can.a51

透過a51的程式

$INCLUDE   (t89c51cc01.INC)

num_channel DATA 10H
num_data DATA 11H
data0 DATA 12H
data1 DATA 13H
data2 DATA 14H
data3 DATA 15H
data4 DATA 16H
data5 DATA 17H
data6 DATA 18H
data7 DATA 19H

;/* baud rate and bit timing parameters at Fosc=12Mhz */
;/* refert to Xcalculator software on Atmel website for other bit timing */
#define BRP_100k	  05
#define SJW_100k    00
#define PRS_100k    01
#define PHS1_100k   03
#define PHS2_100k   02

org 000h
ljmp begin

org 3Bh
ljmp can_it

;/**
; * FUNCTION_PURPOSE: This file set up Can at 100kbauds with channel 0 id 0x123 in reception
; * and channel 1 id 0x001 in emission.
; * FUNCTION_INPUTS: void
; * FUNCTION_OUTPUTS: void
; */

org 0100h
begin:
ORL CANGCON,#01h;                      ;/* reset CAN */ 

;/* reset all mailboxes */
MOV      num_channel,#00h
reset_mailbox:
   MOV      A,num_channel                 ;/* load accumulator with channel value */
   SWAP     A
   ANL      A,#0F0h
   MOV      CANPAGE,A                     ;/* CHNB=num_channel; */
   MOV      CANCONCH,#00h                 ;/* channel disable */
   MOV      CANSTCH,#00h
   MOV      CANIDT1,#00h
   MOV      CANIDT2,#00h
   MOV      CANIDT3,#00h
   MOV      CANIDT4,#00h
   MOV      CANIDM1,#00h
   MOV      CANIDM2,#00h
   MOV      CANIDM3,#00h
   MOV      CANIDM4,#00h
   MOV      num_data,#00h
   reset_data:
      MOV      CANMSG,#00h
      INC      num_data
      MOV      A,num_data
   CJNE        A,#08h,reset_data
   INC         num_channel
   MOV      A,num_channel
CJNE        A,#0Fh,reset_mailbox

;/* setup bit timing */
MOV      A,#BRP_100k
RL       A
MOV      CANBT1,A
ANL      CANBT2,#9Fh                   ;/* reset SJW   */
MOV      A,#SJW_100k
SWAP     A
RL       A
ANL      A,#0E0h
ORL      CANBT2,A                      ;/* SJW=0x00; */ 
ANL      CANBT2,#0F1h                  ;/* reset PRS   */
MOV      A,#PRS_100k
RL       A
ORL      CANBT2,A                      ;/* PRS=0x02; */
ANL      CANBT3,#8Fh                   ;/* reset PHS2  */    
MOV      A,#PHS2_100k
SWAP     A
ANL      A,#0F0h
ORL      CANBT3,A                      ;/* PHS2=0x03;*/  
ANL      CANBT3,#0F1h                  ;/* reset PHS1  */ 
MOV      A,#PHS1_100k
RL       A
ORL      CANBT3,A                      ;/* PHS1=0x03 */ 
ORL      CANGCON,#02h                  ;/* start CAN */ 
;/* Channel 0 init */
MOV      A,#00h                        ;/* load accumulator with channel value */
SWAP     A
ANL      A,#0F0h
MOV      CANPAGE,A                     ;/* CHNB=0x00; select channel 0 */
MOV      CANSTCH,#00h                  ;/* reset channel staus */               
MOV      CANCONCH,#00h                 ;/* reset control and dlc register */            
;/* Channel 0: identifier = 11bits. CANIDT=0x123 */
MOV      CANIDT1,#24h
ANL      CANIDT2,#07Fh
ORL      CANIDT2,#060h
;/* Channel 0: mask = 11bits. 0x7F0 */
MOV      CANIDM1,#0FEh
ANL      CANIDM2,#1Fh
MOV      CANIDM4,#00h
;/* Channel 0 configuration */
ANL      CANIDT4,#0FBh                 ;/* clear bit rtr in CANIDT4. */
ORL      CANCONCH,#08h                 ;/* Reception 8 bytes.*/
ORL      CANCONCH,#80h                 ;/* Reception enabled without buffer.*/
;/* Channel 1 init */
MOV      A,#01h                        ;/* load accumulator with channel value */
SWAP     A
ANL      A,#0F0h
MOV      CANPAGE,A                     ;/* CHNB=0x01; select channel 1 */
MOV      CANSTCH,#00h                  ;/* reset channel staus */               
MOV      CANCONCH,#00h                 ;/* reset control and dlc register */            
;/* Channel 1: identifier = 11bits. CANIDT=0x001 */
MOV      CANIDT1,#80h
ANL      CANIDT2,#3Fh
ORL      CANIDT2,#20h
;/* interrupt configuration */
ORL      CANIE2,#01h                   ;/* IECH0=1 */
ORL      CANGIE,#10h                   ;/* Can_Tx IT enable */
ORL      CANGIE,#20h                   ;/* Can_Rx IT enable */
SETB     ECAN                          ;/* CAN IT enable */
SETB     EA                            ;/* all IT enable */   
JMP $                                  ;/* endless */


