Amigos de verdad que no se la razon por la que no compila este codigo, es el nodo1 de una red bus CAN de tres nodos, echenle un vistazo a ver que tal.............
char Can_Init_Flags, Can_Send_Flags, Can_Rcv_Flags; // can flags
char Rx_Data_Len; // received data length in bytes
char RxTx_Data[8]; // can rx/tx data buffer
char Msg_Rcvd; // reception flag
long Tx_ID, Rx_ID; // can rx and tx ID
char ErrorCount;
// CANSPI module connections
sbit CanSpi_CS at PORTB.B0; // Chip select (CS) pin for CANSPI board
sbit CanSpi_CS_Direction at DDRB.B0; // Direction register for CS pin
sbit CanSpi_Rst at PORTB.B2; // Reset pin for CANSPI board
sbit CanSpi_Rst_Direction at DDRB.B2; // Direction register for Reset pin
// End CANSPI module connections
void main(){
ADCSRA.B7 = 0; // Configure analog pins as digital I/O
PORTB = 0; DDRB = 255; // Initialize ports
PORTD = 0; DDRD = 255;
PORTC = 0; DDRC = 255;
ErrorCount = 0; // Error flag
Can_Init_Flags = 0; Can_Send_Flags = 0; Can_Rcv_Flags = 0; // clear flags
Can_Send_Flags = _CANSPI_TX_PRIORITY_0 & // form value to be used
_CANSPI_TX_XTD_FRAME & // with CANSPIWrite
_CANSPI_TX_NO_RTR_FRAME;
Can_Init_Flags = _CANSPI_CONFIG_SAMPLE_THRICE & // form value to be used
_CANSPI_CONFIG_PHSEG2_PRG_ON & // with CANSPIInit
_CANSPI_CONFIG_XTD_MSG &
_CANSPI_CONFIG_DBL_BUFFER_ON &
_CANSPI_CONFIG_VALID_XTD_MSG;
SPI1_Init();
Spi_Rd_Ptr = SPI1_Read; // initialize SPI module
CANSPIInitialize(1, 3, 3, 3, 1, Can_Init_Flags); // Initialize external CANSPI module
CANSPISetOperationMode(_CANSPI_MODE_CONFIG, 0xFF); // set CONFIGURATION mode
CANSPISetMask(_CANSPI_MASK_B1, -1, _CANSPI_CONFIG_XTD_MSG); // set all mask1 bits to ones
CANSPISetMask(_CANSPI_MASK_B2, -1, _CANSPI_CONFIG_XTD_MSG); // set all mask2 bits to ones
CANSPISetFilter(_CANSPI_FILTER_B2_F4, 0x12, _CANSPI_CONFIG_XTD_MSG); // Node1 accepts messages with ID 0x12
CANSPISetFilter(_CANSPI_FILTER_B1_F1, 0x13, _CANSPI_CONFIG_XTD_MSG); // Node1 accepts messages with ID 0x13
CANSPISetOperationMode(_CANSPI_MODE_NORMAL,0xFF); // set NORMAL mode
RxTx_Data[0] = 0x40; // set initial data to be sent
Tx_ID = 0x10; // set transmit ID for CAN message
CANSPIWrite(Tx_ID, &RxTx_Data, 1, Can_Send_Flags); // Node1 sends initial message
while (1) // endless loop
{
Msg_Rcvd = CANSPIRead(&Rx_ID, RxTx_Data, &Rx_Data_Len, &Can_Rcv_Flags); // attempt receive message
if (Msg_Rcvd) { // if message is received then check id
if (Rx_ID == 0x12) // check ID
PORTC = RxTx_Data[0]; // output data at PORTC
else
PORTD = RxTx_Data[0]; // output data at PORTD
Delay_ms(50); // wait for a while between messages
CANSPIWrite(Tx_ID, RxTx_Data, 1, Can_Send_Flags); // send one byte of data
Tx_ID++; // switch to next message
if (Tx_ID > 0x11) Tx_ID = 0x10; // check overflow
}
else { // an error occured, wait for a while
ErrorCount++; // increment error indicator
Delay_ms(10); // wait for 10ms
if (ErrorCount > 10) { // timeout expired - process errors
ErrorCount = 0; // reset error counter
Tx_ID++; // switch to another message
if (Tx_ID > 0x11) Tx_ID = 0x10; // check overflow
CANSPIWrite(Tx_ID, RxTx_Data, 1, Can_Send_Flags); // send new message
}
}
}
}
