XC164单片机TwinCAN模块调试心得（转）-白红宇

XC164单片机TwinCAN模块调试心得（转）

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发布时间：2019-06-13

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单片机TwinCAN调试心得

1、帧类型

（1）数据帧：数据帧将数据从发送器传输到接收器

（2）远程帧：总线单元发出远程帧，请求发送具有同一标识符的数据帧。/ MSGDRn4。

（3）错误帧：任何单元检测到总线错误就发出错误帧

（4）过载帧：过载帧用于在先行和后续数据帧（或远程帧）之间提供一附加的延时。

数据帧和远程帧即可使用标准帧，也可使用扩展帧。

2、帧格式介绍

1 数据帧

数据帧由7个不同的位场组成，即帧起始、仲裁场、控制场、数据场、CRC场、应答场、帧结束。

2 远程帧

远程帧由6个不同的位场组成，即帧起始、仲裁场、控制场、CRC场、应答场、帧结束。

3 错误帧

错误帧由两个不同的场组成。第一个场是错误标志，用做为不同站提供错误标志的叠加；第二个场是错误界定符。

4 超载帧

超载帧包括两个位场：超载标志和超载界定符。

3、报文路由：报文的内容由识别符命名。识别符不指出报文的目的地，但解释数据的含义。因此，网络上所有的节点可以通过报文滤波确定是否应对该数据做出反应。

4、不同的系统，CAN 的速度不同。可是，在一给定的系统里，位速率是唯一的，并且是固定的。

5、该模块分为两个节点，NODE A和NODE B，32个对象可以通过MSGCFGHn.NODE位来分别选择将该对象分配到哪个节点。

6、该32个报文对象只能作为接受对象或发送对象，不能在接收和发送之间转换。作为接收对象的必须在初始化的时候首先将其配置成接收对象。

7、回环模式可方便的用于调试，ABTR.LBM = 1和BBTR.LBM = 1，使能回环模式。在回环模式下，属于节点A的对象发送的报文只能由属于节点B的对象接受，反之亦如此。

8、报文接收时可对所接收的报文进行验收滤波，称为报文标识符验收滤波。它们分别通过仲裁寄存器（MSGARHn,MSGARLn）(ID)和验收屏蔽寄存器（MSGAMRHn,MSGAMRLn）设置实现。具体过程如下：

9、几个结构体的说明：

（1）该寄存器用于软件编程，说明如下

typedef struct

{

uword ; // 消息配置寄存器

ulong ulID; // 扩展标识 (29-bit)

ulong ulMask; // 标准验收屏蔽(11-bit)/扩展验收屏蔽 (29-bit)

ubyte ubData[8]; // 八个字节数据

uword uwCounter; // 当前接收对象接收到数据的帧数CAN_BFCRL或//CAN_AFCRL

}TCAN_SWObj;

uwMsgCfg一般用到低字节，各位代表的意义如下：

7 6 5 4 3 2 1 0

|-----------------------------------------------------------------------|

| DLC | DIR | XTD | NODE | RMM |

|------------------------------------------------------------------------|

（2）每个CAN对象寄存器结构体

struct stCanObj

{

ubyte ubData[8]; // Message Data 0..7

ulong ulCANAR; // Arbitration Register

ulong ulCANAMR; // Acceptance Mask Register

uword uwMSGCTR; // Message Control Register

uword uwCounter; // Frame Counter

uword uwMSGCFG; // Message Configuration Register

uword uwINP; // Interrupt Node Pointer

uword uwCANFCR; // FIFO / Gateway Control Register

uword uwCANPTR; // FIFO Pointer

ulong ulReserved; // Reserved

};

10、几个重要寄存器的意义：

n.RXIE报文对象接收中断使能（=10）

.TXIE----报文对象发送中断使能（=10）

（3） MSGCTRHn.MSGVAL---报文对象有效（=10）

（4） MSGCTRHn.NEWDAT---报文对象中数据已更新（=10）

（5） MSGCTRHn.MSGLST---NEWDAT仍然置位，CAN控制器已将报文保存到该报文对象中，而先前的报文丢失（=10），仅用于接受

（6） MSGCTRHn.CPUUPD---报文对象自动发送被禁止（=10）；可由CAN控制器自动发送报文对象中的数据（=01）

（7） MSGCTRHn.TXRQ---CPU或远程帧请求的报文对象数据发送被挂起（=10）。报文成功发送后，TXRQ自动复位；如果存在几个有效的报文对象又挂起的发送请求，报文编号最低的报文对象将被首先发送

（8） MSGCTRHn.RMTPND---远程节点请求报文对象数据发送，但数据并未发送。当RMTPND被置位时，CAN节点控制器也置位TXRQ.

