【IC693CHS398】

厦门莫格电气自动化有限公司
作为自动化、控制和过程解决方案等领域的企业之一，AB，GE，英维思，福克斯波罗等欧美的产品

已得到数万家工厂的采用，其中包括世界大型的炼油厂、燃气厂、石化厂、发电厂、纸浆和造纸厂，以及小型的综合性批量制造工厂，

产品广泛应用于数控机械 冶金、石油天然气、石油化工、化工、造纸印刷、纺织印染、机械、电子制造、汽车制造、烟草、塑胶机械、电力、水利、水处理/环保、市政工程、锅炉供暖、能源、输配电等行业

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控制系统零部件解决方案

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地 址：厦门市思明区槟榔西里197号第四层B19单元

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CAN总线通信较之一般的通信总线而言，其数据通信具有突出的可靠性、实时性和灵活性，应用范围也早已不再局限于汽车行业，而是扩展到了机器人、数控机床、家用电器等领域。CAN控制器用来实现统一的CAN通信协议。CAN控制器分为两种：一种是独立的控制芯片，如SJA1100；另一种是将其集成在微控制器内部，例Atmel公司推出的AT90CAN系列单片机。与使用独立的CAN控制器相比，自身集成了CAN接13的微控制器在简化硬件电路设计的同时，提高了软件开发的效率。
1 AT90CAN单片机CAN控制器特性
    AT90CAN单片机的CAN控制器能够兼容CAN2．OA和CAN2．OB通信协议，内部设有120字节的空间，它由15个MOB(Message Object)与CAN DATA BUFFER组成。MOB用来描述一帧完整的CAN报文信息，每个MOB拥有独立的工作寄存器组(详见参考文献[1]，这些寄存器规定了CAN通信报文的帧格式与工作模式。CAN通用控制寄存器里的CANPAGE寄存器为15个MOB规定了相对应的BUFFER地址和指针，用来存放通信时发出或接收到的数据以及保存MOB寄存器组的设置。对MOB的寄存器组进行初始化设置后，CAN控制器根据MOB的不同设置，就可以分别实现数据的发送、接收以及过滤功能，整个工作过程不需要CPU干预，简化了软件代码的编写。而CPU通过访问CAN控制器状态寄存器或者由CAN控制器以中断的方式通知CPU，即可得到当前通信状态，从而大大节省了CPU的占用时间。

2 CAN控制器的初始化
    要实现CAN通信，首先要对CAN控制器进行正确的初始化设置。初始化过程包括对 CPU的引脚功能、CAN通信波特率、中断优先级和MOB寄存器的设置等。在编写驱动的过程中，需要注意的是在完成对CANPAGE寄存器的设置后，再进行MOB的设置；否则，MOB的初始值将不能被保存，导致系统初始化失败。其基本初始化流程如图1所示。其中阴影部分是必须初始化的部分，其他部分可以根据实际程序功能的需要予以设置。
3 AT90CAN单片机与PC机CAN通信实例
    下面以如何实现AT90CAN单片机与PC机间的CAN通信为例，进一步说明AT90CAN单片机的CAN功能模块驱动的编制流程，如图2所示，并给出C语言编写的CAN通信程序。它的功能是接收PC机经由的 PCI-CAN模块扩展的CAN接口发出的数据，并将收到的数据与验收过滤器寄存器中设定的ID值比较。如果ID值相符，则将数据重新编制ID后发给PC 机。
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PARKER CD2MAUS18AC DOUBLE ACTING 4 IN 2-1/2 IN 250PSI P

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FESTO ADVUL-50-73-PA DOUBLE ACTING CYLINDER 73MM STROKE

BIMBA 040.5-NR STAINLESS DOUBLE ACTING 1/2 IN 3/4 IN PN

BIMBA BFT-094-D AIR DOUBLE ACTING 4IN 1-1/16IN CYLINDER

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BIMBA BFT-173-D DOUBLE ACTING 3IN STROKE 1-1/2IN BORE C

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BIMBA 1712-DP STAINLESS DOUBLE ACTING 12 IN 1-1/2 IN PN

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BELLOWS IBEC BPSKM 56 140 BELLOWS 140MM STROKE 56MM BOR

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FESTO DSNU-25-100-PPV?-A 100MM 25MM 10BAR DOUBLE ACTING 

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PARKER 03.25 BB2MAU13AC DOUBLE ACTING 2IN STROKE 3-1/4I

PARKER 02.50 TB2ANU39 2.000 2IN STROKE 2-1/2IN BORE PNE

PARKER 40 CBMPR19M6 150.0 150MM STROKE 40MM BORE PNEUMA

PARKER 02.50H2MAU13AC4?.000 SERIES 2MA 4IN 2-1/2IN 250PS

MARTONAIR PNEUMATIC DOUBLE ACTING CYLINDER 92MM STROKE 

BELLOFRAM S12 E SM 331-900-036 AIR CYLINDER 3.9IN BORE 

SMC CDM2B25-300A 300MM STROKE 25MM BORE PNEUMATIC CYLIN

NEW SMC CJ2QD16-30 30MM STROKE 16MM BORE 100PSI PNEUMAT

BIMBA PT-017090-A1C1 PNEU-TURN ACTUATOR DOUBLE ACTING P

NEW SHEFFER 3.5C20F16 16IN STROKE 3-1/2IN BORE PNEUMATI

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NEW BIMBA CM-1710-DP 10 IN 1-1/2 IN DOUBLE ACTING PNEUM

