1. 主控芯片（STC89C52RC），CAN控制器（SJA1000T），CAN收发器（PCA82C250）似乎PCA82C251更好些
2. 下载对应的芯片手册，以及SJA1000独立的CAN控制器应用指南.pdf。
部分电路图：
其中需要注意的是复位单元设计，最好使用软件复位，我选择的是P2.6复位，另外SJA1000T的/INT端口需要添加上拉电阻，不然会恒为低。其他好像没啥需要特别注意的，只要按照电路图正确连接即可。下来就是编写测试代码。
过程主要参考应用指南，首先设置串口工作模式，8n1，然后设置使用定时器1，并设置工作方式2和波特率，启动定时器1，设置接收中断。然后设置外部中断优先级和中断方式（下降沿中断门），然后使能全局和外部中断，接着主要是复位SJA1000芯片，给引脚RST一个负脉冲。复位后默认是进入复位模式，但是最好还是确认芯片进入复位模式，然后输出提示信息，接着设置时钟分配寄存器，主要是设置PeliCAN模式，接收RX0还是RX1中断，设置CLKOUT输出，设置验收码寄存器和验收屏蔽寄存器，这两个结合起来来过滤数据包，判断是否需要被本节点接收，下一步配置总线定时器寄存器，设置发送频率和输出模式,确认进入自接收模式，发送数据，使用while循环等待中断到来，编译并下载到STC89C52芯片上，测试结果如下图所示：
设计源码：
/*------------------------------------------------------------------------------
HELLO.C
Copyright 1995-2005 Keil Software, Inc.
------------------------------------------------------------------------------*/
#include <REG52.H> /* special function register declarations */
/* for the intended 8051 derivative */
#include <stdio.h> /* prototype declarations for I/O functions */
#include "sja1000_reg.h" /* sja1000T的寄存器定义文件*/
#include <absacc.h> /* 主要是用于寻址外部存储器*/
sbit SJARst = P2 ^ 6; //复位控制
/*------------------------------------------------
The main C function. Program execution starts
here after stack initialization.
------------------------------------------------*/
void main (void) {
/*------------------------------------------------
Setup the serial port for 9600 baud at 11.0592MHz.
------------------------------------------------*/
#ifndef MONITOR51
SCON = 0x50; /* SCON: mode 1, 8-bit UART, enable rcvr */
TMOD |= 0x20; /* TMOD: timer 1, mode 2, 8-bit reload */
TH1 = 0xFD; /* TH1: reload value for 9600 baud @ 11.0595MHZ */
TR1 = 1; /* TR1: timer 1 run */
TI = 1; /* TI: set TI to send first char of UART */
#endif
PX0=1; //外部中断0高优先级
IT0=1; //设置INT0为下降沿中断
EX0=1; //使能INT0中断
/*------------------------------------------------
Note that an embedded program never exits (because
there is no operating system to return to). It
must loop and execute forever.
------------------------------------------------*/
printf ("Hello World\n"); /* Print "Hello World" */
SJA_Init();//主要是使芯片复位
/*
Enter the reset Mode
*/
REG_MODE = 0x01;
while((REG_MODE&0x01)!= 0x01); //确定进入复位模式
printf("1.Enter the Reset Mode,REG_MODE=0x%.4x\n",REG_MODE);
REG_CDR = 0xc8;//设置时钟分频寄存器。CDR.7 = 1,PeliCAN模式；CDR.6（RX0激活，关闭RX1） fCLKOUT = fOSC/2, CDR.3(Close the CLKOUT)
REG_RBSA = 0x00;//RX缓冲器起始地址
/*Configure acceptance code and mask register*/
REG_ACR0 = 0xff;//验收码寄存器
REG_ACR1 = 0xff;
REG_ACR2 = 0xff;
REG_ACR3 = 0xff;
REG_AMR0 = 0xff;//验收屏蔽寄存器，接收任何标识符的数据包
REG_AMR1 = 0xff;
