dspIC30f6010a芯片CAN通訊與數據處理

ID:668358 · 發表于 2019-12-19 14:53

//AD數據采集，CAN發送數據
#include"p30f6010A.h"
#include"cpuinit.h"
#include"main.h"
#include"math.h"
//#include"IO.h"

//unsigned long int TX0_id,TX1_id,TX2_id;
#define FCY = 16000000;//10MHz外部晶振

_FOSC(CSW_FSCM_OFF&HS2_PLL8);
_FWDT(WDT_ON & WDTPSA_512 & WDTPSB_1);//開啟看門狗，1024ms復位
_FBORPOR(PBOR_OFF&MCLR_EN);//掉電復位禁止，MCLR復位時能
int main (void)
{
IO_init();
ClrWdt();//清看門狗
T1_init();
ClrWdt();//清看門狗
ADC_init();
ClrWdt();//清看門狗
I2C_init();
ClrWdt();//清看門狗
//USATRT_init();
ClrWdt();//清看門狗

//CAN發送ID
TX0_id = 0x18104040;//模擬量輸入發送id
TX1_id = 0x18104041;
// TX2_id = 0x1FFFFFFF;//

//CAN接收ID
RX1_F0id = 0x18200303;
RX1_F1id = 0x1FFFFFFF;
RX1_Mid  = 0x1FFFFFFF;

//------
ClrWdt();//清看門狗
CAN_init_C1();
ClrWdt();//清看門狗

TRISDbits.TRISD1 = 1;//RUN_1點亮
Delay(50);
ClrWdt();//清看門狗
while(1)
{
      Lamp_flashing = 1;
      ClrWdt();

   if(CANexchange[0] == 0);//交換數據
      {
         CAN1_data_change0[0] = CAN_receive_finish[0][0];
         CAN1_data_change0[1] = CAN_receive_finish[0][1];
         CAN1_data_change0[2] = CAN_receive_finish[0][2];
         CAN1_data_change0[3] = CAN_receive_finish[0][3];
         CAN1_data_change0[4] = CAN_receive_finish[0][4];
         CAN1_data_change0[5] = CAN_receive_finish[0][5];
         CAN1_data_change0[6] = CAN_receive_finish[0][6];
         CAN1_data_change0[7] = CAN_receive_finish[0][7];

         CANexchange[0] == 1;
      }
      if(CANexchange[1] == 0)
      {
         CAN1_data_change1[0] = CAN_receive_finish[1][0];
         CAN1_data_change1[1] = CAN_receive_finish[1][1];
         CAN1_data_change1[2] = CAN_receive_finish[1][2];
         CAN1_data_change1[3] = CAN_receive_finish[1][3];
         CAN1_data_change1[4] = CAN_receive_finish[1][4];
         CAN1_data_change1[5] = CAN_receive_finish[1][5];
         CAN1_data_change1[6] = CAN_receive_finish[1][6];
         CAN1_data_change1[7] = CAN_receive_finish[1][7];

         CANexchange[1] == 1;
      }
      if(CANexchange[2] == 0)
      {
         CAN1_data_change2[0] = CAN_receive_finish[2][0];
         CAN1_data_change2[1] = CAN_receive_finish[2][1];
         CAN1_data_change2[2] = CAN_receive_finish[2][2];
         CAN1_data_change2[3] = CAN_receive_finish[2][3];
         CAN1_data_change2[4] = CAN_receive_finish[2][4];
         CAN1_data_change2[5] = CAN_receive_finish[2][5];
         CAN1_data_change2[6] = CAN_receive_finish[2][6];
         CAN1_data_change2[7] = CAN_receive_finish[2][7];

         CANexchange[2] == 1;
   }


   //TX0_id發送
      if((CAN1send_EN == 0)&&(CAN1_sendCLC >25))
      {
         if(AD_change1 == 0)
         {

            CANsendID1 = TX0_id;
            CANsend_data1[0] = CAN1_data[0][0];
            CANsend_data1[1] = CAN1_data[0][1];
            CANsend_data1[2] = CAN1_data[0][2];
            CANsend_data1[3] = CAN1_data[0][3];

            CANsend_data1[4] = CAN1_data[0][4];
            CANsend_data1[5] = CAN1_data[0][5];
            CANsend_data1[6] = CAN1_data[0][6];
            CANsend_data1[7] = CAN1_data[0][7];
         }
         CAN_Life();
         if(AD_change1 == 1)
         {
            Life_Data ++;
            CANsendID1 = TX1_id;
            CANsend_data1[0] = CAN2_data[0][0];
            CANsend_data1[1] = CAN2_data[0][1];
            CANsend_data1[2] = CAN2_data[0][2];
            CANsend_data1[3] = CAN2_data[0][3];

            CANsend_data1[4] = 0;
            CANsend_data1[5] = 0;
            CANsend_data1[6] = 4;
            CANsend_data1[7] = Life_Version;
         }
         CAN1send_EN = 1;//發送
         AD_change1++;
         if(AD_change1 >1)
            AD_change1 = 0;
         CAN1_sendCLC = 0;
      }
      Send_C1TX0();

   //TX1_id發送

   // Life_Data =0;
//    CAN_Life();
//
//    if((CAN1send_EN1 == 0)&&(CAN2_sendCLC >400))
//    {
//          if(AD_change2 == 0)
//          {
//             //Delay(50);
//             // AD_change[0]=1;
//             AD_change_2();
//
//             Life_Data ++;
//             CAN1_data[1][0] = AD_buff2[0];
//             CAN1_data[1][1] = AD_buff2[1];
//             CAN1_data[1][2] = AD_buff2[2];
//             CAN1_data[1][3] = AD_buff2[3];
//             CAN1_data[1][4] = AD_buff2[4];
//             CAN1_data[1][5] = AD_buff2[5];
//             CAN1_data[1][6] = Life_Data;
//             CAN1_data[1][7] = Life_Version;
//
//             CANsendID2 = TX1_id;
//             CANsend_data2[0] = CAN1_data[1][0];
//             CANsend_data2[1] = CAN1_data[1][1];
//             CANsend_data2[2] = CAN1_data[1][2];
//             CANsend_data2[3] = CAN1_data[1][3];
//             CANsend_data2[4] = CAN1_data[1][4];
//             CANsend_data2[5] = CAN1_data[1][5];
//             CANsend_data2[6] = CAN1_data[1][6];
//             CANsend_data2[7] = CAN1_data[1][7];
//
//             // CANsend_data2[7] = Life_Data;
//             //CANsend_data2
//          }
//          CAN1send_EN1 = 0;
//          AD_change2++;
//          if(AD_change2 > 1)
//             AD_change2 = 0;
//          CAN2_sendCLC = 0;
//    }
      //Life_Data ++;

   //Send_C1TX0_1();
   //--------------------------------------------
   //發送完成延時
   Delay(5);







//  CAN 模塊收、發錯誤處理
//--------------------------------------------------------------------------
      if ((C1INTFbits.TXBO==1)||(C1INTFbits.TXBP==1)||(C1INTFbits.RXEP))
      {
         IEC0bits.T1IE  =  0;

         CAN_init_C1();//接收錯誤被動復位
         IEC0bits.T1IE  =  1;
      }

}

}
//詳情見附件

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dspIC30f6010a芯片CAN通訊與數據處理

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