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 /*********************************************************************
+ *
  *                  CAN driver
+ *
  *********************************************************************
  * FileName:        CAN.c
+ *
  * Author               Date    Comment
  *~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
  * Johan Böhlin     21-10-06    Original        (Rev 1.0)
  ********************************************************************/
 #include <CANdefs.h>
 #include <stackTasks.h>
 #include <CAN.h>
 static void canGetPacket(void);
 #ifdef USE_CAN
 /*
 *   Function: canInit
+*
 *   Input:  none
 *   Output: none
 *   Pre-conditions: none
 *   Affects: Changes can registers.
 *   Depends: none.
 */
 void canInit()
+{
     CANCON = 0x80; //request config mode
     while ((CANSTAT & 0xE0) != 0x80 ); //wait for config mode request
     // BAUD AND TQS
     BRGCON1=0;
     // Sync_Seq = 2 x TQ = 1
     BRGCON1bits.SJW1=0;
     BRGCON1bits.SJW0=1;
     // Setting BRP.
     BRGCON1=BRGCON1|CAN_BRP;
     // Maximum PHEG1
     BRGCON2bits.SEG2PHTS = 1;
     // Phase_Seg1 = 2 x TQ = 1
     BRGCON2bits.SEG1PH2 = 0;
     BRGCON2bits.SEG1PH1 = 0;
     BRGCON2bits.SEG1PH0 = 1;
     // Prop_Seq = 2 x TQ = 1
     BRGCON2bits.PRSEG2 = 0;
     BRGCON2bits.PRSEG1 = 0;
     BRGCON2bits.PRSEG0 = 1;
     //  Enableing bus wake-up
     BRGCON3bits.WAKDIS = 0;
     // Dont use filter when wakeup
     BRGCON3bits.WAKFIL = 0;
     // Phase_Seg2 = 2 x TQ = 1
     BRGCON3bits.SEG2PH2 = 0;
     BRGCON3bits.SEG2PH1 = 0;
     BRGCON3bits.SEG2PH0 = 1;
     ECANCON=0;
     ECANCONbits.MDSEL1 = 0;
     ECANCONbits.MDSEL0 = 1;
     // FILTERS AND MASKS
     RXB0CONbits.RXM1=1;
     RXB0CONbits.RXM0=0;
     // INTERRUPTS
     // Diable transmit interrupt
     TXBIE = 0;
     //rx any interrupt
     PIR3 = 0;
     PIE3 = 0b00000011;
     // High interrupt
     IPR3 =0b00000011;
     // Programmable buffers interrupt
     BIE0  = 0xFF;
     //loopback mode or not
     #ifdef CAN_LOOPBACK_MODE
         CANCON = 0x40;//request loopback mode
         while ((CANSTAT & 0xE0) != 0x40 );//wait for loopback mode
     #else
         CANCON = 0x00;//request normal mode
         while ((CANSTAT & 0xE0) != 0x00 );//wait for normal mode
     #endif
+}
 /*
 *   Function: canISR
+*
 *   Input:  none
 *   Output: none
 *   Pre-conditions: a call to canInit()
 *   Affects: interrupt registers and receive data buffers
 *   Depends: ..
 */
 void canISR()
+{
     if (PIR3bits.RXBnIF || PIR3bits.RXB1IF || PIR3bits.RXB0IF)
+    {
         // Get which buffer that is ful.
              if (RXB0CONbits.RXFUL) { ECANCON=(ECANCON&0b00000)|0b10000; canGetPacket(); }
         else if (RXB1CONbits.RXFUL) { ECANCON=(ECANCON&0b00000)|0b10001; canGetPacket(); }
         else if (B0CONbits.RXFUL)   { ECANCON=(ECANCON&0b00000)|0b10010; canGetPacket(); }
         else if (B1CONbits.RXFUL)   { ECANCON=(ECANCON&0b00000)|0b10011; canGetPacket(); }
         else if (B2CONbits.RXFUL)   { ECANCON=(ECANCON&0b00000)|0b10100; canGetPacket(); }
         else if (B3CONbits.RXFUL)   { ECANCON=(ECANCON&0b00000)|0b10101; canGetPacket(); }
         else if (B4CONbits.RXFUL)   { ECANCON=(ECANCON&0b00000)|0b10110; canGetPacket(); }
         else if (B5CONbits.RXFUL)   { ECANCON=(ECANCON&0b00000)|0b10111; canGetPacket(); }
         if (PIR3bits.RXBnIF) {PIR3bits.RXBnIF = 0;}
         if (PIR3bits.RXB1IF) {PIR3bits.RXB1IF = 0;}
         if (PIR3bits.RXB0IF) {PIR3bits.RXB0IF = 0;}
+    }
+}
 /*
 *   Function: canGetPacket
+*
 *   Input:  none
 *   Output: none
 *   Pre-conditions: a call to canISR and an packet is available and banked to RXB0
 *   Affects: Calls canParse() function in main for parsing received packet.
