sentcan.c

一个带CANBUS的倒车雷达源码！希望大家能用的上！

#include "config.h"

void SentCan( void )
{
	uchar m,i;

  Alarm.Bit.Canflag50ms = ~Alarm.Bit.Canflag50ms;
  if( Alarm.Bit.Canflag50ms == 0 ) 
  {
	  Speed600ms ++;
	  if( Speed600ms >= 12 )
	  {
	    if( TMR1L > 9 ) CarStatus.Bit.SpeedFlag = 1;
	    else CarStatus.Bit.SpeedFlag = 0;
	      
		  Speed600ms = 0;
	  }
	  if( SensorAbnormal.Byte ) //some sensors abnormal
	  {
		  RXB0SIDL = CANDiagnose_Addr_L & 0xE0;  //bit3 = 0 standar ID,bit7~5:SID 2~0
      RXB0SIDH = CANDiagnose_Addr_H;         //SID 10~3
	  }
	  else 
	  {
		  RXB0SIDL = CANData_Addr_L & 0xE0;  //bit3 = 0 standar ID,bit7~5:SID 2~0
      RXB0SIDH = CANData_Addr_H;         //SID 10~3
	  }
	  
    if( !CarStatus.Bit.SpeedFlag )TXB0CONbits.TXREQ   =   1; 
  }
  
  
}