.RMM---该发送报文对象的远程监控模式被使能。带匹配标识符远程帧的标识符和DLC码被复制到发送报文对象中，以监控输入的远程帧。该位仅对发送报文有效，对接受报文无影响。

（2） MSGCFGHn.NODE---报文对象CAN节点选择，0=A，1=B

（3） MSGCFGHn.XTD-----报文对象扩展标识符，1=11位，0=29位

（4） MSGCFGHn.DIR------报文对象方向控制，0=定义该报文为发送对象，1=定义该报文为接受对象

（5） MSGCFGHn.DLC-----报文对象数据长度码

（6） MSGCFGHn.RXINP/TXINP---分别为接收/发送中断节点指针，0~7

11、发送后一定要判断TXOK时候置位，确保在发送下一组数据之前将数据发送完成

12、附程序：

#ifndef _CAN_H_

#define _CAN_H_

// The following data type serves as a software message object. Each access to

// a hardware message object has to be made by forward a pointer to a software

// message object (TCAN_SWObj). The data type has the following fields:

// uwMsgCfg:

// this byte has the same structure as the message configuration register of a

// hardware message object. It contains the "Data Lenght Code" (DLC), the

// "Extended Identifier" (XTD), the "Message Direction" (DIR), the "Node

// Select" and the "Remote Monitoring Mode".

// 7 6 5 4 3 2 1 0

// |------------------------------------------------|

// | DLC | DIR | XTD | NODE | RMM |

// |------------------------------------------------|

// ulID:

// this field is four bytes long and contains either the 11-bit identifier

// or the 29-bit identifier

// ulMask:

// this field is four bytes long and contains either the 11-bit mask

// or the 29-bit mask

// ubData[8]:

// 8 bytes containing the data of a frame

// uwCounter:

// this field is two bytes long and contains the counter value

typedef struct

{

uword uwMsgCfg; // Message Configuration Register

ulong ulID; // standard (11-bit)/extended (29-bit) identifier

ulong ulMask; // standard (11-bit)/extended (29-bit) mask

ubyte ubData[8]; // 8-bit Data Bytes

uword uwCounter; // Frame Counter

}TCAN_SWObj;

void CAN_vInit(void);

void CAN_vGetMsgObj(ubyte ubObjNr, TCAN_SWObj *pstObj);

ubyte CAN_ubRequestMsgObj(ubyte ubObjNr);

ubyte CAN_ubNewData(ubyte ubObjNr);

void CAN_vTransmit(ubyte ubObjNr);

void CAN_vConfigMsgObj(ubyte ubObjNr, TCAN_SWObj *pstObj);

void CAN_vLoadData(ubyte ubObjNr, ubyte *pubData);

ubyte CAN_ubMsgLost(ubyte ubObjNr);

ubyte CAN_ubDelMsgObj(ubyte ubObjNr);

void CAN_vReleaseObj(ubyte ubObjNr);

void CAN_vSetMSGVAL(ubyte ubObjNr);

// USER CODE BEGIN (CAN_Header,8)

//发送一帧数据

void CAN_vSend1Frame(unsigned char ObjNr, unsigned char XTD, unsigned long ID, unsigned char *DataBuf, unsigned char LEN);

//发送N个字节

void CAN_vSendDataN(unsigned char ObjNr, unsigned char XTD, unsigned long ID, unsigned char *DataBuf, unsigned char LEN);

//报文对象初始化

TCAN_SWObj Init_vSWObj(TCAN_SWObj pstObj);

//接收报文函数

void CAN_vReveiveMsgObj(ubyte ubObjNr, TCAN_SWObj pstObj);

// USER CODE END

#define CAN_SRN0INT 0x54

#endif // ifndef _CAN_H_

(2) CAN.C

#include "MAIN.H"

extern unsigned char data2[8] ;

extern unsigned char j;

extern unsigned int num;

unsigned char dataa[8] = {0x0a,0x1a,0x2a,0x3a,0x4a,0x5a,0x6a,0x7a};

extern unsigned char CCPdata[8];

struct stCanObj

{

ubyte ubData[8]; // Message Data 0..7

ulong ulCANAR; // Arbitration Register

ulong ulCANAMR; // Acceptance Mask Register

uword uwMSGCTR; // Message Control Register

uword uwCounter; // Frame Counter

uword uwMSGCFG; // Message Configuration Register

uword uwINP; // Interrupt Node Pointer

uword uwCANFCR; // FIFO / Gateway Control Register

uword uwCANPTR; // FIFO Pointer

ulong ulReserved; // Reserved

};

#define CAN_HWOBJ ((struct stCanObj volatile far *) 0x200300)

void CAN_vInit(void)

{

// USER CODE BEGIN (Init,2)

// USER CODE END

/// -----------------------------------------------------------------------

/// Configuration of CAN Node A:

/// -----------------------------------------------------------------------

/// General Configuration of the Node A:

/// - set INIT and CCE

CAN_ACR = 0x0041; // load global control register

/// -----------------------------------------------------------------------

/// Configuration of CAN Node B:

/// -----------------------------------------------------------------------

/// General Configuration of the Node B:

/// - set INIT and CCE

CAN_BCR = 0x0041; // load global control register

CAN_BGINP = 0x0000; // load global interrupt node pointer

// register

/// Configuration of the Node B Error Counter:

/// - the error warning threshold value (warning level) is 96

CAN_BECNTH = 0x0060; // load error counter register high

/// Configuration of the used CAN Port Pins:

/// - P4.4 is used for CAN Interface Input (RXDCB)

/// - P4.7 is used for CAN Interface Output (TXDCB)

ALTSEL0P4 |= 0x0080; // select alternate output function

DP4 = (DP4 & ~(uword)0x0080) | 0x0080; //set direction register

/// Configuration of the Node B Baud Rate:

/// - required baud rate = 1.000 Mbaud

/// - real baud rate = 1.000 Mbaud

/// - sample point = 60.00 %

/// - there are 5 time quanta before sample point

/// - there are 4 time quanta after sample point

/// - the (re)synchronization jump width is 2 time quanta

CAN_BBTRL = 0x3443; // load bit timing register low

CAN_BBTRH = 0x0000; // load bit timing register high

/// Configuration of the Frame Counter:

/// - the counter is incremented each time a frame was received correctly

/// - frame counter: 0x0000

CAN_BFCRL = 0x0000; // load frame counter timing register low

CAN_BFCRH = 0x0002; // load frame counter timing register high

/// -----------------------------------------------------------------------

/// Configuration of the CAN Message Objects 0 - 31:

/// -----------------------------------------------------------------------

/// Configuration of Message Object 0:

/// -----------------------------------------------------------------------

/// - message object 0 is valid

/// - enable receive interrupt; bit INTPND is set after successfull

/// reception of a frame

/// - message object is used as receive object

/// - standard 11-bit identifier

/// - 0 valid data bytes

/// - this message object works with CAN node B

/// - remote monitoring is disabled

/// - receive interrupt node pointer: TwinCAN SRN 0

CAN_MSGCFGL0 = 0x0002; // load message configuration register low

CAN_MSGCFGH0 = 0x0000; // load message configuration register high

/// - acceptance mask 11-bit: 0x7FF

/// - identifier 11-bit: 0x0B0

CAN_MSGAMRL0 = 0x0000; // load acceptance mask register low

CAN_MSGAMRH0 = 0xFFFC; // load acceptance mask register high

CAN_MSGARL0 = 0x0000; // load arbitration register low

CAN_MSGARH0 = 0x02C0; // load arbitration register high

CAN_MSGDRL00 = 0x0000; // load data register 0 low

CAN_MSGDRH00 = 0x0000; // load data register 0 high

CAN_MSGDRL04 = 0x0000; // load data register 4 low

CAN_MSGDRH04 = 0x0000; // load data register 4 high

/// - functionality of standard message object

CAN_MSGFGCRL0 = 0x0000; // load FIFO/gateway control register low

CAN_MSGFGCRH0 = 0x0000; // load FIFO/gateway control register high

CAN_MSGCTRH0 = 0x0000; // load message control register high

CAN_MSGCTRL0 = 0x5599; // load message control register low

/// -----------------------------------------------------------------------

/// Configuration of Message Object 1:

/// -----------------------------------------------------------------------

/// - message object 1 is valid

/// - message object is used as receive object

/// - standard 11-bit identifier

/// - 8 valid data bytes

/// - this message object works with CAN node B

/// - remote monitoring is disabled

CAN_MSGCFGL1 = 0x0082; // load message configuration register low

CAN_MSGCFGH1 = 0x0000; // load message configuration register high

/// - acceptance mask 11-bit: 0x7FF

/// - identifier 11-bit: 0x002

CAN_MSGAMRL1 = 0xFFFF; // load acceptance mask register low

CAN_MSGAMRH1 = 0xFFFF; // load acceptance mask register high

CAN_MSGARL1 = 0x0000; // load arbitration register low

CAN_MSGARH1 = 0x0008; // load arbitration register high

CAN_MSGDRL10 = 0x0000; // load data register 0 low

CAN_MSGDRH10 = 0x0000; // load data register 0 high

CAN_MSGDRL14 = 0x0000; // load data register 4 low

CAN_MSGDRH14 = 0x0000; // load data register 4 high

/// - functionality of standard message object

CAN_MSGFGCRL1 = 0x0000; // load FIFO/gateway control register low

CAN_MSGFGCRH1 = 0x0001; // load FIFO/gateway control register high

CAN_MSGCTRH1 = 0x0000; // load message control register high

CAN_MSGCTRL1 = 0x5595; // load message control register low

/// -----------------------------------------------------------------------

/// Configuration of Service Request Nodes 0 - 7:

/// -----------------------------------------------------------------------

/// SRN0 service request node configuration:

/// - SRN0 interrupt priority level (ILVL) = 15

/// - SRN0 interrupt group level (GLVL) = 0

/// - SRN0 group priority extension (GPX) = 0

CAN_0IC = 0x007C;

/// Use PEC channel 4 for CAN INT 0:

/// - normal interrupt

/// - pointers are not modified

/// - transfer a word

/// - service End of PEC interrrupt by a EOP interrupt node is disabled

/// - channel link mode is disabled

PECC4 = 0x0000; // load PECC4 control register

// USER CODE BEGIN (Init,3)

// USER CODE END

CAN_PISEL = 0x0000; // load port input select register

// -----------------------------------------------------------------------

// Start the CAN Nodes:

// -----------------------------------------------------------------------

CAN_BCR &= ~(uword)0x0041; // reset INIT and CCE

// USER CODE BEGIN (Init,4)

// USER CODE END

} // End of function CAN_vInit

//****************************************************************************

// @Function ubyte CAN_ubRequestMsgObj(ubyte ubObjNr)

//----------------------------------------------------------------------------

// @Description If a TRANSMIT OBJECT is to be reconfigured it must first be

// accessed. The access to the transmit object is exclusive.

