CAN节点通信调试程序

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1、//名称：test_can,控制器CAN通信模块测试程序//日期：2012-3-1//使用AVRMEGA16芯片，采用外部振荡时钟，频率3.7328MHz；CAN控制芯片采用SAJ1000。//功能：实现CAN数据输出和CAN数据接收功能//****************************包含头文件****************************************#include#include#include#include#i

2、nclude//******************************************************************************#defineF_CPU7372800//时钟频率定义7.3728MHz//********************************宏定义****************************************//引脚宏定义#defineP_DataPORTB#defineL1PORTA.0#defineL2PORTA.

3、1#defineSEOCPINC.0#defineTCKPINC.2#defineTMSPINC.3#defineTDOPORTC.4#defineTDIPINC.5#defineRXPIND.0#defineTXPORTD.1#defineCONPORTD.2#defineINTPORTD.3#defineSCLKPORTD.4#defineSDOPIND.6#defineSDIPORTD.7#defineRST_on(PORTA

4、=(1<<2))#defineRST_off(PORTA&=~(1<<2))#defineA

5、LE_on(PORTC

6、=(1<<1))#defineALE_off(PORTC&=~(1<<1))#defineWR_on(PORTC

7、=(1<<6))#defineWR_off(PORTC&=~(1<<6))#defineRD_on(PORTC

8、=(1<<7))#defineRD_off(PORTC&=~(1<<7))#defineSCS_on(PORTD

9、=(1<<5))#defineSCS_off(PORTD&=~(1<<5))//寄存器地址宏定义#defineCAN_MOD0//模式寄存器#defineCAN_CM

10、R1//命令寄存器只写#defineCAN_SR2//状态寄存器只读#defineCAN_IR3//中断寄存器只读#defineCAN_IER4//中断使能寄存器#defineCAN_BTR06//总线定时寄存器0#defineCAN_BTR17//总线定时寄存器1#defineCAN_OCR8//输出控制寄存器#defineCAN_TEST9//测试寄存器#defineCAN_ALC11//仲裁丢失寄存器#defineCAN_ECC12//错误代码捕捉寄存器#defineCAN_EWLR13//错误报警限制寄存器#defi

11、neCAN_EXERR14//RX错误计数寄存器#defineCAN_TXERR15//TX错误计数寄存器#defineCAN_ACR016//验收码寄存器0#defineCAN_ACR117//验收码寄存器1#defineCAN_ACR218//验收码寄存器2#defineCAN_ACR319//验收码寄存器3#defineCAN_AMR020//验收屏蔽寄存器0#defineCAN_AMR121//验收屏蔽寄存器1#defineCAN_AMR222//验收屏蔽寄存器2#defineCAN_AMR323//验收屏蔽寄存器3

12、#defineCAN_TXB16//发送缓冲区首地址(工作模式)#defineCAN_RXB16//接收缓冲区首地址(工作模式)#defineCAN_RMC29//RX信息计数器#defineCAN_RBSA30//RX缓冲区起始地址寄存器#defineCAN_CDR31//时钟分频器#defineID300//******************************************************************************unsignedintIR_temp;//*********

13、*****读取SJA1000指定地址的数据***************************************unsignedintreadSJA1000(unsignedintaddress){unsignedchardata;delay_us(5);ALE_off;WR_on