使用ZLG公司的Demo程序CAN驱动程序，调用CANSendData发送返回为0，说明发送成功，用示波器测了CANTXD一直是高电平，只有一个40us脉宽的低脉冲，
初始化设置
void caninit(eCANNUM CanNum,uint8 Baud)
{
HwEnCAN(CanNum);
SoftRstCAN(CanNum);
CANEWL(CanNum).Bits.EWL_BIT = USE_EWL_CAN[CanNum];
//初始化波特率
//CANBTR(CanNum).Word = USE_BTR_CAN[CanNum];
switch (Baud)
{
case 0:
CANBTR(CanNum).Word = (uint32)BPS_12K;
break;
case 1:
CANBTR(CanNum).Word = (uint32)BPS_20K;
break;
case 2:
CANBTR(CanNum).Word = (uint32)BPS_20K;
break;
case 3:
CANBTR(CanNum).Word = (uint32)BPS_50K;
break;
default:
CANBTR(CanNum).Word = (uint32)BPS_12K;
break;
}
//初始化中断为非向量中断
VICDefVectAddr =(uint32)can_isr;
VICIntEnable |=(1<<19)|(1<<(20+ CanNum))|(1<<(26+CanNum));
//中断使能
CANIER(CanNum).Word= USE_INT_CAN[CanNum];
//配置验收滤波器(旁路状态)
CANAFMR.Bits.AccBP_BIT =1;
CANAFMR.Bits.eFCAN_BIT = 0;
//初始化模式
//CANMOD(CanNum).Bits.TPM_BIT = USE_TPM_CAN[CanNum];
//CANMOD(CanNum).Bits. LOM_BIT = USE_MOD_CAN[CanNum];
//CANCMR(CanNum).Bits.SRR_BIT = 1;
CANMOD(CanNum).Bits.TPM_BIT = USE_TPM_CAN1;
CANMOD(CanNum).Bits. LOM_BIT = USE_MODE_CAN1;
CANMOD(CanNum).Bits.STM_BIT = 1;
CANMOD(CanNum).Bits.RPM_BIT = 0;
//CANCMR(CanNum).Bits.SRR_BIT = 1;
//自测试模式
//CANMOD(CanNum).Bits.STM_BIT = 1;
//CANMOD(CanNum).Bits.TM_BIT = 0;
//初始化接收环形缓冲区
CANRcvBufApp.FullFlag1 = CANRcvBufApp.FullFlag2 = 0;
CANRcvBufApp.ReadPoint1 = CANRcvBufApp.ReadPoint2 = 0;
CANRcvBufApp.WritePoint1 = CANRcvBufApp.WritePoint2 = 0;
//启动CAN
SoftEnCAN(CanNum);
}
我的测试函数
void test(void)
{
uint8 tmp[8] = {0};
uint8 datanum = 0;
uint32 id = 0;
uint8 i = 0;
uint8 tempid[4] = {0};
stcRxBUF cbuf;
if (ReadCANRcvCyBuf(CAN1,&cbuf) == 0)
{
datanum = cbuf.CANRcvFS.Bits.DLC_BIT;
for(i=0;i<4;i++)
{
tempid = *((uint8 *)&cbuf.RxCANID + 3 - i);
}
send_buf(UART0,tempid,4);
switch (datanum & 0x0F)
{
case 0:
break;
case 1:
tmp[0] = cbuf.CANRDA.Bits.Data1_BIT;
break;
case 2:
tmp[0] = cbuf.CANRDA.Bits.Data1_BIT;
tmp[1] = cbuf.CANRDA.Bits.Data2_BIT;
break;
case 3:
tmp[0] = cbuf.CANRDA.Bits.Data1_BIT;
tmp[1] = cbuf.CANRDA.Bits.Data2_BIT;
tmp[2] = cbuf.CANRDA.Bits.Data3_BIT;
break;
case 4:
tmp[0] = cbuf.CANRDA.Bits.Data1_BIT;
tmp[1] = cbuf.CANRDA.Bits.Data2_BIT;
tmp[2] = cbuf.CANRDA.Bits.Data3_BIT;
tmp[3] = cbuf.CANRDA.Bits.Data4_BIT;
break;
case 5:
tmp[0] = cbuf.CANRDA.Bits.Data1_BIT;
tmp[1] = cbuf.CANRDA.Bits.Data2_BIT;
tmp[2] = cbuf.CANRDA.Bits.Data3_BIT;
tmp[3] = cbuf.CANRDA.Bits.Data4_BIT;
tmp[4] = cbuf.CANRDB.Bits.Data1_BIT;
break;
case 6:
tmp[0] = cbuf.CANRDA.Bits.Data1_BIT;
tmp[1] = cbuf.CANRDA.Bits.Data2_BIT;