// This function checks whether the choosen message object is

// still executing a transmit request, or if the object can be

// accessed exclusively.

// After the message object is reserved, it can be

// reconfigured by using the function CAN_vConfigMsgObj or

// CAN_vLoadData.

// Both functions enable access to the object for the CAN

// controller.

// By calling the function CAN_vTransmit transfering of data

// is started.

//----------------------------------------------------------------------------

// @Returnvalue 0 message object is busy (a transfer is active), else 1

//----------------------------------------------------------------------------

// @Parameters ubObjNr:

// Number of the message object (0-31)

//----------------------------------------------------------------------------

// @Date 2010-5-14

//****************************************************************************

ubyte CAN_ubRequestMsgObj(ubyte ubObjNr)

{

ubyte ubReturn;

ubReturn = 0;

if((CAN_HWOBJ[ubObjNr].uwMSGCTR & 0x3000) == 0x1000) // if reset TXRQ

{

CAN_HWOBJ[ubObjNr].uwMSGCTR = 0xfbff; // set CPUUPD

ubReturn = 1;

}

return(ubReturn);

} // End of function CAN_ubRequestMsgObj

//****************************************************************************

// @Function ubyte CAN_ubNewData(ubyte ubObjNr)

//----------------------------------------------------------------------------

// @Description This function checks whether the selected RECEIVE OBJECT

// has received a new message. If so the function returns the

// value '1'.

//----------------------------------------------------------------------------

// @Returnvalue 1 the message object has received a new message, else 0

//----------------------------------------------------------------------------

// @Parameters ubObjNr:

// Number of the message object (0-31)

//----------------------------------------------------------------------------

// @Date 2010-5-14

//****************************************************************************

// USER CODE BEGIN (NewData,1)

// USER CODE END

ubyte CAN_ubNewData(ubyte ubObjNr)

{

ubyte ubReturn;

ubReturn = 0;

if((CAN_HWOBJ[ubObjNr].uwMSGCTR & 0x0300) == 0x0200) // if NEWDAT

{

ubReturn = 1;

}

return(ubReturn);

} // End of function CAN_ubNewData

//****************************************************************************

// @Function void CAN_vTransmit(ubyte ubObjNr)

//----------------------------------------------------------------------------

// @Description This function triggers the CAN controller to send the

// selected message.

// If the selected message object is a TRANSMIT OBJECT then

// this function triggers the sending of a data frame. If

// however the selected message object is a RECEIVE OBJECT

// this function triggers the sending of a remote frame.

//----------------------------------------------------------------------------

// @Returnvalue None

//----------------------------------------------------------------------------

// @Parameters ubObjNr:

// Number of the message object (0-31)

//----------------------------------------------------------------------------

// @Date 2010-5-14

//****************************************************************************

// USER CODE BEGIN (Transmit,1)

// USER CODE END

void CAN_vTransmit(ubyte ubObjNr)

{

CAN_HWOBJ[ubObjNr].uwMSGCTR = 0xe7ff; // set TXRQ, reset CPUUPD

} // End of function CAN_vTransmit

//****************************************************************************

// @Function void CAN_vConfigMsgObj(ubyte ubObjNr, TCAN_SWObj *pstObj)

//----------------------------------------------------------------------------

// @Description This function sets up the message objects. This includes

// the 8 data bytes, the identifier (11- or 29-bit), the

// acceptance mask (11- or 29-bit), the data number (0-8

// bytes), the frame counter value and the XTD-bit (standard

// or extended identifier). The direction bit (DIR), the NODE

// bit and the RMM (remote monitoring) bit can not be changed.

// The message is not sent; for this the function

// CAN_vTransmit must be called.

// The structure of the SW message object is defined in the

// header file CAN.H (see TCAN_SWObj).

