WebSVN – HomeAutomation – Diff – /trunk/EmbeddedSoftware/PIC/canBase/Source/CAN.c


/*********************************************************************
 *
 *                  CAN module
 *
 *********************************************************************
 * FileName:        $HeadURL: https://svn.auml.se/svn/HomeAutomation/trunk/EmbeddedSoftware/PIC/canBase/Source/CAN.c $
 * Last changed:    $LastChangedDate: 2007-02-03 16:58:13 +0100 (Sat, 03 Feb 2007) $
 * By:              $LastChangedBy: johboh $
 * Revision:        $Revision: 282 $
 ********************************************************************/
 
#include <CANdefs.h>
#include <stackTasks.h>
#include <CAN.h>
#include <EEaccess.h>
#include <funcdefs.h>
#include <Tick.h>
 
TICK heartbeat;
static int MY_ID = DEFAULT_ID;
static BYTE MY_NID = DEFAULT_NID;
static CAN_MESSAGE outCm;
 
static void canGetPacket(void);
 
 
/*
*   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
 
    // 500Khz@40Mhz (new by the book)
    BRGCON1 = 0x04;
    BRGCON2 = 0xD1;
    BRGCON3 = 0x81;
 
    //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 = 1; // 0  For mode 1 
    ECANCONbits.MDSEL0 = 0; // 1  For mode 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
 
 
    // Init ticker service
    tickInit();
 
 
    // Read ID and NID if exist.
    if (EERead(NODE_ID_EE)==NODE_HAS_ID)
    {
        MY_ID=(((WORD)EERead(NODE_ID_EE + 1))<<8)+EERead(NODE_ID_EE + 2);
        MY_NID=EERead(NODE_ID_EE + 3);
    }
 
    // Send user program startup heatbeat
    outCm.funct                     = FUNCT_BOOTLOADER;
    outCm.funcc                     = FUNCC_BOOT_HEARTBEAT;
    outCm.data_length               = 1;
    outCm.data[BOOT_DATA_HEARTBEAT_INDEX] = HEARTBEAT_USER_STARTUP;
    canSendMessage(outCm,PRIO_HIGH);
 
}
 
 
/*
*   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)
    {
        ECANCON=(ECANCON&0b00000)|(0b10000|(CANCON&0x0F));
        if (RXB0CONbits.RXFUL) canGetPacket();
   
        if (PIR3bits.RXBnIF) {PIR3bits.RXBnIF = 0; return;}
        if (PIR3bits.RXB1IF) {PIR3bits.RXB1IF = 0; return;}
        if (PIR3bits.RXB0IF) {PIR3bits.RXB0IF = 0; return;}
    }
 
    tickUpdate();
 
    if ((tickGet()-heartbeat)>TICK_SECOND*5)
    {
        // Send alive heartbeat
        outCm.funct                     = FUNCT_BOOTLOADER;
        outCm.funcc                     = FUNCC_BOOT_HEARTBEAT;
        outCm.data_length               = 1;
        outCm.data[BOOT_DATA_HEARTBEAT_INDEX] = HEARTBEAT_ALIVE;
        canSendMessage(outCm,PRIO_HIGH);
           
        heartbeat = tickGet();
    }
 
    ClrWdt();
}
 
 
/*
*   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;
 
        //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
 
        //funct xx xx xx xx 28 27 26 25
        //funcc xx xx xx xx xx xx 24 23 22 21 20 19 18 17 16 15 
        //nid   xx xx 14 13 12 11 10 09 
        //sid   xx xx xx xx xx xx xx 08 07 06 05 04 03 02 01 00
 
 
        cm.funct=((RXB0SIDH & 0xF0)>>4);
        cm.funcc=(((WORD)(RXB0SIDH & 0x0F))<<6)+(((WORD)(RXB0SIDL & 0xE0))>>2)+(((WORD)(RXB0SIDL & 0x03))<<1)+(((WORD)(RXB0EIDH & 0x80))>>7);
        cm.nid=((RXB0EIDH & 0x7E)>>1);
        cm.sid=(((WORD)(RXB0EIDH & 0x01))<<8)+RXB0EIDL;
 
 
        // Data length
        cm.data_length=(RXB0DLCbits.DLC3<<3)+(RXB0DLCbits.DLC2<<2)+(RXB0DLCbits.DLC1<<1)+RXB0DLCbits.DLC0;
 
        // 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;
 
 
 
