📄 can-demo-1.c
字号:
/*C**************************************************************************
* CAN-Demo-1.c
*----------------------------------------------------------------------------
* Copyright (c) 2002 Atmel.
*----------------------------------------------------------------------------
*----------------------------------------------------------------------------
* PURPOSE: Test bit timing/transmit/receive/IT routines of CAN.lib
* All interrupts "on"
* - 1st Part: Sending the following messages
* MOb ID IDE Conf DLC Data
* 0 00 0 Tx 8 00 10 20 30 40 50 60 70
* 1 1DE0001x 1 Tx 4 10 11 12 13
* 2 02 0 Tx 8 20 21 22 23 24 25 26 27
* 3 1DE0003x 1 Tx 4 30 31 32 33
* 4 04 0 Tx 8 40 41 42 43 44 45 46 47
* 5 1DE0005x 1 Tx 4 50 51 52 53
* 6 06 0 Tx 8 60 61 62 63 64 65 66 67
* 7 1DE0007x 1 Tx 4 70 71 72 73
* 8 08 0 Tx 8 80 81 82 83 84 85 86 87
* 9 1DE0009x 1 Tx 4 90 91 92 93
* 10 0A 0 Tx 8 0A 1A 2A 3A 4A 5A 6A 7A
* 11 1DE000Bx 1 Tx 4 B0 B1 B2 B3
* 12 0C 0 Tx 8 C0 C1 C2 C3 C4 C5 C6 C7
* 13 1DE000Dx 1 Tx 4 D0 D1 D2 D3
* 14 0E 1 Tx 8 E0 E1 E2 E3 E4 E5 E6 E7
*
* - 2nd Part: Pseudo echo on MOb14 of incomming messages MOb0
* * if Rx message 0-data or remote => TX =ID with REG 1 upto 8
* * if Rx message 1-data => TX=ID with the data then REG 2 upto 8
* * if Rx message 2-data => TX=ID with the 2 data then REG 3 upto 8
* * ...................................................
* * if Rx message 8-data => TX=ID with the 8 data
* REG: 1-CANGCON
* 2-CANGSTA
* 3-CANGIT
* 4-CANGIE
* 5-CANEN2
* 6-CANEN1
* 7-CANSTMPH
* 8-CANSTMPL
* Eemple:
* 123 0 Rx 0
* 123 0 Tx 8 02 14 00 FF FF 7F 00 00
* 1111000x 1 Rx 8 80 81 82 83 84 85 86 87
* 1111000x 1 Tx 8 80 81 82 83 84 85 86 87
*
* ...
* - 3rd Part: Avaibility to monitor the following events in
* watch window (AVRStudio):
* 1- can_OVRT_count - number of CAN timer Overrun
* 1- can_DLCW_count - number of DLC warning
* 1- can_Tx_count - number of transmited message
* 1- can_Rx_count - number of received message
* 1- can_Bx_count - number of received buffer message
* 1- can_ErrMOb_count - number of MOb error
* 1- can_ErrGen_count - number of general error
* 1- can_BusOff_count - number of bus off error
*
*
* ICE50 Setting: Clock = 8MHz, Internal XTAL Oscillator
* CPU Setting: Clock = 8MHz, CAN Baudrate = 1Mbit/s down to 100Kbit/s
*****************************************************************************/
/*__________________________________________________________________________*/
/*_____ I N C L U D E S ____________________________________________________*/
/*__________________________________________________________________________*/
#include "config.h"
#include "can_lib.h"
#include "uartnoint_lib.h"
/*__________________________________________________________________________*/
/*_____ C O N S T A N T E S - D E F I N I T I O N _________________________*/
/*__________________________________________________________________________*/
/* BitRate=0 */
#define BRP_1M 0x00
#define SJW_1M 0x00
#define PRS_1M 0x02
#define PHS2_1M 0x01
#define PHS1_1M 0x01
/* BitRate=1 */
//#define BRP_500K 0x00
//#define SJW_500K 0x00
//#define PRS_500K 0x06