//----------------------------------------------------------------------------

// @Returnvalue None

//----------------------------------------------------------------------------

// @Parameters ubObjNr:

// Number of the message object to be configured (0-31)

// @Parameters *pstObj:

// Pointer on a message object

//----------------------------------------------------------------------------

// @Date 2010-5-14

//****************************************************************************

// USER CODE BEGIN (ConfigMsgObj,1)

// USER CODE END

void CAN_vConfigMsgObj(ubyte ubObjNr, TCAN_SWObj *pstObj)

{

ubyte i;

CAN_HWOBJ[ubObjNr].uwMSGCTR = 0xfb7f; // set CPUUPD, reset MSGVAL

if(pstObj->uwMsgCfg & 0x0004) // extended identifier

{

CAN_HWOBJ[ubObjNr].uwMSGCFG |= 0x0004;

CAN_HWOBJ[ubObjNr].ulCANAR = pstObj->ulID ;

CAN_HWOBJ[ubObjNr].ulCANAMR = pstObj->ulMask ;

}

else // standard identifier

{

CAN_HWOBJ[ubObjNr].uwMSGCFG &= ~(uword)0x0004;

CAN_HWOBJ[ubObjNr].ulCANAR = pstObj->ulID << 18;

CAN_HWOBJ[ubObjNr].ulCANAMR = pstObj->ulMask << 18;

}

CAN_HWOBJ[ubObjNr].uwCounter = pstObj->uwCounter;

CAN_HWOBJ[ubObjNr].uwMSGCFG = (CAN_HWOBJ[ubObjNr].uwMSGCFG & 0x000f) | (pstObj->uwMsgCfg & 0x00f0);

if(CAN_HWOBJ[ubObjNr].uwMSGCFG & 0x0008) // if transmit direction

{

for(i = 0; i < (pstObj->uwMsgCfg & 0x00f0) >> 4; i++)

{

CAN_HWOBJ[ubObjNr].ubData[i] = pstObj->ubData[i];

}

CAN_HWOBJ[ubObjNr].uwMSGCTR = 0xf6bf; // set NEWDAT, reset CPUUPD,

} // set MSGVAL

else // if receive direction

{

CAN_HWOBJ[ubObjNr].uwMSGCTR = 0xf7bf; // reset CPUUPD, set MSGVAL

}

} // End of function CAN_vConfigMsgObj

//****************************************************************************

// @Function void CAN_vLoadData(ubyte ubObjNr, ubyte *pubData)

//----------------------------------------------------------------------------

// @Description If a hardware TRANSMIT OBJECT has to be loaded with data

// but not with a new identifier, this function may be used

// instead of the function CAN_vConfigMsgObj. The message

// object should be accessed by calling the function

// CAN_ubRequestMsgObj before calling this function. This

// prevents the CAN controller from working with invalid data.

//----------------------------------------------------------------------------

// @Returnvalue None

//----------------------------------------------------------------------------

// @Parameters ubObjNr:

// Number of the message object to be configured (0-31)

// @Parameters *pubData:

// Pointer on a data buffer

//----------------------------------------------------------------------------

// @Date 2010-5-14

//****************************************************************************

// USER CODE BEGIN (LoadData,1)

// USER CODE END

void CAN_vLoadData(ubyte ubObjNr, ubyte *pubData)

{

ubyte i;

CAN_HWOBJ[ubObjNr].uwMSGCTR = 0xfaff; // set CPUUPD and NEWDAT

for(i = 0; i < (CAN_HWOBJ[ubObjNr].uwMSGCFG & 0xf0) >> 4; i++)

{

CAN_HWOBJ[ubObjNr].ubData[i] = *(pubData++);

}

CAN_HWOBJ[ubObjNr].uwMSGCTR = 0xf7ff; // reset CPUUPD

} // End of function CAN_vLoadData

//****************************************************************************

// @Function ubyte CAN_ubMsgLost(ubyte ubObjNr)

//----------------------------------------------------------------------------

// @Description If a RECEIVE OBJECT receives new data before the old object

// has been read, the old object is lost. The CAN controller

// indicates this by setting the message lost bit (MSGLST).

// This function returns the status of this bit.

// Note:

// This function resets the message lost bit (MSGLST).

//----------------------------------------------------------------------------

// @Returnvalue 1 the message object has lost a message, else 0

//----------------------------------------------------------------------------

// @Parameters ubObjNr:

// Number of the message object (0-31)

//----------------------------------------------------------------------------

// @Date 2010-5-14

//****************************************************************************

// USER CODE BEGIN (MsgLost,1)

// USER CODE END

ubyte CAN_ubMsgLost(ubyte ubObjNr)

{

ubyte ubReturn;

ubReturn = 0;

if((CAN_HWOBJ[ubObjNr].uwMSGCTR & 0x0c00) == 0x0800) // if set MSGLST

{

CAN_HWOBJ[ubObjNr].uwMSGCTR = 0xf7ff; // reset MSGLST

ubReturn = 1;

}

return(ubReturn);

} // End of function CAN_ubMsgLost

//****************************************************************************

// @Function ubyte CAN_ubDelMsgObj(ubyte ubObjNr)

//----------------------------------------------------------------------------

// @Description This function marks the selected message object as not

// valid. This means that this object cannot be sent or

// receive data. If the selected object is busy (meaning the

// object is transmitting a message or has received a new

// message) this function returns the value "0" and the object

// is not deleted.