        // Check if FUNCT_BOOTLOADER specific.
        // reset and id change
        if (cm.funct==FUNCT_BOOTLOADER)
        {
            if (cm.nid==MY_NID && ((((unsigned int)cm.data[BOOT_DATA_RID_HIGH_INDEX])<<8)+cm.data[BOOT_DATA_RID_LOW_INDEX])==MY_ID)
            {
                if (cm.funcc==FUNCC_BOOT_INIT) Reset(); // Reset me.
                if (cm.funcc==FUNCC_BOOT_SET_ID)
                {
                        // Change my ID and NID
                        MY_ID=(((WORD)cm.data[BOOT_DATA_NEW_ID_HIGH_INDEX])<<8)+cm.data[BOOT_DATA_NEW_ID_LOW_INDEX];
                        MY_NID=cm.data[BOOT_DATA_NEW_NID_INDEX];
                        EEWrite(NODE_ID_EE+1,cm.data[BOOT_DATA_NEW_ID_HIGH_INDEX]);
                        EEWrite(NODE_ID_EE+2,cm.data[BOOT_DATA_NEW_ID_LOW_INDEX]);
                        EEWrite(NODE_ID_EE+3,cm.data[BOOT_DATA_NEW_NID_INDEX]);
                        EEWrite(NODE_ID_EE,NODE_HAS_ID);
                        // Send ack with new id.
                        outCm.funct                     = FUNCT_BOOTLOADER;
                        outCm.funcc                     = FUNCC_BOOT_ACK;
                        outCm.data_length               = 8;
                        outCm.data[BOOT_DATA_ERR_INDEX] = ACK_ERR_NO_ERROR;
                        while(!canSendMessage(outCm,PRIO_HIGH));
                }
            }
        }
 
 
        //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,CAN_PRIORITY prio)
{
   
    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 (prio<0 || prio>3) prio = 0;
 
        // Append my id and nid
        cm.nid  = MY_NID;
        cm.sid  = MY_ID;
 
 
        //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
 
        //funct xx xx xx xx 28 27 26 25
        //funcc xx xx xx xx xx xx 24 23 22 21 20 19 18 17 16 15 
        //nid   xx xx 14 13 12 11 10 09 
        //sid   xx xx xx xx xx xx xx 08 07 06 05 04 03 02 01 00
 
        RXB0SIDH = (BYTE)((cm.funct & 0x0F)<<4)+(BYTE)((cm.funcc & 0x03C0)>>6);
        RXB0SIDL = (BYTE)((cm.funcc & 0x003F)<<2)+(BYTE)((cm.funcc & 0x0006)>>1);
        RXB0EIDH = (BYTE)((cm.funcc & 0x0001)<<7)+(BYTE)((cm.nid & 0x3F)<<1)+(BYTE)((cm.sid & 0x0100)>>8);
        RXB0EIDL = (BYTE)((cm.sid & 0x00FF));
 
        // Data length
        RXB0DLC = 0;
        if (cm.data_length>8) RXB0DLC=8; else RXB0DLC=cm.data_length;
       
 
        // NOT Remote request
        _asm
            bcf RXB0DLC, 6, 0
        _endasm
       
 
        // 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
        RXB0SIDLbits.EXID=1;
 
        // Priority
        RXB0CON = (RXB0CON & 0b11111100) | prio;
 
        // mark as redy to transmit
        _asm
            bsf RXB0CON, 3, 0
        _endasm
 
        return TRUE;
 
