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  1. /*********************************************************************
  2.  *
  3.  *                  CAN module
  4.  *
  5.  *********************************************************************
  6.  * FileName:        $HeadURL: https://svn.auml.se/svn/HomeAutomation/trunk/EmbeddedSoftware/PIC/canBase/Source/CAN.c $
  7.  * Last changed:    $LastChangedDate: 2006-11-14 10:55:38 +0100 (Tue, 14 Nov 2006) $
  8.  * By:              $LastChangedBy: johboh $
  9.  * Revision:        $Revision: 86 $
  10.  ********************************************************************/
  11.  
  12. #include <CANdefs.h>
  13. #include <stackTasks.h>
  14. #include <CAN.h>
  15.  
  16. static void canGetPacket(void);
  17.  
  18. #ifdef USE_CAN
  19.  
  20.  
  21. /*
  22. *   Function: canInit
  23. *
  24. *   Input:  none
  25. *   Output: none
  26. *   Pre-conditions: none
  27. *   Affects: Changes can registers.
  28. *   Depends: none.
  29. */
  30. void canInit()
  31. {
  32.     CANCON = 0x80; //request config mode
  33.     while ((CANSTAT & 0xE0) != 0x80 ); //wait for config mode request
  34.  
  35.     // BAUD AND TQS
  36.  
  37.     BRGCON1=0;
  38.    
  39.     // Sync_Seq = 2 x TQ = 1
  40.     BRGCON1bits.SJW1=0;
  41.     BRGCON1bits.SJW0=1;
  42.    
  43.     // Setting BRP.
  44.     BRGCON1=BRGCON1|CAN_BRP;
  45.    
  46.     // Maximum PHEG1
  47.     BRGCON2bits.SEG2PHTS = 1;
  48.    
  49.     // Phase_Seg1 = 2 x TQ = 1
  50.     BRGCON2bits.SEG1PH2 = 0;
  51.     BRGCON2bits.SEG1PH1 = 0;
  52.     BRGCON2bits.SEG1PH0 = 1;
  53.    
  54.     // Prop_Seq = 2 x TQ = 1
  55.     BRGCON2bits.PRSEG2 = 0;
  56.     BRGCON2bits.PRSEG1 = 0;
  57.     BRGCON2bits.PRSEG0 = 1;
  58.    
  59.     //  Enableing bus wake-up
  60.     BRGCON3bits.WAKDIS = 0;
  61.    
  62.     // Dont use filter when wakeup
  63.     BRGCON3bits.WAKFIL = 0;
  64.    
  65.     // Phase_Seg2 = 2 x TQ = 1
  66.     BRGCON3bits.SEG2PH2 = 0;
  67.     BRGCON3bits.SEG2PH1 = 0;
  68.     BRGCON3bits.SEG2PH0 = 1;
  69.  
  70.     ECANCON=0;
  71.     ECANCONbits.MDSEL1 = 0;
  72.     ECANCONbits.MDSEL0 = 1;
  73.  
  74.  
  75.     // FILTERS AND MASKS
  76.     RXB0CONbits.RXM1=1;
  77.     RXB0CONbits.RXM0=0;
  78.  
  79.  
  80.     // INTERRUPTS
  81.    
  82.     // Diable transmit interrupt
  83.     TXBIE = 0;
  84.  
  85.     //rx any interrupt
  86.     PIR3 = 0;
  87.     PIE3 = 0b00000011;
  88.  
  89.     // High interrupt
  90.     IPR3 =0b00000011;
  91.  
  92.     // Programmable buffers interrupt
  93.     BIE0  = 0xFF;  
  94.  
  95.  
  96.     //loopback mode or not
  97.     #ifdef CAN_LOOPBACK_MODE
  98.         CANCON = 0x40;//request loopback mode
  99.         while ((CANSTAT & 0xE0) != 0x40 );//wait for loopback mode
  100.     #else
  101.         CANCON = 0x00;//request normal mode
  102.         while ((CANSTAT & 0xE0) != 0x00 );//wait for normal mode
  103.     #endif
  104.  
  105. }
  106.  
