修改为250K-操控端

CAN.C

@@ -150,19 +150,15 @@ void CAN_vInit(void)
 
   ///  General Configuration of the Node 0:
   ///  - set INIT and CCE
-  ///  - enable interrupt generation upon a change of BOFF or EWARN or upon a 
-  ///    set of LLE, LOE or INIT
-  ///  - alert interrupt node pointer: MultiCAN SRN 0
 
-  //-----------CAN_NCR0 = 0x00000049-------------------------------------
+  //-----------CAN_NCR0 = 0x00000041-------------------------------------
 
     CAN_vWriteCANAddress(CAN_NCR0); // Addressing CAN_NCR0
-    CAN_DATA0 = 0x49;            // load NODE 0 control register[7-0]
+    CAN_DATA0 = 0x41;            // load NODE 0 control register[7-0]
     CAN_vWriteEN(D0_VALID+ADR_INC); // Data0 is Valid for transmission and 
                                     // Write is EnabledCAN Address pointing 
                                     // to the CAN_NSR0.
 
-
   //  CAN Address pointing to the CAN_NIPR0
     CAN_ADCON = ADR_INC;         // Auto Increment the current address(+1)
 
@@ -198,15 +194,15 @@ void CAN_vInit(void)
   ///  Configuration of the Node 0 Baud Rate:
   ///  - required baud rate = 250.000 kbaud
   ///  - real baud rate     = 250.000 kbaud
-  ///  - sample point       = 75.00 %
+  ///  - sample point       = 83.33 %
-  ///  - there are 11 time quanta before sample point
+  ///  - there are 9 time quanta before sample point
-  ///  - there are 4 time quanta after sample point
+  ///  - there are 2 time quanta after sample point
   ///  - the (re)synchronization jump width is 2 time quanta
 
-  //-----------CAN_NBTR0 = 0x00003A4B-------------------------------------
+  //-----------CAN_NBTR0 = 0x0000184F-------------------------------------
 
-    CAN_DATA0 = 0x4B;            // load NBTR0_SJW, BRP
+    CAN_DATA0 = 0x4F;            // load NBTR0_SJW, BRP
-    CAN_DATA1 = 0x3A;            // load NBTR0_DIV8, TSEG2, TSEG1
+    CAN_DATA1 = 0x18;            // load NBTR0_DIV8, TSEG2, TSEG1
     CAN_vWriteEN(D0_VALID+D1_VALID+ADR_INC);  // Data0, 1 are valid for 
                                               // transmission and Write is 
                                               // Enabled with Auto 
@@ -401,11 +397,11 @@ void CAN_vInit(void)
   ///  - priority class 3; transmit acceptance filtering is based on the list 
   ///    order (like class 1)
   ///  - extended 29-bit identifier
-  ///  - identifier 29-bit:      0x12000023
+  ///  - identifier 29-bit:      0x11000023
 
-  //--------------MOAR6 = 0xF2000023---------------------------------------
+  //--------------MOAR6 = 0xF1000023---------------------------------------
 
-    CAN_vWriteAMData(0xF2000023); // load MO6 arbitration register
+    CAN_vWriteAMData(0xF1000023); // load MO6 arbitration register
 
   //  CAN Address pointing to the CAN_MODATAH6
     CAN_ADCON = ADR_DEC;         // Auto Decrement the current address(-1)
@@ -478,11 +474,11 @@ void CAN_vInit(void)
   ///  - priority class 3; transmit acceptance filtering is based on the list 
   ///    order (like class 1)
   ///  - extended 29-bit identifier
-  ///  - identifier 29-bit:      0x11000123
+  ///  - identifier 29-bit:      0x11000124
 
-  //--------------MOAR7 = 0xF1000123---------------------------------------
+  //--------------MOAR7 = 0xF1000124---------------------------------------
 
-    CAN_vWriteAMData(0xF1000123); // load MO7 arbitration register
+    CAN_vWriteAMData(0xF1000124); // load MO7 arbitration register
 
   //  CAN Address pointing to the CAN_MODATAH7
     CAN_ADCON = ADR_DEC;         // Auto Decrement the current address(-1)
@@ -710,11 +706,11 @@ void CAN_vInit(void)
   ///  - priority class 3; transmit acceptance filtering is based on the list 
   ///    order (like class 1)
   ///  - extended 29-bit identifier
-  ///  - identifier 29-bit:      0x12000024
+  ///  - identifier 29-bit:      0x11000024
 
