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/*********************************************************************
 *
 *                  CAN driver
 *
 *********************************************************************
 * FileName:        CAN.c
 *
 * Author               Date    Comment
 *~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
 * Johan Böhlin     21-10-06    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;}
 
 
        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];
 
        // set extended or not
        RXB0SIDLbits.EXID=(cm.extended==TRUE?1:0);
 
 
        // mark as redy to transmit
        _asm
            bsf RXB0CON, 3, 0
        _endasm
 
 
        return TRUE;
 
}
 
 
 
#endif //USE_CAN
 

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

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