}
 

Rev 260	Rev 282
1	/*********************************************************************	1	/*********************************************************************
2	*	2	*
3	* CAN module	3	* CAN module
4	*	4	*
5	*********************************************************************	5	*********************************************************************
6	* FileName: $HeadURL: https://svn.auml.se/svn/HomeAutomation/trunk/EmbeddedSoftware/PIC/canBase/Source/CAN.c $	6	* FileName: $HeadURL: https://svn.auml.se/svn/HomeAutomation/trunk/EmbeddedSoftware/PIC/canBase/Source/CAN.c $
7	* Last changed: $LastChangedDate: 2007-01-28 14:58:11 +0100 (~~Sun,~~ 28 ~~Jan~~ 2007) $	7	* Last changed: $LastChangedDate: 2007-02-03 16:58:13 +0100 (Sat, 03 Feb 2007) $
8	* By: $LastChangedBy: johboh $	8	* By: $LastChangedBy: johboh $
9	* Revision: $Revision: ~~260~~ $	9	* Revision: $Revision: 282 $
10	********************************************************************/	10	********************************************************************/
11		11
12	#include <CANdefs.h>	12	#include <CANdefs.h>
13	#include <stackTasks.h>	13	#include <stackTasks.h>
14	#include <CAN.h>	14	#include <CAN.h>
15	#include <EEaccess.h>	15	#include <EEaccess.h>
16	#include <funcdefs.h>	16	#include <funcdefs.h>
17	#include <Tick.h>	17	#include <Tick.h>
18		18
19	TICK heartbeat;	19	TICK heartbeat;
20	static int MY_ID = DEFAULT_ID;	20	static int MY_ID = DEFAULT_ID;
21	static BYTE MY_NID = DEFAULT_NID;	21	static BYTE MY_NID = DEFAULT_NID;
22	static CAN_MESSAGE outCm;	22	static CAN_MESSAGE outCm;
23		23
24	static void canGetPacket(void);	24	static void canGetPacket(void);
25		25
26		26
27	/*	27	/*
28	* Function: canInit	28	* Function: canInit
29	*	29	*
30	* Input: none	30	* Input: none
31	* Output: none	31	* Output: none
32	* Pre-conditions: none	32	* Pre-conditions: none
33	* Affects: Changes can registers.	33	* Affects: Changes can registers.
34	* Depends: none.	34	* Depends: none.
35	*/	35	*/
36	void canInit()	36	void canInit()
37	{	37	{
38	CANCON = 0x80; //request config mode	38	CANCON = 0x80; //request config mode
39	while ((CANSTAT & 0xE0) != 0x80 ); //wait for config mode request	39	while ((CANSTAT & 0xE0) != 0x80 ); //wait for config mode request
40		40
41	// BAUD AND TQS	41	// BAUD AND TQS
42		42
43	// 500Khz@40Mhz (new by the book)	43	// 500Khz@40Mhz (new by the book)
44	BRGCON1 = 0x04;	44	BRGCON1 = 0x04;
45	BRGCON2 = 0xD1;	45	BRGCON2 = 0xD1;
46	BRGCON3 = 0x81;	46	BRGCON3 = 0x81;
47		47
48	//BRGCON1=0;	48	//BRGCON1=0;
49		49
50	// Sync_Seq = 2 x TQ = 1	50	// Sync_Seq = 2 x TQ = 1
51	//BRGCON1bits.SJW1=0;	51	//BRGCON1bits.SJW1=0;
52	//BRGCON1bits.SJW0=1;	52	//BRGCON1bits.SJW0=1;
53		53
54	// Setting BRP.	54	// Setting BRP.
55	//BRGCON1=BRGCON1\|CAN_BRP;	55	//BRGCON1=BRGCON1\|CAN_BRP;
56		56
57	// Maximum PHEG1	57	// Maximum PHEG1