 *   Depends: none.
 */
 void canGetPacket()
+{
-        CAN_MESSAGE cm;
-        // Set extended mode or not.
+        CAN_PROTO_MESSAGE cm;
-        cm.extended=(RXB0SIDLbits.EXID==0?FALSE:TRUE);
+        //RXB0SIDH 28 27 26 25 24 23 22 21
+        //RXB0SIDL 20 19 18 xx xx xx 17 16
+        //RXB0EIDH 15 14 13 12 11 10 09 08
+        //RXB0EIDL 07 06 05 04 03 02 01 00
-        // Clear
+        //funct xx xx xx xx 28 27 26 25
+        //funcc xx xx xx xx xx xx 24 23 22 21 20 19 18 17 16 15
+        //nid   xx xx 14 13 12 11 10 09
+        //sid   xx xx xx xx xx xx xx 08 07 06 05 04 03 02 01 00
+        cm.funct=((RXB0SIDH & 0xF0)>>4);
+        cm.funcc=(((WORD)(RXB0SIDH & 0x0F))<<6)+(((WORD)(RXB0SIDL & 0xE0))>>2)+(((WORD)(RXB0SIDL & 0x03))<<1)+(((WORD)(RXB0EIDH & 0x80))>>7);
-        cm.ident=0;
+        cm.nid=((RXB0EIDH & 0x7E)>>1);
+        cm.sid=(((WORD)(RXB0EIDH & 0x01))<<8)+RXB0EIDL;
-        if (cm.extended==TRUE)
-        {
-            //Read extended ident.
-            //xx xx xx 28 27 26 25 24   23 22 21 20 19 18 17 16   15 14 13 12 11 10 09 08   07 06 05 04 03 02 01 00
-            //RXB0SIDH 28 27 26 25 24 23 22 21
-            //RXB0SIDL 20 19 18 xx xx xx 17 16
-            //RXB0EIDH 15 14 13 12 11 10 09 08
-            //RXB0EIDL 07 06 05 04 03 02 01 00
-            cm.ident = (((DWORD)RXB0SIDH)<<21) + (((DWORD)(RXB0SIDL & 0xE0))<<13) + (((DWORD)(RXB0SIDL & 0x03))<<16) + (((DWORD)RXB0EIDH)<<8) + (BYTE)RXB0EIDL;
-        }
-        else
-        {
-            //Read standard ident.
-            //xx xx xx xx xx 10 09 08   07 06 05 04 03 02 01 00
-            //RXB0SIDH 10 09 08 07 06 05 04 03
-            //RXB0SIDL 02 01 00 xx xx xx xx xx
-            cm.ident = (((DWORD)RXB0SIDH)<<3) + (((DWORD)RXB0SIDL)>>5);
-        }
         // Data length
         cm.data_length=(RXB0DLCbits.DLC3<<3)+(RXB0DLCbits.DLC2<<2)+(RXB0DLCbits.DLC1<<1)+RXB0DLCbits.DLC0;
         // Remote request
         cm.remote_request=(RXB0DLCbits.RXRTR==0?FALSE:TRUE);
         // Data one bye one, for speed
         cm.data[0]=RXB0D0;  cm.data[1]=RXB0D1;
         cm.data[2]=RXB0D2;  cm.data[3]=RXB0D3;
         cm.data[4]=RXB0D4;  cm.data[5]=RXB0D5;
         cm.data[6]=RXB0D6;  cm.data[7]=RXB0D7;
         // Clear ful status
         RXB0CONbits.RXFUL=0;
         //Call main parser
         canParse(cm);
 }
 /*
 *   Function: canSendMessage
+*
 *   Input:  CAN_MESSAGE to send
 *   Output: True if packet scheduled sucess, false otherwise.
 *   Pre-conditions: canInit
 *   Affects: ..
 *   Depends: ..
