================================================================= #include /*type definition */ typedef unsigned char UCHAR; typedef unsigned short USHORT; typedef unsigned int UINT; typedef unsigned long ULONG; /* funktion prototypes */ void CanInit(void); //inicializace CAN modulu void CanSetMsgRx(UCHAR cislo,USHORT id,UCHAR dlc); //nastaveni projimaciho objektu zprav void CanSetMsgTx(UCHAR cislo,USHORT id,UCHAR dlc); //nastaveni vysilaciho objektu zprav void CanTransmit(void); //vyslani zpravy void Port_Init (void); void Oscilator_INIT (void); /* index CAN registr (index in CAN0ADR) */ #define CanControlRegistr 0x00 // CAN0CN #define CanStatusRegistr 0x01 // CAN0STA #define CanErrorCount 0x02 // RP,REC,TEC #define CanBitTimingRegistr 0x03 // Timing #define CanInterruptRegistr 0x04 // interrupt identificator #define CanTestRegistr 0x05 // CAN0TST #define CanExtensionBRP 0x06 // BRP Extension to 10 bits #define CanIF1CommandRequest 0x08 // number of object #define CanIF1CommandMask 0x09 // #define CanIF1LowerMask 0x0A // filter mask,lower bits #define CanIF1UpperMask 0x0B // filter mask,higher bits #define CanIF1LowerArbitration 0x0C // ID, lower bits #define CanIF1UpperArbitration 0x0D // ID, higher bits #define CanIF1MessageControl 0x0E // #define CanIF1DataA1 0x0F // data - 1 - 2 byte #define CanIF1DataA2 0x10 // data - 3 - 4 byte #define CanIF1DataB1 0x11 // data - 5 - 6 byte #define CanIF1DataB2 0x12 // data - 7 - 8 byte #define CanIF2CommandRequest 0x20 // Number of object #define CanIF2CommandMask 0x21 // #define CanIF2LowerMask 0x22 // filter mask,lower bits #define CanIF2UpperMask 0x23 // filter mask,higher bits #define CanIF2LowerArbitration 0x24 // ID, lower bits #define CanIF2UpperArbitration 0x25 // ID, higher bits #define CanIF2MessageControl 0x26 // #define CanIF2DataA1 0x27 // data - 1. and 2. byte #define CanIF2DataA2 0x28 // data - 3. and 4. byte #define CanIF2DataB1 0x29 // data - 5. and 6. byte #define CanIF2DataB2 0x2A // data - 7. and 8. byte #define CanTransmissionRequest1 0x40 // TRQX 1 - 16 #define CanTransmissionRequest2 0x41 // TRQX 17 - 32 #define CanNewDat1 0x48 // NEWDAT 1 - 16 #define CanNewDat2 0x49 // NEWDAT 17 - 32 #define CanInterruptPending1 0x50 // INTPND 1 - 16 #define CanInterruptPending2 0x51 // INTPND 17 - 32 #define CanMessageValid1 0x58 // MSGVAL 1 - 16 #define CanMessageValid2 0x59 // MSGVAL 17 - 32 /* macros for writing to CAN's registrs */ #define CanWrReg(hb,lb) CAN0DATH=(hb); CAN0DATL=(lb); //zapis 2 bytu dat na adr. v CAN0ADR #define CanWrAdr(index,datah,datal) CAN0ADR=index; CanWrReg((datah),(datal)) //zapis 2 bytu dat na zadanou adresu #define CanWrL(index,data8) CAN0ADR=index; CAN0DATL=(data8); // zapis 1 bytu dat na zadanou adresu /* bits CAN Control - CAN0CN*/ #define INITC 0x01 #define IEC 0x02 #define SIEC 0x04 #define EIEC 0x08 #define IFC 0x10 #define DARC 0x20 #define CCEC 0x40 #define TESTC 0x80 /* bits IF Arbitration */ #define FOR_RX 0x00 #define FOR_TX 0x20 #define STANDARD_FRAME 0x00 #define EXTENDED_FRAME 0x40 #define CLR_MSGVAL 0x00 #define MSGVAL 0x80 /* bits IF Mask */ #define CLR_MDIR 0x00 #define MDIR 0x40 #define CLR_MXTD 0x00 #define MXTD 0x80 /* bits IF Control,config */ #define EOB 0x80 #define TXRQST 0x01 #define RMTEN 0x02 #define RXIE 0x04 #define TXIE 0x08 #define UMASK 0x10 #define INTPND 0x20 #define MSGLST 0x40 #define NEWDAT 0x80 /* bits IF Commad Mask */ #define CDATAB 0x01 #define CDATAA 0x02 #define CNEWDAT 0x04 #define CTXRQST 0x04 #define CINTPND 0x08 #define CONTROL 0x10 #define CARB 0x20 #define CMASK 0x40 #define CWR 0x80 #define CRD 0x0 /*global variables*/ UCHAR id; USHORT h; /* IDs and DLCs */ #define ID_SPEED 0x280 // ID for velocity #define ID_SPIN 0x320 // ID for speed #define DLC_SPEED 8 // DLC for Velocity #define DLC_SPIN 8 // DLC for Speed /*------------------------------------------------------ MAIN ------------------------------------------------------*/ void main (void) { WDTCN = 0xde; WDTCN = 0xad; // Watchdog off Port_Init (); // port Init Oscilator_INIT (); // oscilator init CanInit (); while (1) { } } /*------------------------------------------------------ Initialize CAN ------------------------------------------------------*/ void CanInit(void) { unsigned char i; SFRPAGE=CAN0_PAGE; CAN0CN=CCEC|INITC; // for setup BTR CAN0STA=0; CanWrAdr(CanBitTimingRegistr, 0x7D,0xC0) // SETUP of BitTimmingRegistr CanWrL (CanIF1CommandMask,0xFF) CanWrAdr(CanIF1UpperArbitration,CLR_MSGVAL,0) for(i=1;i<33;i++) { CanWrL (CanIF1CommandRequest,i) // reset of all MSGVALs (unused) } CanSetMsgRx(1,ID_SPEED,DLC_SPEED); // nastaveni objektu 1: rychlost CanSetMsgRx(2,ID_SPIN,DLC_SPIN); // nastaveni objektu 2: otacky CanWrL (CanIF1CommandMask,CONTROL|CINTPND|CNEWDAT|CDATAA|CDATAB) // mask for receive objects CAN0CN=IEC; // Interrupt in CAN core enabled EIE2=0x20; // Interrupt in MCU from CAN core enabled EA = 1; // Global interrupt enabled } /*------------------------------------------------------ SETUP receive object ------------------------------------------------------*/ void CanSetMsgRx(unsigned char cislo,USHORT id,unsigned char dlc) { CanWrL (CanIF1CommandMask,CWR|CMASK|CARB|CONTROL) // write, mask, ID, control //autoincrement CANOADR CanWrReg(0xFF,0xFF); // lower mask //autoincrement CANOADR CanWrReg(0xFF,0xFF); // higher maska //autoincrement CANOADR CanWrReg(0,0); // lower ID //autoincrement CANOADR CanWrReg(MSGVAL|FOR_RX|(unsigned char)(id>>8),(unsigned char)(id)) // MSGVAL,receive,higher ID //autoincrement CanWrReg(RXIE,EOB|dlc) //autoincrement // control: povoleni preruseni, delka CanWrL (CanIF1CommandRequest,cislo) // write to RAM object } /*------------------------------------------------------ ISR for CAN core ------------------------------------------------------*/ void CanInterrupt(void) interrupt 19 { SFRPAGE = CAN0_PAGE; while(1) { CAN0ADR= CanInterruptPending1; // indication of source of interrupt id = CAN0DATL; if(id==0) break; // bRake if no request if(id & 1) { // object 1: velocity CanWrL(CanIF2CommandRequest, 1) // data from RAM to IF registru CAN0ADR= CanIF2DataB1; // value of velocity is on 4th and 5th byte h=CAN0DATH>>1; // bits 15 - 1 CAN0ADR= CanIF2DataA2; h|=(CAN0DATL<<7); } if(id & 2) {// object 2: engine speed CanWrL(CanIF2CommandRequest,2)// data from RAM to IF registr CAN0ADR= CanIF2DataA2;// value of speed is on 3rd and 4th byte h=(CAN0DATH<<8); // new value: bits 15 - 0 h+=CAN0DATL; } } } /*--------------------------------------------------------- Init procedures ----------------------------------------------------------*/ void Oscilator_INIT (void) { int n; // local variable used in delay FOR loop. SFRPAGE = CONFIG_PAGE; // switch to config page to config oscillator OSCXCN = 0x77; // ext. osc - 22.1 MHz Crystal // system clock is 11.05 MHz for (n=0;n<3000;n++); // delay about 1ms while ((OSCXCN & 0x80) == 0); // wait for oscillator to stabilize CLKSEL |= 0x01; // switch to external oscillator } void Port_Init (void) { SFRPAGE = CONFIG_PAGE; XBR3 = 0x80; // CAN TX - push-pull P1MDOUT |= 0x40; // P1.6 - push-pull (LED) XBR2 = 0x40; // Enable Crossbar/low ports } =================================================================