58	//BRGCON2bits.SEG2PHTS = 1;	58	//BRGCON2bits.SEG2PHTS = 1;
59		59
60	// Phase_Seg1 = 2 x TQ = 1	60	// Phase_Seg1 = 2 x TQ = 1
61	//BRGCON2bits.SEG1PH2 = 0;	61	//BRGCON2bits.SEG1PH2 = 0;
62	//BRGCON2bits.SEG1PH1 = 0;	62	//BRGCON2bits.SEG1PH1 = 0;
63	//BRGCON2bits.SEG1PH0 = 1;	63	//BRGCON2bits.SEG1PH0 = 1;
64		64
65	// Prop_Seq = 2 x TQ = 1	65	// Prop_Seq = 2 x TQ = 1
66	//BRGCON2bits.PRSEG2 = 0;	66	//BRGCON2bits.PRSEG2 = 0;
67	//BRGCON2bits.PRSEG1 = 0;	67	//BRGCON2bits.PRSEG1 = 0;
68	//BRGCON2bits.PRSEG0 = 1;	68	//BRGCON2bits.PRSEG0 = 1;
69		69
70	// Enableing bus wake-up	70	// Enableing bus wake-up
71	//BRGCON3bits.WAKDIS = 0;	71	//BRGCON3bits.WAKDIS = 0;
72		72
73	// Dont use filter when wakeup	73	// Dont use filter when wakeup
74	//BRGCON3bits.WAKFIL = 0;	74	//BRGCON3bits.WAKFIL = 0;
75		75
76	// Phase_Seg2 = 2 x TQ = 1	76	// Phase_Seg2 = 2 x TQ = 1
77	//BRGCON3bits.SEG2PH2 = 0;	77	//BRGCON3bits.SEG2PH2 = 0;
78	//BRGCON3bits.SEG2PH1 = 0;	78	//BRGCON3bits.SEG2PH1 = 0;
79	//BRGCON3bits.SEG2PH0 = 1;	79	//BRGCON3bits.SEG2PH0 = 1;
80		80
81	ECANCON=0;	81	ECANCON=0;
82	ECANCONbits.MDSEL1 = 1; // 0 For mode 1	82	ECANCONbits.MDSEL1 = 1; // 0 For mode 1
83	ECANCONbits.MDSEL0 = 0; // 1 For mode 1	83	ECANCONbits.MDSEL0 = 0; // 1 For mode 1
84		84
85		85
86	// FILTERS AND MASKS	86	// FILTERS AND MASKS
87	RXB0CONbits.RXM1=1;	87	RXB0CONbits.RXM1=1;
88	RXB0CONbits.RXM0=0;	88	RXB0CONbits.RXM0=0;
89		89
90		90
91	// INTERRUPTS	91	// INTERRUPTS
92		92
93	// Diable transmit interrupt	93	// Diable transmit interrupt
94	TXBIE = 0;	94	TXBIE = 0;
95		95
96	//rx any interrupt	96	//rx any interrupt
97	PIR3 = 0;	97	PIR3 = 0;
98	PIE3 = 0b00000011;	98	PIE3 = 0b00000011;
99		99
100	// High interrupt	100	// High interrupt
101	IPR3 =0b00000011;	101	IPR3 =0b00000011;
102		102
103	// Programmable buffers interrupt	103	// Programmable buffers interrupt
104	BIE0 = 0xFF;	104	BIE0 = 0xFF;
105		105
106		106
107	//loopback mode or not	107	//loopback mode or not
108	#ifdef CAN_LOOPBACK_MODE	108	#ifdef CAN_LOOPBACK_MODE
109	CANCON = 0x40;//request loopback mode	109	CANCON = 0x40;//request loopback mode
110	while ((CANSTAT & 0xE0) != 0x40 );//wait for loopback mode	110	while ((CANSTAT & 0xE0) != 0x40 );//wait for loopback mode
111	#else	111	#else
112	CANCON = 0x00;//request normal mode	112	CANCON = 0x00;//request normal mode
113	while ((CANSTAT & 0xE0) != 0x00 );//wait for normal mode	113	while ((CANSTAT & 0xE0) != 0x00 );//wait for normal mode
114	#endif	114	#endif
115		115
116		116
117	// Init ticker service	117	// Init ticker service
118	tickInit();	118	tickInit();
119		119
120		120
121	// Read ID and NID if exist.	121	// Read ID and NID if exist.
122	if (EERead(NODE_ID_EE)==NODE_HAS_ID)	122	if (EERead(NODE_ID_EE)==NODE_HAS_ID)
123	{	123	{
124	MY_ID=(((WORD)EERead(NODE_ID_EE + 1))<<8)+EERead(NODE_ID_EE + 2);	124	MY_ID=(((WORD)EERead(NODE_ID_EE + 1))<<8)+EERead(NODE_ID_EE + 2);