 */
-BOOL canSendMessage(CAN_MESSAGE cm,CAN_PRIORITY prio)
+BOOL canSendMessage(CAN_PROTO_MESSAGE cm,CAN_PRIORITY prio)
+{
     if ( TXB0CONbits.TXREQ == 0 )  { ECANCON=(ECANCON&0b00000)|0b00011; }
     if ( TXB1CONbits.TXREQ == 0 )  { ECANCON=(ECANCON&0b00000)|0b00100; }
     if ( TXB2CONbits.TXREQ == 0 )  { ECANCON=(ECANCON&0b00000)|0b00101; }
     // None of the transmit buffers were empty.
     else { return FALSE;}
     if (prio<0 || prio>3) prio = 0;
-        if (cm.extended==TRUE)
-        {
-            //Write extended ident.
-            //xx xx xx 28 27 26 25 24   23 22 21 20 19 18 17 16   15 14 13 12 11 10 09 08   07 06 05 04 03 02 01 00
-            //RXB0SIDH 28 27 26 25 24 23 22 21
+        //RXB0SIDH 28 27 26 25 24 23 22 21
-            //RXB0SIDL 20 19 18 xx xx xx 17 16
+        //RXB0SIDL 20 19 18 xx xx xx 17 16
-            //RXB0EIDH 15 14 13 12 11 10 09 08
+        //RXB0EIDH 15 14 13 12 11 10 09 08
-            //RXB0EIDL 07 06 05 04 03 02 01 00
+        //RXB0EIDL 07 06 05 04 03 02 01 00
-            RXB0SIDH =  (BYTE)((cm.ident>>21));
+        //funct xx xx xx xx 28 27 26 25
-            RXB0SIDL = ((BYTE)(cm.ident>>16) & 0x03) + ((BYTE)(cm.ident>>13) & 0xE0);
-            RXB0EIDH =  (BYTE)(cm.ident>>8);
+        //funcc xx xx xx xx xx xx 24 23 22 21 20 19 18 17 16 15
-            RXB0EIDL =  (BYTE)cm.ident;
+        //nid   xx xx 14 13 12 11 10 09
-        }
-        else
-        {
-            //Write standard ident.
-            //xx xx xx xx xx 10 09 08   07 06 05 04 03 02 01 00
+        //sid   xx xx xx xx xx xx xx 08 07 06 05 04 03 02 01 00
-            //RXB0SIDH 10 09 08 07 06 05 04 03
+        RXB0SIDH = (BYTE)((cm.funct & 0x0F)<<4)+(BYTE)((cm.funcc & 0x03C0)>>6);
-            //RXB0SIDL 02 01 00 xx xx xx xx xx
+        RXB0SIDL = (BYTE)((cm.funcc & 0x003F)<<2)+(BYTE)((cm.funcc & 0x0006)>>1);
-            RXB0SIDH=  (BYTE)(cm.ident>>3);
+        RXB0EIDH = (BYTE)((cm.funcc & 0x0001)<<7)+(BYTE)((cm.nid & 0x3F)<<1)+(BYTE)((cm.sid & 0x0100)>>8);
-            RXB0SIDL= ((BYTE)(cm.ident<<5) & 0xE0);
+        RXB0EIDL = (BYTE)((cm.sid & 0x00FF));
-        }
         // Data length
         RXB0DLC = 0;
         if (cm.data_length>8) RXB0DLC=8; else RXB0DLC=cm.data_length;
         // Remote request
         if (cm.remote_request==TRUE)
+        {
             _asm
                 bsf RXB0DLC, 6, 0
             _endasm
+        }
         else
+        {
             _asm
                 bcf RXB0DLC, 6, 0
             _endasm
+        }
         // Data one bye one, for speed
         RXB0D0=cm.data[0];  RXB0D1=cm.data[1];
         RXB0D2=cm.data[2];  RXB0D3=cm.data[3];
         RXB0D4=cm.data[4];  RXB0D5=cm.data[5];
         RXB0D6=cm.data[6];  RXB0D7=cm.data[7];
         // set extended or not
-        RXB0SIDLbits.EXID=(cm.extended==TRUE?1:0);
+        RXB0SIDLbits.EXID=1;
         // Priority
         RXB0CON = (RXB0CON & 0b11111100) | prio;
         // mark as redy to transmit
         _asm
             bsf RXB0CON, 3, 0
         _endasm
         return TRUE;
+}
 #endif //USE_CAN

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