  107.  
  108. /*
  109. *   Function: canISR
  110. *
  111. *   Input:  none
  112. *   Output: none
  113. *   Pre-conditions: a call to canInit()
  114. *   Affects: interrupt registers and receive data buffers
  115. *   Depends: ..
  116. */
  117. void canISR()
  118. {
  119.    
  120.  
  121.     if (PIR3bits.RXBnIF || PIR3bits.RXB1IF || PIR3bits.RXB0IF)
  122.     {
  123.         // Get which buffer that is ful.
  124.              if (RXB0CONbits.RXFUL) { ECANCON=(ECANCON&0b00000)|0b10000; canGetPacket(); }
  125.         else if (RXB1CONbits.RXFUL) { ECANCON=(ECANCON&0b00000)|0b10001; canGetPacket(); }
  126.         else if (B0CONbits.RXFUL)   { ECANCON=(ECANCON&0b00000)|0b10010; canGetPacket(); }
  127.         else if (B1CONbits.RXFUL)   { ECANCON=(ECANCON&0b00000)|0b10011; canGetPacket(); }
  128.         else if (B2CONbits.RXFUL)   { ECANCON=(ECANCON&0b00000)|0b10100; canGetPacket(); }
  129.         else if (B3CONbits.RXFUL)   { ECANCON=(ECANCON&0b00000)|0b10101; canGetPacket(); }
  130.         else if (B4CONbits.RXFUL)   { ECANCON=(ECANCON&0b00000)|0b10110; canGetPacket(); }
  131.         else if (B5CONbits.RXFUL)   { ECANCON=(ECANCON&0b00000)|0b10111; canGetPacket(); }
  132.    
  133.         if (PIR3bits.RXBnIF) {PIR3bits.RXBnIF = 0;}
  134.         if (PIR3bits.RXB1IF) {PIR3bits.RXB1IF = 0;}
  135.         if (PIR3bits.RXB0IF) {PIR3bits.RXB0IF = 0;}
  136.    
  137.     }
  138. }
  139.  
  140.  
  141. /*
  142. *   Function: canGetPacket
  143. *
  144. *   Input:  none
  145. *   Output: none
  146. *   Pre-conditions: a call to canISR and an packet is available and banked to RXB0
  147. *   Affects: Calls canParse() function in main for parsing received packet.
  148. *   Depends: none.
  149. */
  150. void canGetPacket()
  151. {
  152.         CAN_MESSAGE cm;
  153.  
  154.         //RXB0SIDH 28 27 26 25 24 23 22 21
  155.         //RXB0SIDL 20 19 18 xx xx xx 17 16
  156.         //RXB0EIDH 15 14 13 12 11 10 09 08
  157.         //RXB0EIDL 07 06 05 04 03 02 01 00
  158.  
  159.         //funct xx xx xx xx 28 27 26 25
  160.         //funcc xx xx xx xx xx xx 24 23 22 21 20 19 18 17 16 15
  161.         //nid   xx xx 14 13 12 11 10 09
  162.         //sid   xx xx xx xx xx xx xx 08 07 06 05 04 03 02 01 00
  163.  
  164.  
  165.         cm.funct=((RXB0SIDH & 0xF0)>>4);
  166.         cm.funcc=(((WORD)(RXB0SIDH & 0x0F))<<6)+(((WORD)(RXB0SIDL & 0xE0))>>2)+(((WORD)(RXB0SIDL & 0x03))<<1)+(((WORD)(RXB0EIDH & 0x80))>>7);
  167.         cm.nid=((RXB0EIDH & 0x7E)>>1);
  168.         cm.sid=(((WORD)(RXB0EIDH & 0x01))<<8)+RXB0EIDL;
  169.  
  170.  
  171.         // Data length
  172.         cm.data_length=(RXB0DLCbits.DLC3<<3)+(RXB0DLCbits.DLC2<<2)+(RXB0DLCbits.DLC1<<1)+RXB0DLCbits.DLC0;
  173.  
