jd1a.c

美国wind river 公司的CAN总线源代码

//CAN to RS232
//CAN232.C  wangjian  20030903
//CPU:AT89S52
//Board   CAN_RS232_1a.PCB
//20030926  看门狗周期设置
//CAN2321d.c    20030927  For Motor3C.PCB
//JD1a.C  20050429  实验车CAN节点

#include "absacc.h"
#include "reg52.h"
#include "string.h"
#include "stdio.h"
#include "stdlib.h"
#include "math.h"
#include "INTRINS.H"

#define SJA_BaseAdr 0x7F00
#include "SJA_BcanConf.H"

#define DEFAULTMYID 0xF0        //主机 ID 号
#define DEFAULTSID 0x10       //从机1 ID 号
#define FILENAME "JD1A.C@20050511"

//X25045 ***********************************************************************
//#define unit unsigned int
//#define uchar unsigned char
#define WREN_INST 0x06           //Write enable latch instruction (WREN)
#define WRDI_INST 0x04           /* ;Write disable latch instruction (WRDI)*/
#define WRSR_INST 0x01            /*;Write status register instruction (WRSR)*/
#define RDSR_INST 0x05            /*;Read status register instruction (RDSR)*/
#define WRITE_INST 0x02           /* ;Write memory instruction (WRITE)*/
#define READ_INST 0x03            /*;Read memory instruction (WRITE)*/
#define STATUS_REG 0x00           /* ;Status register*/
#define INIT_STATE 0x09           /* ;Init value for port1*/
#define SLIC  0x30
#define MAX_POLL 0x99
#define STACK_TOP 0x60          /* ;STACK UP*/
//X25045 函数
void Xoutbyte(unsigned char byte);
unsigned char Xinbyte();
Xwren_cmd();
Xwrdi_cmd();
void Xwrsr_cmd(unsigned char ch);
unsigned char Xrdsr_cmd();
Xwip_poll();
unsigned char Xbyte_read(unsigned int addr);		//从25045的addr地址中读入1个字节
Xbyte_write(unsigned int addr,unsigned char byte);	//向25045的addr地址中写入1个字节byte
void rst_dog();						//喂狗
sbit CS=P3^5;
sbit SO=P1^2;
sbit SCK=P1^3;
sbit SI=P1^1;

sbit SPEAKER=P1^7;

//我的有关子程序 ****************************************************************

//CAN BUS Functions Definition **********************************************************
bit BCAN_CREATE_COMMUNATION(void);
bit BCAN_ENTER_RETMODEL(void);
bit BCAN_QUIT_RETMODEL(void);
bit BCAN_SET_BANDRATE(unsigned char CAN_ByteRate);
bit BCAN_SET_OBJECT(unsigned char BCAN_ACR,unsigned char BCAN_AMR);
bit BCAN_SET_OUTCLK (unsigned char Out_Control,unsigned char Clock_Out);
bit BCAN_DATA_WRITE(unsigned char *SendDataBuf);
bit BCAN_DATA_RECEIVE(unsigned char *RcvDataBuf);
bit BCAN_CMD_PRG(unsigned char cmd);
void TestSJA1000(void);

void InitSJA1000(bit ResetStyle);

unsigned char idata uchERRORCOUNT=20; //错误计时器,20 次可自己定义
bit ErrorFlag=1; //错误标志
unsigned char idata uchSendBuff[10]; //can 报文发送缓冲区
unsigned char idata uchRcvBuff[10]; //can 报文发送缓冲区

void intx0(void);


//我的子程序定义  *******************************************************************
int hex2i(unsigned char *s);    //将十六进制的字符串转换为数字
void i2hex2(unsigned char ch,unsigned char *s);
void delayms(unsigned int n);  //延时 n ms at 12MHZ
unsigned char nop;

void testhardware();


union  ib
{
   unsigned int ii;
   unsigned char ch[2];
};

#define IDADDR 0x20
#define AMRADDR 0x21
#define BTR0ADDR 0x22
#define BTR1ADDR 0x23
#define OCRADDR 0x24
#define SETFLAGADDR 0x28

unsigned char MasterID=0xF0,Slave1ID=0x10;
unsigned char MyID,MyAMR,MyBTR0,MyBTR1;
bit CANSend=0;