;/**
; * FUNCTION_PURPOSE: can interrupt. echo receive data on channel 0 reception.
; * Reception id between 0x120 and 0x12F.
; * FUNCTION_INPUTS: P4.1(RxDC) can input
; * FUNCTION_OUTPUTS: P4.0(TxDC) can output 
; */
can_it:
;/* CAUTION can interrupt function modify CANPAGE. Save CANPAGE at beginning
;and restore it at ending */
MOV R7,CANPAGE                         ;/* save current context */
;/* set channel */
MOV      A,#00h                        ;/* load accumulator with channel value */
SWAP     A
ANL      A,#0F0h
MOV      CANPAGE,A                     ;/* CHNB=0x00; select channel 0 */
;/* echo receive data on channel 0 reception */
MOV      A,CANSTCH
CJNE     A,#20h,end_if_rxok
   ;/* save receive data */
   MOV      data0,CANMSG
   MOV      data1,CANMSG
   MOV      data2,CANMSG
   MOV      data3,CANMSG
   MOV      data4,CANMSG
   MOV      data5,CANMSG
   MOV      data6,CANMSG
   MOV      data7,CANMSG
   ;/* set channel */
   MOV      A,#01h                     ;/* load accumulator with channel value */
   SWAP     A
   ANL      A,#0F0h
   MOV      CANPAGE,A                  ;/* CHNB=0x00; select channel 1 */
   ;/* Channel 1 configuration */
   MOV      CANCONCH,#00h;             ;/* reset channel 1 configuration */            
   ;/* load saved data */
   MOV      CANMSG,data0
   MOV      CANMSG,data1
   MOV      CANMSG,data2
   MOV      CANMSG,data3
   MOV      CANMSG,data4
   MOV      CANMSG,data5
   MOV      CANMSG,data6
   MOV      CANMSG,data7
   
   ORL      CANCONCH,#08h              ;/* transmit 8 bytes */            
   ORL      CANCONCH,#40h              ;/* emission enabled */
   ORL      CANEN2,#02h                ;/* channel 1 enable */
   MOV      CANSTCH,#00h               ;/* reset channel 1 status */

end_if_rxok:

;/* set channel */
MOV      A,#00h                        ;/* load accumulator with channel value */
SWAP     A
ANL      A,#0F0h
MOV      CANPAGE,A                     ;/* CHNB=0x00; select channel 0 */
MOV      CANCONCH,#00h                 ;/* reset channel 0 configuration */            
ORL      CANCONCH,#08h                 ;/* receive 8 bytes */
ORL      CANCONCH,#80h                 ;/* reception enable */
ORL      CANEN2,#01h                   ;/* channel 0 enable */
MOV      CANSTCH,#00h                  ;/* reset channel 0 status */
MOV      CANPAGE,R7                    ;/* restore saved context */ 
MOV      CANGIT,#00h                   ;/* reset all flags */ 

RETI


end