程序说明： 处理器：PIC18F66K80系列 系统频率：32M (外部晶振8M，4倍频得到) 缓冲器：接收缓冲器0，接受滤波器0，发送缓冲器0 源文件
/********************************************************************* * * Includes * *********************************************************************/ #include "bsp.h" /********************************************************************* * * Defines * *********************************************************************/ // ECAN bitrate define, only can choose one rate #define F_ECAN_100 0 // 1 set ECAN module on 100Kbps #define F_ECAN_125 0 // 1 set ECAN module on 125Kbps #define F_ECAN_500 1 // 1 set ECAN module on 500Kbps #define F_ECAN_1000 0 // 1 set ECAN module on 1Mbps /********************************************************************* * * Global Variables * *********************************************************************/ /* 定义全局变量 */ CanTxMsg g_tCanTxMsg; /* 用于发送 */ CanRxMsg g_tCanRxMsg; /* 用于接收 */ /********************************************************************* * * Function: Initialize the CAN Module * *********************************************************************/ void ECAN_Init(void) { CAN_STB_SetDigitalOutput();//CAN收发器待机模式端配置为输出 CAN_TX_SetDigitalOutput(); CAN_RX_SetDigitalInput(); // Place CAN module in configuration mode, see CANCON register data CANCON = 0x80; //REQOP bits <2:0> = 0b100 // while(!(CANSTATbits.OPMODE ==0x04)); //Wait for op-mode bits in the while(CANSTAT != 0X80); //CANSTAT register to = 0b100 //to indicate config mode OK // Enter CAN module into Mode 0, standard legacy mode; see ECANCON register ECANCON = 0x00; // See Microchip application note AN754, Understanding Microchip's // CAN Module Bit Timing." See also: Microchip Controller Area Network //(CAN) Bit Timing Calculator, available at Intrepid Control Systems: //www.intrepidcs.com/support/mbtime.htm. // Initialize CAN Bus bit rate timing. Assumes only four standard rates. // Initialize CAN Timing if (F_ECAN_100==1) { // 100 Kbps @ 32MHz BRGCON1 = 0x13; //SJW=1TQ BRP 19 BRGCON2 = 0x90; //SEG2PHTS 1 sampled once PS1=3TQ PropagationT 1TQ BRGCON3 = 0x02; //PS2 3TQ } else if (F_ECAN_125==1) { // 125 Kbps @ 32MHz BRGCON1 = 0x0F; //SJW=1TQ BRP 15 BRGCON2 = 0x90; //SEG2PHTS 1 sampled once PS1=3TQ PropagationT 1TQ BRGCON3 = 0x02; //PS2 3TQ } else if (F_ECAN_500==1) { // 125 Kbps @ 32MHz BRGCON1 = 0x03; //SJW=1TQ BRP 3 BRGCON2 = 0x90; //SEG2PHTS 1 sampled once PS1=3TQ PropagationT 1TQ BRGCON3 = 0x02; //PS2 3TQ } else if (F_ECAN_1000==1) { // 1000 Kbps @ 32MHz BRGCON1 = 0x01; //SJW=1TQ BRP 1 BRGCON2 = 0x90; //SEG2PHTS 1 sampled once PS1=3TQ PropagationT 1TQ BRGCON3 = 0x02; //PS2 3TQ } // Initialize Receive Masks, see registers RXMxEIDH, RXMxEIDL, etc... // Mask 0 (M0) will accept NO extended addresses, but any standard address RXM0EIDH = 0x00; // Extended Address receive acceptance mask, high byte RXM0EIDL = 0x00; // Extended Address receive acceptance mask, low byte RXM0SIDH = 0xFF; // Standard Address receive acceptance mask, high byte RXM0SIDL = 0xE0; // Standard Address receive acceptance mask, low byte // Mode 0 allows use of receiver filters RXF0 through RXF5. Enable filters // RXF0 and RXF1, all others disabled. See register RXFCONn. // Only using two filters RXFCON0 = 0x01; //Enable Filter-0; disable others RXFCON1 = 0x00; //Disable Filters 8 through 15 // Initialize Receive Filters // Filter 0 = 0x312 RXF0EIDH = 0x00; //Extended Address Filter-0 unused, set high byte to 0 RXF0EIDL = 0x00; //Extended Address Filter-0 unused, set low byte to 0 RXF0SIDH = (uint8_t)(0x312>>3); //Standard Address Filter-0 high byte set to xx RXF0SIDL = (uint8_t)(0x312<<5)&0xE0; //Standard Address Filter-0 low byte set to xx TXB0CON=0X03;//TXB0为最高优先级3 // After configuring CAN module with above settings, return it // to Normal mode CANCON = 0x00; // while(CANSTATbits.OPMODE!