LIST P=16F877
#INCLUDE P16F877.INC
AH EQU 30H
AL EQU 31H
ACCAHI EQU 32H
ACCALO EQU 33H
EXPA EQU 34H
ACCBHI EQU 35H
ACCBLO EQU 36H
EXPB EQU 37H
C1 EQU 38H
C2 EQU 39H
ACCDHI EQU 40H
ACCDLO EQU 41H
TEMP EQU 42H
SIGN EQU 43H
BB EQU 44H
COUNT1 EQU 45H
COUNT2 EQU 46H
ACCEHI EQU 47H
ACCELO EQU 48H
EXPE EQU 49H
ACCFHI EQU 50H
ACCFLO EQU 51H
EXPF EQU 52H
BB1 EQU 53H
PE EQU 54H
STATUSS EQU 55H
WS EQU 56H
PE1 EQU 57H
RXB1 EQU 58H
RXB2 EQU 59H
TMR1LS EQU 60H
TMR1HS EQU 61H
ACCCHI EQU 62H
ACCCLO EQU 63H
EXPC EQU 64H
RXB3 EQU 65H
R10 EQU 70H
R11 EQU 71H
R12 EQU 72H
R13 EQU 73H
R0 EQU 74H
R1 EQU 75H
;
ORG 0
MAIN BCF INTCON,GIE ;开总中断
BSF STATUS,RP0
MOVLW 87H ;设AE口为I/O口--
MOVWF ADCON1
MOVLW 0C1H
MOVWF TRISC
MOVLW 1H
MOVWF TRISB
BCF STATUS,RP0
CLRF PORTD
MOVLW 70H
MOVWF PORTB ;CAN_ALE=0,CAN_CS=1,CAN_RD_WR=1
CALL CANINT ;CAN初始化
MA BSF PORTC,1;内灯亮
BSF PORTC,2
CALL DELY
BCF PORTC,2;外灯XING
CALL CALL_F;发送子程序
;MOVLW 2
;MOVWF PE
;MA1 CALL CAN_R
; BTFSS PE1,0
; GOTO MA1
CALL CALL_S;接收子程序????
BCF PORTC,1;内灯熄灭
CALL DELY
GOTO MA
CALL_S MOVLW 2
MOVWF PE
CALL CAN_R;读状态寄存器
BTFSS PE1,7;总线关闭
GOTO S1
MOVLW 3
MOVWF PE
CALL CAN_R;读中断寄存器,清除中断位
MOVLW 0CH
MOVWF PE1
CLRF PE
CALL CAN_W;方式寄存器的复位位清零
BSF PORTC,2;外灯亮
CALL DELY
BCF PORTC,2;若总线关闭,令外灯亮1秒后熄灭
RETLW 0
S1 MOVLW 2
MOVWF PE
CALL CAN_R
BTFSS PE1,1;数据溢出，RXFIFO没有空间存储
GOTO S2
MOVLW 1
MOVWF PE
MOVLW 0CH
MOVWF PE1
CALL CAN_W;清除数据溢出状态位,释放接收缓冲器
BSF PORTC,2;外灯亮
CALL DELY
BCF PORTC,2;令外灯亮1秒后熄灭
CALL DELY
BSF PORTC,2;外灯亮
CALL DELY
BCF PORTC,2;令外灯亮1秒后熄灭,共亮两次
RETLW 0
S2 BTFSS PE1,0;接收到可用信息
GOTO S3;缓存无数据,退出接收?
