【21ic分享赛】+光纤通信模块软件

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楼主 | 2016-7-30 08:22 | 只看该作者回帖奖励

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ic, 通信模块, 光纤通信, 软件, AN

CAN发送函数与CAN接收函数：
void CAN0SendFrame(CAN_MESSAGE Msg/*, unsigned long id,unsigned char length,unsigned char *txdata */)
{
    INT8U index;                         /*number for read message*/
    INT8U tbsel ;                   /* symbol for CAN0TBSEL*/

    CAN0TBSEL = CAN0T**;                /* Select lowest empty buffer */
    tbsel = CAN0TBSEL;                   /* Backup selected buffer  */

    *((INT32U *) ((INT32U)(&CAN0TXIDR0)))= Msg.ulID.ulVal; /*lint !e923  MISRA 2004 Rule 11.3 cast from pointer to unsigned long*/
    if(Msg.ubLen > 8U)
    {
          Msg.ubLen = 8U;
    }
    for (index = 0U;index < Msg.ubLen; index++)
    {
       *(&CAN0TXDSR0 + index) = Msg.ubData[index]; /*  Load data to Tx buffer  Data Segment Registers(ONLY 8 BYTES?) */
    }
    CAN0TXDLR  = Msg.ubLen;                         /* Set Data Length Code  */
    CAN0TXTBPR = 0U;                            /* Set Priority       */
    CAN0T** = tbsel;                               /* Start transmission */

}

/* NOTE: The routine should include the following actions to obtain
   correct functionality of the hardware.

   The ISR is invoked by RXF flag. The RXF flag is cleared
   if a "1" is written to the flag in CAN0R** register.
   Example: CAN0R** = CAN0R**_RXF_MASK;
*/

void CAN0_RX_ISR_Handler(void)
{

    if(CAN0R**_RXF) /*接收缓冲区满 */
    {

if(g_can0RxBuf.RxCounter < CAN0_RXBUF_SIZE)
{

g_can0RxBuf.Msg[g_can0RxBuf.RxInptr].ulID.ubDB[0] =  CAN0RXIDR0; /*ID */
g_can0RxBuf.Msg[g_can0RxBuf.RxInptr].ulID.ubDB[1] =  CAN0RXIDR1 ;
      #if BMS_CAN0_IDE > 0
g_can0RxBuf.Msg[g_can0RxBuf.RxInptr].ulID.ubDB[2] =  CAN0RXIDR2;
g_can0RxBuf.Msg[g_can0RxBuf.RxInptr].ulID.ubDB[3] =  CAN0RXIDR3 ;
         #endif

g_can0RxBuf.Msg[g_can0RxBuf.RxInptr].ubData[0] = CAN0RXDSR0; /*Data */
g_can0RxBuf.Msg[g_can0RxBuf.RxInptr].ubData[1] = CAN0RXDSR1;
g_can0RxBuf.Msg[g_can0RxBuf.RxInptr].ubData[2] = CAN0RXDSR2;
g_can0RxBuf.Msg[g_can0RxBuf.RxInptr].ubData[3] = CAN0RXDSR3;
g_can0RxBuf.Msg[g_can0RxBuf.RxInptr].ubData[4] = CAN0RXDSR4;
      g_can0RxBuf.Msg[g_can0RxBuf.RxInptr].ubData[5] = CAN0RXDSR5;
g_can0RxBuf.Msg[g_can0RxBuf.RxInptr].ubData[6] = CAN0RXDSR6;
g_can0RxBuf.Msg[g_can0RxBuf.RxInptr].ubData[7] = CAN0RXDSR7;
g_can0RxBuf.Msg[g_can0RxBuf.RxInptr].ubLen = CAN0RXDLR & 0x0fU;       /*Length */

g_can0RxBuf.RxInptr ++;
if(g_can0RxBuf.RxInptr >= CAN0_RXBUF_SIZE)
{
   g_can0RxBuf.RxInptr = 0U;
}
g_can0RxBuf.RxCounter ++ ;
}

    }

   rte_release_Semaphore(rte_can0_MsgRxSem);
   CAN0R**_RXF = 1U;/*清中断标志*/

}

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