基于AT91RM9200的CAN通讯程序

#include "sja1000.h"
unsigned int T_flag0=0;
unsigned int T_flag1=0;

//unsigned char data[11] = {\0};
//unsigned char Rx_Buf0[11] = {\0};
unsigned char Tx_Buf0[9] = {\0};
unsigned char Tx_Buf1[9] = {\0};
//unsigned char Rx_Buf1[11] = {\0};

/*writ to the register with tht data
chanal--通道号，可选CAN总线1，CAN总线2
reg-----寄存器号
data----寄存器数据*/
void setcanport(unsigned char chanal, unsigned int reg, unsigned char data1)
{
if(!chanal)
BASEADD = 0x50000000;
else
BASEADD = 0x60000000;

printf("\nThe %d will be writed to register %d\n ",data1,reg);
__asm
{
STRB reg,[BASEADD,#4]
STRB data1,[BASEADD]
}
}

/*read the data of the register to the return
chanal--通道号，可选CAN总线1，CAN总线2
reg-----寄存器号
返回值--寄存器数据*/
unsigned char getcanport(unsigned char chanal, unsigned char reg)
{
unsigned char temp;
if(!chanal)
BASEADD = 0x50000000;
else
BASEADD = 0x60000000;

__asm
{
STRB reg,[BASEADD,#4]
LDRB temp,[BASEADD]
}
return (temp);
}

/*Receive one message
chanal--通道号，可选CAN总线1，CAN总线2
返回值--数据个数*/
unsigned char getdata(unsigned char chanal, unsigned char *buf)
{
int num,i;
unsigned char data[11] = {\0};
if(!chanal)
BASEADD = 50000000;
else
BASEADD = 60000000;

do
{
}while((getcanport(chanal,StatusReg) & RBS_Bit) != RBS_Bit);

data[0] = getcanport(chanal,RxBuffer1);
data[1] = getcanport(chanal,RxBuffer2);
data[2] = getcanport(chanal,RxBuffer3);
data[3] = getcanport(chanal,RxBuffer4);
data[4] = getcanport(chanal,RxBuffer5);
data[5] = getcanport(chanal,RxBuffer6);
data[6] = getcanport(chanal,RxBuffer7);
data[7] = getcanport(chanal,RxBuffer8);
data[8] = getcanport(chanal,RxBuffer9);
data[9] = getcanport(chanal,RxBuffer10);

num = data[1]&0x0f;

for(i=0;i{
*(buf++)=data[i+2];
}

setcanport(chanal,CommandReg,RRB_Bit);

*buf=0;

return (num);

}

/*Transmit one message
num-----数据个数
data----数据
返回值--0 忙*/
unsigned char senddata(unsigned char chanal, unsigned char *buf)
{

unsigned char temp = 0;
unsigned char data[11] = {\0};
int i;

if(!chanal)
BASEADD = 0x50000000;
else
BASEADD = 0x60000000;
//temp = getcanport(chanal, StatusReg);

if((getcanport(chanal,StatusReg) & TBS_Bit) == TBS_Bit)
{
for(i=0;i<8;i++)
{
data[i]=*(buf+i);
}
temp = getcanport(chanal, StatusReg);
setcanport(chanal,TxBuffer1,0x00);
setcanport(chanal,TxBuffer2,0x08);
setcanport(chanal,TxBuffer3,data[0]);
setcanport(chanal,TxBuffer4,data[1]);
setcanport(chanal,TxBuffer5,data[2]);
setcanport(chanal,TxBuffer6,data[3]);
setcanport(chanal,TxBuffer7,data[4]);
setcanport(chanal,TxBuffer8,data[5]);
setcanport(chanal,TxBuffer9,data[6]);
setcanport(chanal,TxBuffer10,data[7]);

setcanport(chanal,CommandReg,0x01);

do
{
temp = getcanport(chanal, StatusReg);
if ((temp & TCS_Bit)==TCS_Bit)
break;
} while(1); //If it is transmitted succeded?

return (1);
}
else if(!chanal)
{
if(!T_flag0)
{
for(i=0;i<8;i++)
{
Tx_Buf0[i]=*(buf+i);
}
T_flag0=1;//传输标志，1表示一个报文等待发送
}
else return (0);
}
else
{
if(!T_flag1)
{
for(i=0;i<8;i++)
{
Tx_Buf1[i]=*(buf+i);
}
T_flag1=1;//传输标志，1表示一个报文等待发送
}
else return (0);
}

}

/*Initial the SJA1000 It just is BasicCAN */
void init_sja1000(unsigned char chanal)
{

unsigned char temp = 0;
//?SJA中断禁止

//外部中断禁止
if(!chanal)//禁止can0中断
{
__asm
{
str 0x00000000,[0xfffff120]
}
__asm
{
str 0x00000000,[0xfffff124]
}
}
else//禁止can1中断
{
__asm
{
str 0x00000000,[0xfffff120]
}
__asm
{
str 0x00000000,[0xfffff124]
}
}

//进入复位请求设置模式
while((temp&RM_RR_Bit)!=RM_RR_Bit)
{
printf("\n0x01 will be set to ModeControlReg\n");
setcanport(chanal, ModeControlReg,0x07);/*Config MOD&CR register，初始化INT*/

temp = getcanport(chanal, ModeControlReg);
printf("\nModeControlReg=%d\n",temp);

}
//设置接收码
setcanport(chanal, AcceptCodeReg, 0x01);
temp = getcanport(chanal, AcceptCodeReg);
//设置屏蔽码
setcanport(chanal, AcceptMaskReg, 0xff);
temp = getcanport(chanal, AcceptMaskReg);
//设置总线bps
setcanport(chanal, BusTiming0Reg, 0x47);
temp = getcanport(chanal, BusTiming0Reg);//400kbps
setcanport(chanal, BusTiming1Reg, 0xaf);
temp = getcanport(chanal, BusTiming1Reg);
//设置CAN输出模式
setcanport(chanal, OutControlReg, 0xda);
temp = getcanport(chanal,OutControlReg);
//设置时钟分频寄存器
setcanport(chanal, ClockDivideReg, 0x48);
temp = getcanport(chanal, ClockDivideReg);