MOVLW 16
MOVWF PE
CALL CAN_R;读接收缓存器首地址中的数据
BTFSS PE1,6;第六位为1,是远程帧无数据
GOTO S4;是数据帧
MOVLW 1
MOVWF PE
MOVLW 4
MOVWF PE1
CALL CAN_W;写命令寄存器,释放接收缓冲器
BSF PORTC,2;外灯亮
CALL DELY
BCF PORTC,2;令外灯亮1秒后熄灭
CALL DELY
BSF PORTC,2;外灯亮
CALL DELY
BCF PORTC,2;令外灯亮1秒后熄灭
BSF PORTC,2;外灯亮
CALL DELY
BCF PORTC,2;令外灯亮1秒后熄灭,共亮三次
GOTO S3;退出接收
S4 MOVLW 16
MOVWF PE
CALL CAN_R;读数据帧的第一个字节
MOVF PE1,0;第一个字节取到W
ANDLW 0FH;取数据长度码到W
ADDLW 2
MOVWF R10;长度码加2字节的标识符存R10
INCF PE,1
CALL CAN_R;读下一个字节,标识符的第一字节
MOVF PE1,0
MOVWF R11;第一字节存R11
INCF PE,1
CALL CAN_R
MOVF PE1,0
MOVWF R12;第二字节存R12
INCF PE,1
CALL CAN_R
MOVF PE1,0
MOVWF R13;第三字节存R13
MOVLW 1
MOVWF PE
MOVLW 4
MOVWF PE1
CALL CAN_W;写命令寄存器,释放接收缓冲器
MOVLW 5
MOVWF R0
S6 BSF PORTC,2
CALL DELY
BCF PORTC,2
CALL DELY
DECFSZ R0,1
GOTO S6
S3 MOVLW 11;退出接收
MOVWF PE
CALL CAN_R;读仲裁丢失捕捉寄存器,释放
INCF PE
CALL CAN_R;读错误代码捕捉寄存器,释放
RETLW 0
CALL_F MOVLW 2;CAN发送数据子程序
MOVWF PE
W3 CALL CAN_R;读SR状态寄存器
BTFSC PE1,4;SJA1000正在接收信息,则等待
GOTO W3
W4 CALL CAN_R
BTFSS PE1,3;当前请求的发送未处理完,则等待
GOTO W4
W5 CALL CAN_R
BTFSS PE1,2;发送缓存器锁定,则等待
GOTO W5
MOVLW 1;111GAI,命令寄存器，释放接收缓冲器，中止发送单次
MOVWF PE
MOVLW 6
MOVWF PE1
CALL CAN_W;111
MOVLW 16;向发送缓存区写数据
MOVWF PE
MOVLW 1
MOVWF PE1;标准帧格式,数据长度为1字节
CALL CAN_W
CALL DELY1
INCF PE
MOVLW 55H
MOVWF PE1
CALL CAN_W
CALL DELY1
INCF PE
MOVLW 55H
MOVWF PE1;GAI
CALL CAN_W
CALL DELY1
INCF PE
MOVLW 55H
MOVWF PE1;数据为55H,GAI
CALL CAN_W
CALL DELY1
MOVLW 1
MOVWF PE
MOVLW 12H;GAI3???11
MOVWF PE1
CALL CAN_W;设置命令寄存器,开始自发送
BSF PORTC,2
CALL DELY
CALL DELY
CALL DELY
CALL DELY
BCF PORTC,2
BSF PORTC,3
RETLW 0
CAN_W BCF PORTB,6 ;CS=0_2008/向CAN寄存器写命令子程序
BSF PORTB,7 ;ALE=1
BSF STATUS,RP0 ;
CLRF TRISD ;D口设为输出
BCF STATUS,RP0
MOVF PE,0 ;PE-->PORTD(PE中存CAN寄存器地址)
MOVWF PORTD
CALL DELY1;GAI
BCF PORTB,7 ;ALE=0
CALL DELY1
CLRF PORTD ;清除地址
BCF PORTB,4 ;WR=0
CALL DELY1
MOVF PE1,0 ;PE1-->PORTD(PE1中存CAN寄存器命令信号)
MOVWF PORTD
CALL DELY1
BSF PORTB,4 ;WR=1
CALL DELY1
CLRF PORTD
BSF PORTB,6 ;CS=1
RETLW 0
CAN_R BCF PORTB,6 ;CS=0_2008/读CAN寄存器子程序
BSF PORTB,7 ;ALE=1
BSF STATUS,RP0 ;
CLRF TRISD ;D口设为输出
BCF STATUS,RP0
MOVF PE,0 ;访问寄存器地址PE-->PORTD
MOVWF PORTD
CALL DELY1
BCF PORTB,7 ;ALE=0
CALL DELY1
BSF STATUS,RP0
MOVLW 0FFH ;D口设为输入
MOVWF TRISD
BCF STATUS,RP0
CALL DELY1
BCF PORTB,5 ;RD=0
CALL DELY1
MOVF PORTD,0 ;将寄存器内容读入PE1
MOVWF PE1
CALL DELY1
BSF PORTB,5 ;RD=1
BSF PORTB,6 ;CS=1
RETLW 0
CANINT CLRF PE;方式寄存器地址/2008，CAN初始化子程序
INT0 MOVLW 09H;GAI2
MOVWF PE1;要写入方式寄存器的数据存PE1
CALL CAN_W
CALL DELY1
CALL CAN_R;111GAI2,没有复位则重写方式寄存器
BTFSS PE1,0
GOTO INT0;111
MOVLW 31
MOVWF PE;PE存CDR地址
MOVLW 0C8H;GAI
MOVWF PE1;c8H-->CDR寄存器,选择PELICAN模式
CALL CAN_W
MOVLW 4;写AMR寄存器
MOVWF R1;
MOVLW 20
MOVWF PE
W1 MOVLW 0FFH
MOVWF PE1
CALL CAN_W
INCF PE
DECFSZ R1,1
GOTO W1
MOVLW 4;写ACR寄存器
MOVWF R1
MOVLW 16
MOVWF PE
W2 MOVLW 55H
MOVWF PE1
CALL CAN_W
INCF PE
DECFSZ R1,1
GOTO W2
MOVLW 6;BTR0地址/写BTR0寄存器
MOVWF PE
MOVLW 0H;GAI3!!!