//----------------------------------------------------------------------------

// @Returnvalue 1 the message object was deleted, else 0

//----------------------------------------------------------------------------

// @Parameters ubObjNr:

// Number of the message object (0-31)

//----------------------------------------------------------------------------

// @Date 2010-5-14

//****************************************************************************

// USER CODE BEGIN (DelMsgObj,1)

// USER CODE END

ubyte CAN_ubDelMsgObj(ubyte ubObjNr)

{

ubyte ubReturn;

ubReturn = 0;

if(!(CAN_HWOBJ[ubObjNr].uwMSGCTR & 0xa200)) // if set RMTPND, TXRQ or NEWDAT

{

CAN_HWOBJ[ubObjNr].uwMSGCTR = 0xff7f; // reset MSGVAL

ubReturn = 1;

}

return(ubReturn);

} // End of function CAN_ubDelMsgObj

//****************************************************************************

// @Function void CAN_vReleaseObj(ubyte ubObjNr)

//----------------------------------------------------------------------------

// @Description This function resets the NEWDAT flag of the selected

// RECEIVE OBJECT, so that the CAN controller have access to

// it. This function must be called if the function

// CAN_ubNewData detects, that new data are present in the

// message object and the actual data have been read by

// calling the function CAN_vGetMsgObj.

//----------------------------------------------------------------------------

// @Returnvalue None

//----------------------------------------------------------------------------

// @Parameters ubObjNr:

// Number of the message object (0-31)

//----------------------------------------------------------------------------

// @Date 2010-5-14

//****************************************************************************

// USER CODE BEGIN (ReleaseObj,1)

// USER CODE END

void CAN_vReleaseObj(ubyte ubObjNr)

{

CAN_HWOBJ[ubObjNr].uwMSGCTR = 0xfdff; // reset NEWDAT

} // End of function CAN_vReleaseObj

//****************************************************************************

// @Function void CAN_vSetMSGVAL(ubyte ubObjNr)

//----------------------------------------------------------------------------

// @Description This function sets the MSGVAL flag of the selected object.

// This is only necessary if the single data transfer mode

// (SDT) for the selected object is enabled. If SDT is set to

// '1', the CAN controller automatically resets bit MSGVAL

// after receiving or tranmission of a frame.

//----------------------------------------------------------------------------

// @Returnvalue None

//----------------------------------------------------------------------------

// @Parameters ubObjNr:

// Number of the message object (0-31)

//----------------------------------------------------------------------------

// @Date 2010-5-14

//****************************************************************************

// USER CODE BEGIN (SetMSGVAL,1)

// USER CODE END

void CAN_vSetMSGVAL(ubyte ubObjNr)

{

CAN_HWOBJ[ubObjNr].uwMSGCTR = 0xffbf; // set MSGVAL

} // End of function CAN_vSetMSGVAL

//****************************************************************************

// @Function void CAN_viSRN0(void)

//----------------------------------------------------------------------------

// @Description This is the interrupt service routine for the Service

// Request Node 0 of the TwinCAN module.

//----------------------------------------------------------------------------

// @Returnvalue None

//----------------------------------------------------------------------------

// @Parameters None

//----------------------------------------------------------------------------

// @Date 2010-5-14

//****************************************************************************

// USER CODE BEGIN (SRN0,1)

// USER CODE END

void CAN_viSRN0(void) interrupt CAN_SRN0INT using RB_LEVEL15

{

// USER CODE BEGIN (SRN0,2)

TCAN_SWObj pstObj0;

// USER CODE END

while((( ((ulong)CAN_RXIPNDH << 16) + CAN_RXIPNDL) & 0x00000003))

{

// message object 0 interrupt

if((CAN_HWOBJ[0].uwMSGCTR & 0x0003) == 0x0002) // if INTPND

{

if(CAN_RXIPNDL & CAN_RXIPNDL_RXIPND0) // message object 0 receive interrupt

{

if((CAN_HWOBJ[0].uwMSGCTR & 0x0300) == 0x0200) // if NEWDAT is set

{

if ((CAN_HWOBJ[0].uwMSGCTR & 0x0c00) == 0x0800) // if MSGLST is set

{

// Indicates that the CAN controller has stored a new

// message into this object, while NEWDAT was still set,

// ie. the previously stored message is lost.

CAN_HWOBJ[0].uwMSGCTR = 0xf7ff; // reset MSGLST

// USER CODE BEGIN (SRN0_OBJ0,1)

// USER CODE END

}

else

{

// The CAN controller has stored a new message

// into this object.

// USER CODE BEGIN (SRN0_OBJ0,2)

CAN_vReveiveMsgObj(0, pstObj0);

// USER CODE END

}

CAN_HWOBJ[0].uwMSGCTR = 0xfdff; // reset NEWDAT

}

} // End of RXIPND0

CAN_HWOBJ[0].uwMSGCTR = 0xfffd; // reset INTPND

// USER CODE BEGIN (SRN0_OBJ0,6)

// USER CODE END

}

// message object 1 interrupt

// USER CODE BEGIN (SRN0,3)

// USER CODE END

} // End of while()

// USER CODE BEGIN (SRN0,7)

// USER CODE END

} // End of function CAN_viSRN0

// USER CODE BEGIN (CAN_General,10)

// 发送数据后重新对CAN模块初始化，主要是仲裁寄存器和屏蔽寄存器

void CAN_vSetARMR(void)

