CAN节点的测试程序, 实现两个节点传送数据，程序主要分三部分 SJA1000 的初始化,接收数据,发送数据.
学习Sja1000很好的参考程序实例。

unsigned char Sja_1000_Init(void)
{
bit s;
EA=0;
   s=BCAN_ENTER_RETMODEL();
if (s==1) return 1;
    s=BCAN_CREATE_COMMUNATION();
    if (s==1) return 2;
  s=BCAN_SET_OUTCLK(0xc0);//Pelican
if (s==1) return 3;
s=BCAN_SET_OBJECT(0xFF,0x4E,0x16,0x00,0xff,0x00,0x00,0x00);
if (s==1) return 4;
s=BCAN_SET_BANDRATE(CAN_BPS_1M);  
    if (s==1) return 5;
    
SJA_BCANAdr=REG_OCR ;    
    *SJA_BCANAdr=0x1a;        
    SJA_BCANAdr=REG_IER;      
*SJA_BCANAdr=0x03;
    
     s=BCAN_SET_CONTROL(0x08);
if (s==1) return 6;
    EA=1;
return 0;  
}
}

bit BCAN_SET_OUTCLK(unsigned char Clock_Out)
{
  SJA_BCANAdr=REG_CDR;          
  *SJA_BCANAdr=Clock_Out;        
  if(*SJA_BCANAdr != Clock_Out)
     return 1;
   else
     return 0;
}

bit BCAN_SET_OBJECT(unsigned char  BCAN_ACR0,BCAN_ACR1,BCAN_ACR2,BCAN_ACR3,BCAN_AMR0,BCAN_AMR1,BCAN_AMR2,BCAN_AMR3)
{
  SJA_BCANAdr=REG_TxBuffer1;    
  *SJA_BCANAdr=BCAN_ACR0;        //写入参数
  
  SJA_BCANAdr=REG_TxBuffer2;
  *SJA_BCANAdr=BCAN_ACR1;
  SJA_BCANAdr=REG_TxBuffer3;  
  *SJA_BCANAdr=BCAN_ACR2;
  
  SJA_BCANAdr=REG_TxBuffer4;
  *SJA_BCANAdr=BCAN_ACR3;  

  //校验写入值
  if(*SJA_BCANAdr != BCAN_ACR3)  return 1;
  
  SJA_BCANAdr=REG_TxBuffer5;      
  *SJA_BCANAdr=BCAN_AMR0;     //写入参数
  
  SJA_BCANAdr=REG_TxBuffer6;        
  *SJA_BCANAdr=BCAN_AMR1;
  SJA_BCANAdr=REG_TxBuffer7;
  *SJA_BCANAdr=BCAN_AMR2;
  SJA_BCANAdr=REG_TxBuffer8;
  *SJA_BCANAdr=BCAN_AMR3;
  //校验写入值
  if(*SJA_BCANAdr != BCAN_AMR3) return 1;
  return 0;
}

bit BCAN_SET_BANDRATE(unsigned int CAN_ByteRate)
{
  //将波特率的的预设值装入sja1000的总线定时器
  SJA_BCANAdr =REG_BTR0;              
  *SJA_BCANAdr =CAN_ByteRate>>8;       // 取CAN_ByteRate的高8位写入 写入参数
  
  //校验写入值
  if(*SJA_BCANAdr !=(CAN_ByteRate>>8)) return 1;

  SJA_BCANAdr=REG_BTR1;            
  *SJA_BCANAdr=CAN_ByteRate;          
  //校验写入值
  if(*SJA_BCANAdr !=CAN_ByteRate) return 1;
   return 0;
}

bit BCAN_SET_CONTROL(unsigned char CMD)
{  unsigned char TempData;

  SJA_BCANAdr=REG_CONTROL;   //SJA_BaseAdr+0x00  控制寄存器
  TempData=  *SJA_BCANAdr;

  *SJA_BCANAdr=CMD;

  if (*SJA_BCANAdr == CMD)
    return 0;
  else
    return 1;
}

bit BCAN_CREATE_COMMUNATION(void)
{  
    SJA_BCANAdr=REG_TEST;      
    *SJA_BCANAdr=0xaa;     //写入测试值
    if(*SJA_BCANAdr == 0xaa)
       return 0;          //读测试正确
    else
       return 1;
    
