AT90CAN128不能发送

只看该作者 · 2007-7-13 16:10

AVR新人求助！
我将CAN的接收和发送脚短接。
主要TXOK置1就发，但发不出去。（TKOK一直为0）
那位高手帮我看看，指点指点。谢谢！
uchar num_channel;
uchar num_data;
/*-----------------------------------------------------------------
*函数名：CANint
*功能    ：initialize AT90CAN32 CAN
*参数    :non
-----------------------------------------------------------------*/
void CANint()
{   //uchar num_channel;
   CANGCON   |= (1<<SWRES);            //reset CAN controller by software
   /* reset all mailboxes */
   for (num_channel = 0; num_channel < 15; num_channel++)
  {
   CANPAGE  = num_channel << 4;
   CANCDMOB = CH_DISABLE;
   CANSTMOB  = 0;
   CANIDT1  = 0;
   CANIDT2  = 0;
   CANIDT3  = 0;
   CANIDT4  = 0;
   CANIDM1  = 0;
   CANIDM2  = 0;
   CANIDM3  = 0;
   CANIDM4  = 0;
   for (num_data = 0; num_data < 8; num_data++) CANMSG = 0;
  }
  /* setup bit timing at 500k with 12 MHz crystal*/
  CANBT1  = 0x02;
  CANBT2  = 0x08;
  CANBT3  = 0x25;
  CANGCON |=  MSK_CANGCON_ENA;      //start CAN
  /* Channel 0: identifier = 11bits. CANIDT=0x123 */
  CANIDT1 = 0x24;
  CANIDT2 = 0x60;
  /* Channel 0: mask = 11bits. 0x7F0 */
    CANIDM1 = 0xFE;
    CANIDM2 &= ~0xE0;
    CANIDM4 = 0;
    /* Channel 0 configuration */
    CANIDT4 &=~0x04;                             /* clear bit rtr in CANIDT4. */
    CANCDMOB |= DLC_MAX;                         /* Reception 8 bytes.*/
    CANCDMOB |= CH_RxENA;                                     /* Reception enabled without buffer.*/
     /* Channel 1 init */
   CANPAGE = (1 << 4);                          /* CHNB=0x01; select channel 1 */
   CANSTMOB  = 0x00;                            /* reset channel status */
   CANCDMOB = CH_DISABLE;                       /* reset control and dlc register */
   /* Channel 1: identifier = 11bits. CANIDT=0x123 */
    CANIDT1 = 0x24;
    CANIDT2 = 0x60;
     /* Channel 1: mask = 11bits. 0x7F0 */
    CANIDM1 = 0xFE;
    CANIDM2 &= ~0xE0;
    CANIDM4 = 0;
    /* interrupt configuration */
   CANIE2 |= 0x09;                     //开MOB3 & MOB0信箱接收中断(接收邮箱)
    CANPAGE  = 0x00;
    CANCDMOB |= 0x80;                  //MOB0接收使能
    CANGIE |= ((1<<ENRX)|(1<<ENIT));              /* Can_Rx & IT enable */
}

SIGNAL( CANIT_vect )
{    //LEDtest = ~LEDtest;
    uchar rxnum_i;
    CANGIE &= ~(1<<ENRX);                  //关接收中断****
    CANPAGE = 0x00;                        //
    for(rxnum_i = 0; rxnum_i < 8; rxnum_i++)
    {   can_receivedata[rxnum_i]=CANMSG;       //取得8个字节的数据
       R_test = can_receivedata[rxnum_i];
    }
    CANPAGE = 0x00;
    CANSTMOB &= ~(1<<RXOK);                //清中断标志****
    CANCDMOB = 0x98;                       //接收使能
    CANGIE |= (1<<ENRX);                   //开中断
    CanReceiveEndFlag=1;
}
/*-----------------------------------------------------------------
*函数名：CANTX
*功能    ：transmit data
*参数    : non
-----------------------------------------------------------------*/
void CANTX()
{   uchar txnum_i;
   CANPAGE = 0x10;
   if(CANSTMOB & (1 << TXOK))                         //need to transmit
      {   LEDtest = ~LEDtest;
         CANSTMOB &= ~(1 << TXOK);                     //clear transmit flag
         for(txnum_i = 0; txnum_i < 8; txnum_i ++)                        //send data
           {   CANMSG = can_transdata[txnum_i];
           }
         CANCDMOB = 0x58;                                  //frame send
           CANGIE |=(1 << ENRX);                           //open intermit
      }
}

AT90CAN128不能发送

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