125	MY_NID=EERead(NODE_ID_EE + 3);	125	MY_NID=EERead(NODE_ID_EE + 3);
126	}	126	}
127		127
128	// Send user program startup heatbeat	128	// Send user program startup heatbeat
129	outCm.funct = FUNCT_BOOTLOADER;	129	outCm.funct = FUNCT_BOOTLOADER;
130	outCm.funcc = FUNCC_BOOT_HEARTBEAT;	130	outCm.funcc = FUNCC_BOOT_HEARTBEAT;
131	outCm.data_length = 1;	131	outCm.data_length = 1;
132	outCm.data[BOOT_DATA_HEARTBEAT_INDEX] = HEARTBEAT_USER_STARTUP;	132	outCm.data[BOOT_DATA_HEARTBEAT_INDEX] = HEARTBEAT_USER_STARTUP;
133	~~while(!canSendMessage~~(outCm,PRIO_HIGH));	133	canSendMessage(outCm,PRIO_HIGH);
134		134
135	}	135	}
136		136
137		137
138	/*	138	/*
139	* Function: canISR	139	* Function: canISR
140	*	140	*
141	* Input: none	141	* Input: none
142	* Output: none	142	* Output: none
143	* Pre-conditions: a call to canInit()	143	* Pre-conditions: a call to canInit()
144	* Affects: interrupt registers and receive data buffers	144	* Affects: interrupt registers and receive data buffers
145	* Depends: ..	145	* Depends: ..
146	*/	146	*/
147	void canISR()	147	void canISR()
148	{	148	{
149	if (PIR3bits.RXBnIF \|\| PIR3bits.RXB1IF \|\| PIR3bits.RXB0IF)	149	if (PIR3bits.RXBnIF \|\| PIR3bits.RXB1IF \|\| PIR3bits.RXB0IF)
150	{	150	{
151	ECANCON=(ECANCON&0b00000)\|(0b10000\|(CANCON&0x0F));	151	ECANCON=(ECANCON&0b00000)\|(0b10000\|(CANCON&0x0F));
152	if (RXB0CONbits.RXFUL) canGetPacket();	152	if (RXB0CONbits.RXFUL) canGetPacket();
153		153
154	if (PIR3bits.RXBnIF) {PIR3bits.RXBnIF = 0; return;}	154	if (PIR3bits.RXBnIF) {PIR3bits.RXBnIF = 0; return;}
155	if (PIR3bits.RXB1IF) {PIR3bits.RXB1IF = 0; return;}	155	if (PIR3bits.RXB1IF) {PIR3bits.RXB1IF = 0; return;}
156	if (PIR3bits.RXB0IF) {PIR3bits.RXB0IF = 0; return;}	156	if (PIR3bits.RXB0IF) {PIR3bits.RXB0IF = 0; return;}
157	}	157	}
158		158
159	tickUpdate();	159	tickUpdate();
160		160
161	if ((tickGet()-heartbeat)>TICK_SECOND*5)	161	if ((tickGet()-heartbeat)>TICK_SECOND*5)
162	{	162	{
163	// Send alive heartbeat	163	// Send alive heartbeat
164	outCm.funct = FUNCT_BOOTLOADER;	164	outCm.funct = FUNCT_BOOTLOADER;
165	outCm.funcc = FUNCC_BOOT_HEARTBEAT;	165	outCm.funcc = FUNCC_BOOT_HEARTBEAT;
166	outCm.data_length = 1;	166	outCm.data_length = 1;
167	outCm.data[BOOT_DATA_HEARTBEAT_INDEX] = HEARTBEAT_ALIVE;	167	outCm.data[BOOT_DATA_HEARTBEAT_INDEX] = HEARTBEAT_ALIVE;
168	~~while(!canSendMessage~~(outCm,PRIO_HIGH));	168	canSendMessage(outCm,PRIO_HIGH);
169		169
170	heartbeat = tickGet();	170	heartbeat = tickGet();
171	}	171	}
172		172
173	ClrWdt();	173	ClrWdt();
174	}	174	}
175		175
176		176
177	/*	177	/*
178	* Function: canGetPacket	178	* Function: canGetPacket
179	*	179	*
180	* Input: none	180	* Input: none
181	* Output: none	181	* Output: none
182	* Pre-conditions: a call to canISR and an packet is available and banked to RXB0	182	* Pre-conditions: a call to canISR and an packet is available and banked to RXB0
