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/*********************************************************************
 *
 *                  CAN driver
 *
 *********************************************************************
 * FileName:        CAN.c
 *
 * Author               Date    Comment
 *~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
 * Nilesh Rajbharti     8/20/01 Original        (Rev 1.0)
 ********************************************************************/
 
#include "../Include/CANdefs.h"
#include "../Include/stackTasks.h"
#include "../Include/CAN.h"
#include "../Include/uart.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.
        cm.extended=(RXB0SIDLbits.EXID==0?FALSE:TRUE);
 
        // Clear
        cm.ident=0;
 
 
        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=RXB0DLC;
 
        // 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)
{
 
 
 
 
 
 
 
 
 
 
 
 
 
    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;}
 
   
    // Set extended mode or not.
    RXB0SIDLbits.EXID=(cm.extended==TRUE?1:0);
 
 
        if (cm.extended==TRUE)
        {
            RXB0SIDL=RXB0SIDL|0b00001000;
        //  _asm 
        //      bsf RXB0SIDL, 3, 0
        //  _endasm 
        }
        else
        {
            RXB0SIDL=RXB0SIDL&0b11110111;
        //  _asm 
        //      bcf RXB0SIDL, 3, 0
        //  _endasm 
        }
 
       
 
 
        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
            //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
 
 
            RXB0SIDH =  (BYTE)((cm.ident>>21));
            RXB0SIDL = ((BYTE)(cm.ident>>16) & 0x03) + ((BYTE)(cm.ident>>13) & 0xE0);
            RXB0EIDH =  (BYTE)(cm.ident>>8);
            RXB0EIDL =  (BYTE)cm.ident;
 
        }
        else
        {
            //Write 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
 
            RXB0SIDH=  (BYTE)(cm.ident>>3);
            RXB0SIDL= ((BYTE)(cm.ident<<5) & 0xE0);
 
        }
 
        // Data length
        if (cm.data_length>8) RXB0DLC=8; else RXB0DLC=cm.data_length;
 
        // 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];
 
        // mark as redy to transmit
        _asm
            bsf RXB0CON, 3, 0
        _endasm
 
 
        return TRUE;
 
}
 
 
 
