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Rev 342 Rev 353
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 *
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 *
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 *                  CAN module
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 *                  CAN module
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 *
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 *
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 *********************************************************************
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 *********************************************************************
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 * FileName:        $HeadURL: https://svn.auml.se/svn/HomeAutomation/trunk/EmbeddedSoftware/PIC/canBase/Source/CAN.c $
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 * FileName:        $HeadURL: https://svn.auml.se/svn/HomeAutomation/trunk/EmbeddedSoftware/PIC/canBase/Source/CAN.c $
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 * Last changed:    $LastChangedDate: 2007-02-26 21:38:37 +0100 (Mon, 26 Feb 2007) $
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 * Last changed:    $LastChangedDate: 2007-03-03 19:07:14 +0100 (Sat, 03 Mar 2007) $
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 * By:              $LastChangedBy: johboh $
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 * By:              $LastChangedBy: johboh $
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 * Revision:        $Revision: 342 $
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 * Revision:        $Revision: 353 $
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 ********************************************************************/
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 ********************************************************************/
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#include <CANdefs.h>
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#include <CANdefs.h>
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#include <stackTasks.h>
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#include <stackTasks.h>
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#include <CAN.h>
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#include <CAN.h>
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#include <EEaccess.h>
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#include <EEaccess.h>
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#include <funcdefs.h>
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#include <funcdefs.h>
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#include <Tick.h>
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#include <Tick.h>
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TICK heartbeat;
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static TICK heartbeat;
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static int MY_ID = DEFAULT_ID;
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static int MY_ID = DEFAULT_ID;
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static CAN_PACKET outCp;
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static CAN_PACKET outCp;
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static void canGetPacket(void);
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static void canGetPacket(void);
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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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    ClrWdt();
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    ClrWdt();
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    tickUpdate();
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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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        ECANCON=(ECANCON&0b00000)|(0b10000|(CANCON&0x0F));
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        ECANCON=(ECANCON&0b00000)|(0b10000|(CANCON&0x0F));
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        if (RXB0CONbits.RXFUL) canGetPacket();
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        if (RXB0CONbits.RXFUL) canGetPacket();
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        if (PIR3bits.RXBnIF) {PIR3bits.RXBnIF = 0; return;}
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        if (PIR3bits.RXBnIF) {PIR3bits.RXBnIF = 0; return;}
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        if (PIR3bits.RXB1IF) {PIR3bits.RXB1IF = 0; return;}
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        if (PIR3bits.RXB1IF) {PIR3bits.RXB1IF = 0; return;}
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        if (PIR3bits.RXB0IF) {PIR3bits.RXB0IF = 0; return;}
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        if (PIR3bits.RXB0IF) {PIR3bits.RXB0IF = 0; return;}
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    }
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    }
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    tickUpdate();
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    if ((tickGet()-heartbeat)>TICK_SECOND*5)
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    if ((tickGet()-heartbeat)>TICK_1S*5)
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    {
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    {
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        // Send alive heartbeat
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        // Send alive heartbeat
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        outCp.type=ptPGM;
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        outCp.type=ptPGM;
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        outCp.pgm.class=pcCTRL;
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        outCp.pgm.class=pcCTRL;
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        outCp.pgm.id=pctHEARTBEAT;
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        outCp.pgm.id=pctHEARTBEAT;
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*/
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*/
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BOOL canSendMessage(CAN_PACKET cp, CAN_PRIORITY prio)
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BOOL canSendMessage(CAN_PACKET cp, CAN_PRIORITY prio)
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{
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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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    else if ( TXB1CONbits.TXREQ == 0 )  { ECANCON=(ECANCON&0b00000)|0b00100; }
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    if ( TXB2CONbits.TXREQ == 0 )  { ECANCON=(ECANCON&0b00000)|0b00101; }
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    else if ( TXB2CONbits.TXREQ == 0 )  { ECANCON=(ECANCON&0b00000)|0b00101; }
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    // None of the transmit buffers were empty.
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    else { return FALSE;}  // None of the transmit buffers were empty.
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    else { return FALSE;}
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    if (prio<0 || prio>3) prio = 0;
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    if (prio<0 || prio>3) prio = 0;
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    //RXB0SIDH 28 27 26 25 24 23 22 21
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    //RXB0SIDH 28 27 26 25 24 23 22 21