//#define PHS2_500K 0x03
//#define PHS1_500K 0x03
#define BRP_500K 0x01
#define SJW_500K 0x00
#define PRS_500K 0x02
#define PHS2_500K 0x01
#define PHS1_500K 0x01
/* BitRate=2 */
#define BRP_250K 0x03
#define SJW_250K 0x00
#define PRS_250K 0x02
#define PHS2_250K 0x01
#define PHS1_250K 0x01
/*__________________________________________________________________________*/
/*_____ D E C L A R E ______________________________________________________*/
/*__________________________________________________________________________*/
Uint16 can_OVRT_count;
Uint16 can_DLCW_count;
Uint16 can_Tx_count;
Uint16 can_Rx_count;
Uint16 can_Bx_count;
Uint16 can_ErrMOb_count;
Uint16 can_ACK_ErrMOb_count;
Uint16 can_For_ErrMOb_count;
Uint16 can_CRC_ErrMOb_count;
Uint16 can_Stu_ErrMOb_count;
Uint16 can_Bit_ErrMOb_count;
Uint16 can_ErrGen_count;
Uint16 can_ACK_ErrGen_count;
Uint16 can_For_ErrGen_count;
Uint16 can_CRC_ErrGen_count;
Uint16 can_Stu_ErrGen_count;
Uint16 can_BusOff_count;
Uchar Tx_message_flag; /* Equ TxOK */
Uchar MOb_Tx_message; /* MOb number with TxOK */
Uchar Rx_message_flag; /* Equ RxOK */
Uchar MOb_Rx_message; /* MOb number with RxOK */
Uchar Ovr_Timer_flag;
Uchar BitRate_1M [5] = {BRP_1M, SJW_1M, PRS_1M, PHS2_1M, PHS1_1M };
Uchar BitRate_500K [5] = {BRP_500K, SJW_500K, PRS_500K, PHS2_500K, PHS1_500K};
Uchar BitRate_250K [5] = {BRP_250K, SJW_250K, PRS_250K, PHS2_250K, PHS1_250K};
Uchar BitRate=2; /* BitRate = 250 Kbit/s */
// Uchar BitRate=1; /* BitRate = 500 Kbit/s */
// Uchar BitRate=0; /* BitRate = 1 Mbit/s */
/*__________________________________________________________________________*/
/*_____ F U N C T I O N S __________________________________________________*/
/*__________________________________________________________________________*/
void delay (void)
{
Uint16 countx;
countx = 0xFFFF;
while (countx != FALSE) countx--;
}
/*__________________________________________________________________________*/
/*_____ F U N C T I O N S C A L L E D W H E N I N T E R R U P T S ____*/
/*__________________________________________________________________________*/
extern void can_fct_it (void);
/* _____ CANOVRT interrupt ____________________ */
void can_fct_it_timovf (void)
{ can_OVRT_count++;
PORTA=(Uchar)(can_OVRT_count);
Ovr_Timer_flag = TRUE; }
/* _____ CANIT interrupt _____________________ */
void can_fct_it_rxok (void)
{ can_fct_it(); }
void can_fct_it_txok (void)
{ can_fct_it(); }
void can_fct_it_error(void)
{ can_fct_it(); }
void can_fct_it_gen (void)
{ can_fct_it(); }
/* _____ CANIT interrupt (main) ______________ */
void can_fct_it (void)
{
Uchar MOb, Err;
/* Save current page done in IT_Handler*/
/* __ MOB Interrupts __ */
if ((MOb=FindFirstChIt()) != NO_CHANNEL)
{
CAN_SET_CHANNEL(MOb);
if ((CANSTMOB & (1 << DLCW)) != FALSE) can_DLCW_count++;
if ((CANSTMOB & (1 << TXOK)) != FALSE)
{ can_Tx_count++;
Tx_message_flag = TRUE;
MOb_Tx_message=MOb;
DISABLE_CHANNEL;
}
if ((CANSTMOB & (1 << RXOK)) != FALSE)
{ can_Rx_count++;
Rx_message_flag = TRUE;
MOb_Rx_message=MOb;
DISABLE_CHANNEL;
}
Err = CANSTMOB & ERR_MOB_msk;
if (Err != FALSE)
{
can_ErrMOb_count++;
CPrintfUART_0("\r\n CAN Error MOb ");
