CAN.rar_481程序_CAN的 测试 程序

/*************************************************************************** * FILE : AD_CAN.c * * Version : V1.0 * * Description : THis test program is call can841x.lib to implement CAN * * controller send and recieve messages. * ****************************************************************************/ #include "can841.h" /* Library function declaration */ #include "stdlib.h" #include "stdio.h" #include <dos.h> /*-------------------------------------------------------------------------- --------------------------------------------------------------------------*/ /* define can controller interrupt connect to PC irq number */ #define CAN1_IRQ 15 /* 0 mean polling */ #define CAN2_IRQ 3 /* 0 mean polling */ #define PORT1 0 #define PORT2 1 #define FAIL 0 #define SUCCESS 1 #define IRQ_POLLING 0 static BYTE gIrq0, gIrq1; /*中断号*/ static BYTE old_irq0=IRQ_POLLING; /*PORT1中断号暂时存储单元*/ static BYTE old_irq1=IRQ_POLLING; /*PORT2中断号暂时存储单元*/ static UI gSeg; /*段地址*/ UI MAXSLAVE_NUM =100 ; /* the max number of slave on the data-bus*/ UI ADResult[100][16]; /* 未加处理的A/D转化结果*/ float ADR[100][16]; /* 处理过的A/D转化结果*/ char Changchannal[100][3], ADslave[100][2];/*是否需要改变通道数标志及新通道数；该结点是否在线及是否出错标志*/ static int hw_ok=0; /*硬件配置结果标志*/ static int can_err_no; /*CAN卡配置出错类型标志*/ /*------------------------------------------------ 0: no error 0x01 : hardware not release. 0x10: seg_addr set error 0x11: hardware not set successful 0x12: irq_no set error 0x20: bus off ------------------------------------------------*/ /*--------------------------------------------------------------------------*/ void interrupt (*old_isr0)(); void interrupt (*old_isr1)(); void interrupt can_isr0();/*配置PORT1的中断号*/ void interrupt can_isr1();/*配置PORT2的中断号*/ void can0w(BYTE addr, BYTE v);/*向指定地址（PORT1段地址+偏移量）写入一BYTE*/ void can1w(BYTE addr, BYTE v);/*向指定地址（PORT2段地址+偏移量）写入一BYTE*/ BYTE can0r( BYTE addr);/*从指定地址（PORT1段地址+偏移量）读入一BYTE*/ BYTE can1r( BYTE addr);/*从指定地址（PORT2段地址+偏移量）读入一BYTE*/ BYTE canExitHW( void );/*退出时取消硬件设置*/ /*--------------------------------------------------------------------------*/ static BYTE rBuf01[10],rBuf02[10],receiveflag4=0,receiveflag7=0,mainfreqflag=0;/*临时存储单元几接收标志*/ static BYTE rBuf0[10],rBuf1[10]; /*用于PORT1和PORT2的临时存储单元*/ static BYTE gSendFlag0, gSendFlag1;/*PORT1和PORT2的放松标志*/ static BYTE gRecFlag0, gRecFlag1; /*PORT1和PORT2的接收标志*/ /*--------------------------------------------------------------------------*/ void can_reset( BYTE port );/*使该口的SJA1000进入复位状态*/ /*--------------------------------------------------------------------------*/ BYTE CAN_INI(void); void write_cc_MSG(BYTE,MSG_STRUCT*,BYTE);/*将更改通道数的命令写入发送包*/ void write_cmd_MSG(BYTE,MSG_STRUCT* );/*将88命令写入发送包*/ void mov_ADR(MSG_STRUCT,BYTE,BYTE);/*将接收到的信息从临时存储单元转移到接口数组ADResult[][]中并屏蔽通道号*/ char com[6]; void main(void) { char cha; int ERR_slave,ADRi,Li,MOVi;/*临时变量及算子*/ double waitcounter; /*用于延时用的记数变量*/ /* declare the can card segment address */ CAN_STRUCT can1, can2; /*存储两口配置数据的结构体*/ MSG_STRUCT