// 串行通讯 **************************************************************************
// 通讯口函数
void ints(void);	//串行口中断函数
void traxstring(unsigned char *s);	//发送1个字符串s
unsigned char idata buff[33];
unsigned char comnum;
bit ROK=0;

//LCD12864 的引脚定义和函数说明
sbit LCDCS          = P1^4;
sbit SID         = P1^5;
sbit SCLK        = P2^0;
sbit LCDLighter  = P1^6;
void LCDInit();    //初始化12864LCD显示屏
void LCDClear();   //清屏 12864 LCD
void LCDDisplay(unsigned char x,unsigned char y,unsigned char *LCDBuff);  //显示 LCDBuff 中的数据

//ADC0832 有关的函数 ***************************************************************
sbit ADCS=P1^0;
sbit ADCLK=P1^3;
sbit ADDO=P1^2;
sbit ADDI=P1^1;
unsigned char ADC0832(bit ch);

//PCF8574 操作函数
sbit  ICSDA   = P3^2;
sbit  ICSCL   = P3^3;
unsigned char Read8574();

sbit DQ =P3^4;//根据实际情况定义端口
int Read_Temperature(void);  //读取温度

main()
{
   unsigned char idata string[21];
   unsigned char i,j,k,ch;
   unsigned int count1;
   unsigned int ii,xaddr,num;
   int wendu;
   float f;

   bit Flash=0,TestFlag=0;
   unsigned char xdata x;

   SP=0xd0;			//设置SP
   P2=0xff;
   P3=0xFF;

   delayms(100);              //延时 100MS 秒，测试系统时钟

     rst_dog();         //--------------------
     Xwrsr_cmd(0x30);   //启动看门狗计数器     0x00-1.4S  0x10-600ms  0x20-200ms  0x30-Disable
     delayms(100);
     ch=Xrdsr_cmd();    //读取看门狗状态字

     Xbyte_write(0x00,0x30);
     ch=Xbyte_read(0x00);


   MyID=0x00;
   Slave1ID=DEFAULTSID;

//   testhardware();
//    Xbyte_write(SETFLAGADDR,'N');


//读取各设置参数  *************************************************************************************************
//读取设置值，若没有设置，则设为默认值
    for(i=0;i<8;i++)
       string[i]=Xbyte_read(SETFLAGADDR+i);
    string[i]=0;
    if(strncmp(string,"HAVSET",6))
    {
        Xbyte_write(IDADDR,MyID);
        Xbyte_write(AMRADDR,0x0f);
        Xbyte_write(BTR0ADDR,0x43);
        Xbyte_write(BTR1ADDR,0x2f);

        strcpy(string,"HAVSETDF");
        for(i=0;i<8;i++)
           Xbyte_write(SETFLAGADDR+i,string[i]);
    }
    MyID=Xbyte_read(IDADDR);
    MyAMR=Xbyte_read(AMRADDR);
    MyBTR0=Xbyte_read(BTR0ADDR);
    MyBTR1=Xbyte_read(BTR1ADDR);



// 初始化 CAN 控制器 SJA1000 ****************************************************
    CAN_CONTROL=0x09;
    while((CAN_CONTROL & 0x01)==0)
    {
       CAN_CONTROL=0x09;
    }
    CAN_CDR=0x08;
    CAN_COMMAND = 0x0E;//Command Register: Rv Rv Rv GTS   CDO RRB AT TR
    _nop_();


//设置验收代码寄存器
    CAN_ACR =MyID;      // MasterID;     //主机
    _nop_();
//设置屏蔽寄存器
    CAN_AMR = MyAMR;    //0x0f;    //识别码字节的高 4 位标识控制器的 ID号，后 4 位无效
    _nop_();

//   0x81,0xfa, //;200KBPS 的预设值
    CAN_BTR0 =MyBTR0;   //0x81fa-200kbps;  0x43,0x2f-100k bps
    _nop_();
    CAN_BTR1 =MyBTR1;
    _nop_();
    CAN_OCR= 0xaa;
    _nop_();

    CAN_CONTROL = 0x1E;
    _nop_();
    while((CAN_CONTROL&0x01)==1)
    {
        CAN_CONTROL = 0x1E;
        _nop_();
    }
    EX0=0;
    EA=0;
//初始化 SJA1000 结束 --------------------------------------------------
    ch=CAN_STATUS;