REG_AMR2 = 0xff;
REG_AMR3 = 0xff;
/*configure bus timing registers*/
REG_BTR0 = 0x00;
REG_BTR1 = 0x14; //100k
REG_IR_ABLE = 0x01;//Peli模式中断使能,接收中断使能，发送中断禁止
REG_OCR = 0x1a;//设置输出模式：正常输出，从TX0口输出;TX1悬空
REG_MODE = 0x0c; //进入自接收模式.CDR.3(选择单个验收滤波器),CDR.2 (此模式可以检测所有节点)
while(REG_MODE != 0x0c);//确定进入自接收模式下
printf("2.Enter the self-test Mode\n",REG_MODE);
SJA1000_TxData();//发送数据
printf("\n\n");
//SJA1000_Rx_Display();//接收数据展示
EA = 1;//使能全局中断
while(1);
}
void SJA1000_TxData(void)
{
while(REG_SR & 0x10);//当SJA1000不处于接收状态时才可继续执行，SR.4==0x1，正在接收，等待
while(!(REG_SR & 0x08)); //SR.3=0,发送请求未处理完，等待直到SR.3=1
while(!(REG_SR & 0x04)); //SR.2=0,发送缓冲器被锁。等待直到SR.2=1
REG_TxBuffer0 = 0x08;//帧信息,标准帧，数据帧，8字节
REG_TxBuffer1 = 0xFF;//标识符1
REG_TxBuffer2 = 0xFF;//标识符2
REG_TxBuffer3 = 0x11;//发送数据位：1
REG_TxBuffer4 = 0x22;//发送数据位：2
REG_TxBuffer5 = 0x33;
REG_TxBuffer6 = 0x44;
REG_TxBuffer7 = 0x55;
REG_TxBuffer8 = 0x66;
REG_TxBuffer9 = 0x77;
REG_TxBuffer10 = 0x88;//here Over
SJA1000_Tx_Display();
REG_CMD = 0x10;//自接收
while(!(REG_SR & 0x08));//检测发送完毕
}
/************************************************************
函数：ex0_int
说明：中断服务程序
入口：无
返回：无
***********************************************************/
void handle_int(void) interrupt 0 using 1
{
if(REG_IR & 0x01) //产生了接收中断
{
#pragma disable
printf( " Received message.\n");
printf( " RBSR3 = %x \n", REG_RxBuffer3 );
printf( " RBSR4 = %x \n", REG_RxBuffer4 );
printf( " RBSR5 = %x \n", REG_RxBuffer5 );
printf( " RBSR6 = %x \n", REG_RxBuffer6 );
printf( " RBSR7 = %x \n", REG_RxBuffer7 );
printf( " RBSR8 = %x \n", REG_RxBuffer8 );
printf( " RBSR9 = %x \n", REG_RxBuffer9 );
printf( " RBSR10 = %x \n",REG_RxBuffer10);
}
}
void SJA1000_Tx_Display(void)
{
printf( " TBSR3 = 0x%.4x \n", REG_TxBuffer3 );
printf( " TBSR4 = 0x%.4x \n", REG_TxBuffer4 );
printf( " TBSR5 = 0x%.4x \n", REG_TxBuffer5 );
printf( " TBSR6 = 0x%.4x \n", REG_TxBuffer6 );
printf( " TBSR7 = 0x%.4x \n", REG_TxBuffer7 );
printf( " TBSR8 = 0x%.4x \n", REG_TxBuffer8 );
printf( " TBSR9 = 0x%.4x \n", REG_TxBuffer9 );
printf( " TBSR10 = 0x%.4x \n",REG_TxBuffer10);
}
void SJA_Init(void)
{
//SJA1000复位
unsigned char i;
for(i = 0;i < 125;i++);
SJARst = 0;
for(i = 0;i < 125;i++);//给RST引脚一个低脉冲
SJARst = 1;
for(i = 0;i < 125;i++);
} sja1000_reg.h定义：
/*
SJA1000的寄存器有关控制
*/
#ifndef SJA1000_H
#define SJA1000_H
/*指定SJA1000的起始地址为0x7800*/
#define SJA_REG_BaseADD 0x7800
#define REG_MODE XBYTE[SJA_REG_BaseADD + 0x00]
#define REG_CMD XBYTE[SJA_REG_BaseADD + 0x01]
#define REG_SR XBYTE[SJA_REG_BaseADD + 0x02]
#define REG_IR XBYTE[SJA_REG_BaseADD + 0x03]
