picc.zip_USB PICC_can总线_mcplde_picc _picc usb

//#include <htc.h> #include "reg2510.h" #include <pic.h> #include <pic1687x.h> //#include "mid_lcd.h" #define CS2510 RC2 #define MESSAGE_ID1 0x200 #define RX_Filter0 0x200 #define RX_Filter1 0x000 #define RX_Filter2 0x000 #define RX_Filter3 0 #define RX_Filter4 0 #define RX_Filter5 0 #define RXB0_MASK 0x7ff #define RXB1_MASK 0x7ff #define SJW_2510 2 #define PRSEG_2510 1 #define PHSEG1_2510 3 #define PHSEG2_2510 3 #define SPBRG_2510 7 // TQ = (1/16Mhz) * 2(SPBRG+1) , TQ = 1 us if SPBRG = 7 // Bit time = 125K because 8TQ/Bit #define MODE_NORMAL 0b00000000 #define MODE_LOOPBACK 0b01000000 #define MODE_LISTEN 0b01100000 #define MDOE_CONFIG 0b10000000 #define MODE_SLEEP 0b00100000 unsigned char rxbuff; //#define NOP( ) ; #asm nop #endasm typedef unsigned char uchar ; void IO_Initial( void ) ; void SPI_Initial( void ) ; // Initial MSSP to SPI & Fosc/64 void ADC_Initial(void) ; void TMR1_Initial(void) ; void MCP2510_Initial(uchar,uchar,uchar,uchar,uchar); // Initial MCP2510 to 125K Bps @ 16 MHZ void BW_2510(uchar,uchar) ; // Write a BYTE to assigned Address of MCP2510 void CMD_2510(uchar) ; // Write a COMMAND BYTE to MCP2510 through SPI void MODIFY_2510(uchar , uchar , uchar ) ; // Modify specified address of MCP2510 void Delay_RST2510(void) ; void WrBuf_2510(struct _TXBX_Buffer *); void RdBuf_2510(struct _RXBX_Buffer *); uchar BR_2510(uchar) ; uchar Write_SPI_Byte(uchar) ; void interrupt ISRs(void) ; void itoa(unsigned char * , int ) ; uchar Test_Char ; bit TMR1_OVERFLOW ; struct _RXBX_Buffer { uchar IS_RTR ; int RX_ID ; uchar RX_Len ; uchar RXBnD0 ; uchar RX_Data[8] ; } RXBX_Buffer ; struct _TXBX_Buffer { uchar IS_RTR ; int TX_ID ; uchar TX_Len ; uchar TXBnD0 ; uchar TX_Data[8] ; } TXBX_Buffer ; union { struct { unsigned RX0IF:1 ; unsigned RX1IF:1 ; unsigned TX0IF:1 ; unsigned TX1IF:1 ; unsigned TX2IF:1 ; unsigned ERRIF:1 ; unsigned WAKIF:1 ; unsigned MERRF:1 ; } BIT ; char ALL_Bits ; } FLAG_CANINTF ; union { struct { unsigned SIDL :3 ; unsigned SIDH:8 ; } BIT ; char ID_Word ; } ID_Data ; union { uchar BYTE_Val[2] ; unsigned WORD_Val ; } Int2Byte ; unsigned char OP_Buffer[10] ; int Test_int ; void main(void) { IO_Initial( ) ; SPI_Initial( ) ; ADC_Initial( ) ; //OpenLCD( ) ; CMD_2510(CMD_RESET) ; Delay_RST2510( ) ; MCP2510_Initial(SJW_2510,PRSEG_2510,PHSEG1_2510,PHSEG2_2510,SPBRG_2510 ) ; rxbuff=BR_2510(CANSTAT); //putrsLCD("MSG= D=") ; //LCD_Set_Cursor(0,1) ; //putrsLCD("ADC Value =") ; TMR1_Initial( ) ; PEIE = 1 ; GIE = 1 ; while (1) { if ( TMR1_OVERFLOW == 1 ) { TMR1_OVERFLOW = 0 ; // Clear Timer overflow flag !! ADGO = 1 ; while (ADGO) ; TXBX_Buffer.TX_Data[0] = 0x01 ; TXBX_Buffer.TX_Data[1] = 0x03 ; TXBX_Buffer.TX_Data[2] = 0x05 ; TXBX_Buffer.TX_Data[3] = ADRESH ; TXBX_Buffer.TX_Data[4] = ADRESL ; TXBX_Buffer.IS_RTR = 0 ; TXBX_Buffer.TX_ID = MESSAGE_ID1 ; TXBX_Buffer.TX_Len = 5 ; TXBX_Buffer.TXBnD0 = TXB0D0 ; WrBuf_2510( &TXBX_Buffer ); CMD_2510(CMD_RTS0) ; //LCD_Set_Cursor(12,1) ; //putrsLCD(" ") ; //LCD_Set_Cursor(12,1) ; Test_int = ADRESH * 256 + ADRESL ; itoa(OP_Buffer,Test_int ) ; //putsLCD(OP_Buffer) ; } FLAG_CANINTF.ALL_Bits = BR_2510(CANINTF) ; if (FLAG_CANINTF.BIT.RX0IF) { RXBX_Buffer.RXBnD0 = RXB0D0 ; RdBuf_2510(&RXBX_Buffer ) ; MODIFY_2510(CANINTF,0b00000001,0b00000000) ; //LCD_Set_Cursor(12,0) ; //LCD_Put_HEX(RXBX_Buffer.RX_Data[3]) ; //LCD_Put_HEX(RXBX_Buffer.RX_Data[4]) ; Test_int = RXBX_Buffer.RX_Data[3]*256+RXBX_Buffer.RX_Data[4] ; PORTD = (uchar)(Test_int >> 2) ; //LCD_Set_Cursor(4,0) ; Int2Byte.WORD_Val = RXBX_Buffer.RX_ID ; //LCD_Put_HEX(Int2Byte.BYTE_Val[1]) ; //LCD_Put_HEX(Int2Byte.BYTE_Val[0]) ; } } } void IO_Initial( void ) { PORTC = 0x00 ; // Make all PORTC as INPUT !! PORTB = 0x00 ; PORTA = 0x00 ; PORTD = 0x00 ; ADCON1=(ADCON1 & 0xF0)|0b00001110; // Set AN0 for analog input } void ADC_Initial( void ) { ADCON1 = 0b11111110 ; ADCON0 = 0b10000001 ; // CMCON = 0b00000000 ; RA0 = 1 ; // RA0 used as Analog Input !! } void WrBuf_2510(struct _TXBX_Buffer *TXBn_Buffer) { uchar Result , Send_Len ; int Loop_Var ; Send_Len = TXBn_Buffer->TX_Len ; if ( TXBn_Buffer->IS_RTR == 1 ) TXBn_Buffer->TX_Len |= 0b01000000 ; // Set RTR Bit switch ( TXBn_Buffer->TXBnD0 ) { case TXB0D0 : BW_2510(TXB0SIDH,(uchar)((TXBn_Buffer->TX_ID >> 3) & 0b11111111)) ; BW_2510(TXB0SIDL,(uchar)((TXBn_Buffer->TX_ID << 5) & 0b11100000)) ; BW_2510(TXB0DLC,TXBn_Buffer->TX_Len) ; break ; case TXB1D0 : BW_2510(TXB1SIDH,(uchar)((TXBn_Buffer->TX_ID >> 3) & 0b11111111)) ; BW_2510(TXB1SIDL,(uchar)((TXBn_Buffer->TX_ID << 5) & 0b11100000)) ; BW_2510(TXB1DLC,TXBn_Buffer->TX_Len) ; break ; case TXB2D0 : BW_2510(TXB2SIDH,(uchar)((TXBn_Buffer->TX_ID >> 3) & 0b11111111)) ; BW_2510(TXB2SIDL,(uchar)((TXBn_Buffer->TX_ID << 5) & 0b11100000)) ; BW_2510(TXB2DLC,TXBn_Buffer->TX_Len) ; break ; } CS2510 = 0 ; if ( Send_Len != 0 ) { Result = Write_SPI_Byte(CMD_WRITE) ; Result = Write_SPI_Byte(TXBn_Buffer->TXBnD0) ; for ( Loop_Var = 0 ; Loop_Var < Send_Len ; Loop_Var ++ ) Result = Write_SPI_Byte(TXBn_Buffer->TX_Data[Loop_Var]) ; } CS2510 = 1 ; } void RdBuf_2510(struct _RXBX_Buffer *RXBn_Buffer) { uchar Result ; uchar Tmp_RXBnCTRL ; int Loop_Var ; if ( RXBn_Buffer->RXBnD0 == RXB0D0 ) { RXBn_Buffer->RX_Len = BR_2510 ( RXB0DLC ) ; Result = BR_2510( RXB0SIDH ) ; RXBn_Buffer->RX_ID = (int)Result * 8 ; Result = BR_2510( RXB0SIDL ) ; Result >>= 5 ; Result &= 0b00000111 ; RXBn_Buffer->RX_ID += Result ; Tmp_RXBnCTRL = BR_2510(RXB0CTRL) ; } else { RXBn_Buffer->RX_Len = BR_2510 ( RXB1DLC ) ; Result = BR_2510( RXB1SIDH ) ; RXBn_Buffer->RX_ID = (int)Result * 8 ; Result = BR_2510( RXB1SIDL ) ; Result >>= 5 ; Result &= 0b00000111 ; RXBn_Buffer->RX_ID += Result ; Tmp_RXBnCTRL = BR_2510(RXB1CTRL) ; } if (Tmp_RXBnCTRL & 0b00001000) RXBn_Buffer->IS_RTR = 1 ; else RXBn_Buffer->IS_RTR = 0 ; RXBn_Buffer->RX_Len &= 0x0f ; // Get the actual Length if (RXBn_Buffer->IS_RTR == 0) { CS2510 = 0 ; Result = Write_SPI_Byte(CMD_READ) ; Result = Write_SPI_Byte(RXBn_Buffer->RXBnD0) ; for ( Loop_Var = 0 ; Loop_Var < RXBn_Buffer->RX_Len ; Loop_Var ++ ) { Result = Write_SPI_Byte(0xff) ; RXBn_Buffer->RX_Data[Loop_Var] = Result ; } CS2510 = 1 ; } } void SPI_Initial( void ) { STAT_SMP = 0 ; // Input Data sampled @ middle of data output time STAT_CKE = 1 ; SSPCON = 0b00100010 ; // CKP = 0 , Enable Serial Port and use Fosc/64 as SCK !! TRISC2 = 0 ; // CS of MCP2510 TRISC3 = 0 ; // SCK TRISC4 = 1 ; // SDI TRISC5 = 0 ; // SDO CS2510 = 1 ; } void MCP2510_Initial(uchar SJW,uchar PRSEG ,uchar PHSEG1, uchar PHSEG2,uchar SPBRG ) { uchar Mode_Status ; uchar Temp_Par ; // Temporary parameter !! MODIFY_2510(CANCTRL,0b11100000,0b10000000) ; MODIFY_2510(CANCTRL,0b00000111,0b00000101) ; Temp_Par = ((SJW - 1) << 6 ) & 0b11000000 ; Temp_Par |= SPBRG ; BW_2510(CNF1,Temp_Par) ; Temp_Par =