//初始化串行口
   TMOD=0x22;           //T1串行通讯定时
// T0 is used as clock source for PCA
   TH0=0xF8;
   TL0=0xF8;
   TR0=1;
// T2 is used as RPM0 clock
   RCLK=0;TCLK=0;
   CP_RL2=0;
   RCAP2L=0xb0;
   RCAP2H=0xff;
   TL2=0x66;
   TH2=0xff;
   TR2=1;
   ET2=1;

// T1 is used as Baund Generator
   TH1=0xff;            //9600 BPS-0xfd, 4800 BPS-0xfa  @11.0592MHz
   TL1=0xff;
   SCON=0x50;
   PCON=0x80;           //PCON=0x80  TH1=0xff  115200BPS @ 11.0592MHz
   TR1=1;
   PS=1;      //串行通讯中断优先级设为高级
   ES=1;

     LCDLighter=0;
     LCDInit();    delayms(100);
     LCDClear();
     delayms(500);

     LCDDisplay(0,0,"北京航空航天大学"); //在第1行
     LCDDisplay(1,0,"汽车电子综合实验");
     LCDDisplay(2,0,"  CAN 总线节点  ");
     LCDDisplay(3,0,"   2005-05-18   ");
     delayms(1000);
     delayms(1000);
   

//主循环开始 ***********************************************************************
begin:
   rst_dog();
   delayms(100);
   EA=1;
   if(count1) count1--;
   if(count1) SPEAKER=0;
   else SPEAKER=1;

     ch=ADC0832(0);  f=ch*5.0/255.0;
     sprintf(string,"ADC0=0x%02bx  %4.1fV",ch,f);
     LCDDisplay(0,0,string);
     ch=ADC0832(1);  f=ch*5.0/255.0;
     sprintf(string,"ADC1=0x%02bx  %4.1fV",ch,f);
     LCDDisplay(1,0,string);

     strcpy(string,"开关量: ");
     ch=Read8574();
     for(i=0;i<8;i++)
     {
        if(ch & 0x80) string[8+i]='1';
        else string[8+i]='0';
        ch<<=1;
     }   
     LCDDisplay(2,0,string);

     wendu=Read_Temperature();  //读取温度
     f=wendu*0.0625;
     sprintf(string,"温度: %7.3f ℃",f);
     LCDDisplay(3,0,string);

   i=ADC0832(0);
   j=ADC0832(1);

   ch=CAN_STATUS;
   if(BCAN_DATA_RECEIVE(uchRcvBuff)==0)
   {
       CAN_COMMAND=0x04;
       ch=CAN_STATUS;
       count1=200;

//       if(uchRcvBuff[0]==MyID)
       {
          string[0]='{';string[1]=0;
          traxstring(string);
          for(i=0;i<10;i++)
          {
              i2hex2(uchRcvBuff[i],string);
              traxstring(string);
          }
          string[0]='}';string[1]=0;
          traxstring(string);
       }
   }

   if(ROK)
   {
       if(buff[0]=='$')
       {
            //从X5045中读入二进制数据  数量没有限制
            if(buff[1]=='R')  //从X5045中读入二进制数据  数量没有限制
            {
               for(i=0;i<3;i++)
                  string[i]=buff[2+i];
               string[3]=0;
               xaddr=hex2i(string);
               for(i=0;i<3;i++)
                  string[i]=buff[i+5];
               string[3]=0;
               num=hex2i(string);
               for(ii=0;ii<num;ii++){
                  j=Xbyte_read(xaddr+ii);
                  i2hex2(j,string);
                  strcat(string," ");
                  traxstring(string);
               }
               strcpy(string,"\r\n");
               traxstring(string);
            }
            //向X5045中写入二进制数据  每次最多写32个数据
            else if(buff[1]=='W')        //WXXX***DDddDDddDDdd  XXX-BeginAddr  *** Data Number(<=32)  DD-Data(hex)
            {
               for(i=0;i<3;i++)
                  string[i]=buff[i+2];
               string[3]=0;
               xaddr=hex2i(string);
               for(i=0;i<3;i++)
                  string[i]=buff[i+5];
               string[3]=0;
               num=hex2i(string);
               for(i=0;i<num;i++){
                  string[0]=buff[i*2+8];
                  string[1]=buff[1+i*2+8];
                  string[2]=0;
                  k=hex2i(string);
                  Xbyte_write(xaddr+i,k);
               }
               strcpy(string,"WriteOK\r\n");
               traxstring(string);
            }
            else if(buff[1]=='S')  //设置 CAN RS232 参数
            {
               string[0]=buff[2];
               string[1]=buff[3];
               string[2]=0;
               k=hex2i(string);
               Xbyte_write(IDADDR,k);