-  //--------------MOAR10 = 0xF2000024---------------------------------------
+  //--------------MOAR10 = 0xF1000024---------------------------------------
 
-    CAN_vWriteAMData(0xF2000024); // load MO10 arbitration register
+    CAN_vWriteAMData(0xF1000024); // load MO10 arbitration register
 
   //  CAN Address pointing to the CAN_MODATAH10
     CAN_ADCON = ADR_DEC;         // Auto Decrement the current address(-1)

CL2.0.uvopt

@@ -281,7 +281,7 @@
       <GroupNumber>1</GroupNumber>
       <FileNumber>5</FileNumber>
       <FileType>1</FileType>
-      <tvExp>0</tvExp>
+      <tvExp>1</tvExp>
       <tvExpOptDlg>0</tvExpOptDlg>
       <bDave2>1</bDave2>
       <PathWithFileName>.\CAN.C</PathWithFileName>

User.c

@@ -17,9 +17,6 @@ bit FlgOneTime = 0;
 ubyte uart2RxFlag = 0;
 uword RgCanPerid = 50;
 
-ubyte           can_error_cnt = 0;
-ubyte           can_error_flg = 0;	
-
 //PWM 20181227
 ubyte PwmH[16] = {0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0};
 //-----------------------------------------------------------------------
@@ -261,7 +258,7 @@ void sbusCanDecode(void)
 		SBUS2CANdecodeTemp = (float)(sbus_data.channels[0]);
 		SBUS2CANdecodeTemp = (DF_ZeroValue - SBUS2CANdecodeTemp)*23;//<2F><>Ҫ<EFBFBD>任һ<E4BBBB>·<EFBFBD><C2B7>ţ<EFBFBD><C5A3><EFBFBD>Ϊ<EFBFBD><CEAA><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>
 		DF_Curvature = (int16_t)SBUS2CANdecodeTemp;//<2F><><EFBFBD><EFBFBD>	
-		if( (DF_Curvature > (-50)) && (DF_Curvature < 50) ) //<2F><><EFBFBD>ӻ<EFBFBD>0<EFBFBD><30><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>⡣
+		if( (DF_Curvature > (-200)) && (DF_Curvature < 200) ) //<2F><><EFBFBD>ӻ<EFBFBD>0<EFBFBD><30><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>⡣
 		{
 			DF_Curvature = 0;
 		}				
@@ -276,7 +273,7 @@ void sbusCanDecode(void)
 		}		
 		
     //<2F><><EFBFBD><EFBFBD>	
-		SBUS2CANdecodeTemp = (float)(sbus_data.channels[7]);
+		SBUS2CANdecodeTemp = (float)(sbus_data.channels[11]);
 		SBUS2CANdecodeTemp = (DF_ZeroValue - SBUS2CANdecodeTemp);//<2F><>Ҫ<EFBFBD>任һ<E4BBBB>·<EFBFBD><C2B7>ţ<EFBFBD><C5A3><EFBFBD>Ϊ<EFBFBD><CEAA><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>
 		DF_Reserve = (int16_t)SBUS2CANdecodeTemp;//ת<><D7AA>
 		if( (DF_Reserve > (-50)) && (DF_Reserve < 50) ) //<2F><><EFBFBD>ӻ<EFBFBD>0<EFBFBD><30><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>⡣
@@ -286,7 +283,7 @@ void sbusCanDecode(void)
  
 		
 		//SwA
-		if(sbus_data.channels[1] >= 1700)//<2F><><EFBFBD><EFBFBD>
+		if(sbus_data.channels[12] >= 1700)//<2F><><EFBFBD><EFBFBD>
 		{
 			DF_SwA = 1;
 		}
@@ -296,11 +293,11 @@ void sbusCanDecode(void)
 		}
 		
 		//SwB
-		if(sbus_data.channels[6] >= 1700)//<2F><><EFBFBD><EFBFBD><EFBFBD><EFBFBD>
+		if(sbus_data.channels[4] >= 1700)//<2F><><EFBFBD><EFBFBD><EFBFBD><EFBFBD>
 		{
 			DF_SwB = 2;
 		}
-		else if(sbus_data.channels[6] <= 250)//<2F>ڶ<EFBFBD><DAB6><EFBFBD>
+		else if(sbus_data.channels[4] <= 500)//<2F>ڶ<EFBFBD><DAB6><EFBFBD>
 		{
 			DF_SwB = 0;
 		}
@@ -310,11 +307,11 @@ void sbusCanDecode(void)
 		}	
 		