#endif //USE_CAN
 

Rev 24	Rev 25
-		1	/*********************************************************************
-		2	*
-		3	* CAN driver
-		4	*
-		5	*********************************************************************
-		6	* FileName: CAN.c
-		7	*
-		8	* Author Date Comment
-		9	*~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
-		10	* Nilesh Rajbharti 8/20/01 Original (Rev 1.0)
-		11	********************************************************************/
-		12
1	#include "../Include/CANdefs.h"	13	#include "../Include/CANdefs.h"
2	#include "../Include/stackTasks.h"	14	#include "../Include/stackTasks.h"
3	#include "../Include/CAN.h"	15	#include "../Include/CAN.h"
4	#include "../Include/uart.h"	16	#include "../Include/uart.h"
5		17
6	static void canGetPacket(void);	18	static void canGetPacket(void);
7		19
8	#ifdef USE_CAN	20	#ifdef USE_CAN
9		21
10		22
11	/*	23	/*
12	* Function: canInit	24	* Function: canInit
13	*	25	*
14	* Input: none	26	* Input: none
15	* Output: none	27	* Output: none
16	* Pre-conditions: none	28	* Pre-conditions: none
17	* Affects: Changes can registers.	29	* Affects: Changes can registers.
18	* Depends: none.	30	* Depends: none.
19	*/	31	*/
20	void canInit()	32	void canInit()
21	{	33	{
22	CANCON = 0x80; //request config mode	34	CANCON = 0x80; //request config mode
23	while ((CANSTAT & 0xE0) != 0x80 ); //wait for config mode request	35	while ((CANSTAT & 0xE0) != 0x80 ); //wait for config mode request
24		36
25	// BAUD AND TQS	37	// BAUD AND TQS
26		38
27	BRGCON1=0;	39	BRGCON1=0;
28		40
29	// Sync_Seq = 2 x TQ = 1	41	// Sync_Seq = 2 x TQ = 1
30	BRGCON1bits.SJW1=0;	42	BRGCON1bits.SJW1=0;
31	BRGCON1bits.SJW0=1;	43	BRGCON1bits.SJW0=1;
32		44
33	// Setting BRP.	45	// Setting BRP.
34	BRGCON1=BRGCON1\|CAN_BRP;	46	BRGCON1=BRGCON1\|CAN_BRP;
35		47
36	// Maximum PHEG1	48	// Maximum PHEG1
37	BRGCON2bits.SEG2PHTS = 1;	49	BRGCON2bits.SEG2PHTS = 1;
38		50
39	// Phase_Seg1 = 2 x TQ = 1	51	// Phase_Seg1 = 2 x TQ = 1
40	BRGCON2bits.SEG1PH2 = 0;	52	BRGCON2bits.SEG1PH2 = 0;
41	BRGCON2bits.SEG1PH1 = 0;	53	BRGCON2bits.SEG1PH1 = 0;
42	BRGCON2bits.SEG1PH0 = 1;	54	BRGCON2bits.SEG1PH0 = 1;
43		55
44	// Prop_Seq = 2 x TQ = 1	56	// Prop_Seq = 2 x TQ = 1
45	BRGCON2bits.PRSEG2 = 0;	57	BRGCON2bits.PRSEG2 = 0;
46	BRGCON2bits.PRSEG1 = 0;	58	BRGCON2bits.PRSEG1 = 0;
47	BRGCON2bits.PRSEG0 = 1;	59	BRGCON2bits.PRSEG0 = 1;
48		60
49	// Enableing bus wake-up	61	// Enableing bus wake-up
50	BRGCON3bits.WAKDIS = 0;	62	BRGCON3bits.WAKDIS = 0;
51		63
52	// Dont use filter when wakeup	64	// Dont use filter when wakeup
53	BRGCON3bits.WAKFIL = 0;	65	BRGCON3bits.WAKFIL = 0;
54		66
55	// Phase_Seg2 = 2 x TQ = 1	67	// Phase_Seg2 = 2 x TQ = 1
56	BRGCON3bits.SEG2PH2 = 0;	68	BRGCON3bits.SEG2PH2 = 0;
57	BRGCON3bits.SEG2PH1 = 0;	69	BRGCON3bits.SEG2PH1 = 0;
58	BRGCON3bits.SEG2PH0 = 1;	70	BRGCON3bits.SEG2PH0 = 1;
59		71