MOVWF PE1;3H-->BTR0寄存器,选择500K波特率
CALL CAN_W
MOVLW 7;BTR1地址/写BTR1寄存器
MOVWF PE
MOVLW 1CH;GAI3!!!
MOVWF PE1;0FFH-->BTR1寄存器,选择10K波特率
CALL CAN_W
MOVLW 8;OCR地址/写OCR寄存器
MOVWF PE
MOVLW 0FAH;GAI2!!!!
MOVWF PE1;0AAH-->OCR寄存器
CALL CAN_W
MOVLW 30;接收缓存起始地址寄存器/写寄存器
MOVWF PE
MOVLW 0
MOVWF PE1;0-->接收缓存起始地址寄存器
CALL CAN_W
MOVLW 15;TXERR地址/写TXERR寄存器
MOVWF PE
CLRF PE1
CALL CAN_W
MOVLW 12;读ECC清除寄存器内容
MOVWF PE
CALL CAN_R
CLRF PE;方式寄存器地址
MOVLW 0CH;INT1-----
MOVWF PE1
CALL CAN_W
CALL DELY1
;CALL CAN_R;GAI2111
;MOVLW 0CH
; SUBWF PE1,0;减
; BTFSS STATUS,2;Z=1
; GOTO INT1;111GAI3
RETLW 0
DELY CLRF COUNT2 ;延时子程序，系统时钟为16MHZ时，延时为1S-2008
CLRF COUNT1
MOVLW 14H
MOVWF WS
LOOP INCFSZ COUNT1
GOTO LOOP
INCFSZ COUNT2
GOTO LOOP
DECFSZ WS
GOTO LOOP
MOVLW 4CH
MOVWF COUNT2
LOOP1 MOVLW 5
MOVWF COUNT1
LOOP2 INCFSZ COUNT1
GOTO LOOP2
DECFSZ COUNT2
GOTO LOOP1
RETLW 0
DELY1 MOVLW 30H ;延时子程序
MOVWF COUNT2
CLRF COUNT1
LOOP3 INCFSZ COUNT1
GOTO LOOP3
DECFSZ COUNT2
GOTO LOOP3
RETLW 0
END
我用的是C1C2口接的两个指示灯,显示程序的状态!
我总感觉是SJA1000初始化的问题,或是硬件的问题!
我在程序中用的是查询方式接收,即查询SJA1000状态寄存器的第0位为1时接收.
CAN_W和CAN_R是模拟SJA1000的写和读子程序.CANINT子程序为初始化子程序,请各位重点帮助看一下!
硬件:PIC16F877和SJA1000都是低电平复位,接在一点用按钮复位,PIC和SJA1000都是16MHZ晶振,两个小灯分别接RC1和RC2,SJA1000的ALE、CS、RD、WR接单片机RB7至RB4，SJA1000的RX1接地，MODE接+5V，SJA1000的TX1悬空，SJA1000的TX0、RX0分别接82C250的TXD和RXD端。
现在已经调了好久了，能发送就是接收不到！真是急死人了！
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