 		//SwC
-		if(sbus_data.channels[4] >= 1700)//<2F><><EFBFBD><EFBFBD><EFBFBD><EFBFBD>
+		if(sbus_data.channels[7] >= 1700)//<2F><><EFBFBD><EFBFBD><EFBFBD><EFBFBD>
 		{
 			DF_SwC = 2;
 		}
-		else if(sbus_data.channels[4] <= 250)//<2F>ڶ<EFBFBD><DAB6><EFBFBD>
+		else if(sbus_data.channels[7] <= 500)//<2F>ڶ<EFBFBD><DAB6><EFBFBD>
 		{
 			DF_SwC = 0;
 		}
@@ -324,7 +321,7 @@ void sbusCanDecode(void)
 		}		
 		
 		//SwD
-		if(sbus_data.channels[5] >= 1700)//<2F><><EFBFBD><EFBFBD>
+		if(sbus_data.channels[13] >= 1700)//<2F><><EFBFBD><EFBFBD>
 		{
 			DF_SwD = 1;
 		}
@@ -348,12 +345,40 @@ void sbusCanDecode(void)
 		SBUS2CANdecodeTemp = (float)(sbus_data.channels[3]);
 		UnRemoteControlOutput_2.bit_data.curvature = (int16_t)SBUS2CANdecodeTemp;//<2F><><EFBFBD><EFBFBD><EFBFBD><EFBFBD>	
 		
+		UnRemoteControlOutput_2.bit_data.reserve1 = (uint16_t)(sbus_data.channels[10]);
+		
+			
+		//SwB
+		if(sbus_data.channels[5] >= 1700)//<2F><><EFBFBD><EFBFBD><EFBFBD><EFBFBD>
+		{
+			UnRemoteControlOutput_2.bit_data.switch_b = 2;
+		}
+		else if(sbus_data.channels[5] <= 500)//<2F>ڶ<EFBFBD><DAB6><EFBFBD>
+		{
+			UnRemoteControlOutput_2.bit_data.switch_b = 0;
+		}
+		else//<2F><>һ<EFBFBD><D2BB>
+		{
+			UnRemoteControlOutput_2.bit_data.switch_b = 1;
 		}	
 		
-	UnRemoteControlOutput_2.bit_data.switch_a = P1_2;//
+		//SwC
-	UnRemoteControlOutput_2.bit_data.switch_d = P1_3;//		
+		if(sbus_data.channels[6] >= 1700)//<EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>
+		{
+			UnRemoteControlOutput_2.bit_data.switch_c = 2;
+		}
+		else if(sbus_data.channels[6] <= 500)//<2F>ڶ<EFBFBD><DAB6><EFBFBD>
+		{
+			UnRemoteControlOutput_2.bit_data.switch_c = 0;
+		}
+		else//<2F><>һ<EFBFBD><D2BB>
+		{
+			UnRemoteControlOutput_2.bit_data.switch_c = 1;
 		}		
 
+  }
+		
+}
 
 //CAN<41><4E><EFBFBD>ͽ<EFBFBD><CDBD><EFBFBD>
 void CanRXTX(void)
@@ -479,17 +504,10 @@ void CanRXTX(void)
 		
     CanTransmit(DF_SwTx,(ubyte *)&UnRemoteControlOutput_1.arr[0]);
     CanTransmit(DF_SwTx1,(ubyte *)&UnRemoteControlOutput_2.arr[0]);
+
+
+		
 	}
-	
-	if( (0x40 == can_error_cnt) || (0x80 == can_error_cnt) )//20250625<32>ж<EFBFBD><D0B6>Ƿ<EFBFBD><C7B7><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>ߴ<EFBFBD><DFB4><EFBFBD>
-	{
-		 can_error_flg = can_error_cnt;
-		 CAN_vInit();
-		 can_error_cnt = 0;
-	}			
-	
-	
-	
 }
 
 

user.H

@@ -149,7 +149,6 @@ extern  bit      FlgCan_1;
 
 extern  ubyte    rxbuf[25];
 extern  ubyte    uart2RxFlag;
-extern  ubyte    can_error_cnt;
 
 
 void CanRXTX(void);