               string[0]=buff[4];
               string[1]=buff[5];
               string[2]=0;
               k=hex2i(string);
               Xbyte_write(AMRADDR,k);

               string[0]=buff[6];
               string[1]=buff[7];
               string[2]=0;
               k=hex2i(string);
               Xbyte_write(BTR0ADDR,k);

               string[0]=buff[8];
               string[1]=buff[9];
               string[2]=0;
               k=hex2i(string);
               Xbyte_write(BTR1ADDR,k);

               strcpy(string,"HAVSETCM");
               for(i=0;i<8;i++)
                  Xbyte_write(SETFLAGADDR+i,string[i]);
            }
            else if(buff[1]=='C' && buff[2]=='A' && buff[3]=='N')  //取得CAN接收寄存器数据
            {
               ch=CAN_STATUS;
               i2hex2(ch,string);
               strcat(string,"    ");
               traxstring(string);
               for(i=0;i<10;i++)
               {
                  i2hex2(uchRcvBuff[i],string);
                  strcat(string," ");
                  traxstring(string);
               }
               strcpy(string,"\r\n");
               traxstring(string);
            }
            else if(buff[1]=='T')      //发送CAN指令
            {
               for(i=0;i<10;i++)
               {
                   string[0]=buff[i*2+2];
                   string[1]=buff[i*2+3];
                   string[2]=0;
                   uchSendBuff[i]=hex2i(string);
               }
               BCAN_DATA_WRITE(uchSendBuff);
               CAN_COMMAND=0x01;
               ch=CAN_STATUS;
               ch=CAN_STATUS;
//               CANSend=0;
            }
            else if(buff[1]=='A')      //发送CAN指令
            {
               ch=CAN_STATUS;
               num=strlen(buff);
               num=num/8;
               for(i=0;i<num;i++)
               {
                   do {
                       ch=CAN_STATUS;
                   } while(!(ch & 0x08));

                   string[0]=buff[2+i*8+0];
                   string[1]=buff[2+i*8+1];
                   string[2]=0;
                   uchSendBuff[0]=hex2i(string);

                   uchSendBuff[1]=0x08;
                   uchSendBuff[2]=0x00;

                   string[0]=buff[2+i*8+2];
                   string[1]=buff[2+i*8+3];
                   string[2]=0;
                   uchSendBuff[3]=hex2i(string);

                   string[0]=buff[2+i*8+4];
                   string[1]=buff[2+i*8+5];
                   string[2]=0;
                   uchSendBuff[4]=hex2i(string);

                   string[0]=buff[2+i*8+6];
                   string[1]=buff[2+i*8+7];
                   string[2]=0;
                   uchSendBuff[5]=hex2i(string);

                   uchSendBuff[6]=0;
                   uchSendBuff[7]=0;
                   uchSendBuff[8]=0;
                   uchSendBuff[9]=0;

                   BCAN_DATA_WRITE(uchSendBuff);
                   CAN_COMMAND=0x01;
                   ch=CAN_STATUS;
                //   delayms(5);
               }
            }
            else if(buff[1]=='V')  //取得版本号
            {
               strcpy(string,"57600,N,8,1  ");
               traxstring(string);
               strcpy(string,FILENAME);
               traxstring(string);
               strcpy(string,"  By WANGJIAN\r\n");
               traxstring(string);
            }
            else if(buff[1]=='G' && buff[2]=='R')
            {
               ch=Xrdsr_cmd();
               //   Xwrsr_cmd(00);
               //   ch=Xrdsr_cmd();
               strcpy(string,"X5045 Status=0x");
               traxstring(string);
               i2hex2(ch,string);
               traxstring(string);
               strcpy(string,"\r\n");
               traxstring(string);
            }
            else if(buff[1]=='G' && buff[2]=='W')
            {
               string[0]=buff[3];
               string[1]=buff[4];
               string[2]=0;
               ch=hex2i(string);
               Xwrsr_cmd(ch);
            }
            else
            {
               strcpy(string,"Error\r\n");
               traxstring(string);
            }
       }
      ROK=0;
   }

   goto begin;


}

void intx0(void) interrupt 0 using 1
{
   unsigned char ch;