remote_receive.c

瑞萨CAN通讯单片机程序

/*""FILE COMMENT""*****************************************************
 *	M32R C Programming		Rev. 1.00
 *		 < Sample Program for CAN remote_receive >
 *
 *	Copyright (c) 2003 Renesas Technology Corporation
 *			   And Renesas Solutions Corporation
 *			   All Rights Reserved
 *********************************************************************/

/************************************************************************/
/*		Include file						*/
/************************************************************************/

#include		"..\inc\sfr32170_pragma.h"

/************************************************************************/
/*		Function prototype declaration				*/
/************************************************************************/

	void		main(void);
	void		remote_receive(void);
extern	void		can_init(void);

/*""FUNC COMMENT""*******************************************************
 * Function name: void main(void)
 *-----------------------------------------------------------------------
 * Description	: Remote frame reception sample program
 *-----------------------------------------------------------------------
 * Argument	: -
 *-----------------------------------------------------------------------
 * Returns	: -
 *-----------------------------------------------------------------------
 * Notes	:
 *""FUNC COMMENT END""***************************************************/
void main(void)
{
	/* Initialize CAN module */
	can_init();

	/* Set data to be automatically sent as answer for remote frame */
	C0MSL0DT0 = 0x01;
	C0MSL0DT1 = 0x23;
	C0MSL0DT2 = 0x45;
	C0MSL0DT3 = 0x67;
	C0MSL0DT4 = 0x89;
	C0MSL0DT5 = 0xab;
	C0MSL0DT6 = 0xcd;
	C0MSL0DT7 = 0xef;

	/* CAN module operation */
	remote_receive();

	while( 1 )
		;
}

/*""FUNC COMMENT""*******************************************************
 * Function name: void remote_receive(void)
 *-----------------------------------------------------------------------
 * Description	: Receive remote frame in slot 0
 *-----------------------------------------------------------------------
 * Argument	: -
 *-----------------------------------------------------------------------
 * Returns	: -
 *-----------------------------------------------------------------------
 * Notes	:
 *""FUNC COMMENT END""***************************************************/
void remote_receive(void)
{
	C0MSL0CNT = 0x00;			/* Initialize CAN message slot control register */
	while ( ( C0MSL0CNT & TRSTAT) != 0)	/* Verify that transmit operation is idle */
	;

	/* Set ID and DLC in message slot 0 */
	C0MSL0SID0 = 0x00;			/* ID : 0 */
	C0MSL0SID1 = 0x00;

	/* Set extended ID register */
	CAN0EXTID = 0x0000;			/* Select standard format */


	/* Set CAN message slot control register */
	C0MSL0CNT = 0x60;			/* Request reception of remote frame (with automatic answer) */

	/*
	 * Because ID mask register is set within can_init() for "all bits to be checked,
	 * " slot 0 receives only remote frames in standard format with ID:0.
	 * As a result of remote frame reception, ID and DLC of slot 0 are overwritten with the content of the
	 * received frame.
	 */
}