tmp[2] = cbuf.CANRDA.Bits.Data3_BIT;
tmp[3] = cbuf.CANRDA.Bits.Data4_BIT;
tmp[4] = cbuf.CANRDB.Bits.Data1_BIT;
tmp[5] = cbuf.CANRDB.Bits.Data2_BIT;
break;
case 7:
tmp[0] = cbuf.CANRDA.Bits.Data1_BIT;
tmp[1] = cbuf.CANRDA.Bits.Data2_BIT;
tmp[2] = cbuf.CANRDA.Bits.Data3_BIT;
tmp[3] = cbuf.CANRDA.Bits.Data4_BIT;
tmp[4] = cbuf.CANRDB.Bits.Data1_BIT;
tmp[5] = cbuf.CANRDB.Bits.Data2_BIT;
tmp[6] = cbuf.CANRDB.Bits.Data3_BIT;
break;
case 8:
default:
tmp[0] = cbuf.CANRDA.Bits.Data1_BIT;
tmp[1] = cbuf.CANRDA.Bits.Data2_BIT;
tmp[2] = cbuf.CANRDA.Bits.Data3_BIT;
tmp[3] = cbuf.CANRDA.Bits.Data4_BIT;
tmp[4] = cbuf.CANRDB.Bits.Data1_BIT;
tmp[5] = cbuf.CANRDB.Bits.Data2_BIT;
tmp[6] = cbuf.CANRDB.Bits.Data3_BIT;
tmp[7] = cbuf.CANRDB.Bits.Data4_BIT;
break;
}
send_buf(UART0,tmp,datanum);
}
#if 1
/*两块目标板，接收都调通，在测试发送时，其中一个在此处
用#if 0屏蔽，只处理接收数据，另一个节点负责发送CAN数据*/
/*0成功，1失败*/
if (SendToCAN() == 0)
char_SendBufByIrq(UART0,"成功!
");
else
char_SendBufByIrq(UART0,"失败!
");
#endif
delay(10000);
}
/*向CAN发送数据*/
uint32 SendToCAN(void)
{
static uint8 SRCANBuf[16];
static uint8 CAN_NODE_ID = 001;
uint32 i;
static stcTxBUF CTbuf;
//准备CAN帧数据
SRCANBuf[0] = CAN1;
SRCANBuf[1] = 0x88;//帧信息:扩展帧 数据帧 DLC =8B
SRCANBuf[14] = 0x02;
//计算标示符
SRCANBuf[2] = 0x01<<4; //PRI 28位置高
SRCANBuf[2] |= (uint8)((uint8)(CAN_NODE_ID>>6) &0x1);//24b
SRCANBuf[3] = (uint8)(CAN_NODE_ID<<2);//18~23b
SRCANBuf[4] = 0;
SRCANBuf[5] = 0;
SRCANBuf[6] = 1;
SRCANBuf[7] = 2;
SRCANBuf[8] = 3;
SRCANBuf[9] = 4;
SRCANBuf[10] = 5;
SRCANBuf[11] = 6;
SRCANBuf[12] = 7;
SRCANBuf[13] = 8;
SRCANBuf[15] = 10;
CTbuf.TxFrameInfo.Bits.PRIO_BIT =SRCANBuf[0];//CAN通道号
CTbuf.TxFrameInfo.Bits.FF_BIT = 1; //帧格式
CTbuf.TxFrameInfo.Bits.RTR_BIT = 0; //帧类型
CTbuf.TxFrameInfo.Bits.DLC_BIT = SRCANBuf[1]; //数据长度
for (i=0; i<4; i++)
{
*((uint8 *)&CTbuf.TxCANID.Word +i)=SRCANBuf[5-i];
}
//memcpy((uint8 *)&CTbuf.CANTDA ,&SRCANBuf[6],4);
//memcpy((uint8 *)&CTbuf.CANTDB ,&SRCANBuf[10],4);
CTbuf.CANTDA.Bits.Data1_BIT = SRCANBuf[6];
CTbuf.CANTDA.Bits.Data2_BIT = SRCANBuf[7];
CTbuf.CANTDA.Bits.Data3_BIT = SRCANBuf[8];
CTbuf.CANTDA.Bits.Data4_BIT = SRCANBuf[9];
CTbuf.CANTDB.Bits.Data1_BIT = SRCANBuf[10];
CTbuf.CANTDB.Bits.Data2_BIT = SRCANBuf[11];
CTbuf.CANTDB.Bits.Data3_BIT = SRCANBuf[12];
CTbuf.CANTDB.Bits.Data4_BIT = SRCANBuf[13];
/*0成功，1失败*/
if (CANSendData(SRCANBuf[0],SRCANBuf[14],&CTbuf)==0)
return 0;
else
return 1;
}
/*ZLG提供的驱动函数*/
uint32 CANSendData(eCANNUM CanNum,uint32 Cmd,P_stcTxBUF Buf)
{
uint32 i,status=0;
