使用C8051F的单片机来实现CAN控制，可以进行数据的接收，发送不行

void CAN0_TransferMO (U8 obj_num)
{
   // This function assumes that the message object is fully initialized
   // in CAN0_Init and so all it has to do is fill the data registers and
   // initiate transmission

   U8 SFRPAGE_save = SFRPAGE;
   SFRPAGE  = CAN0_PAGE;               // All CAN register are on page 0x0C

   // Initialize all 8 data bytes even though they might not be sent
   // The number to send was configured earlier by setting Message Control

   CAN0IF1DA1H = obj_num;              // Initialize data registers based
   CAN0IF1DA1L = obj_num + 1;          // on message object used
   CAN0IF1DA2H = obj_num + 2;
   CAN0IF1DA2L = obj_num + 3;
   CAN0IF1DB1H = obj_num + 4;
   CAN0IF1DB1L = obj_num + 5;
   CAN0IF1DB2H = obj_num + 6;
   CAN0IF1DB2L = obj_num + 7;

   CAN0IF1CM = 0x0087;                 // Set Direction to Write
                                       // Write TxRqst all 8 data bytes

   CAN0IF1CR = obj_num;                // Start command request

   while (CAN0IF1CRH & 0x80);          // Poll on Busy bit

   SFRPAGE = SFRPAGE_save;
}
 

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