Отправлено Tow 20 октября 2003 г. 15:06

////////////////////////////////////////////////////////////////////////////////
// Includes
////////////////////////////////////////////////////////////////////////////////

#include // SFR declarations

// CAN Protocol Register Index for CAN0ADR, from TABLE 18.1 of the C8051F040
// datasheet
////////////////////////////////////////////////////////////////////////////////
#define CANCTRL 0x00 //Control Register
#define CANSTAT 0x01 //Status register
#define ERRCNT 0x02 //Error Counter Register
#define BITREG 0x03 //Bit Timing Register
#define INTREG 0x04 //Interrupt Low Byte Register
#define CANTSTR 0x05 //Test register
#define BRPEXT 0x06 //BRP Extension Register
////////////////////////////////////////////////////////////////////////////////
//IF1 Interface Registers
////////////////////////////////////////////////////////////////////////////////
#define IF1CMDRQST 0x08 //IF1 Command Rest Register
#define IF1CMDMSK 0x09 //IF1 Command Mask Register
#define IF1MSK1 0x0A //IF1 Mask1 Register
#define IF1MSK2 0x0B //IF1 Mask2 Register
#define IF1ARB1 0x0C //IF1 Arbitration 1 Register
#define IF1ARB2 0x0D //IF1 Arbitration 2 Register
#define IF1MSGC 0x0E //IF1 Message Control Register
#define IF1DATA1 0x0F //IF1 Data A1 Register
#define IF1DATA2 0x10 //IF1 Data A2 Register
#define IF1DATB1 0x11 //IF1 Data B1 Register
#define IF1DATB2 0x12 //IF1 Data B2 Register
////////////////////////////////////////////////////////////////////////////////
//IF2 Interface Registers
////////////////////////////////////////////////////////////////////////////////
#define IF2CMDRQST 0x20 //IF2 Command Rest Register
#define IF2CMDMSK 0x21 //IF2 Command Mask Register
#define IF2MSK1 0x22 //IF2 Mask1 Register
#define IF2MSK2 0x23 //IF2 Mask2 Register
#define IF2ARB1 0x24 //IF2 Arbitration 1 Register
#define IF2ARB2 0x25 //IF2 Arbitration 2 Register
#define IF2MSGC 0x26 //IF2 Message Control Register
#define IF2DATA1 0x27 //IF2 Data A1 Register
#define IF2DATA2 0x28 //IF2 Data A2 Register
#define IF2DATB1 0x29 //IF2 Data B1 Register
#define IF2DATB2 0x2A //IF2 Data B2 Register
////////////////////////////////////////////////////////////////////////////////
//Message Handler Registers
////////////////////////////////////////////////////////////////////////////////
#define TRANSREQ1 0x40 //Transmission Rest1 Register
#define TRANSREQ2 0x41 //Transmission Rest2 Register

#define NEWDAT1 0x48 //New Data 1 Register
#define NEWDAT2 0x49 //New Data 2 Register

#define INTPEND1 0x50 //Interrupt Pending 1 Register
#define INTPEND2 0x51 //Interrupt Pending 2 Register

#define MSGVAL1 0x58 //Message Valid 1 Register
#define MSGVAL2 0x59 //Message Valid 2 Register

#define CONFIG_PAGE 0xF
#define CAN0_PAGE 0x1

////////////////////////////////////////////////////////////////////////////////
//Global Variables
////////////////////////////////////////////////////////////////////////////////
char MsgNum;
char status;
int i;
sfr16 CAN0DAT = 0xD8;

////////////////////////////////////////////////////////////////////////////////
// Function PROTOTYPES
////////////////////////////////////////////////////////////////////////////////

// Initialize Message Object
void clear_msg_objects (void);
void init_msg_object_TX (char MsgNum);
void start_CAN (void);
void transmitMsg (char MsgNum);
void external_osc (void);
void config_IO (void);

////////////////////////////////////////////////////////////////////////////////
// MAIN Routine
////////////////////////////////////////////////////////////////////////////////
void main (void) {

// disable watchdog timer
WDTCN = 0xde;
WDTCN = 0xad;

//configure Port I/O
config_IO();

// switch to external oscillator
external_osc();