183	* Affects: Calls canParse() function in main for parsing received packet.	183	* Affects: Calls canParse() function in main for parsing received packet.
184	* Depends: none.	184	* Depends: none.
185	*/	185	*/
186	void canGetPacket()	186	void canGetPacket()
187	{	187	{
188	CAN_MESSAGE cm;	188	CAN_MESSAGE cm;
189		189
190	//RXB0SIDH 28 27 26 25 24 23 22 21	190	//RXB0SIDH 28 27 26 25 24 23 22 21
191	//RXB0SIDL 20 19 18 xx xx xx 17 16	191	//RXB0SIDL 20 19 18 xx xx xx 17 16
192	//RXB0EIDH 15 14 13 12 11 10 09 08	192	//RXB0EIDH 15 14 13 12 11 10 09 08
193	//RXB0EIDL 07 06 05 04 03 02 01 00	193	//RXB0EIDL 07 06 05 04 03 02 01 00
194		194
195	//funct xx xx xx xx 28 27 26 25	195	//funct xx xx xx xx 28 27 26 25
196	//funcc xx xx xx xx xx xx 24 23 22 21 20 19 18 17 16 15	196	//funcc xx xx xx xx xx xx 24 23 22 21 20 19 18 17 16 15
197	//nid xx xx 14 13 12 11 10 09	197	//nid xx xx 14 13 12 11 10 09
198	//sid xx xx xx xx xx xx xx 08 07 06 05 04 03 02 01 00	198	//sid xx xx xx xx xx xx xx 08 07 06 05 04 03 02 01 00
199		199
200		200
201	cm.funct=((RXB0SIDH & 0xF0)>>4);	201	cm.funct=((RXB0SIDH & 0xF0)>>4);
202	cm.funcc=(((WORD)(RXB0SIDH & 0x0F))<<6)+(((WORD)(RXB0SIDL & 0xE0))>>2)+(((WORD)(RXB0SIDL & 0x03))<<1)+(((WORD)(RXB0EIDH & 0x80))>>7);	202	cm.funcc=(((WORD)(RXB0SIDH & 0x0F))<<6)+(((WORD)(RXB0SIDL & 0xE0))>>2)+(((WORD)(RXB0SIDL & 0x03))<<1)+(((WORD)(RXB0EIDH & 0x80))>>7);
203	cm.nid=((RXB0EIDH & 0x7E)>>1);	203	cm.nid=((RXB0EIDH & 0x7E)>>1);
204	cm.sid=(((WORD)(RXB0EIDH & 0x01))<<8)+RXB0EIDL;	204	cm.sid=(((WORD)(RXB0EIDH & 0x01))<<8)+RXB0EIDL;
205		205
206		206
207	// Data length	207	// Data length
208	cm.data_length=(RXB0DLCbits.DLC3<<3)+(RXB0DLCbits.DLC2<<2)+(RXB0DLCbits.DLC1<<1)+RXB0DLCbits.DLC0;	208	cm.data_length=(RXB0DLCbits.DLC3<<3)+(RXB0DLCbits.DLC2<<2)+(RXB0DLCbits.DLC1<<1)+RXB0DLCbits.DLC0;
209		209
210	// Data one bye one, for speed	210	// Data one bye one, for speed
211	cm.data[0]=RXB0D0; cm.data[1]=RXB0D1;	211	cm.data[0]=RXB0D0; cm.data[1]=RXB0D1;
212	cm.data[2]=RXB0D2; cm.data[3]=RXB0D3;	212	cm.data[2]=RXB0D2; cm.data[3]=RXB0D3;
213	cm.data[4]=RXB0D4; cm.data[5]=RXB0D5;	213	cm.data[4]=RXB0D4; cm.data[5]=RXB0D5;
214	cm.data[6]=RXB0D6; cm.data[7]=RXB0D7;	214	cm.data[6]=RXB0D6; cm.data[7]=RXB0D7;
215		215
216	// Clear ful status	216	// Clear ful status
217	RXB0CONbits.RXFUL=0;	217	RXB0CONbits.RXFUL=0;
218		218
219		219
220		220
221	// Check if FUNCT_BOOTLOADER specific.	221	// Check if FUNCT_BOOTLOADER specific.
222	// reset and id change	222	// reset and id change
223	if (cm.funct==FUNCT_BOOTLOADER)	223	if (cm.funct==FUNCT_BOOTLOADER)
224	{	224	{
225	if (cm.nid==MY_NID && ((((unsigned int)cm.data[BOOT_DATA_RID_HIGH_INDEX])<<8)+cm.data[BOOT_DATA_RID_LOW_INDEX])==MY_ID)	225	if (cm.nid==MY_NID && ((((unsigned int)cm.data[BOOT_DATA_RID_HIGH_INDEX])<<8)+cm.data[BOOT_DATA_RID_LOW_INDEX])==MY_ID)