if ((Err & 0x01) != FALSE) can_ACK_ErrMOb_count++;
if ((Err & 0x02) != FALSE) can_For_ErrMOb_count++;
if ((Err & 0x04) != FALSE) can_CRC_ErrMOb_count++;
if ((Err & 0x08) != FALSE) can_Stu_ErrMOb_count++;
if ((Err & 0x10) != FALSE) can_Bit_ErrMOb_count++;
}
/* Reset all MOb Int & Keep WDLC done in IT_Handler */
}
/* __ General Interrupts - Reset Int_flag setting it "1" __ */
Err = CANGIT & ERR_GEN_msk;
if (Err != FALSE)
{
can_ErrGen_count++;
CPrintfUART_0("\r\n CAN Error General ");
if ((Err & 0x01) != FALSE) can_ACK_ErrGen_count++;
if ((Err & 0x02) != FALSE) can_For_ErrGen_count++;
if ((Err & 0x04) != FALSE) can_CRC_ErrGen_count++;
if ((Err & 0x08) != FALSE) can_Stu_ErrGen_count++;
/* Reset Int_ERR_GEN done (global) in IT_Handler */
}
if ((CANGIT & (1 << OVRBUF)) != FALSE)
{
can_Bx_count++;
/* Reset Int_Buffer_OK done (global) in IT_Handler */
}
if ((CANGIT & (1 << BOFFIT)) != FALSE)
{
can_BusOff_count++;
CPrintfUART_0("\r\n CAN Error Bus Off ");
/* Reset Int_Bus_Off done in (global) IT_Handler */
}
/* Restore previous page done in IT_Handler */
}
/*__________________________________________________________________________*/
/*_____ M A I N ____________________________________________________________*/
/*__________________________________________________________________________*/
can_msg_t can_tx_MOb0, can_tx_MOb1, can_tx_MOb2, can_tx_MOb3, can_tx_MOb4;
can_msg_t can_tx_MOb5, can_tx_MOb6, can_tx_MOb7, can_tx_MOb8, can_tx_MOb9;
can_msg_t can_tx_MObA, can_tx_MObB, can_tx_MObC, can_tx_MObD, can_tx_MObE;
can_msg_t can_rxtxMOb;
can_data_t can_data0, can_data1, can_data2, can_data3, can_data4, can_data5;
can_data_t can_data6, can_data7, can_data8, can_data9, can_dataA, can_dataB;
can_data_t can_dataC, can_dataD, can_dataE;
can_data_t can_dataX;
void main(void)
{
Uchar i, j, UART_Temp, ID_Temp, ID_First;
Uint16 standart_ID;
Uint32 extended_ID;
UART_Temp = 0x30;
can_OVRT_count=CLR;
can_DLCW_count=CLR;
can_Tx_count=CLR;
can_Rx_count=CLR;
can_Bx_count=CLR;
can_ErrMOb_count=CLR;
can_ACK_ErrMOb_count=CLR;
can_For_ErrMOb_count=CLR;
can_CRC_ErrMOb_count=CLR;
can_Stu_ErrMOb_count=CLR;
can_Bit_ErrMOb_count=CLR;
can_ErrGen_count=CLR;
can_ACK_ErrGen_count=CLR;
can_For_ErrGen_count=CLR;
can_CRC_ErrGen_count=CLR;
can_Stu_ErrGen_count=CLR;
can_BusOff_count=CLR;
MOb_Tx_message = CLR;
MOb_Rx_message = CLR;
Tx_message_flag = CLR; /* Message on MOb_for_Tx */
Rx_message_flag = CLR; /* Message on MOb_for_Rx */
Ovr_Timer_flag = CLR;
j =0x00; for (i=0; i<8; i++) can_data0[i]= (j+i);
j+=0x10; for (i=0; i<8; i++) can_data1[i]= (j+i);
j+=0x10; for (i=0; i<8; i++) can_data2[i]= (j+i);
j+=0x10; for (i=0; i<8; i++) can_data3[i]= (j+i);
j+=0x10; for (i=0; i<8; i++) can_data4[i]= (j+i);
j+=0x10; for (i=0; i<8; i++) can_data5[i]= (j+i);
j+=0x10; for (i=0; i<8; i++) can_data6[i]= (j+i);
j+=0x10; for (i=0; i<8; i++) can_data7[i]= (j+i);
j+=0x10; for (i=0; i<8; i++) can_data8[i]= (j+i);
j+=0x10; for (i=0; i<8; i++) can_data9[i]= (j+i);
j+=0x10; for (i=0; i<8; i++) can_dataA[i]= (j+i);
⌨️ 快捷键说明
复制代码
Ctrl + C
搜索代码
Ctrl + F
全屏模式
F11
切换主题
Ctrl + Shift + D
显示快捷键
?
增大字号
Ctrl + =
减小字号
Ctrl + -