////////////////////////////////////////////////////////////////////////////////
// Configure CAN communications
//
// IF1 used for procedures calles by main program
// IF2 used for interrupt service procedure receive_data
//
// Message Object assignments:
// 0x02: Used to transmit commands to toggle its LED, arbitration number 1
//
////////////////////////////////////////////////////////////////////////////////

// Clear CAN RAM
clear_msg_objects();

// Initialize message object to transmit data
init_msg_object_TX (0x01);

//Function call to start CAN
start_CAN();

SFRPAGE = CAN0_PAGE;

transmitMsg(0x01);

while (1);
}

////////////////////////////////////////////////////////////////////////////////
// Set up C8051F040
////////////////////////////////////////////////////////////////////////////////

// Switch to external oscillator
void external_osc (void)
{
int n; // local variable used in delay FOR loop.
SFRPAGE = CONFIG_PAGE; // switch to config page to config oscillator
OSCXCN = 0x67; // start external oscillator; 16 MHz Crystal
// system clock is 16 MHz
for (n=0;n<255;n++); // delay about 1ms
while ((OSCXCN & 0x80) == 0); // wait for oscillator to stabilize
CLKSEL |= 0x01; // switch to external oscillator
}

void config_IO (void)
{
SFRPAGE = CONFIG_PAGE; //Port SFR's on Configuration page
XBR2 = 0x40; // Enable Crossbar/low ports
}

////////////////////////////////////////////////////////////////////////////////
//CAN Functions
////////////////////////////////////////////////////////////////////////////////

//Clear Message Objects
void clear_msg_objects (void)
{
SFRPAGE = CAN0_PAGE;

CAN0ADR = IF1CMDMSK; // Point to Command Mask Register 1
CAN0DATL = 0xFF; // Set direction to WRITE all IF registers to Msg Obj
for (i=1;i<33;i++)
{
CAN0ADR = IF1CMDRQST; // Write blank (reset) IF registers to each msg obj
CAN0DATL = i;
}
}

//Initialize Message Object for TX
void init_msg_object_TX (char MsgNum)
{
SFRPAGE = CAN0_PAGE;
CAN0ADR = IF1CMDMSK; // Point to Command Mask 1
CAN0DAT = 0x00B2; // Set to WRITE, & alter all Msg Obj except ID MASK bits
CAN0ADR = IF1ARB1; // Point to arbitration1 register
CAN0DAT = 0x0000; // Set arbitration1 ID to highest priority
CAN0DAT = 0xA000; // Autoincrement to Arb2 high byte:
// Set MsgVal bit, no extended ID, Dir = WRITE
CAN0DAT = 0x0081; // Msg Cntrl: DLC = 1, remote frame function not enabled
CAN0ADR = IF1CMDRQST; // Point to Command Request reg.
CAN0DAT = MsgNum; // Select Msg Obj passed into function parameter list
// --initiates write to Msg Obj
// 3-6 CAN clock cycles to move IF reg contents to the Msg Obj in CAN RAM.
}

//Start CAN
void start_CAN (void)
{
SFRPAGE = CAN0_PAGE;

CAN0CN |= 0x40; // Configuration Change Enable CCE and INIT

CAN0ADR = BITREG ; // Point to Bit Timing register
CAN0DAT = 0x48C0; // see above

CAN0CN &= ~0x41; // Clear CCE and INIT bits, starts CAN state machine
}

//Transmit CAN frame to turn other node's LED ON
void transmitMsg (char MsgNum)
{
SFRPAGE = CAN0_PAGE; // IF1 already set up for TX
CAN0ADR = IF1CMDMSK; // Point to Command Mask 1
CAN0DAT = 0x0086; // Config to WRITE to CAN RAM, write data bytes,
// set TXrqst/NewDat, Clr IntPnd
CAN0ADR = IF1DATA1; // Point to 1st byte of Data Field
CAN0DATL = 0x11; // Ones signals to turn LED's light ON in data A1 field
CAN0ADR = IF1CMDRQST; // Point to Command Request Reg.
CAN0DATL = MsgNum; // Move new data for TX to Msg Obj "MsgNum"
}

• Всё оказалось достаточно просто. Регистр скорости обмена был сконфигурирован не правильно (При расчёте допустил ошибку). Но вот одного не пойму. На макете всё работало!!! гонял пачки байт ,а на рабочей плате нет! :-) — Tow   (20.10.2003 19:54, пустое)
  • Пилите Шура , пилите .... — whale   (20.10.2003 22:41, пустое)