【主要程序文件】:

//******************************SJA1000初始化***********************************

void SJA1000_Init(void)
{
uchar i,a,b,i_temp=0,TempData,j_temp=0;

CLI();
SJA100HardWareRest(); //硬件復(fù)位
//Read_SJA1000(CAN_IR); //讀中斷寄存器，清除中斷位
SJAEntryResetMode(); //進(jìn)入復(fù)位模式
DelayUs(5);
SR_status = Read_SJA1000(CAN_SR); //讀狀態(tài)
//進(jìn)入Pelican模式
Write_SJA1000(CAN_CDR,0xc0); //選擇Pelican模式，CBP=1，激活RX0; 關(guān)閉TX1中斷與時(shí)鐘輸出。
SR_status = Read_SJA1000(CAN_SR); //讀狀態(tài)
DelayUs(5);

//自檢模式，自發(fā)自收檢測
//Write_SJA1000(CAN_MOD,0x04); //配置模式寄存器，雙濾波，自發(fā)自收

//接收所有報(bào)文
Write_SJA1000(CAN_AMR0,0xff); //配置驗(yàn)收屏蔽AMR0=0FFH
Write_SJA1000(CAN_AMR1,0xff); //配置驗(yàn)收屏蔽AMR1=0FFH
Write_SJA1000(CAN_AMR2,0xff); //配置驗(yàn)收屏蔽AMR2=0FFH
Write_SJA1000(CAN_AMR3,0xff); //配置驗(yàn)收屏蔽AMR3=0FFH
Write_SJA1000(CAN_ACR0,0x00); //配置驗(yàn)收代碼ACR1=0:
Write_SJA1000(CAN_ACR1,0x00); //配置驗(yàn)收代碼ACR1=0:
Write_SJA1000(CAN_ACR2,0x00); //配置驗(yàn)收代碼ACR1=0:
Write_SJA1000(CAN_ACR3,0x00); //配置驗(yàn)收代碼ACR3=0;


Write_SJA1000(CAN_TXERR,0x00);
Write_SJA1000(CAN_RXERR,0x00);
Write_SJA1000(CAN_ECC,0x00);
Write_SJA1000(CAN_RBSA,0x00);

//設(shè)置波特率(16MHZ晶振，125Kb)
Write_SJA1000(CAN_BTR0,0x03); //配置總線定時(shí)--1255kbps 0x6e03
Write_SJA1000(CAN_BTR1,0x1C); // 0xffaf
Write_SJA1000(CAN_OCR,0xaa); //配置輸出控制
Write_SJA1000(CAN_EWLR,0xff); //配置錯(cuò)誤報(bào)警限制為255
Write_SJA1000(CAN_CMR,0x0c); // 清楚數(shù)據(jù)溢出和釋放接收緩沖器

// 退出復(fù)位模式，進(jìn)入工作模式
SJAQuitResetMode();
SR_status = Read_SJA1000(CAN_SR); //讀狀態(tài)
//Write_SJA1000(CAN_TXB+4,ID3); //配置發(fā)送緩沖區(qū)的ID3-
// Write_SJA1000(CAN_IER,0x01); //配置SJA10000中斷-錯(cuò)誤報(bào)警/發(fā)送/接收中斷0x07
Write_SJA1000(CAN_IER,0x81); //使能SJA1000接收中斷位,和總線錯(cuò)誤中斷位
SEI();

}

//******************************SJA1000發(fā)送程序*********************************
void send_sja1000(void)
{
uchar s,i,canstatus,canstatus1,canstatus2,canstatus3,canstatus4;
//CLI();
canstatus= Read_SJA1000(CAN_SR); //讀狀態(tài)
canstatus1 = Read_SJA1000(CAN_MOD); //讀模式
canstatus2 =Read_SJA1000(15); //TX錯(cuò)誤計(jì)數(shù)
canstatus3 =Read_SJA1000(14); //RX錯(cuò)誤計(jì)數(shù)
canstatus4 =Read_SJA1000(12); //錯(cuò)誤代碼捕捉

for( i=0;i5;i++ );
{
canstatus = Read_SJA1000(CAN_SR);
}

if((canstatus 0x0C)== 0x0C) //查詢SJA1000是否處于接收狀態(tài)，當(dāng)SJA1000不處于接收狀態(tài)時(shí)才可繼續(xù)執(zhí)行
{ //SR.3=0,發(fā)送請求未處理完，等待直到SR.3=1
goto SJA1000; //SR.2=0,發(fā)送緩沖器被鎖
}
else
{
LEDSysMode = 0;
return;
}

SJA1000:

//發(fā)送數(shù)據(jù)寫進(jìn)發(fā)送緩沖區(qū)中
WriteSJARegBlock(16,Send_CAN_Info_ID,5); //擴(kuò)展幀，向發(fā)送緩沖區(qū)寫入5個(gè)識(shí)別碼
Write_SJA1000(21,DataText[0]); //擴(kuò)展幀，向發(fā)送緩沖區(qū)寫入8個(gè)數(shù)據(jù)
Write_SJA1000(22,DataText[1]);
Write_SJA1000(23,DataText[2]);
Write_SJA1000(24,DataText[3]);
Write_SJA1000(25,DataText[4]);
Write_SJA1000(27,DataText[6]);
Write_SJA1000(26,DataText[5]);
Write_SJA1000(28,DataText[7]);
// 啟動(dòng)發(fā)送
Write_SJA1000(CAN_CMR,0x01);//使能發(fā)送請求，發(fā)送數(shù)據(jù)。(0x03,單次發(fā)送，有錯(cuò)誤不重新發(fā)送；0x01發(fā)送請求命令,當(dāng)錯(cuò)誤時(shí)可重發(fā)；0x10產(chǎn)生一次自接收性質(zhì)的報(bào)文發(fā)送）
SEI();
DataText[7]=0x00;
while((canstatus0x08) ==0) //檢測是否發(fā)送完畢
{
canstatus = Read_SJA1000(CAN_SR); //讀狀態(tài)
}
LEDSysMode = 1;

}

【總結(jié)】:

本系統(tǒng)主要是RF無線和CAN總線兩大塊，功能都能實(shí)現(xiàn)。部分代碼如上所示，若網(wǎng)友希望進(jìn)一步了解，可以站內(nèi)信聯(lián)系。

原帖地址：http://bbs.21ic.com/icview-584206-1-1.html