canpc.h

这是在KEIL环境下写的CAN源码

#include "591.h"

#define GETUNSIGNED8(val,pos) ((val >> pos) & 0xFF)
#define GETUNSIGNED8S16(val) GETUNSIGNED8(val, 0), GETUNSIGNED8(val, 8)
#define GETUNSIGNED8S32(val) GETUNSIGNED8(val, 0), GETUNSIGNED8(val, 8), GETUNSIGNED8(val,16), GETUNSIGNED8(val,24)
#define SDOREPLY(index,sub,len,val) 0x43 | ((4-len)<<2), GETUNSIGNED8S16(index), sub, GETUNSIGNED8S32(val)
#define SDOREPLY4(index,sub,len,d1,d2,d3,d4) 0x43 | ((4-len)<<2), GETUNSIGNED8S16(index), sub, d1, d2, d3, d4
#define OD_DEVICE_TYPE   0x000F0191L
#define OD_VENDOR_ID     0x00455341L
#define OD_PRODUCT_CODE  0x00010002L
#define OD_REVISION      0x00010020L



void Rec_message(CAN_MSG data *ReceiveBuf);
void Trans_message(CAN_MSG data *TransBuf);
void SetCanfilter(unsigned char filternum,unsigned long CANID,bit RTR,unsigned char AMR0,unsigned char AMR1,unsigned char AMR2,unsigned char AMR3);
void Can_init();
void reset_communication(void);
void CANOpen_init(unsigned char NodeID);//initiate canopen
void process();//the main process
unsigned char CANPC_Search(unsigned int Cindex,unsigned char Csubindex);