2024年3月13日发(作者：勾烨)
DSPIC30F4011的CAN范例
/*************************************************************
**CAN通讯模块的控制程序
**************************************************************/
#include "includes.h"
#define FCY 16000000 // 4MPLL16 16 MHz
#define FCAN 16000000 // 16 MHz
#define BITRATE 250000 // 通讯波特率
#define NTQ 16 // Number of Tq cycles which will make the
//CAN Bit Timing .
#define BRP_VAL ((FCAN/(2*NTQ*BITRATE))-1) //Formulae used for
//-------------------------------------------------------------------
--
//数据缓冲的定义
//发送缓冲区
unsigned int OutData0[4] = {0x5251, 0x5453, 0x5655, 0x5857};
unsigned int OutData1[2] = {0x5A59, 0x5C5B};
unsigned int OutData2[4] = {0x6261, 0x6463, 0x6665, 0x6867};
unsigned int OutData3[2] = {0x6A69, 0x6C6B};
//接受缓冲区
unsigned int InData0[4] = {0, 0, 0, 0};
unsigned int InData1[2] = {0, 0};
unsigned int InData2[4] = {0, 0, 0, 0};
unsigned int InData3[2] = {0, 0};
/*************************************************************
**CAN通讯模块的初始化
**************************************************************/
void CAN_init(void)
{
0=1;
1=0;
= 0x4; //请求进入配置模式
while (!=0x4){} //确认进入配置模式
= 1; // Select the CAN Master Clock . It is equal
to Fcy here.
// equal to Fcy.(Fcy=4Mhz)
=00; //Synchronized jump width time is 1 x TQ when SJW
is equal to 00
= BRP_VAL; //((FCY/(2*NTQ*BITRATE))-1)
C1CFG2 = 0x02ed; // SEG1PH=6Tq, SEG2PH=3Tq, PRSEG=5Tq
// Sample 3 times
// Each bit time is 16Tq
///Interrupt Section of CAN Peripheral
C1INTF = 0; //Reset all The CAN Interrupts
IFS1bits.C1IF = 0; //Reset the Interrupt Flag status register
C1INTE = 0x00ff; //Enable all CAN interrupt sources tx0 rx0
IEC1bits.C1IE = 1; //Enable the CAN1 Interrupt
//-------------------------------------------------------------------
----------------------------------------------------
// Configure Receive registers, Filters and Masks
//-------------------------------------------------------------------
----------------------------------------------------
C1RX0CON =0;
C1RX1CON = 0x0002; // Receive Buffer1 and 0 Status use fliter 2
// Acceptance Mask Register0SID and Register1SID associated with Recieve
Buffer0
// and Receive Buffer1 for CAN1 and CAN2
C1RXM0SID = C1RXM1SID = 0x1F01; //接收的为标准数据桢
// Acceptance Mask Register0EIDH and Register1EIDH associated with
Recieve Buffer0
C1RXM0EIDH = C1RXM1EIDH = 0x0FFF;
// Acceptance Mask Register0EIDL and Register1EIDL associated with
Recieve Buffer0
C1RXM0EIDL = C1RXM1EIDL = 0xFC00;
//Initializing of Acceptance Filter n Standard Identifier for CAN1
C1RXF0SID = 0x0AA8; //CAN1 Receive Acceptance Filter2 SID
C1RXF2SID = 0x15c0; //CAN1 Receive Acceptance Filter2 SID
C1RXF2EIDH = 0x0004; //CAN1 Receive Acceptace Filter2 Extended
Identifier high byte
C1RXF2EIDL = 0x8C00; //CAN1 Receive Acceptance Filter2 Extended
identifier low byte
//Initializing of Acceptance Filter n Standard Identifier for CAN2
//-------------------------------------------------------------------
----------------------------------------------------
// Configure Transmit Registers Buffer 0 and Transmit Buffer 1
//-------------------------------------------------------------------
----------------------------------------------------
C1TX0CON = 0x0003; // High priority
C1TX0SID = 0x50A8; // SID
C1TX0EID = 0x0000; // EID
C1TX0DLC = 0x01C0; //Select the Data word Length for CAN1 Transmit
Buffer0 which is 8 byte
// Data Field 1,Data Field 2, Data Field 3, Data Field 4 // 8 bytes selected
by DLC
C1TX0B1 = OutData0[0];
C1TX0B2 = OutData0[1];