{

/// General Configuration of the Node A:

/// - set INIT and CCE

CAN_ACR = 0x0041; // load global control register

/// General Configuration of the Node B:

/// - set INIT and CCE

CAN_BCR = 0x0041; // load global control register

/// -----------------------------------------------------------------------

/// Configuration of the CAN Message Objects 0 - 31:

/// -----------------------------------------------------------------------

/// - acceptance mask 11-bit: 0x7FF

/// - identifier 11-bit: 0x0B0

CAN_MSGAMRL0 = 0x0000; // load acceptance mask register low

CAN_MSGAMRH0 = 0xFFFC; // load acceptance mask register high

CAN_MSGARL0 = 0x0000; // load arbitration register low

CAN_MSGARH0 = 0x02C0; // load arbitration register high

CAN_MSGDRL00 = 0x0000; // load data register 0 low

CAN_MSGDRH00 = 0x0000; // load data register 0 high

CAN_MSGDRL04 = 0x0000; // load data register 4 low

CAN_MSGDRH04 = 0x0000; // load data register 4 high

/// - acceptance mask 11-bit: 0x7FF

/// - identifier 11-bit: 0x400

CAN_MSGAMRL1 = 0x0000; // load acceptance mask register low

CAN_MSGAMRH1 = 0xFFFC; // load acceptance mask register high

CAN_MSGARL1 = 0x0000; // load arbitration register low

CAN_MSGARH1 = 0x1000; // load arbitration register high

CAN_MSGDRL10 = 0x0000; // load data register 0 low

CAN_MSGDRH10 = 0x0000; // load data register 0 high

CAN_MSGDRL14 = 0x0000; // load data register 4 low

CAN_MSGDRH14 = 0x0000; // load data register 4 high

CAN_HWOBJ[1].uwMSGCFG &= ~0x0008; //定义报文对象为接收对象

// -----------------------------------------------------------------------

// Start the CAN Nodes:

// -----------------------------------------------------------------------

CAN_BCR &= ~(uword)0x0041; // reset INIT and CCE

}

//初始化接收数组对象

TCAN_SWObj Init_vSWObj(TCAN_SWObj pstObj){

int i;

pstObj.ulID = 0x0000;

pstObj.ulMask = 0x0000;

pstObj.uwCounter = 0;

pstObj.uwMsgCfg = 0;

for(i=0; i<8; i++)

{

pstObj.ubData[i] = 0x00;

}

return pstObj;

}

//CAN_vSendData(0,0x10,data,6);

//功能:CAN发送1帧数据(数据长度<=8) *

//参数:ID---报文标识符 *

// DataBUF---报文数据区首址 *

// LEN---报文数据长度 *

// objNr---报文对象

// XTD ---标识符类型 0=标准标识符，1=扩展标识符

//返回:INT8U CANsnd1DFrm --- 发送成功与否标志， *

// =0，没有空闲发送缓冲区，发送不成功；=1，发送成功 */

void CAN_vSend1Frame(unsigned char ObjNr,unsigned char XTD, unsigned long ID, unsigned char *DataBuf, unsigned char LEN)

{

unsigned char i;

TCAN_SWObj pstObj;

//初始化报文对象

pstObj = Init_vSWObj(pstObj);

if(XTD == 0)

{

pstObj.uwMsgCfg &= ~0x0004; //11位标准标识符

}

else

{

pstObj.uwMsgCfg |= 0x0004; //29位扩展标识符

}

pstObj.ulID = ID;

pstObj.uwMsgCfg |= (1 <<3 ); //定义该报文对象为发送对象,请求发送，发送数据帧

pstObj.uwMsgCfg |= LEN << 4; //定义发送报文长度

for(i=0; i<LEN; i++)

{

pstObj.ubData[i] = *((unsigned char far *)(DataBuf++));

data2[i] = pstObj.ubData[i];

}

if(CAN_ubRequestMsgObj(ObjNr))//判断节点空闲

{

CAN_HWOBJ[ObjNr].uwMSGCFG |= 0x0008; //定义报文对象为发送对象

CAN_vConfigMsgObj(ObjNr, &pstObj);

CAN_HWOBJ[ObjNr].uwMSGCTR = 0xe7ff; // 置位 TXRQ, 复位 CPUUPD，开始发送数据

if(CAN_HWOBJ[ObjNr].uwMSGCFG & 0x0002) //该对象与B节点相连

{

while(0 == (CAN_BSR & 0X008)) //等待发送完成

{

for(i=0;i<10;i++);

}

CAN_BSR &= 0XFFF7; //清除TXOK标志

}

else //该对象与A节点相连

{

while(0 == (CAN_ASR & 0X008)) //等待发送完成

{

for(i=0;i<10;i++);

}

CAN_ASR &= 0XFFF7; //清除TXOK标志

}

CAN_HWOBJ[ObjNr].uwMSGCTR = 0xfdff; // 复位 NEWDAT，使用完后释放该节点

// CAN_vSetARMR(); //重新设定仲裁和标识符屏蔽寄存器

}

//发送N个字节

void CAN_vSendDataN( unsigned char ObjNr, unsigned char XTD,unsigned long ID, unsigned char *DataBuf, unsigned char LEN)

