Từng bước tiếp cận và chinh phục giao thức CAN của dsPIC (30F4012)

[hopeman]

còn đây là code của chương trình main và xử lý ngắt của CAN

#include   <p30F4012.h>

_FOSC(CSW_FSCM_OFF & FRC_PLL16)
;
_FWDT(WDT_OFF)
;
_FBORPOR(PBOR_OFF & MCLR_EN & PWMxL_ACT_HI & PWMxH_ACT_HI)
;
_FGS(CODE_PROT_OFF)
;
//Cac hang so cua chuong trinh (gia tri tuc thoi dung trong chuong trinh)
#define   PWM_PORT   PORTE      //Cac tin hieu PWM nam o cong E
#define   PWM_TRIS   TRISE      //Thanh ghi 3 trang thai cho cac tin hieu PWM
#define   PWM_LAT      LATE      //Thanh ghi chot cac tin hieu PWM
#define FCY 		30000000             		// 30 MHz
#define BITRATE 	1000000			 			// 1Mbps
#define NTQ 		15							// Number of Tq cycles which will make the 
												//CAN Bit Timing .
#define BRP_VAL		((FCY/(2*NTQ*BITRATE))-1)  //Formulae used for C1CFG1bits.BRP 
#define BlueLed 	_LATE3
#define RedLed _LATE4
#define Switch _RE2
//---------------------------------------------------------------------
void init_can1(void);
void Init_ADC10(void);
// Buffer Registers for CAN data to be send out in the transmit mode.

unsigned int OutData0[4] = {0x5251, 0x5453, 0x5655, 0x5857};            
unsigned int OutData1[2] = {0x5A59, 0x5C5B};

// Intilializing the receive registers to be 0

unsigned int InData0[4] = {0x5251, 0x5453, 0x5655, 0x5857};
unsigned int InData1[2] = {0x5A59, 0x5C5B};

//---------------------------------------------------------------------
unsigned long BlueLedCounter=0;
unsigned int ADCValue;

int main(void)
{
 init_can1();
 // Init_ADC10();
 TRISD = 0x0000;				// Initialize the PORTD as output
 LATD = 0xFFFF;                 
 LATE = 0xffe7;
 TRISE = 0xFFe7; // LED noi vao E4 va E3
// Data Field 1,Data Field 2, Data Field 3, Data Field 4 // 8 bytes selected by DLC 

 C1TX0B1 = OutData0[0];
 C1TX0B2 = OutData0[1];
 C1TX0B3 = OutData0[2];
 C1TX0B4 = OutData0[3];
 //Data Field 1, Data Field 2 // 4 bytes selected by DLC

 C1TX1B1 = OutData1[0];
 C1TX1B2 = OutData1[1];
 while(1)
{
	BlueLedCounter++;
	if(BlueLedCounter>120000)
	{
			BlueLedCounter=0;
			if(Switch==0)
			{
				C1TX1B1 = OutData1[0];
 				C1TX1B2 = OutData1[1];
				C1TX1CONbits.TXREQ = 1;	
			}
			else{
				 C1TX0B1 = OutData0[0];
				 C1TX0B2 = OutData0[1];
				 C1TX0B3 = OutData0[2];
				 C1TX0B4 = OutData0[3];
				 C1TX0CONbits.TXREQ = 1;
			}		
	}

	
	                           
}	                            //end while loop


}	



//--------------------------------------------------------------------------------------------------------------------------
											//Interrupt Section for CAN1
//--------------------------------------------------------------------------------------------------------------------------

void __attribute__((interrupt, no_auto_psv)) _C1Interrupt(void)
{
      
		IFS1bits.C1IF = 0;         //Clear interrupt flag
	
      if(C1INTFbits.TX0IF)
      {
       
		 C1INTFbits.TX0IF = 0;  //If the Interrupt is due to Transmit0 of CAN1 Clear the Interrupt

      }  
      else if(C1INTFbits.TX1IF)
      {
        
		C1INTFbits.TX1IF = 0;   //If the Interrupt is due to Transmit1 of CAN1 Clear the Interrupt 

      }  

      if(C1INTFbits.RX0IF)
      {      
        
		C1INTFbits.RX0IF = 0; 	//If the Interrupt is due to Receive0 of CAN1 Clear the Interrupt

        InData0[0] = C1RX0B1; 
        InData0[1] = C1RX0B2;  	//Move the recieve data from Buffers to InData
        InData0[2] = C1RX0B3;	
        InData0[3] = C1RX0B4;

        if ((InData0[0]==OutData0[0]) && (InData0[1]==OutData0[1]) && (InData0[2]==OutData0[2]) && (InData0[3]==OutData0[3])) 
       
           	RedLed^=1;    	// If the data received is same which was transmitted 
                                  	
      }

      else if(C1INTFbits.RX1IF)
      {      
        
		C1INTFbits.RX1IF = 0;  	//If the Interrupt is due to Receive1 of CAN1 Clear the Interrupt
        InData1[0] = C1RX1B1;   //Move the data received to Indata Registers
        InData1[1] = C1RX1B2;

        //if ((InData1[0]==OutData1[0]) && (InData1[1]==OutData1[1])) 
       if(InData1[0]==0x5A59)
           BlueLed^=1;    //If the data received is same which was transmitted 
                                 
      }
		C1RX0CON = C1RX1CON = 0x0000;
}

trong này, tôi có định nghĩa 2 led để kiểm tra dữ liệu nhận được. chương trình này được nạp trực tiếp cho 2 chip 30f4012 giao tiếp thử nghiệm với nhau.