60	ECANCON=0;	72	ECANCON=0;
61	ECANCONbits.MDSEL1 = 0;	73	ECANCONbits.MDSEL1 = 0;
62	ECANCONbits.MDSEL0 = 1;	74	ECANCONbits.MDSEL0 = 1;
63		75
64		76
65	// FILTERS AND MASKS	77	// FILTERS AND MASKS
66	RXB0CONbits.RXM1=1;	78	RXB0CONbits.RXM1=1;
67	RXB0CONbits.RXM0=0;	79	RXB0CONbits.RXM0=0;
68		80
69		81
70	// INTERRUPTS	82	// INTERRUPTS
71		83
72	// Diable transmit interrupt	84	// Diable transmit interrupt
73	TXBIE = 0;	85	TXBIE = 0;
74		86
75	//rx any interrupt	87	//rx any interrupt
76	PIR3 = 0;	88	PIR3 = 0;
77	PIE3 = 0b00000011;	89	PIE3 = 0b00000011;
78		90
79	// High interrupt	91	// High interrupt
80	IPR3 =0b00000011;	92	IPR3 =0b00000011;
81		93
82	// Programmable buffers interrupt	94	// Programmable buffers interrupt
83	BIE0 = 0xFF;	95	BIE0 = 0xFF;
84		96
85		97
86	//loopback mode or not	98	//loopback mode or not
87	#ifdef CAN_LOOPBACK_MODE	99	#ifdef CAN_LOOPBACK_MODE
88	CANCON = 0x40;//request loopback mode	100	CANCON = 0x40;//request loopback mode
89	while ((CANSTAT & 0xE0) != 0x40 );//wait for loopback mode	101	while ((CANSTAT & 0xE0) != 0x40 );//wait for loopback mode
90	#else	102	#else
91	CANCON = 0x00;//request normal mode	103	CANCON = 0x00;//request normal mode
92	while ((CANSTAT & 0xE0) != 0x00 );//wait for normal mode	104	while ((CANSTAT & 0xE0) != 0x00 );//wait for normal mode
93	#endif	105	#endif
94		106
95	}	107	}
96		108
97		109
98	/*	110	/*
99	* Function: canISR	111	* Function: canISR
100	*	112	*
101	* Input: none	113	* Input: none
102	* Output: none	114	* Output: none
103	* Pre-conditions: a call to canInit()	115	* Pre-conditions: a call to canInit()
104	* Affects: interrupt registers and receive data buffers	116	* Affects: interrupt registers and receive data buffers
105	* Depends: ..	117	* Depends: ..
106	*/	118	*/
107	void canISR()	119	void canISR()
108	{	120	{
109	if (PIR3bits.RXBnIF \|\| PIR3bits.RXB1IF \|\| PIR3bits.RXB0IF)	121	if (PIR3bits.RXBnIF \|\| PIR3bits.RXB1IF \|\| PIR3bits.RXB0IF)
110	{	122	{
111		123
112	// Get which buffer that is ful.	124	// Get which buffer that is ful.
113	if (RXB0CONbits.RXFUL) { ECANCON=(ECANCON&0b00000)\|0b10000; canGetPacket(); }	125	if (RXB0CONbits.RXFUL) { ECANCON=(ECANCON&0b00000)\|0b10000; canGetPacket(); }
114	else if (RXB1CONbits.RXFUL) { ECANCON=(ECANCON&0b00000)\|0b10001; canGetPacket(); }	126	else if (RXB1CONbits.RXFUL) { ECANCON=(ECANCON&0b00000)\|0b10001; canGetPacket(); }
115	else if (B0CONbits.RXFUL) { ECANCON=(ECANCON&0b00000)\|0b10010; canGetPacket(); }	127	else if (B0CONbits.RXFUL) { ECANCON=(ECANCON&0b00000)\|0b10010; canGetPacket(); }
116	else if (B1CONbits.RXFUL) { ECANCON=(ECANCON&0b00000)\|0b10011; canGetPacket(); }	128	else if (B1CONbits.RXFUL) { ECANCON=(ECANCON&0b00000)\|0b10011; canGetPacket(); }
117	else if (B2CONbits.RXFUL) { ECANCON=(ECANCON&0b00000)\|0b10100; canGetPacket(); }	129	else if (B2CONbits.RXFUL) { ECANCON=(ECANCON&0b00000)\|0b10100; canGetPacket(); }