#define REG_IR_ABLE XBYTE[SJA_REG_BaseADD + 0x04]
#define REG_BTR0 XBYTE[SJA_REG_BaseADD + 0x06] //05保留
#define REG_BTR1 XBYTE[SJA_REG_BaseADD + 0x07]
#define REG_OCR XBYTE[SJA_REG_BaseADD + 0x08]
#define REG_TEST XBYTE[SJA_REG_BaseADD + 0x09]
#define REG_ALC XBYTE[SJA_REG_BaseADD + 0x0b] //0a保留
#define REG_ECC XBYTE[SJA_REG_BaseADD + 0x0c]
#define REG_EMLR XBYTE[SJA_REG_BaseADD + 0x0d]
#define REG_RXERR XBYTE[SJA_REG_BaseADD + 0x0e]
#define REG_TXERR XBYTE[SJA_REG_BaseADD + 0x0f]
#define REG_ACR0 XBYTE[SJA_REG_BaseADD + 0x10]
#define REG_ACR1 XBYTE[SJA_REG_BaseADD + 0x11]
#define REG_ACR2 XBYTE[SJA_REG_BaseADD + 0x12]
#define REG_ACR3 XBYTE[SJA_REG_BaseADD + 0x13]
#define REG_AMR0 XBYTE[SJA_REG_BaseADD + 0x14]
#define REG_AMR1 XBYTE[SJA_REG_BaseADD + 0x15]
#define REG_AMR2 XBYTE[SJA_REG_BaseADD + 0x16]
#define REG_AMR3 XBYTE[SJA_REG_BaseADD + 0x17]
/*接收缓冲区*/
#define REG_RxBuffer0 XBYTE[SJA_REG_BaseADD + 0x10]
#define REG_RxBuffer1 XBYTE[SJA_REG_BaseADD + 0x11]
#define REG_RxBuffer2 XBYTE[SJA_REG_BaseADD + 0x12]
#define REG_RxBuffer3 XBYTE[SJA_REG_BaseADD + 0x13]
#define REG_RxBuffer4 XBYTE[SJA_REG_BaseADD + 0x14]
#define REG_RxBuffer5 XBYTE[SJA_REG_BaseADD + 0x15]
#define REG_RxBuffer6 XBYTE[SJA_REG_BaseADD + 0x16]
#define REG_RxBuffer7 XBYTE[SJA_REG_BaseADD + 0x17]
#define REG_RxBuffer8 XBYTE[SJA_REG_BaseADD + 0x18]
#define REG_RxBuffer9 XBYTE[SJA_REG_BaseADD + 0x19]
#define REG_RxBuffer10 XBYTE[SJA_REG_BaseADD + 0x1a]
#define REG_RxBuffer11 XBYTE[SJA_REG_BaseADD + 0x1b]
#define REG_RxBuffer12 XBYTE[SJA_REG_BaseADD + 0x1c]
/*发送缓冲区*/
#define REG_TxBuffer0 XBYTE[SJA_REG_BaseADD + 0x10]
#define REG_TxBuffer1 XBYTE[SJA_REG_BaseADD + 0x11]
#define REG_TxBuffer2 XBYTE[SJA_REG_BaseADD + 0x12]
#define REG_TxBuffer3 XBYTE[SJA_REG_BaseADD + 0x13]
#define REG_TxBuffer4 XBYTE[SJA_REG_BaseADD + 0x14]
#define REG_TxBuffer5 XBYTE[SJA_REG_BaseADD + 0x15]
#define REG_TxBuffer6 XBYTE[SJA_REG_BaseADD + 0x16]
#define REG_TxBuffer7 XBYTE[SJA_REG_BaseADD + 0x17]
#define REG_TxBuffer8 XBYTE[SJA_REG_BaseADD + 0x18]
#define REG_TxBuffer9 XBYTE[SJA_REG_BaseADD + 0x19]
#define REG_TxBuffer10 XBYTE[SJA_REG_BaseADD + 0x1a]
#define REG_TxBuffer11 XBYTE[SJA_REG_BaseADD + 0x1b]
#define REG_TxBuffer12 XBYTE[SJA_REG_BaseADD + 0x1c]
#define REG_RBSA XBYTE[SJA_REG_BaseADD + 0x1e]
#define REG_CDR XBYTE[SJA_REG_BaseADD + 0x1f]
#define REG_Receive_Counter XBYTE[SJA_REG_BaseADD + 0x1d]
void SJA_Init(void);
void SJA1000_TxData(void);
void handle0_int(void);
void SJA1000_Tx_Display(void);
#endif
原文：http://blog.csdn.net/jefbai/article/details/19697501