=0x00); //Wait for op-mode bits in the while(CANSTAT != 0X00); //CANSTAT register to = 0b000 //to indicate Normal mode OK RXB0CON = 0x20;//只接收有效的标准标识符信息 /* 初始化CAN的中断，PIR5为CAN的外围中断标志寄存器 */ PIR5=0X00; // 清所有CAN中断标志 PIE5bits.RXB0IE = 1; //使能接收缓冲器0的接收中断 IPR5bits.RXB0IP = 1; // 接收缓冲器0的接收中断为高优先级 // PIR5bits.WAKIF = 0; //清除CAN总线活动唤醒中断标志 // PIE5bits.WAKIE = 1; //允许CAN总线活动唤醒中断 // IPR5bits.WAKIP = 1; //CAN总线活动唤醒中断为高优先级 } /* ********************************************************************************************************* * 函 数 名: CAN_SetMode * 功能说明: 配置CAN收发器模式 * 形 参：mode 0,正常模式 1，待机模式 * 返 回 值: 无 ********************************************************************************************************* */ void CAN_SetMode(uint8_t mode) { if(mode == 0) { CAN_STB_SetLow(); } else { CAN_STB_SetHigh(); } } /********************************************************************* * * Function: Check the buffers to determine if they have messages * if so, transfer the info to the temporary-storage * variables. Note: Messages to receiver 0 or 1 get saved in * the same variables. This id done for simplicity in * this example. You could save messages to separate * variables, or in separate arrays, if you wish. * *********************************************************************/ void ECAN_Receive(CanRxMsg* RxMessage) { if (RXB0CONbits.RXFUL) // Check RXB0CON bit RXFUL to see if RX Buffer 0 // has received a message, if so, get the // associated data from the buffer and save it. { /* Get the Id */ RxMessage->IDE = RXB0SIDLbits.EXID; if (RxMessage->IDE == CAN_Id_Standard) { RxMessage->StdId = (uint16_t)RXB0SIDH<<3 | (RXB0SIDL>>5); } else { } RxMessage->RTR = RXB0DLCbits.RXRTR; /* Get the DLC */ RxMessage->DLC = RXB0DLC&0x0F; /* Get the FMI */ // RxMessage->FMI = 0x00; /* Get the data field */ RxMessage->Data[0] = RXB0D0; RxMessage->Data[1] = RXB0D1; RxMessage->Data[2] = RXB0D2; RxMessage->Data[3] = RXB0D3; RxMessage->Data[4] = RXB0D4; RxMessage->Data[5] = RXB0D5; RxMessage->Data[6] = RXB0D6; RxMessage->Data[7] = RXB0D7; RXB0CONbits.RXFUL = 0; // Reset buffer-0-full bit to show "empty" } } /* ********************************************************************************************************* * 函 数 名: ECAN_Transmit * 功能说明: CAN发送报文消息 * 形 参: 无 * 返 回 值: 无 ********************************************************************************************************* */ void ECAN_Transmit(CanTxMsg* TxMessage) { TXB0CONbits.TXREQ = 0; /* 关发送 ，该位发送成功则自动清零*/ if (TxMessage->IDE == CAN_Id_Standard) { TXB0SIDH = (uint8_t)(TxMessage->StdId>>3); TXB0SIDL = (uint8_t)(TxMessage->StdId<<5)&0xE0; TXB0SIDLbits.EXIDE = TxMessage->IDE; TXB0DLCbits.TXRTR = TxMessage->RTR; } else { // TXB0EIDH = TxMessage->ExtId>>8; // TXB0EIDL = TxMessage->ExtId; } TXB0DLC = TxMessage->DLC; TXB0D0 = TxMessage->Data[0]; TXB0D1 = TxMessage->Data[1]; TXB0D2 = TxMessage->Data[2]; TXB0D3 = TxMessage->Data[3]; TXB0D4 = TxMessage->Data[4]; TXB0D5 = TxMessage->Data[5]; TXB0D6 = TxMessage->Data[6]; TXB0D7 = TxMessage->Data[7]; TXB0CONbits.TXREQ = 1; //Set the buffer to transmit //while(TXB0CONbits.TXREQ==1); //等待发送 完成 } void interrupt high_priority High_ISR(void) { if(PIR5bits.WAKIF==1)//CAN总线活动唤醒中断 { PIR5bits.WAKIF = 0; } if(PIR5bits.RXB0IF==1)//接收缓冲区0接收到报文 { PIR5bits.RXB0IF=0; // 清接收中断标志 ECAN_Receive(&g_tCanRxMsg); if ((g_tCanRxMsg.StdId == 0x312) && (g_tCanRxMsg.IDE == CAN_ID_STD) && (g_tCanRxMsg.DLC == 0x08)) { // 用户自定义 } } } 头文件 /* * File: eacn.h * Author: Administrator * * Created on 2017年7月11日, 下午4:33 */ #ifndef ECAN_H #define ECAN_H #ifdef __cplusplus extern "C" { #endif /** * @brief CAN Tx message structure definition */ #define CAN_Id_Standard 0X00 /*!