226	{	226	{
227	if (cm.funcc==FUNCC_BOOT_INIT) Reset(); // Reset me.	227	if (cm.funcc==FUNCC_BOOT_INIT) Reset(); // Reset me.
228	if (cm.funcc==FUNCC_BOOT_SET_ID)	228	if (cm.funcc==FUNCC_BOOT_SET_ID)
229	{	229	{
230	// Change my ID and NID	230	// Change my ID and NID
231	MY_ID=(((WORD)cm.data[BOOT_DATA_NEW_ID_HIGH_INDEX])<<8)+cm.data[BOOT_DATA_NEW_ID_LOW_INDEX];	231	MY_ID=(((WORD)cm.data[BOOT_DATA_NEW_ID_HIGH_INDEX])<<8)+cm.data[BOOT_DATA_NEW_ID_LOW_INDEX];
232	MY_NID=cm.data[BOOT_DATA_NEW_NID_INDEX];	232	MY_NID=cm.data[BOOT_DATA_NEW_NID_INDEX];
233	EEWrite(NODE_ID_EE+1,cm.data[BOOT_DATA_NEW_ID_HIGH_INDEX]);	233	EEWrite(NODE_ID_EE+1,cm.data[BOOT_DATA_NEW_ID_HIGH_INDEX]);
234	EEWrite(NODE_ID_EE+2,cm.data[BOOT_DATA_NEW_ID_LOW_INDEX]);	234	EEWrite(NODE_ID_EE+2,cm.data[BOOT_DATA_NEW_ID_LOW_INDEX]);
235	EEWrite(NODE_ID_EE+3,cm.data[BOOT_DATA_NEW_NID_INDEX]);	235	EEWrite(NODE_ID_EE+3,cm.data[BOOT_DATA_NEW_NID_INDEX]);
236	EEWrite(NODE_ID_EE,NODE_HAS_ID);	236	EEWrite(NODE_ID_EE,NODE_HAS_ID);
237	// Send ack with new id.	237	// Send ack with new id.
238	outCm.funct = FUNCT_BOOTLOADER;	238	outCm.funct = FUNCT_BOOTLOADER;
239	outCm.funcc = FUNCC_BOOT_ACK;	239	outCm.funcc = FUNCC_BOOT_ACK;
240	outCm.data_length = 8;	240	outCm.data_length = 8;
241	outCm.data[BOOT_DATA_ERR_INDEX] = ACK_ERR_NO_ERROR;	241	outCm.data[BOOT_DATA_ERR_INDEX] = ACK_ERR_NO_ERROR;
242	while(!canSendMessage(outCm,PRIO_HIGH));	242	while(!canSendMessage(outCm,PRIO_HIGH));
243	}	243	}
244	}	244	}
245	}	245	}
246		246
247		247
248	//Call main parser	248	//Call main parser
249	canParse(cm);	249	canParse(cm);
250	}	250	}
251		251
252		252
253	/*	253	/*
254	* Function: canSendMessage	254	* Function: canSendMessage
255	*	255	*
256	* Input: CAN_MESSAGE to send	256	* Input: CAN_MESSAGE to send
257	* Output: True if packet scheduled sucess, false otherwise.	257	* Output: True if packet scheduled sucess, false otherwise.
258	* Pre-conditions: canInit	258	* Pre-conditions: canInit
259	* Affects: ..	259	* Affects: ..
260	* Depends: ..	260	* Depends: ..
261	*/	261	*/
262	BOOL canSendMessage(CAN_MESSAGE cm,CAN_PRIORITY prio)	262	BOOL canSendMessage(CAN_MESSAGE cm,CAN_PRIORITY prio)
263	{	263	{
264		264
265	if ( TXB0CONbits.TXREQ == 0 ) { ECANCON=(ECANCON&0b00000)\|0b00011; }	265	if ( TXB0CONbits.TXREQ == 0 ) { ECANCON=(ECANCON&0b00000)\|0b00011; }
266	if ( TXB1CONbits.TXREQ == 0 ) { ECANCON=(ECANCON&0b00000)\|0b00100; }	266	if ( TXB1CONbits.TXREQ == 0 ) { ECANCON=(ECANCON&0b00000)\|0b00100; }
267	if ( TXB2CONbits.TXREQ == 0 ) { ECANCON=(ECANCON&0b00000)\|0b00101; }	267	if ( TXB2CONbits.TXREQ == 0 ) { ECANCON=(ECANCON&0b00000)\|0b00101; }
268	// None of the transmit buffers were empty.	268	// None of the transmit buffers were empty.
269	else { return FALSE;}	269	else { return FALSE;}
270		270