C1TX0B3 = OutData0[2];
C1TX0B4 = OutData0[3];
C1TX1CON = 0x0002; // High Intermediate priority
C1TX1SID = 0xA860; // SID
C1TX1EID = 0x0000; // EID
C1TX1DLC = 0x8DA0; //Select the Data word Length for CAN1 Transmit
Buffer1 which
// is 4 byte
//Data Field 1, Data Field 2 // 4 bytes selected by DLC
C1TX1B1 = OutData1[0];
C1TX1B2 = OutData1[1];
//Change to Loopback Operation Mode from Configuration Mode
= 0;
while( != 0);//Wait for CAN1 mode change from
Configuration Mode to Loopback mode
} //end main loop
//-------------------------------------------------------------------
-------------------------------------------------------
//Interrupt Section for CAN1
//-------------------------------------------------------------------
-------------------------------------------------------
unsigned int buf=0;
unsigned int buf1[8],buf2[8];
void __attribute__((interrupt, no_auto_psv)) _C1Interrupt(void)
{
IFS1bits.C1IF = 0; //Clear interrupt flag
if(0IF)
{
Uart0_Printf("C1 Interrupt Section for CAN1 TX0IF111 ");
0IF = 0; //If the Interrupt is due to Transmit0 of CAN1
Clear the Interrupt
}
if(1IF)
{
Uart0_Printf("C1 Interrupt Section for CAN1 TX1IF 222 ");
1IF = 0; //If the Interrupt is due to Transmit1 of
CAN1 Clear the Interrupt
}
if(0IF)
{
0IF = 0; //If the Interrupt is due to Receive0 of CAN1
Clear the Interrupt
InData0[0] = buf1[0]= C1RX0B1;
InData0[1] = buf1[1]=C1RX0B2; //Move the recieve data from
Buffers to InData
InData0[2] = buf1[2]=C1RX0B3;
InData0[3] = buf1[3]=C1RX0B4;
=0;
if ((InData0[0]==OutData0[0]) && (InData0[1]==OutData0[1]) &&
(InData0[2]==OutData0[2]) && (InData0[3]==OutData0[3]))
Uart0_Printf("C1RX0 data received is same which was
transmitted ");
}
if(1IF)
{
1IF = 0; //If the Interrupt is due to Receive1 of
CAN1 Clear the Interrupt
InData1[0] =buf2[0]= C1RX1B1; //Move the data received to
Indata Registers
InData1[1] = buf2[1]=C1RX1B2;
// Uart0_Printf("InData1[0]= 0x%02x ",InData1[0]);
// Uart0_Printf("InData1[1] 0x%02x ",InData1[1]);
=0;
if ((InData1[0]==OutData1[0]) &&
(InData1[1]==OutData1[1]))
Uart0_Printf("C1RX1 data received is same which was transmitted
");
}
if()
{
Uart0_Printf("C1TX is wrong TXWAR=1 !!!!!!!!!!!! ");
}
if()
{
Uart0_Printf("C1TX is wrong TXEP=1 !!!!!!!!!!!! ");
}
if()
{
Uart0_Printf("C1TX is wrong TXBO=1 ,CAN BUS CLOSE !!!!!!!!!!!!
");
2024年3月13日发(作者：勾烨)
DSPIC30F4011的CAN范例
/*************************************************************
**CAN通讯模块的控制程序
**************************************************************/
#include "includes.h"
#define FCY 16000000 // 4MPLL16 16 MHz
#define FCAN 16000000 // 16 MHz
#define BITRATE 250000 // 通讯波特率
#define NTQ 16 // Number of Tq cycles which will make the
//CAN Bit Timing .
#define BRP_VAL ((FCAN/(2*NTQ*BITRATE))-1) //Formulae used for
//-------------------------------------------------------------------
--
//数据缓冲的定义
//发送缓冲区
unsigned int OutData0[4] = {0x5251, 0x5453, 0x5655, 0x5857};
unsigned int OutData1[2] = {0x5A59, 0x5C5B};
unsigned int OutData2[4] = {0x6261, 0x6463, 0x6665, 0x6867};
unsigned int OutData3[2] = {0x6A69, 0x6C6B};
//接受缓冲区
unsigned int InData0[4] = {0, 0, 0, 0};
unsigned int InData1[2] = {0, 0};
unsigned int InData2[4] = {0, 0, 0, 0};
unsigned int InData3[2] = {0, 0};
/*************************************************************
**CAN通讯模块的初始化
**************************************************************/
void CAN_init(void)
{
0=1;
1=0;
= 0x4; //请求进入配置模式
while (!=0x4){} //确认进入配置模式
= 1; // Select the CAN Master Clock . It is equal
to Fcy here.