  174.         // Data one bye one, for speed
  175.         cm.data[0]=RXB0D0;  cm.data[1]=RXB0D1;
  176.         cm.data[2]=RXB0D2;  cm.data[3]=RXB0D3;
  177.         cm.data[4]=RXB0D4;  cm.data[5]=RXB0D5;
  178.         cm.data[6]=RXB0D6;  cm.data[7]=RXB0D7;
  179.  
  180.         // Clear ful status
  181.         RXB0CONbits.RXFUL=0;
  182.  
  183.         //Call main parser
  184.         canParse(cm);
  185. }
  186.  
  187.  
  188. /*
  189. *   Function: canSendMessage
  190. *
  191. *   Input:  CAN_MESSAGE to send
  192. *   Output: True if packet scheduled sucess, false otherwise.
  193. *   Pre-conditions: canInit
  194. *   Affects: ..
  195. *   Depends: ..
  196. */
  197. BOOL canSendMessage(CAN_MESSAGE cm,CAN_PRIORITY prio)
  198. {
  199.    
  200.     if ( TXB0CONbits.TXREQ == 0 )  { ECANCON=(ECANCON&0b00000)|0b00011; }
  201.     if ( TXB1CONbits.TXREQ == 0 )  { ECANCON=(ECANCON&0b00000)|0b00100; }
  202.     if ( TXB2CONbits.TXREQ == 0 )  { ECANCON=(ECANCON&0b00000)|0b00101; }
  203.     // None of the transmit buffers were empty.
  204.     else { return FALSE;}
  205.  
  206.     if (prio<0 || prio>3) prio = 0;
  207.  
  208.  
  209.         //RXB0SIDH 28 27 26 25 24 23 22 21
  210.         //RXB0SIDL 20 19 18 xx xx xx 17 16
  211.         //RXB0EIDH 15 14 13 12 11 10 09 08
  212.         //RXB0EIDL 07 06 05 04 03 02 01 00
  213.  
  214.         //funct xx xx xx xx 28 27 26 25
  215.         //funcc xx xx xx xx xx xx 24 23 22 21 20 19 18 17 16 15
  216.         //nid   xx xx 14 13 12 11 10 09
  217.         //sid   xx xx xx xx xx xx xx 08 07 06 05 04 03 02 01 00
  218.  
  219.         RXB0SIDH = (BYTE)((cm.funct & 0x0F)<<4)+(BYTE)((cm.funcc & 0x03C0)>>6);
  220.         RXB0SIDL = (BYTE)((cm.funcc & 0x003F)<<2)+(BYTE)((cm.funcc & 0x0006)>>1);
  221.         RXB0EIDH = (BYTE)((cm.funcc & 0x0001)<<7)+(BYTE)((cm.nid & 0x3F)<<1)+(BYTE)((cm.sid & 0x0100)>>8);
  222.         RXB0EIDL = (BYTE)((cm.sid & 0x00FF));
  223.  
  224.         // Data length
  225.         RXB0DLC = 0;
  226.         if (cm.data_length>8) RXB0DLC=8; else RXB0DLC=cm.data_length;
  227.        
  228.  
  229.         // NOT Remote request
  230.         _asm
  231.             bcf RXB0DLC, 6, 0
  232.         _endasm
  233.        
  234.  
  235.         // Data one bye one, for speed
  236.         RXB0D0=cm.data[0];  RXB0D1=cm.data[1];
  237.         RXB0D2=cm.data[2];  RXB0D3=cm.data[3];
  238.         RXB0D4=cm.data[4];  RXB0D5=cm.data[5];
  239.         RXB0D6=cm.data[6];  RXB0D7=cm.data[7];
  240.  
  241.         // set extended
  242.         RXB0SIDLbits.EXID=1;
  243.  
  244.         // Priority
  245.         RXB0CON = (RXB0CON & 0b11111100) | prio;
  246.  
  247.         // mark as redy to transmit
  248.         _asm
  249.             bsf RXB0CON, 3, 0
  250.         _endasm
  251.  
  252.         return TRUE;
  253.  
  254. }
  255.  
  256.  
  257.  
  258. #endif //USE_CAN
  259.