can.lst

PIC单片机的CAN实验程序

     1: #include "pic18.h"
     2: char CAN_Adress_H,CAN_Adress_L;
     3: char CAN_Adress_EH,CAN_Adress_EL;
     4: int CAN_FLAG;
     5: unsigned int CAN_Delay_count=0;
     6: 
     7: void initial()
     8: {
     9:  INTCON=0X00;
    10:  ADCON1=0X07;
    11:  PIE1=0;
    12:  PIE2=0;
    13:  PIE3=0;
    14:  }
    15:  
    16:  
    17:  void initcan()
    18:  {
    19:          TRISB=(TRISB|0X08)&0XFB;
    20:          CANCON=0x80;
    21:          while((CANSTAT&0X80)==0)
    22:          {;
    23:                  }
    24:         BRGCON1=0X01;
    25:         BRGCON2=0X90;
    26:         BRGCON3=0X42;
    27:         TXB0CON=0x03;
    28:         TXB0SIDL=CAN_Adress_L&0xE0;
    29:         TXB0SIDH=CAN_Adress_H;
    30:         TXB0DLC=0X08;
    31:         TXB0D0=0X00;
    32:         TXB0D1=0X01;
    33:         TXB0D2=0X02;
    34:         TXB0D3=0X03;
    35:         TXB0D4=0X04;
    36:         TXB0D5=0X05;
    37:         TXB0D6=0X06;
    38:         TXB0D7=0X07;
    39:         RXB0SIDL=CAN_Adress_L&0xE0;
    40:         RXB0CON=0X20;
    41:         RXB0DLC=0X08;
    42:         RXB0D0=0X00;
    43:         RXB0D1=0X00;
    44:         RXB0D2=0X00;
    45:         RXB0D3=0X00;
    46:         RXB0D4=0X00;
    47:         RXB0D5=0X00;
    48:         RXB0D6=0X00;
    49:         RXB0D7=0X00;
    50:         
    51:         RXF0SIDH=CAN_Adress_h;
    52:         RXF0SIDL=CAN_Adress_L;
    53:         RXM0SIDH=0XFF;
    54:         RXM0SIDL=0XE0;
    55:         
    56:         CANCON=0X40;
    57:         
    58:         while((CANSTAT&0X40)!=0)
    59:         {;}
    60:         PIR3=0X00;
    61:         PIE3=PIE3|0X01;
    62:         IRP3=IPR3|0X01;
    63:         }
    64:         void CAN_deal()
    65:         {
    66:                 CAN_FLAG=0;
    67:                 TXB0CON=TXB0CON&0ZF7;
    68:                 TXB0D0=RXB0D0+1;
    69:                 TXB0D1=RXB0D1+1;
    70:                 TXB0D2=RXB0D2+1;
    71:                 TXB0D3=RXB0D3+1;
    72:                 TXB0D4=RXB0D4+1;
    73:                 TXB0D5=RXB0D5+1;
    74:                 TXB0D6=RXB0D6+1;
    75:                 TXB0D7=RXB0D7+1;
    76:                 }
    77:         
    78:         void interrupt HI_ISR()
    79:         {
    80:                 if(RXB0IF==1)
    81:                 {
    82:                 CAN_FLAG=1;
    83:                 BXB0IF=0;
    84:                 BXB0FUL=0;
    85:                 }
    86:                 
    87:   main()
    88:   {
    89:           initial();
    90:           CAN_Adress_H=0x33;
    91:           CAN_Adress_L=0xE0;
    92:           initcan();
    93:           IPEN=1;
    94:           INTCON=INTCON|0XC0;
    95:           while(1){
    96:                   if(CAN_FLAG==1)CAN_deal();
    97:                   else if(CAN_Delay_count>0x2FE)
    98:                   {
    99:                           TXB0CON=TXB0CON|0X08;
   100:                           CAN_Delay_count=0;
   101:                           }
   102:                           else CAN_Delay_count++;
   103:                           }
   104:                           }
   105:         
   106:         
   107:         
   108:         
   109: