AVR单片机实现了232到CAN转换

#include //宏定义;

#defineuchar unsigned char //数据类型定义

#define uint unsigned int //数据类型定义

#pragma interrupt_handler INT1_17:3 //定义INT1的中断服务程序

#pragma interrupt_handler Timer0:10 //定义定时计数器0的中断服务程序

#pragma interrupt_handler Usart_receive:12 //定义接收中断服务程序

#define fosc 7372800 //晶振7.3728MHZ

#define CANSTAT 0x0E

#define CANCTRL 0x0F

#define BFPCTRL 0x0C

#define TEC 0x1C

#define REC 0x1D

#define CNF3 0x28

#define CNF2 0x29

#define CNF1 0x2A

#define CANINTE 0x2B

#define CANINTF 0x2C

#define EFLG 0x2D

#define TXRTSCTRL 0x0D

#define RXF0SIDH 0x00

#define RXF0SIDL 0x01

#define RXF0EID8 0x02

#define RXF0EID0 0x03

#define RXF1SIDH 0x04

#define RXF1SIDL 0x05

#define RXF1EID8 0x06

#define RXF1EID0 0x07

#define RXF2SIDH 0x08

#define RXF2SIDL 0x09

#define RXF2EID8 0x0A

#define RXF2EID0 0x0B

#define RXF3SIDH 0x10

#define RXF3SIDL 0x11

#define RXF3EID8 0x12

#define RXF3EID0 0x13

#define RXF4SIDH 0x14

#define RXF4SIDL 0x15

#define RXF4EID8 0x16

#define RXF4EID0 0x17

#define RXF5SIDH 0x18

#define RXF5SIDL 0x19

#define RXF5EID8 0x1A

#define RXF5EID0 0x1B

#define RXM0SIDH 0x20

#define RXM0SIDL 0x21

#define RXM0EID8 0x22

#define RXM0EID0 0x23

#define RXM1SIDH 0x24

#define RXM1SIDL 0x25

#define RXM1EID8 0x26

#define RXM1EID0 0x27

#define TXB0CTRL 0x30

#define TXB0SIDH 0x31

#define TXB0SIDL 0x32

#define TXB0EID8 0x33

#define TXB0EID0 0x34

#define TXB0DLC 0x35

#define TXB0D0 0x36

#define TXB0D1 0x37

#define TXB0D2 0x38

#define TXB0D3 0x39

#define TXB0D4 0x3A

#define TXB0D5 0x3B

#define TXB0D6 0x3C

#define TXB0D7 0x3D

#define TXB1CTRL 0x40

#define TXB1SIDH 0x41

#define TXB1SIDL 0x42

#define TXB1EID8 0x43

#define TXB1EID0 0x44

#define TXB1DLC 0x45

#define TXB1D0 0x46

#define TXB1D1 0x47

#define TXB1D2 0x48

#define TXB1D3 0x49

#define TXB1D4 0x4A

#define TXB1D5 0x4B

#define TXB1D6 0x4C

#define TXB1D7 0x4D

#define TXB2CTRL 0x50

#define TXB2SIDH 0x51

#define TXB2SIDL 0x52

#define TXB2EID8 0x53

#define TXB2EID0 0x54

#define TXB2DLC 0x55

#define TXB2D0 0x56

#define TXB2D1 0x57

#define TXB2D2 0x58

#define TXB2D3 0x59

#define TXB2D4 0x5A

#define TXB2D5 0x5B

#define TXB2D6 0x5C

#define TXB2D7 0x5D

#define RXB0CTRL 0x60

#define RXB0SIDH 0x61

#define RXB0SIDL 0x62

#define RXB0EID8 0x63

#define RXB0EID0 0x64

#define RXB0DLC 0x65

#define RXB0D0 0x66

#define RXB0D1 0x67

#define RXB0D2 0x68

#define RXB0D3 0x69

#define RXB0D4 0x6A

#define RXB0D5 0x6B

#define RXB0D6 0x6C

#define RXB0D7 0x6D

#define RXB1CTRL 0x70

#define RXB1SIDH 0x71

#define RXB1SIDL 0x72

#define RXB1EID8 0x73

#define RXB1EID0 0x74

#define RXB1DLC 0x75

#define RXB1D0 0x76

#define RXB1D1 0x77

#define RXB1D2 0x78

#define RXB1D3 0x79

#define RXB1D4 0x7A

#define RXB1D5 0x7B

#define RXB1D6 0x7C

#define RXB1D7 0x7D

#define TXREQ 0x08

#define TXP 0x03

#define RXM 0x60

#define BUKT 0x04

#define REQOP 0xE0

#define ABAT 0x10

#define OSM 0x08

#define CLKEN 0x04

#define CLKPRE 0x03

#define REQOP 0xE0

#define ICOD 0x0E

#define RX0IE 0x01

#define RX1IE 0x02

#define TX0IE 0x04

#define TX1IE 0x80

#define TX2IE 0x10

#define ERRIE 0x20

#define WAKIE 0x40

#define MERRE 0x80

#define RX0IF 0x01

#define RX1IF 0x02

#define TX0IF 0x04

#define TX1IF 0x80

#define TX2IF 0x10

#define ERRIF 0x20

#define WAKIF 0x40

#define MERRF 0x80

#define B1BFS 0x20

#define B0BFS 0x10

#define B1BFE 0x08

#define B0BFE 0x04

#define B1BFM 0x02

#define B0BFM 0x01

#define SJW 0xC0

#define BRP 0x3F

#define BTLMODE 0x80

#define SAM 0x40

#define PHSEG1 0x38

#define PRSEG 0x07

#define WAKFIL 0x40

#define PHSEG2 0x07

#define TXB2RTS 0x04

#define TXB1RTS 0x02

#define TXB0RTS 0x01

#define SJW_1TQ 0x40

#define SJW_2TQ 0x80

#define SJW_3TQ 0x90

#define SJW_4TQ 0xC0

#define BTLMODE_CNF3 0x80

#define BTLMODE_PH1_IPT 0x00

#define SMPL_3X 0x40

#define