remote_send.c

瑞萨CAN通讯单片机程序

/*""FILE COMMENT""*****************************************************
 *	M32R C Programming		Rev. 1.00
 *		 < Sample Program for CAN remote_send >
 *
 *	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_send(void);
	void		remote_send_read_data(void);
extern	void		can_init(void);

/************************************************************************/
/*		Externally referenced variable				*/
/************************************************************************/

	char		CAN_DATA[8];				/* Used to store received data */

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

	/* CAN module operation */
	remote_send();

	/* Wait until remote frame is sent */
	while( ( CAN0SLIST & SSB0) == 0)
		;
	CAN0SLIST = 0x0000;

	/* Wait until data frame is received */
	while( ( CAN0SLIST & SSB0) == 0)
		;

	/* Read out received data frame */
	remote_send_read_data();


	while( 1 )
		;
}

/*""FUNC COMMENT""*******************************************************
 * Function name: void remote_send(void)
 *-----------------------------------------------------------------------
 * Description	: Sends remote frame from slot 0
 *-----------------------------------------------------------------------
 * Argument	: -
 *-----------------------------------------------------------------------
 * Returns	: -
 *-----------------------------------------------------------------------
 * Notes	:
 *""FUNC COMMENT END""***************************************************/
void remote_send(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;
	C0MSL0DLC = 0x01;				/* DLC : 1 */

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

	/* Set CAN message slot control register */
	C0MSL0CNT = 0xA0;				/* Request transmission of remote frame */
}

/*""FUNC COMMENT""*******************************************************
 * Function name: void remote_send_read_data(void)
 *-----------------------------------------------------------------------
 * Description	: Reads out received data frame when CAN module has been set for remote frame transmission
 *-----------------------------------------------------------------------
 * Argument	: -
 *-----------------------------------------------------------------------
 * Returns	: -
 *-----------------------------------------------------------------------
 * Notes	:
 *""FUNC COMMENT END""***************************************************/
void remote_send_read_data(void)
{
	do {
		C0MSL0CNT = 0xAE;			 /* Clear TRFIN bit */

		/* Read out message slot 0 */
		CAN_DATA[0] = C0MSL0DT0;
		CAN_DATA[1] = C0MSL0DT1;
		CAN_DATA[2] = C0MSL0DT2;
		CAN_DATA[3] = C0MSL0DT3;
		CAN_DATA[4] = C0MSL0DT4;
		CAN_DATA[5] = C0MSL0DT5;
		CAN_DATA[6] = C0MSL0DT6;
		CAN_DATA[7] = C0MSL0DT7;


	} while( ( C0MSL0CNT & TRFIN) != 0 );		/* Redo if TRFIN is set */

	/* If necessary, check ML bit to see if message is lost
	 *
	 * if( (*C0MSL0CNT & ML) != 0)
	 *	(Processing for messages lost);
	 */
}