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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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    // FILTERS AND MASKS
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    // FILTERS AND MASKS
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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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    PIE3 = 0b00000011;
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    PIE3 = 0b00000011;
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    // High interrupt
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    // High interrupt
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    IPR3 =0b00000011;
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    IPR3 =0b00000011;
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    // Programmable buffers interrupt
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    // Programmable buffers interrupt
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    BIE0  = 0xFF;  
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    BIE0  = 0xFF;  
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        CANCON = 0x00;//request normal mode
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        CANCON = 0x00;//request normal mode
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        while ((CANSTAT & 0xE0) != 0x00 );//wait for normal mode
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        while ((CANSTAT & 0xE0) != 0x00 );//wait for normal mode
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    #endif
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    #endif
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}
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}
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/*
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/*
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*   Function: canISR
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*   Function: canISR
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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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*   Pre-conditions: a call to canInit()
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*   Pre-conditions: a call to canInit()
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*   Affects: interrupt registers and receive data buffers
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*   Affects: interrupt registers and receive data buffers
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*   Depends: ..
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*   Depends: ..
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*/
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*/
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void canISR()
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void canISR()
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{
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{
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    if (PIR3bits.RXBnIF || PIR3bits.RXB1IF || PIR3bits.RXB0IF)
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    if (PIR3bits.RXBnIF || PIR3bits.RXB1IF || PIR3bits.RXB0IF)
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    {
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    {
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            //RXB0SIDH 10 09 08 07 06 05 04 03
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            //RXB0SIDH 10 09 08 07 06 05 04 03
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            //RXB0SIDL 02 01 00 xx xx xx xx xx
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            //RXB0SIDL 02 01 00 xx xx xx xx xx
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            cm.ident = (((DWORD)RXB0SIDH)<<3) + (((DWORD)RXB0SIDL)>>5);
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            cm.ident = (((DWORD)RXB0SIDH)<<3) + (((DWORD)RXB0SIDL)>>5);
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        }
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        }
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        // Data length
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        // Data length
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        cm.data_length=RXB0DLC;
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        cm.data_length=RXB0DLC;
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        // Data one bye one, for speed
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        // Data one bye one, for speed
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        cm.data[0]=RXB0D0;  cm.data[1]=RXB0D1;
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        cm.data[0]=RXB0D0;  cm.data[1]=RXB0D1;
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        cm.data[2]=RXB0D2;  cm.data[3]=RXB0D3;
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        cm.data[2]=RXB0D2;  cm.data[3]=RXB0D3;
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        // Clear ful status
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        // Clear ful status
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        RXB0CONbits.RXFUL=0;
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        RXB0CONbits.RXFUL=0;
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        //Call main parser
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        //Call main parser
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        canParse(cm);
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        canParse(cm);
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}
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}
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/*
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/*
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*   Function: canSendMessage
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*   Function: canSendMessage
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*
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*
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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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            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