NEW SMC NCDGBN20-0300 DOUBLE ACTING 3 IN 3/4 IN 145PSI 

PARKER 03.25 BB2AU34A 8.000 8 IN 3-1/4 IN 250PSI PNEUMA

NEW NUMATICS OP020/002500000 25MM STROKE 20MM BORE PNEU

NEW PEARSON A088853 1-1/2IN STROKE 1-1/8IN BORE PNEUMAT

NEW BIMBA 174-P SPRING RETURN 4 IN STROKE 1-1/2 IN BORE

NEW FESTO DSNU-1-4-PVV-A 4 IN STROKE 1 IN BORE 145PSI P

BOSCH 0 822 342 028 PNEUMATIC CYLINDER DOUBLE ACTING 15

MEAD FLUID DYNAMICS SS-150X1-FB COMPACT 1 IN 1-1/2 IN P

NEW BIMBA MRS-3110-DXP DOUBLE ACTING 10 IN 2 IN PNEUMAT

NEW BIMBA 044-DP 4IN STROKE 3/4IN BORE PNEUMATIC CYLIND

FABCO-AIR SQ-04X2 PANCAKE DOUBLE ACTING 2 IN PNEUMATIC 

BIMBA F0-170.375-3MT FLAT-1 3/8IN STROKE 1-1/2IN BORE P

NEW BIMBA DWC-315-1 DOUBLE WALL 5IN STROKE 2IN BORE PNE

FESTO DSNU-32-80-PPV-?A 80MM 32MM 150PSI DOUBLE ACTING P

PARKER CBB2AU14C HYDRAULIC DOUBLE ACTING CYLINDER 2IN 2

NEW PARKER C20-40/131888 80MM STROKE 40MM BORE 10BAR PN

FESTO ADVU-16-40-P-A 156513 DOUBLE ACTING 40MM X 16MM P

COMPACT AIR PRODUCTS ABFH138X334 CYLINDER 3-3/4IN STROK

CHICAGO MP4-A-2X10-1-SM?-NC DOUBLE ACTING 10 IN 2 IN PNE

NEW FESTO DSNU-25-15-PPV-?A 15MM 25MM 145PSI PNEUMATIC C

NEW FESTO DNGU-32-30-PPV-?A 30MM 32MM 180PSI PNEUMATIC C

NEW FESTO ADVU-25-13-A-P-?A 13MM STROKE 25MM BORE 145PSI

NUMATICS S1011320020EMO RODLESS 20-1/2IN STROKE 32MM BO

BOSCH 0-8222-320-005 AIR PNEUMATIC CYLINDER STROKE 125M

NEW BIMBA PT-247090-C1 PNEU-TURN ROTARY ACTUATOR 2IN BO

NEW REXROTH 523-507-050-0 250MM STROKE 100MM BORE PNEUM

NEW TRIPLE S DYNAMICS D-49998-A-11 11IN STROKE 1-1/2IN 

NEW ALLENAIR AV 3X7 NT SVSE AAC 120V-AC 7IN STROKE 3IN 

NEW REXROTH 523-507-040-0 200MM STROKE 100MM BORE PNEUM

BIMBA ET-1650-EM GUIDED AIR 50MM 16MM DOUBLE ACTING PNE

FESTO DSNU-12-10P-A DOUBLE ACTING 10MM 12MM 145PSI PNEU

NEW ALLENAIR EV 2X5-BC-NT SVSR-AAS-120/60 5IN STROKE 2I

NEW BIMBA TE-1710-CHM THRUSTER 10IN STROKE 1-1/2IN BORE

NEW BIMBA 091-DXDE 1IN STROKE 1-1/16IN BORE DOUBLE END 

MILLER FLUID POWER AL62B2B 1-1/4 IN 2 IN 200PSI PNEUMAT

NEW FESTO DNC-40-15-PPV-A 163336 15MM STROKE 40MM BORE 

SRON DS5-1-B ANTI FRICTION SLIDE 1 IN 1/2 IN PNEUMAT

BIMBA MRS-172-DXP STAINLESS 2IN STROKE 1-1/2IN BORE PNE

NEW BIMBA MRS-092-DXPB 2IN STROKE 1-1/16IN BORE PNEUMAT

NEW BIMBA 091-DPK STAINLESS AIR 1 IN 1-1/16 IN PNEUMATI

NEW FESTO AEVU-25-25-P-A 25MM STROKE 25MM BORE 145PSI C

NEW TOLOMATIC BC210 SK30.625 30-5/8X1IN RODLESS AIR PNE

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NEW SCHRADER BELLOWS 02.00DSRMB7.000 7 IN 2 IN 250PSI P