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/*********************************************************************
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 *
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 *                  CAN driver
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 *
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 *********************************************************************
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 * FileName:        CAN.c
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 *
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 * Author               Date    Comment
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 *~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
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 * Nilesh Rajbharti     8/20/01 Original        (Rev 1.0)
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 ********************************************************************/
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#include "../Include/CANdefs.h"
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#include "../Include/CANdefs.h"
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#include "../Include/stackTasks.h"
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#include "../Include/stackTasks.h"
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#include "../Include/CAN.h"
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#include "../Include/CAN.h"
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#include "../Include/uart.h"
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#include "../Include/uart.h"
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static void canGetPacket(void);
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static void canGetPacket(void);
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#ifdef USE_CAN
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#ifdef USE_CAN
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/*
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/*
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*   Function: canInit
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*   Function: canInit
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*
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*
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*   Input:  none
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*   Input:  none
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*   Output: none
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*   Output: none
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    BRGCON1bits.SJW1=0;
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    BRGCON1bits.SJW1=0;
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    BRGCON1bits.SJW0=1;
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    BRGCON1bits.SJW0=1;
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    // Setting BRP.
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    // Setting BRP.
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    BRGCON1=BRGCON1|CAN_BRP;
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    BRGCON1=BRGCON1|CAN_BRP;
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    // Maximum PHEG1
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    // Maximum PHEG1
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    BRGCON2bits.SEG2PHTS = 1;
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    BRGCON2bits.SEG2PHTS = 1;
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    // Phase_Seg1 = 2 x TQ = 1
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    // Phase_Seg1 = 2 x TQ = 1
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    BRGCON2bits.SEG1PH2 = 0;
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    BRGCON2bits.SEG1PH2 = 0;
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    BRGCON2bits.SEG1PH1 = 0;
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    BRGCON2bits.SEG1PH1 = 0;
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    BRGCON2bits.SEG1PH0 = 1;
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    BRGCON2bits.SEG1PH0 = 1;
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    // Prop_Seq = 2 x TQ = 1
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    // Prop_Seq = 2 x TQ = 1
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    BRGCON2bits.PRSEG2 = 0;
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    BRGCON2bits.PRSEG2 = 0;
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    BRGCON2bits.PRSEG1 = 0;
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    BRGCON2bits.PRSEG1 = 0;
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    BRGCON2bits.PRSEG0 = 1;
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    BRGCON2bits.PRSEG0 = 1;
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    //  Enableing bus wake-up
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    //  Enableing bus wake-up
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    BRGCON3bits.WAKDIS = 0;
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    BRGCON3bits.WAKDIS = 0;
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    // Dont use filter when wakeup
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    // Dont use filter when wakeup
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    BRGCON3bits.WAKFIL = 0;
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    BRGCON3bits.WAKFIL = 0;
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    RXB0CONbits.RXM1=1;
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    RXB0CONbits.RXM1=1;
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    RXB0CONbits.RXM0=0;
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    RXB0CONbits.RXM0=0;
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    // INTERRUPTS
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    // INTERRUPTS
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    // Diable transmit interrupt
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    // Diable transmit interrupt
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    TXBIE = 0;
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    TXBIE = 0;
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    //rx any interrupt
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    //rx any interrupt
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    PIR3 = 0;
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    PIR3 = 0;
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*   Depends: none.
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*   Depends: none.
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*/
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*/
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void canGetPacket()
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void canGetPacket()
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{
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{
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        CAN_MESSAGE cm;
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        CAN_MESSAGE cm;
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        // Set extended mode or not.
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        // Set extended mode or not.
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        cm.extended=(RXB0SIDLbits.EXID==0?FALSE:TRUE);
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        cm.extended=(RXB0SIDLbits.EXID==0?FALSE:TRUE);
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        // Clear
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        // Clear
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        cm.ident=0;
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        cm.ident=0;
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*   Affects: ..
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*   Affects: ..
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*   Depends: ..
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*   Depends: ..
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*/
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*/
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BOOL canSendMessage(CAN_MESSAGE cm)
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BOOL canSendMessage(CAN_MESSAGE cm)
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{
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{
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    if ( TXB0CONbits.TXREQ == 0 )
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    {
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        uartPutrs("TXREQ not set.");
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    }
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    else { uartPutrs("TXREQ is set."); return FALSE;}
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/*
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    if ( TXB0CONbits.TXREQ == 0 )  { ECANCON=(ECANCON&0b00000)|0b00011; }
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    if ( TXB0CONbits.TXREQ == 0 )  { ECANCON=(ECANCON&0b00000)|0b00011; }
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    if ( TXB1CONbits.TXREQ == 0 )  { ECANCON=(ECANCON&0b00000)|0b00100; }
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    if ( TXB1CONbits.TXREQ == 0 )  { ECANCON=(ECANCON&0b00000)|0b00100; }
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    if ( TXB2CONbits.TXREQ == 0 )  { ECANCON=(ECANCON&0b00000)|0b00101; }
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    if ( TXB2CONbits.TXREQ == 0 )  { ECANCON=(ECANCON&0b00000)|0b00101; }
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    // None of the transmit buffers were empty.
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    // None of the transmit buffers were empty.
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    else { return FALSE;}
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    else { return FALSE;}
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    // Set extended mode or not.
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    // Set extended mode or not.
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    RXB0SIDLbits.EXID=(cm.extended==TRUE?1:0);
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    RXB0SIDLbits.EXID=(cm.extended==TRUE?1:0);
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        if (cm.extended==TRUE)
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        if (cm.extended==TRUE)
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            bsf RXB0CON, 3, 0
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            bsf RXB0CON, 3, 0
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        _endasm
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        _endasm
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        return TRUE;
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        return TRUE;
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*/
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}
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}
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#endif //USE_CAN
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#endif //USE_CAN