}

bit   BCAN_ENTER_RETMODEL(void)     //置位复位请求
{
    unsigned   char   TempData;
    SJA_BCANAdr  = REG_CONTROL;  
  TempData=  *SJA_BCANAdr;      
    *SJA_BCANAdr=0x01;                 //置位复位请求
    if((*SJA_BCANAdr&0x01) == 1)
     return   0;
    else
      return   1;  
}

void ex0_int(void) interrupt 0 //using 1
{  unsigned char tt;  
SJA_BCANAdr=REG_INTERRUPT;
if((*SJA_BCANAdr)&0x01) //产生了接收中断
{  
    SJA_BCANAdr=REG_RxBuffer1;
    tt=*SJA_BCANAdr;
    
     if ((tt&0x40)!=0x40) //数据帧   = 为远程帧
        {  memcpy(REG_RxBuffer6,RevceData,8);
         send_char_com(RevceData[1]);//以下代码是发送到串口
        send_char_com(RevceData[2]);
     send_char_com(RevceData[3]);
     send_char_com(RevceData[4]);
     send_char_com(RevceData[5]);
     send_char_com(RevceData[6]);
     send_char_com(RevceData[7]);
     send_char_com(RevceData[8]);  
     }
     BCAN_CMD_PRG(4);//释放SJA1000接收缓冲区
}
}
unsigned char BCAN_DATA_WRITE(unsigned char *SendDataBuf)
{  unsigned char temp;
  
    SJA_BCANAdr = REG_STATUS;    
temp=*SJA_BCANAdr;
  if ((temp&0x08)==0) return  1;    //上次发送未完成
    if ((temp&0x04)==0) return  2;    //发送缓冲区是否锁定
    if ((temp&0x10)==0x10) return 3;  //判断是否正在接收  
    SJA_BCANAdr = REG_TxBuffer1;      //访问地址指向发送缓冲区1
    memcpy(SJA_BCANAdr,SendDataBuf,13);  
     BCAN_CMD_PRG(0x03);  
    return 0;
}

bit  BCAN_CMD_PRG(unsigned char cmd)
{
   SJA_BCANAdr=REG_COMMAND;            //访问地址指向命令寄存器
   *SJA_BCANAdr=cmd;                   //启动命令字

   switch(cmd)
   {    case  TR_CMD:                    
           return    0;
           break;
  case  SRR_CMD:      
      return 0;
     break;
    
  case  AT_CMD:                  
            SJA_BCANAdr = REG_STATUS;   //访问地址指向状态寄存器  
           if((*SJA_BCANAdr & 0x20)==0)//判断是否正在发送
             return  0;
           else
             return  1;              
           break;
     case  RRB_CMD:                  
           SJA_BCANAdr = REG_STATUS;   //访问地址指向状态寄存器  
           if((*SJA_BCANAdr & 0x01)==1)
              return  1;
           else          
              return  0;              
           break;  
     case  COS_CMD:                  
           SJA_BCANAdr = REG_STATUS;  
           if((*SJA_BCANAdr & 0x02)==0)//判断清除超载是否成功
             return  0;
           else
             return  1;            
           break;
     default:
             return  1;
             break;
   }
}
主程序部分:
void main(void)
{  unsigned char temptt,ss;
   CS=0;

   Init_Cpu();
   EA=0;
   //initialize Sja1000      
   ss=Sja_1000_Init();
   if (ss!=0)//初始化失败
      send_string_com("init fail!");
   else
     EA=1; //初始化成功，开中断
  
   RECOK=0;

  send_data[0]=Send_CAN_Info_ID[0];
  send_data[1]=Send_CAN_Info_ID[1];
  send_data[2]=Send_CAN_Info_ID[2];
  send_data[3]=Send_CAN_Info_ID[3];
  send_data[4]=Send_CAN_Info_ID[4];
   while(1)
   {
     SJA_BCANAdr = REG_STATUS;    
        temptt=*SJA_BCANAdr;        
    
  if ((temptt&0x40)==0x40)
    {  
    Sja_1000_Init();
    send_char_com(0xee);    
  }
    
   if (RECOK==1)
  {   RECOK=0;
  
   SJA_BCANAdr = REG_STATUS;    
         temptt=*SJA_BCANAdr;
   if((temptt&0x04)==0x04) //可以向发送缓冲器写数据
       {          
          
      send_data[5]=Com_RecBuff[0];
     send_data[6]=Com_RecBuff[1];
   send_data[7]=Com_RecBuff[2];
   send_data[8]=Com_RecBuff[3];
   send_data[9]=Com_RecBuff[4];
   send_data[10]=Com_RecBuff[5];
     send_data[11]=Com_RecBuff[6];
   send_data[12]=Com_RecBuff[7];
    
      ss=BCAN_DATA_WRITE(send_data);
   if (ss==0)   //发送正常
      send_char_com(0x11);
    else
    {
       send_char_com(0xFF);
    send_char_com(ss);
       SJA_BCANAdr= REG_ECC;
       send_char_com(*SJA_BCANAdr);    
    }      
       }
  }
   }      
}

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