118	else if (B3CONbits.RXFUL) { ECANCON=(ECANCON&0b00000)\|0b10101; canGetPacket(); }	130	else if (B3CONbits.RXFUL) { ECANCON=(ECANCON&0b00000)\|0b10101; canGetPacket(); }
119	else if (B4CONbits.RXFUL) { ECANCON=(ECANCON&0b00000)\|0b10110; canGetPacket(); }	131	else if (B4CONbits.RXFUL) { ECANCON=(ECANCON&0b00000)\|0b10110; canGetPacket(); }
120	else if (B5CONbits.RXFUL) { ECANCON=(ECANCON&0b00000)\|0b10111; canGetPacket(); }	132	else if (B5CONbits.RXFUL) { ECANCON=(ECANCON&0b00000)\|0b10111; canGetPacket(); }
121		133
122	if (PIR3bits.RXBnIF) {PIR3bits.RXBnIF = 0;}	134	if (PIR3bits.RXBnIF) {PIR3bits.RXBnIF = 0;}
123	if (PIR3bits.RXB1IF) {PIR3bits.RXB1IF = 0;}	135	if (PIR3bits.RXB1IF) {PIR3bits.RXB1IF = 0;}
124	if (PIR3bits.RXB0IF) {PIR3bits.RXB0IF = 0;}	136	if (PIR3bits.RXB0IF) {PIR3bits.RXB0IF = 0;}
125		137
126	}	138	}
127	}	139	}
128		140
129		141
130	/*	142	/*
131	* Function: canGetPacket	143	* Function: canGetPacket
132	*	144	*
133	* Input: none	145	* Input: none
134	* Output: none	146	* Output: none
135	* Pre-conditions: a call to canISR and an packet is available and banked to RXB0	147	* Pre-conditions: a call to canISR and an packet is available and banked to RXB0
136	* Affects: Calls canParse() function in main for parsing received packet.	148	* Affects: Calls canParse() function in main for parsing received packet.
137	* Depends: none.	149	* Depends: none.
138	*/	150	*/
139	void canGetPacket()	151	void canGetPacket()
140	{	152	{
141	CAN_MESSAGE cm;	153	CAN_MESSAGE cm;
142		154
143	// Set extended mode or not.	155	// Set extended mode or not.
144	cm.extended=(RXB0SIDLbits.EXID==0?FALSE:TRUE);	156	cm.extended=(RXB0SIDLbits.EXID==0?FALSE:TRUE);
145		157
146	// Clear	158	// Clear
147	cm.ident=0;	159	cm.ident=0;
148		160
149		161
150	if (cm.extended==TRUE)	162	if (cm.extended==TRUE)
151	{	163	{
152	//Read extended ident.	164	//Read extended ident.
153		165
154	//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	166	//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
155		167
156	//RXB0SIDH 28 27 26 25 24 23 22 21	168	//RXB0SIDH 28 27 26 25 24 23 22 21
157	//RXB0SIDL 20 19 18 xx xx xx 17 16	169	//RXB0SIDL 20 19 18 xx xx xx 17 16
158	//RXB0EIDH 15 14 13 12 11 10 09 08	170	//RXB0EIDH 15 14 13 12 11 10 09 08
159	//RXB0EIDL 07 06 05 04 03 02 01 00	171	//RXB0EIDL 07 06 05 04 03 02 01 00
160		172
161		173
162	cm.ident = (((DWORD)RXB0SIDH)<<21) + (((DWORD)(RXB0SIDL & 0xE0))<<13) + (((DWORD)(RXB0SIDL & 0x03))<<16) + (((DWORD)RXB0EIDH)<<8) + (BYTE)RXB0EIDL;	174	cm.ident = (((DWORD)RXB0SIDH)<<21) + (((DWORD)(RXB0SIDL & 0xE0))<<13) + (((DWORD)(RXB0SIDL & 0x03))<<16) + (((DWORD)RXB0EIDH)<<8) + (BYTE)RXB0EIDL;
163		175
164	}	176	}
165	else	177	else
166	{	178	{
167	//Read standard ident.	179	//Read standard ident.
168		180