smsg1, smsg2; /*用于两口中接收数据的接收包*/ MSG_STRUCT rmsg1, rmsg2,ADMRG[4];/*用于两口中发送信息的发送包，及主函数中临时存储接收信息的结构体数组*/ UI i,j; /*临时变量*/ if( CAN_INI()==0) {printf(" the can card initial is error!"); return; } /*-----------------------use in test----------------------*/ clrscr(); cprintf("\r\n TESTING BEGIN \r\n"); cprintf("\r\nThe target ID:"); while(1) { for(;;) { scanf("%s",&com); if(atoi(com)<=255) { smsg1.id=atoi(com); break; } else cprintf("\r\nError ID,Please input the ID <=255\r\n"); } cprintf("\r\nThe data length:(<=8)"); for(;;) { scanf("%s",&com); if(atoi(com)<=8) { smsg1.dlen=atoi(com); cprintf(" %d\n",smsg1.dlen); break; } else cprintf("\r\nError length,Please input the length <=8\r\n"); } for(i=0;i<smsg1.dlen;i++) {cprintf("\r\ndata[%d]=",i); scanf("%s",&com); smsg1.data[i]=atoi(com); /* cprintf(" %d\r\n",smsg1.data[i]);*/ } if( canSendMsg( PORT1,smsg1)==1 ) printf("the msg transmission is ok!\n"); else printf("the msg transmission is error!\n"); /*----------------------------use in test------------------*/ /* printf("DO you want to go on? Y (yes) or N (no):\n"); cha=getch(); if( (cha=='y') ||(cha=='Y') ) ; else if( (cha=='n') || (cha=='N') ) break; else {printf("you have input wrong key,the program is stop!\n"); break; } */ /*---------------------------use in test----------------*/ /*--------------------------------------III---------------------------------------------*/ } /*退出之前复位*/ /*---- reset can controller */ canReset(PORT1); canReset(PORT2); canExitHW(); } /******************************** the following are son functions***************************/ BYTE CAN_INI(void) { /* declare the can card segment address */ UI gSegment=0xDA00; CAN_STRUCT can1, can2; /*存储两口配置数据的结构体*/ MSG_STRUCT smsg1, smsg2; /*用于两口中接收数据的接收包*/ MSG_STRUCT rmsg1, rmsg2,ADMRG[4];/*用于两口中发送信息的发送包，及主函数中临时存储接收信息的结构体数组*/ BYTE FAIL_FLAG=0; clrscr(); /*对CAN卡进行初始化*/ if( canInitHW(gSegment,CAN1_IRQ,CAN2_IRQ)== FAIL ) { clrscr(); cprintf("\n\n hardware initial is error "); FAIL_FLAG=1; /* return;*/ } /*---- reset can controller */ canReset(PORT1); canReset(PORT2); /*填写配置代码*/ can1.acc_code=0x00; /*接收码 */ can1.acc_mask=0xff; /* 屏蔽码 */ can1.bt0=0x0f; /*波特率20K*/ can1.bt1=0x7f; printf("\nthe baud rate=20kbps\n"); /*配置PORT1*/ if( canConfig(PORT1,can1)== FAIL) { cprintf("\n\n can controller port %d configure is error ", 1); FAIL_FLAG=1; /* return;*/ } memcpy(&can2, &can1 ,sizeof(CAN_STRUCT)); /*以同样的代码配置PORT2*/ if( canConfig(PORT2,can2)== FAIL) { clrscr(); cprintf("\n\n can controller port %d configure is error ", 2); FAIL_FLAG=1; /* return;*/ } /*让两PORT恢复正常运行状态*/ canNormalRun( PORT1); /* Put CAN1,2 to normal mode */ canNormalRun( PORT2); if( FAIL_FLAG==1) return (0); else return(1); } /*将更改通道数的命令写入发送包*/ void write_cc_MSG(BYTE ID,MSG_STRUCT* msg,BYTE chanum) { msg->id=ID+0x10; msg->id=(msg->id<<3); msg->rtr=0; msg->dlen=2; msg->data[0]=0x77; msg->data[1]=chanum; } /*将88命令写入发送包*/ void write_cmd_MSG(BYTE ID,MSG_STRUCT* msg) { msg->id=ID+0X10; msg->id=(msg->id<<3); msg->rtr=0; msg->dlen=