr>
<tr><td align="CENTER" bgcolor="#FFFFCC">7</td><td align="CENTER"><a name="CAN_MB7"></a><b>CAN_MB7</b><font size="-2"><br><a href="AT91SAM7A3_h.html#AT91C_CAN_MB7">AT91C_CAN_MB7</a></font></td><td><b>Mailbox 7 Flag</b></td></tr>
<tr><td align="CENTER" bgcolor="#FFFFCC">8</td><td align="CENTER"><a name="CAN_MB8"></a><b>CAN_MB8</b><font size="-2"><br><a href="AT91SAM7A3_h.html#AT91C_CAN_MB8">AT91C_CAN_MB8</a></font></td><td><b>Mailbox 8 Flag</b></td></tr>
<tr><td align="CENTER" bgcolor="#FFFFCC">9</td><td align="CENTER"><a name="CAN_MB9"></a><b>CAN_MB9</b><font size="-2"><br><a href="AT91SAM7A3_h.html#AT91C_CAN_MB9">AT91C_CAN_MB9</a></font></td><td><b>Mailbox 9 Flag</b></td></tr>
<tr><td align="CENTER" bgcolor="#FFFFCC">10</td><td align="CENTER"><a name="CAN_MB10"></a><b>CAN_MB10</b><font size="-2"><br><a href="AT91SAM7A3_h.html#AT91C_CAN_MB10">AT91C_CAN_MB10</a></font></td><td><b>Mailbox 10 Flag</b></td></tr>
<tr><td align="CENTER" bgcolor="#FFFFCC">11</td><td align="CENTER"><a name="CAN_MB11"></a><b>CAN_MB11</b><font size="-2"><br><a href="AT91SAM7A3_h.html#AT91C_CAN_MB11">AT91C_CAN_MB11</a></font></td><td><b>Mailbox 11 Flag</b></td></tr>
<tr><td align="CENTER" bgcolor="#FFFFCC">12</td><td align="CENTER"><a name="CAN_MB12"></a><b>CAN_MB12</b><font size="-2"><br><a href="AT91SAM7A3_h.html#AT91C_CAN_MB12">AT91C_CAN_MB12</a></font></td><td><b>Mailbox 12 Flag</b></td></tr>
<tr><td align="CENTER" bgcolor="#FFFFCC">13</td><td align="CENTER"><a name="CAN_MB13"></a><b>CAN_MB13</b><font size="-2"><br><a href="AT91SAM7A3_h.html#AT91C_CAN_MB13">AT91C_CAN_MB13</a></font></td><td><b>Mailbox 13 Flag</b></td></tr>
<tr><td align="CENTER" bgcolor="#FFFFCC">14</td><td align="CENTER"><a name="CAN_MB14"></a><b>CAN_MB14</b><font size="-2"><br><a href="AT91SAM7A3_h.html#AT91C_CAN_MB14">AT91C_CAN_MB14</a></font></td><td><b>Mailbox 14 Flag</b></td></tr>
<tr><td align="CENTER" bgcolor="#FFFFCC">15</td><td align="CENTER"><a name="CAN_MB15"></a><b>CAN_MB15</b><font size="-2"><br><a href="AT91SAM7A3_h.html#AT91C_CAN_MB15">AT91C_CAN_MB15</a></font></td><td><b>Mailbox 15 Flag</b></td></tr>
<tr><td align="CENTER" bgcolor="#FFFFCC">31</td><td align="CENTER"><a name="CAN_TIMRST"></a><b>CAN_TIMRST</b><font size="-2"><br><a href="AT91SAM7A3_h.html#AT91C_CAN_TIMRST">AT91C_CAN_TIMRST</a></font></td><td><b>Timer Reset Field</b></td></tr>
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<a name="CAN_ACR"></a><h4><a href="#CAN">CAN</a>: <i><a href="AT91SAM7A3_h.html#AT91_REG">AT91_REG</a></i> CAN_ACR  <i>Abort Command Register</i></h4><ul><null><font size="-2"><li><b>CAN0</b> <i><a href="AT91SAM7A3_h.html#AT91C_CAN0_ACR">AT91C_CAN0_ACR</a></i> 0xFFF80028</font><font size="-2"><li><b>CAN1</b> <i><a href="AT91SAM7A3_h.html#AT91C_CAN1_ACR">AT91C_CAN1_ACR</a></i> 0xFFF84028</font></null></ul><br>MB0 to MB15: Abort Request for Mailbox 0 to 15.<table border=1 cellpadding=0 cellspacing=0 width="100%"><null><th bgcolor="#FFFFCC"><b>Offset</b></th><th bgcolor="#FFFFCC"><b>Name</b></th><th bgcolor="#FFFFCC"><b>Description</b></th><tr><td align="CENTER" bgcolor="#FFFFCC">0</td><td align="CENTER"><a name="CAN_MB0"></a><b>CAN_MB0</b><font size="-2"><br><a href="AT91SAM7A3_h.html#AT91C_CAN_MB0">AT91C_CAN_MB0</a></font></td><td><b>Mailbox 0 Flag</b></td></tr>