271	if (prio<0 \|\| prio>3) prio = 0;	271	if (prio<0 \|\| prio>3) prio = 0;
272		272
273	// Append my id and nid	273	// Append my id and nid
274	cm.nid = MY_NID;	274	cm.nid = MY_NID;
275	cm.sid = MY_ID;	275	cm.sid = MY_ID;
276		276
277		277
278	//RXB0SIDH 28 27 26 25 24 23 22 21	278	//RXB0SIDH 28 27 26 25 24 23 22 21
279	//RXB0SIDL 20 19 18 xx xx xx 17 16	279	//RXB0SIDL 20 19 18 xx xx xx 17 16
280	//RXB0EIDH 15 14 13 12 11 10 09 08	280	//RXB0EIDH 15 14 13 12 11 10 09 08
281	//RXB0EIDL 07 06 05 04 03 02 01 00	281	//RXB0EIDL 07 06 05 04 03 02 01 00
282		282
283	//funct xx xx xx xx 28 27 26 25	283	//funct xx xx xx xx 28 27 26 25
284	//funcc xx xx xx xx xx xx 24 23 22 21 20 19 18 17 16 15	284	//funcc xx xx xx xx xx xx 24 23 22 21 20 19 18 17 16 15
285	//nid xx xx 14 13 12 11 10 09	285	//nid xx xx 14 13 12 11 10 09
286	//sid xx xx xx xx xx xx xx 08 07 06 05 04 03 02 01 00	286	//sid xx xx xx xx xx xx xx 08 07 06 05 04 03 02 01 00
287		287
288	RXB0SIDH = (BYTE)((cm.funct & 0x0F)<<4)+(BYTE)((cm.funcc & 0x03C0)>>6);	288	RXB0SIDH = (BYTE)((cm.funct & 0x0F)<<4)+(BYTE)((cm.funcc & 0x03C0)>>6);
289	RXB0SIDL = (BYTE)((cm.funcc & 0x003F)<<2)+(BYTE)((cm.funcc & 0x0006)>>1);	289	RXB0SIDL = (BYTE)((cm.funcc & 0x003F)<<2)+(BYTE)((cm.funcc & 0x0006)>>1);
290	RXB0EIDH = (BYTE)((cm.funcc & 0x0001)<<7)+(BYTE)((cm.nid & 0x3F)<<1)+(BYTE)((cm.sid & 0x0100)>>8);	290	RXB0EIDH = (BYTE)((cm.funcc & 0x0001)<<7)+(BYTE)((cm.nid & 0x3F)<<1)+(BYTE)((cm.sid & 0x0100)>>8);
291	RXB0EIDL = (BYTE)((cm.sid & 0x00FF));	291	RXB0EIDL = (BYTE)((cm.sid & 0x00FF));
292		292
293	// Data length	293	// Data length
294	RXB0DLC = 0;	294	RXB0DLC = 0;
295	if (cm.data_length>8) RXB0DLC=8; else RXB0DLC=cm.data_length;	295	if (cm.data_length>8) RXB0DLC=8; else RXB0DLC=cm.data_length;
296		296
297		297
298	// NOT Remote request	298	// NOT Remote request
299	_asm	299	_asm
300	bcf RXB0DLC, 6, 0	300	bcf RXB0DLC, 6, 0
301	_endasm	301	_endasm
302		302
303		303
304	// Data one bye one, for speed	304	// Data one bye one, for speed
305	RXB0D0=cm.data[0]; RXB0D1=cm.data[1];	305	RXB0D0=cm.data[0]; RXB0D1=cm.data[1];
306	RXB0D2=cm.data[2]; RXB0D3=cm.data[3];	306	RXB0D2=cm.data[2]; RXB0D3=cm.data[3];
307	RXB0D4=cm.data[4]; RXB0D5=cm.data[5];	307	RXB0D4=cm.data[4]; RXB0D5=cm.data[5];
308	RXB0D6=cm.data[6]; RXB0D7=cm.data[7];	308	RXB0D6=cm.data[6]; RXB0D7=cm.data[7];
309		309
310	// set extended	310	// set extended
311	RXB0SIDLbits.EXID=1;	311	RXB0SIDLbits.EXID=1;
312		312
313	// Priority	313	// Priority
314	RXB0CON = (RXB0CON & 0b11111100) \| prio;	314	RXB0CON = (RXB0CON & 0b11111100) \| prio;
315		315
316	// mark as redy to transmit	316	// mark as redy to transmit
317	_asm	317	_asm
318	bsf RXB0CON, 3, 0	318	bsf RXB0CON, 3, 0
319	_endasm	319	_endasm
320		320
321	return TRUE;	321	return TRUE;
322		322
323	}	323	}
324		324

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