if (0 != CANSR(CanNum).Bits.TBS1_BIT)
{
i = SEND_TX_BUF1;
}
else if (0 != CANSR(CanNum).Bits.TBS2_BIT)
{
i = SEND_TX_BUF2;
}
else if (0 != CANSR(CanNum).Bits.TBS3_BIT)
{
i = SEND_TX_BUF3;
}
else
{
i = 0xFF;
}
/*0成功，1失败*/
status = WriteCanTxBuf(CanNum,i, USE_TPM_CAN[CanNum],Buf);
if (status == 0)
{
#if 1
if(CANMOD(CanNum).Bits.SM_BIT != 0) {
CanQuitSM(CanNum);
}
#endif
CanSendCmd(CanNum,Cmd,i);
}
return (status);
}
uint32 WriteCanTxBuf(eCANNUM CanNum,uint32 TxBufNum,uint32 TPM,P_stcTxBUF Buf)
{
uint32 status=0;
switch (TxBufNum)
{
case SEND_TX_BUF1:
if ((0 == CANSR(CanNum).Bits.TS1_BIT) && (0 != CANSR(CanNum).Bits.TBS1_BIT))
{
CANTFI1(CanNum)=Buf->TxFrameInfo;
CANTID1(CanNum)=Buf->TxCANID;
CANTDA1(CanNum)=Buf->CANTDA;
CANTDB1(CanNum)=Buf->CANTDB;
}
else
{
status = 0x01;
}
break;
case SEND_TX_BUF2:
if ((0== CANSR(CanNum).Bits.TS2_BIT)&&(0 !=CANSR(CanNum).Bits.TBS2_BIT))
{
CANTFI2(CanNum)=Buf->TxFrameInfo;
CANTID2(CanNum)=Buf->TxCANID;
CANTDA3(CanNum)=Buf->CANTDA;
CANTDB2(CanNum)=Buf->CANTDB;
}
else
{
status = 0x01;
}
break;
case SEND_TX_BUF3:
if ((0== CANSR(CanNum).Bits.TS3_BIT)&&(0 != CANSR(CanNum).Bits.TBS3_BIT))
{
CANTFI3(CanNum)=Buf->TxFrameInfo;
CANTID3(CanNum)=Buf->TxCANID;
CANTDA3(CanNum)=Buf->CANTDA;
CANTDB3(CanNum)=Buf->CANTDB;
}
else
{
status = 0x01;
}
break;
default:
status = 0x01;
break;
}
if (TPM == 1)
{
CANMOD(CanNum).Bits.TPM_BIT =1;
}
return(status);
}
void __irq can_isr(void)
{
uint32 j = 0;
uCANICR k;
uint8 tmp=0;
//ON_TCAN_LED();
if (CANLUTerr.Word != 0 ) //LUT Error Program
{
//add or modify code
j = CANLUTerrAd.Word;
}
for (j=0; j<CAN_MAX_NUM; j++)
{
k = CANICR(j);
if (k.Bits.RI_BIT != 0)
{
//add code
RCAN_LEDGlint();
WriteCANRcvCyBuf(j); //CAN接收中断
}
if (k.Bits.TI1_BIT != 0)
{
//add code
//COMM_LEDGlint();
//CANCMR(j).Bits.TR_BIT = 1;
}
if (k.Bits.TI2_BIT != 0)
{
//add code
}
if (k.Bits.TI3_BIT != 0)
{
//add code
}
if (k.Bits.BEI_BIT != 0)
{
//uint32 i = 0;
//add code
//erro = k.Bits.ERRBIT_BIT;
tmp = k.Bits.ERRC_BIT;
COMM_LEDGlint();/*led闪烁，取反，该灯一直闪烁不停*/
/*
switch (tmp)
{
case 2:
TCAN_LEDGlint();
break;
default:
COMM_LEDGlint();
break;
}
*/
CanBufOffLinePrg(j);
}
if (k.Bits.ALI_BIT != 0)
{
//add code
//ON_TCAN_LED();
}
if (k.Bits.EPI_BIT != 0)
{
//add code
//ON_TCAN_LED();
}
if (k.Bits.WUI_BIT != 0)
{
//add code
}
if (k.Bits.DOI_BIT != 0)
{
//add code
ClrCanDataOver(j);
}
}
//ON_TCAN_LED();
VICVectAddr = 0x00;
}
不知道问题出在哪，收，发节点一直进总线错误中断， |
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