#include "pic18.h"
char CAN_Adress_H,CAN_Adress_L; //CAN标识符高低字节
char CAN_Adress_EH,CAN_Adress_EL; //CAN扩展标识符高低字节
int CAN_FLAG; //=1接收到CAN数据，=0未接收到数据
unsigned int CAN_Delay_count=0; //间隔一定时间发送CAN数据
void initial()
{
INTCON=0x00;
ADCON1=0x07;
PIE1=0;
PIE2=0;
PIE3=0;
}
void initcan()
{
TRISB=(TRISB|0x08)&0xFB;
CANCON=0x80;
while((CANSTAT&0x80)==0)
{
;
}
BRGCON1=0x01;
BRGCON2=0x90;
BRGCON3=0x42;
TXB0CON=0x03;
TXB0SIDL=CAN_Adress_L&0xE0;
TXB0SIDH=CAN_Adress_H;
TXB0DLC=0x08;
TXB0D0=0x00;
TXB0D1=0x01;
TXB0D2=0x02;
TXB0D3=0x03;
TXB0D4=0x04;
TXB0D5=0x05;
TXB0D6=0x06;
TXB0D7=0x07;
RXB0SIDL=CAN_Adress_L&0xE0;
RXB0SIDH=CAN_Adress_H;
RXB0CON=0x20;
RXB0DLC=0x08;
RXB0D0=0x02;
RXB0D1=0x03;
RXB0D2=0x04;
RXB0D3=0x05;
RXB0D4=0x00;
RXB0D5=0x00;
RXB0D6=0x00;
RXB0D7=0x00;
RXF0SIDH=CAN_Adress_H;
RXF0SIDL=CAN_Adress_L;
RXM0SIDH=0xFF;
RXM0SIDL=0xE0;
CANCON=0x40;
while((CANSTAT&0x40)!=0)
{
;
}
PIR3=0x00;
PIE3=PIE3|0x01;
IPR3=IPR3|0x01;
}
void CAN_deal()
{
CAN_FLAG=0;
TXB0CON=TXB0CON&0xF7;
TXB0D0=RXB0D0+1;
TXB0D1=RXB0D1+1;
TXB0D2=RXB0D2+1;
TXB0D3=RXB0D3+1;
TXB0D4=RXB0D4+1;
TXB0D5=RXB0D5+1;
TXB0D6=RXB0D6+1;
TXB0D7=RXB0D7+1;
}
void interrupt HI_ISR()
{
if(RXB0IF==1)
{
CAN_FLAG=1;
RXB0IF=0;
RXB0FUL=0;
}
}
main ()
{
initial();
CAN_Adress_H=0x33;
CAN_Adress_L=0xEE;
initcan();
IPEN=1;
INTCON=INTCON|0xC0;
while(1)
{
if(CAN_FLAG==1)CAN_deal();
else if(CAN_Delay_count>0x2FE)
{
TXB0CON=TXB0CON|0x08;
CAN_Delay_count=0;
break;
}
else CAN_Delay_count++;
}
}
这是一个自检方式下的例子，为什么运行的不对啊，请高手指点，谢谢 |
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