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*   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(); }

   
        if (PIR3bits.RXBnIF) {PIR3bits.RXBnIF = 0;}
        if (PIR3bits.RXB1IF) {PIR3bits.RXB1IF = 0;}
        if (PIR3bits.RXB0IF) {PIR3bits.RXB0IF = 0;}
   
    }
}
 
 
/*
*   Function: canGetPacket
*
*   Input:  none
*   Output: none

            //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;}

 
            //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;
 

 
        // mark as redy to transmit
        _asm
            bsf RXB0CON, 3, 0
        _endasm
 
 
        return TRUE;
 
}
 

Rev 26	Rev 48
Line 116...	Line 116...
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(); }
Line 133...	Line 134...
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
Line 170...	Line 171...
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;}
Line 229...	Line 231...
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
Line 268...	Line 270...
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

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