{

unsigned int num1, num2, i;

if(XTD == 1)

{

CAN_HWOBJ[ObjNr].uwMSGCFG |= 0x0004; //扩展帧标识符

}

num1 = LEN / 8;

num2 = LEN % 8;

for(i=0; i<num1; i++)

{

CAN_vSend1Frame(ObjNr, XTD, ID, DataBuf+i*8, 8);

}

CAN_vSend1Frame(ObjNr, XTD,ID, DataBuf+num1*8, num2);

if(XTD == 1)

{

CAN_HWOBJ[ObjNr].uwMSGCFG &= ~0x0004; //设置回标准帧标识符

}

// CAN_vSendFarFrame(0,0, 0x0001b, data_send, 4);

// 发送远程帧，当接收到带有匹配标识符的数据帧时，报文数据保存到相关的数据寄存器MSGDRn0/ MSGDRn4

void CAN_vSendFarFrame(unsigned char ObjNr,unsigned char XTD, unsigned long ID, unsigned char *DataBuf, unsigned char LEN)

{

unsigned char i;

TCAN_SWObj pstObj;

//初始化报文对象

pstObj = Init_vSWObj(pstObj);

if(XTD == 0)

{

pstObj.uwMsgCfg &= ~0x0004; //11位标准标识符

}

else

{

pstObj.uwMsgCfg |= 0x0004; //29位扩展标识符

}

pstObj.ulID = ID;

pstObj.uwMsgCfg &= ~(1 <<3 ); //定义该报文对象为接受对象,请求发送，发送远程

pstObj.uwMsgCfg |= LEN << 4; //定义发送报文长度

for(i=0; i<LEN; i++)

{

pstObj.ubData[i] = *((unsigned char far *)(DataBuf++));

data2[i] = pstObj.ubData[i];

}

if(CAN_ubRequestMsgObj(ObjNr))//判断节点空闲

{

CAN_HWOBJ[ObjNr].uwMSGCFG |= 0x0008; //定义报文对象为发送对象

CAN_vConfigMsgObj(ObjNr, &pstObj);

CAN_HWOBJ[ObjNr].uwMSGCTR = 0xe7ff; // 置位 TXRQ, 复位 CPUUPD，开始发送数据

if(CAN_HWOBJ[ObjNr].uwMSGCFG & 0x0002) //该对象与B节点相连

{

while(0 == (CAN_BSR & 0X008)); //等待发送完成

CAN_BSR &= 0XFFF7; //清除TXOK标志

}

else //该对象与A节点相连

{

while(0 == (CAN_ASR & 0X008)); //等待发送完成

CAN_ASR &= 0XFFF7; //清除TXOK标志

}

CAN_HWOBJ[ObjNr].uwMSGCTR = 0xfdff; // 复位 NEWDAT，使用完后释放该节点

CAN_HWOBJ[ObjNr].uwMSGCFG &= ~0x0008; //定义报文对象为接收对象

// CAN_vSetARMR(); //重新设定仲裁和标识符屏蔽寄存器

}

//功能：接收报文函数

//参数：

// ubObjNr：接收报文对象的编号

// pstObj：接收参数

//返回：空

void CAN_vReveiveMsgObj(ubyte ubObjNr, TCAN_SWObj pstObj)

{

int i;

//初始化报文对象

pstObj = Init_vSWObj(pstObj);

for(i = 0; i < (CAN_HWOBJ[ubObjNr].uwMSGCFG & 0x00f0) >> 4; i++)//接收数据

{

pstObj.ubData[i] = CAN_HWOBJ[ubObjNr].ubData[i];

}

if(CAN_HWOBJ[ubObjNr].uwMSGCFG & 0x04) // extended identifier

{

pstObj.ulID = CAN_HWOBJ[ubObjNr].ulCANAR;

pstObj.ulMask = CAN_HWOBJ[ubObjNr].ulCANAMR;

}

else // standard identifier

{

pstObj.ulID = CAN_HWOBJ[ubObjNr].ulCANAR >> 18;

pstObj.ulMask = CAN_HWOBJ[ubObjNr].ulCANAMR >> 18;

}

pstObj.uwCounter = CAN_HWOBJ[ubObjNr].uwCounter;

pstObj.uwMsgCfg = CAN_HWOBJ[ubObjNr].uwMSGCFG;

ccpCommand(pstObj.ubData); // CCP命令解析

}

// USER CODE END

(3) 调用方法

//使用节点0发送data_send中的12个字节

//11位标准标识符，标识符为0x0400，

CAN_vSendDataN(0,0, 0x00400, data_send, 12);

//使用节点1送data_send中的12个字节

//11位标准标识符，标识符为0x0400，

CAN_vSendDataN(1,0, 0x00400, data_send, 12);

转载于:https://www.cnblogs.com/steararre/archive/2012/10/29/2744940.html

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