< Standard Id */ #define CAN_Id_Extended 0X01 /*!< Extended Id */ #define CAN_RTR_Data 0X00 /*!< Data frame */ #define CAN_RTR_Remote 0X01 /*!< Remote frame */ #define CAN_ID_STD CAN_Id_Standard #define CAN_ID_EXT CAN_Id_Extended #define CAN_RTR_DATA CAN_RTR_Data #define CAN_RTR_REMOTE CAN_RTR_Remote #define CAN_MODE_NORMAL 0 //CAN收发器正常模式 #define CAN_MODE_STANDBY 1 //CAN收发器待机模式 typedef struct { uint16_t StdId; /*!< Specifies the standard identifier. This parameter can be a value between 0 to 0x7FF. */ uint16_t ExtId; /*!< Specifies the extended identifier. This parameter can be a value between 0 to 0x1FFFFFFF. */ uint8_t IDE; /*!< Specifies the type of identifier for the message that will be transmitted. This parameter can be a value of @ref CAN_identifier_type */ uint8_t RTR; /*!< Specifies the type of frame for the message that will be transmitted. This parameter can be a value of @ref CAN_remote_transmission_request */ uint8_t DLC; /*!< Specifies the length of the frame that will be transmitted. This parameter can be a value between 0 to 8 */ uint8_t Data[8]; /*!< Contains the data to be transmitted. It ranges from 0 to 0xFF. */ } CanTxMsg; /** * @brief CAN Rx message structure definition */ typedef struct { uint16_t StdId; /*!< Specifies the standard identifier. This parameter can be a value between 0 to 0x7FF. */ uint16_t ExtId; /*!< Specifies the extended identifier. This parameter can be a value between 0 to 0x1FFFFFFF. */ uint8_t IDE; /*!< Specifies the type of identifier for the message that will be received. This parameter can be a value of @ref CAN_identifier_type */ uint8_t RTR; /*!< Specifies the type of frame for the received message. This parameter can be a value of @ref CAN_remote_transmission_request */ uint8_t DLC; /*!< Specifies the length of the frame that will be received. This parameter can be a value between 0 to 8 */ uint8_t Data[8]; /*!< Contains the data to be received. It ranges from 0 to 0xFF. */ uint8_t FMI; /*!< Specifies the index of the filter the message stored in the mailbox passes through. This parameter can be a value between 0 to 0xFF */ } CanRxMsg; /********************************************************************* * * Function Prototypes * *********************************************************************/ void ECAN_Init(void); void CAN_SetMode(uint8_t mode); #ifdef __cplusplus } #endif #endif /* ECAN_H */ 系统进入休眠 #define WAKEUP_US_DELAY 200 唤醒后振荡器起振定时时间要大于1024TOSC，TOSC = OSC1周期 /* ********************************************************************************************************* * 函 数 名: SysEnterSleep * 功能说明: 系统进入休眠模式 * 形 参: 无 * 返 回 值: 无 ********************************************************************************************************* */ void SysEnterSleep(void) { CAN_SetMode(CAN_MODE_STANDBY);//CAN收发器进入待机模式 PIR5bits.WAKIF = 0; //清除CAN总线活动唤醒中断标志 PIE5bits.WAKIE = 1; //允许CAN总线活动唤醒中断 IPR5bits.WAKIP = 1; //CAN总线活动唤醒中断为高优先级 CANCON = 0x20;//禁止/休眠模式 while(CANSTATbits.OPMODE !=0x01); OSCCONbits.IDLEN = 0;//配置休眠模式 Sleep();//进入休眠模式 __delay_us(WAKEUP_US_DELAY); }