169	//xx xx xx xx xx 10 09 08 07 06 05 04 03 02 01 00	181	//xx xx xx xx xx 10 09 08 07 06 05 04 03 02 01 00
170		182
171	//RXB0SIDH 10 09 08 07 06 05 04 03	183	//RXB0SIDH 10 09 08 07 06 05 04 03
172	//RXB0SIDL 02 01 00 xx xx xx xx xx	184	//RXB0SIDL 02 01 00 xx xx xx xx xx
173		185
174	cm.ident = (((DWORD)RXB0SIDH)<<3) + (((DWORD)RXB0SIDL)>>5);	186	cm.ident = (((DWORD)RXB0SIDH)<<3) + (((DWORD)RXB0SIDL)>>5);
175	}	187	}
176		188
177	// Data length	189	// Data length
178	cm.data_length=RXB0DLC;	190	cm.data_length=RXB0DLC;
179		191
180	// Data one bye one, for speed	192	// Data one bye one, for speed
181	cm.data[0]=RXB0D0; cm.data[1]=RXB0D1;	193	cm.data[0]=RXB0D0; cm.data[1]=RXB0D1;
182	cm.data[2]=RXB0D2; cm.data[3]=RXB0D3;	194	cm.data[2]=RXB0D2; cm.data[3]=RXB0D3;
183	cm.data[4]=RXB0D4; cm.data[5]=RXB0D5;	195	cm.data[4]=RXB0D4; cm.data[5]=RXB0D5;
184	cm.data[6]=RXB0D6; cm.data[7]=RXB0D7;	196	cm.data[6]=RXB0D6; cm.data[7]=RXB0D7;
185		197
186	// Clear ful status	198	// Clear ful status
187	RXB0CONbits.RXFUL=0;	199	RXB0CONbits.RXFUL=0;
188		200
189	//Call main parser	201	//Call main parser
190	canParse(cm);	202	canParse(cm);
191	}	203	}
192		204
193		205
194	/*	206	/*
195	* Function: canSendMessage	207	* Function: canSendMessage
196	*	208	*
197	* Input: CAN_MESSAGE to send	209	* Input: CAN_MESSAGE to send
198	* Output: True if packet scheduled sucess, false otherwise.	210	* Output: True if packet scheduled sucess, false otherwise.
199	* Pre-conditions: canInit	211	* Pre-conditions: canInit
200	* Affects: ..	212	* Affects: ..
201	* Depends: ..	213	* Depends: ..
202	*/	214	*/
203	BOOL canSendMessage(CAN_MESSAGE cm)	215	BOOL canSendMessage(CAN_MESSAGE cm)
204	{	216	{
205		217
206		218
207	if ( TXB0CONbits.TXREQ == 0 )	-
208	{	-
209	uartPutrs("TXREQ not set.");	-
210		219
211	}	-
212	else { uartPutrs("TXREQ is set."); return FALSE;}	-
213		-
214		-
215		-
216		-
217	/*	-
218	if ( TXB0CONbits.TXREQ == 0 ) { ECANCON=(ECANCON&0b00000)\|0b00011; }	220	if ( TXB0CONbits.TXREQ == 0 ) { ECANCON=(ECANCON&0b00000)\|0b00011; }
219	if ( TXB1CONbits.TXREQ == 0 ) { ECANCON=(ECANCON&0b00000)\|0b00100; }	221	if ( TXB1CONbits.TXREQ == 0 ) { ECANCON=(ECANCON&0b00000)\|0b00100; }
220	if ( TXB2CONbits.TXREQ == 0 ) { ECANCON=(ECANCON&0b00000)\|0b00101; }	222	if ( TXB2CONbits.TXREQ == 0 ) { ECANCON=(ECANCON&0b00000)\|0b00101; }
221	// None of the transmit buffers were empty.	223	// None of the transmit buffers were empty.
222	else { return FALSE;}	224	else { return FALSE;}
223		225
224		226
225	// Set extended mode or not.	227	// Set extended mode or not.
226	RXB0SIDLbits.EXID=(cm.extended==TRUE?1:0);	228	RXB0SIDLbits.EXID=(cm.extended==TRUE?1:0);
227		229
228		230
229	if (cm.extended==TRUE)	231	if (cm.extended==TRUE)
230	{	232	{
231	RXB0SIDL=RXB0SIDL\|0b00001000;	233	RXB0SIDL=RXB0SIDL\|0b00001000;
232	// _asm	234	// _asm