<tr><td align="CENTER" bgcolor="#FFFFCC">1</td><td align="CENTER"><a name="CAN_MB1"></a><b>CAN_MB1</b><font size="-2"><br><a href="AT91SAM7A3_h.html#AT91C_CAN_MB1">AT91C_CAN_MB1</a></font></td><td><b>Mailbox 1 Flag</b></td></tr>
<tr><td align="CENTER" bgcolor="#FFFFCC">2</td><td align="CENTER"><a name="CAN_MB2"></a><b>CAN_MB2</b><font size="-2"><br><a href="AT91SAM7A3_h.html#AT91C_CAN_MB2">AT91C_CAN_MB2</a></font></td><td><b>Mailbox 2 Flag</b></td></tr>
<tr><td align="CENTER" bgcolor="#FFFFCC">3</td><td align="CENTER"><a name="CAN_MB3"></a><b>CAN_MB3</b><font size="-2"><br><a href="AT91SAM7A3_h.html#AT91C_CAN_MB3">AT91C_CAN_MB3</a></font></td><td><b>Mailbox 3 Flag</b></td></tr>
<tr><td align="CENTER" bgcolor="#FFFFCC">4</td><td align="CENTER"><a name="CAN_MB4"></a><b>CAN_MB4</b><font size="-2"><br><a href="AT91SAM7A3_h.html#AT91C_CAN_MB4">AT91C_CAN_MB4</a></font></td><td><b>Mailbox 4 Flag</b></td></tr>
<tr><td align="CENTER" bgcolor="#FFFFCC">5</td><td align="CENTER"><a name="CAN_MB5"></a><b>CAN_MB5</b><font size="-2"><br><a href="AT91SAM7A3_h.html#AT91C_CAN_MB5">AT91C_CAN_MB5</a></font></td><td><b>Mailbox 5 Flag</b></td></tr>
<tr><td align="CENTER" bgcolor="#FFFFCC">6</td><td align="CENTER"><a name="CAN_MB6"></a><b>CAN_MB6</b><font size="-2"><br><a href="AT91SAM7A3_h.html#AT91C_CAN_MB6">AT91C_CAN_MB6</a></font></td><td><b>Mailbox 6 Flag</b></td></tr>
<tr><td align="CENTER" bgcolor="#FFFFCC">7</td><td align="CENTER"><a name="CAN_MB7"></a><b>CAN_MB7</b><font size="-2"><br><a href="AT91SAM7A3_h.html#AT91C_CAN_MB7">AT91C_CAN_MB7</a></font></td><td><b>Mailbox 7 Flag</b></td></tr>
<tr><td align="CENTER" bgcolor="#FFFFCC">8</td><td align="CENTER"><a name="CAN_MB8"></a><b>CAN_MB8</b><font size="-2"><br><a href="AT91SAM7A3_h.html#AT91C_CAN_MB8">AT91C_CAN_MB8</a></font></td><td><b>Mailbox 8 Flag</b></td></tr>
<tr><td align="CENTER" bgcolor="#FFFFCC">9</td><td align="CENTER"><a name="CAN_MB9"></a><b>CAN_MB9</b><font size="-2"><br><a href="AT91SAM7A3_h.html#AT91C_CAN_MB9">AT91C_CAN_MB9</a></font></td><td><b>Mailbox 9 Flag</b></td></tr>
<tr><td align="CENTER" bgcolor="#FFFFCC">10</td><td align="CENTER"><a name="CAN_MB10"></a><b>CAN_MB10</b><font size="-2"><br><a href="AT91SAM7A3_h.html#AT91C_CAN_MB10">AT91C_CAN_MB10</a></font></td><td><b>Mailbox 10 Flag</b></td></tr>
<tr><td align="CENTER" bgcolor="#FFFFCC">11</td><td align="CENTER"><a name="CAN_MB11"></a><b>CAN_MB11</b><font size="-2"><br><a href="AT91SAM7A3_h.html#AT91C_CAN_MB11">AT91C_CAN_MB11</a></font></td><td><b>Mailbox 11 Flag</b></td></tr>
<tr><td align="CENTER" bgcolor="#FFFFCC">12</td><td align="CENTER"><a name="CAN_MB12"></a><b>CAN_MB12</b><font size="-2"><br><a href="A