6DD1681-0AF4

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6DD1681-0AF4

  PIC18F258是美国Microchip公司生产的内部嵌有CAN总线控制器的高性能PIC系列单片机，由于其超小型、低功耗、低成本、多品种的特点，其应用范围十分广泛。PIC18F258是集成了CAN模块的微控制器,有着*的精简指令集构架、增强型内核、32级堆栈，片内具有Flash程序存储器、EEROM数据存储器、自编程功能、在线调试器（ICD）和多种内部、外部中断源，并采用了程序和数据空间*分开的“哈佛”结构。这种结构大大降低了PIC微控制器的总体成本，同时提高了运行效率。在电路中，PIC18F258单片机是CAN总线接口电路的核心，主要完成CAN总线上数据的发送和接收，实现串行数据的分解及组合，保证通信的正常畅通。
PCA82C250是Philips公司的CAN总线接口芯片，是CAN控制器与物理总线之间的接口，提供对总线的差分发送和接收的功能,它与ISO11898标准*兼容，有三种不同的工作方式,即高速、斜率控制和待机，可以根据实际情况加以选择，在本方案中选择高速工作方式。该芯片引脚少，使用简单。CAN总线采用PCA82C250芯片作为与总线之间的接口，PCA82C250的CANH、CANL引脚各自通过一个电阻与CAN总线相连，电阻可以起到一定的限流作用，保护PCA82C250免受过流的冲击。另外，CANH和CANL与地之间并联两个小电容，可以滤除总线上的高频干扰和防电磁辐射。光电耦合器采用General Instrument公司生产的高速逻辑门输出光电耦合器6N137，它的zui大传输延迟时间是75 ns，典型值是46 ns，采用6N137高速光电耦合电路可以很好地实现总线上节点之间的电气隔离,同时可提高系统的抗*力和传输信号的能力。使用时，光电耦合器的两个电源VCC和V′CC必须采用电源隔离电路进行*隔离。
4 CAN通信系统软件设计流程
　　软件设计是系统设计的关键。使用开发软件MPLAB IDE、仿真器ICD 2，以及灵活简便的C语言。为了提高可靠性和可理解性[4]，内部软件设计采用了模块结构，主要包括主程序、系统初始化子程序、数据发送子程序、数据接收子程序和电机控制子程序。此外，还应有中断服务子程序、A/D采样子程序、故障诊断子程序和终端子程序等。这里主要对系统初始化子程序和电机控制子程序进行探讨。
　　系统初始化子程序是系统设计工作中极为重要的部分，它是CAN总线系统正常工作的前提，关系到整个CAN系统能否正常工作。因此，初始化设计是一个重点，主要包括CAN模块工作方式的配置、接收滤波器的设置、接收屏蔽寄存器设置、波特率参数设置、发送优先级设置和中断允许寄存器设置等。初始化子程序流程如图4所示

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