// equal to Fcy.(Fcy=4Mhz)
=00; //Synchronized jump width time is 1 x TQ when SJW
is equal to 00
= BRP_VAL; //((FCY/(2*NTQ*BITRATE))-1)
C1CFG2 = 0x02ed; // SEG1PH=6Tq, SEG2PH=3Tq, PRSEG=5Tq
// Sample 3 times
// Each bit time is 16Tq
///Interrupt Section of CAN Peripheral
C1INTF = 0; //Reset all The CAN Interrupts
IFS1bits.C1IF = 0; //Reset the Interrupt Flag status register
C1INTE = 0x00ff; //Enable all CAN interrupt sources tx0 rx0
IEC1bits.C1IE = 1; //Enable the CAN1 Interrupt
//-------------------------------------------------------------------
----------------------------------------------------
// Configure Receive registers, Filters and Masks
//-------------------------------------------------------------------
----------------------------------------------------
C1RX0CON =0;
C1RX1CON = 0x0002; // Receive Buffer1 and 0 Status use fliter 2
// Acceptance Mask Register0SID and Register1SID associated with Recieve
Buffer0
// and Receive Buffer1 for CAN1 and CAN2
C1RXM0SID = C1RXM1SID = 0x1F01; //接收的为标准数据桢
// Acceptance Mask Register0EIDH and Register1EIDH associated with
Recieve Buffer0
C1RXM0EIDH = C1RXM1EIDH = 0x0FFF;
// Acceptance Mask Register0EIDL and Register1EIDL associated with
Recieve Buffer0
C1RXM0EIDL = C1RXM1EIDL = 0xFC00;
//Initializing of Acceptance Filter n Standard Identifier for CAN1
C1RXF0SID = 0x0AA8; //CAN1 Receive Acceptance Filter2 SID
C1RXF2SID = 0x15c0; //CAN1 Receive Acceptance Filter2 SID
C1RXF2EIDH = 0x0004; //CAN1 Receive Acceptace Filter2 Extended
Identifier high byte
C1RXF2EIDL = 0x8C00; //CAN1 Receive Acceptance Filter2 Extended
identifier low byte
//Initializing of Acceptance Filter n Standard Identifier for CAN2
//-------------------------------------------------------------------
----------------------------------------------------
// Configure Transmit Registers Buffer 0 and Transmit Buffer 1
//-------------------------------------------------------------------
----------------------------------------------------
C1TX0CON = 0x0003; // High priority
C1TX0SID = 0x50A8; // SID
C1TX0EID = 0x0000; // EID
C1TX0DLC = 0x01C0; //Select the Data word Length for CAN1 Transmit
Buffer0 which is 8 byte
// Data Field 1,Data Field 2, Data Field 3, Data Field 4 // 8 bytes selected
by DLC
C1TX0B1 = OutData0[0];
C1TX0B2 = OutData0[1];
C1TX0B3 = OutData0[2];
C1TX0B4 = OutData0[3];
C1TX1CON = 0x0002; // High Intermediate priority
C1TX1SID = 0xA860; // SID
C1TX1EID = 0x0000; // EID
C1TX1DLC = 0x8DA0; //Select the Data word Length for CAN1 Transmit
Buffer1 which
// is 4 byte
//Data Field 1, Data Field 2 // 4 bytes selected by DLC
C1TX1B1 = OutData1[0];
C1TX1B2 = OutData1[1];
//Change to Loopback Operation Mode from Configuration Mode
= 0;
while( != 0);//Wait for CAN1 mode change from
Configuration Mode to Loopback mode
} //end main loop
//-------------------------------------------------------------------
-------------------------------------------------------
//Interrupt Section for CAN1
//-------------------------------------------------------------------
-------------------------------------------------------
unsigned int buf=0;
unsigned int buf1[8],buf2[8];
void __attribute__((interrupt, no_auto_psv)) _C1Interrupt(void)
{
IFS1bits.C1IF = 0; //Clear interrupt flag
if(0IF)
{
Uart0_Printf("C1 Interrupt Section for CAN1 TX0IF111 ");
0IF = 0; //If the Interrupt is due to Transmit0 of CAN1
Clear the Interrupt
}
if(1IF)
{
Uart0_Printf("C1 Interrupt Section for CAN1 TX1IF 222 ");
1IF = 0; //If the Interrupt is due to Transmit1 of
CAN1 Clear the Interrupt
}
if(0IF)
{
0IF = 0; //If the Interrupt is due to Receive0 of CAN1
Clear the Interrupt
InData0[0] = buf1[0]= C1RX0B1;
InData0[1] = buf1[1]=C1RX0B2; //Move the recieve data from
Buffers to InData
InData0[2] = buf1[2]=C1RX0B3;
InData0[3] = buf1[3]=C1RX0B4;
=0;
if ((InData0[0]==OutData0[0]) && (InData0[1]==OutData0[1]) &&
(InData0[2]==OutData0[2]) && (InData0[3]==OutData0[3]))
Uart0_Printf("C1RX0 data received is same which was
transmitted ");
}
if(1IF)
{
1IF = 0; //If the Interrupt is due to Receive1 of
CAN1 Clear the Interrupt
InData1[0] =buf2[0]= C1RX1B1; //Move the data received to
Indata Registers
InData1[1] = buf2[1]=C1RX1B2;
// Uart0_Printf("InData1[0]= 0x%02x ",InData1[0]);
// Uart0_Printf("InData1[1] 0x%02x ",InData1[1]);
=0;
if ((InData1[0]==OutData1[0]) &&
(InData1[1]==OutData1[1]))
Uart0_Printf("C1RX1 data received is same which was transmitted
");
}
if()
{
Uart0_Printf("C1TX is wrong TXWAR=1 !!!!!!!!!!!! ");
}
if()
{
Uart0_Printf("C1TX is wrong TXEP=1 !!!!!!!!!!!! ");
}
if()
{
Uart0_Printf("C1TX is wrong TXBO=1 ,CAN BUS CLOSE !!!!!!!!!!!!
");