233	// bsf RXB0SIDL, 3, 0	235	// bsf RXB0SIDL, 3, 0
234	// _endasm	236	// _endasm
235	}	237	}
236	else	238	else
237	{	239	{
238	RXB0SIDL=RXB0SIDL&0b11110111;	240	RXB0SIDL=RXB0SIDL&0b11110111;
239	// _asm	241	// _asm
240	// bcf RXB0SIDL, 3, 0	242	// bcf RXB0SIDL, 3, 0
241	// _endasm	243	// _endasm
242	}	244	}
243		245
244		246
245		247
246		248
247	if (cm.extended==TRUE)	249	if (cm.extended==TRUE)
248	{	250	{
249	//Write extended ident.	251	//Write extended ident.
250		252
251	//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	253	//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
252		254
253	//RXB0SIDH 28 27 26 25 24 23 22 21	255	//RXB0SIDH 28 27 26 25 24 23 22 21
254	//RXB0SIDL 20 19 18 xx xx xx 17 16	256	//RXB0SIDL 20 19 18 xx xx xx 17 16
255	//RXB0EIDH 15 14 13 12 11 10 09 08	257	//RXB0EIDH 15 14 13 12 11 10 09 08
256	//RXB0EIDL 07 06 05 04 03 02 01 00	258	//RXB0EIDL 07 06 05 04 03 02 01 00
257		259
258		260
259	RXB0SIDH = (BYTE)((cm.ident>>21));	261	RXB0SIDH = (BYTE)((cm.ident>>21));
260	RXB0SIDL = ((BYTE)(cm.ident>>16) & 0x03) + ((BYTE)(cm.ident>>13) & 0xE0);	262	RXB0SIDL = ((BYTE)(cm.ident>>16) & 0x03) + ((BYTE)(cm.ident>>13) & 0xE0);
261	RXB0EIDH = (BYTE)(cm.ident>>8);	263	RXB0EIDH = (BYTE)(cm.ident>>8);
262	RXB0EIDL = (BYTE)cm.ident;	264	RXB0EIDL = (BYTE)cm.ident;
263		265
264	}	266	}
265	else	267	else
266	{	268	{
267	//Write standard ident.	269	//Write standard ident.
268		270
269	//xx xx xx xx xx 10 09 08 07 06 05 04 03 02 01 00	271	//xx xx xx xx xx 10 09 08 07 06 05 04 03 02 01 00
270		272
271	//RXB0SIDH 10 09 08 07 06 05 04 03	273	//RXB0SIDH 10 09 08 07 06 05 04 03
272	//RXB0SIDL 02 01 00 xx xx xx xx xx	274	//RXB0SIDL 02 01 00 xx xx xx xx xx
273		275
274	RXB0SIDH= (BYTE)(cm.ident>>3);	276	RXB0SIDH= (BYTE)(cm.ident>>3);
275	RXB0SIDL= ((BYTE)(cm.ident<<5) & 0xE0);	277	RXB0SIDL= ((BYTE)(cm.ident<<5) & 0xE0);
276		278
277	}	279	}
278		280
279	// Data length	281	// Data length
280	if (cm.data_length>8) RXB0DLC=8; else RXB0DLC=cm.data_length;	282	if (cm.data_length>8) RXB0DLC=8; else RXB0DLC=cm.data_length;
281		283
282	// Data one bye one, for speed	284	// Data one bye one, for speed
283	RXB0D0=cm.data[0]; RXB0D1=cm.data[1];	285	RXB0D0=cm.data[0]; RXB0D1=cm.data[1];
284	RXB0D2=cm.data[2]; RXB0D3=cm.data[3];	286	RXB0D2=cm.data[2]; RXB0D3=cm.data[3];
285	RXB0D4=cm.data[4]; RXB0D5=cm.data[5];	287	RXB0D4=cm.data[4]; RXB0D5=cm.data[5];
286	RXB0D6=cm.data[6]; RXB0D7=cm.data[7];	288	RXB0D6=cm.data[6]; RXB0D7=cm.data[7];
287		289
288	// mark as redy to transmit	290	// mark as redy to transmit
289	_asm	291	_asm
290	bsf RXB0CON, 3, 0	292	bsf RXB0CON, 3, 0
291	_endasm	293	_endasm
292		294
293		295
294	return TRUE;	296	return TRUE;
295	*/	297
296	}	298	}
297		299
298		300
299		301
300	#endif //USE_CAN	302	#endif //USE_CAN
301		303

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