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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 11:20:48 +0100 (Tue, 14 Nov 2006) $
  8.  * By:              $LastChangedBy: johboh $
  9.  * Revision:        $Revision: 87 $
  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.                    
  124.  
  125.         // Get which buffer that is ful.
  126.              if (RXB0CONbits.RXFUL) { ECANCON=(ECANCON&0b00000)|0b10000; canGetPacket(); }
  127.         else if (RXB1CONbits.RXFUL) { ECANCON=(ECANCON&0b00000)|0b10001; canGetPacket(); }
  128.         else if (B0CONbits.RXFUL)   { ECANCON=(ECANCON&0b00000)|0b10010; canGetPacket(); }
  129.         else if (B1CONbits.RXFUL)   { ECANCON=(ECANCON&0b00000)|0b10011; canGetPacket(); }
  130.         else if (B2CONbits.RXFUL)   { ECANCON=(ECANCON&0b00000)|0b10100; canGetPacket(); }
  131.         else if (B3CONbits.RXFUL)   { ECANCON=(ECANCON&0b00000)|0b10101; canGetPacket(); }
  132.         else if (B4CONbits.RXFUL)   { ECANCON=(ECANCON&0b00000)|0b10110; canGetPacket(); }
  133.         else if (B5CONbits.RXFUL)   { ECANCON=(ECANCON&0b00000)|0b10111; canGetPacket(); }
  134.    
  135.         if (PIR3bits.RXBnIF) {PIR3bits.RXBnIF = 0;}
  136.         if (PIR3bits.RXB1IF) {PIR3bits.RXB1IF = 0;}
  137.         if (PIR3bits.RXB0IF) {PIR3bits.RXB0IF = 0;}
  138.    
  139.     }
  140. }
  141.  
  142.  
  143. /*
  144. *   Function: canGetPacket
  145. *
  146. *   Input:  none
  147. *   Output: none
  148. *   Pre-conditions: a call to canISR and an packet is available and banked to RXB0
  149. *   Affects: Calls canParse() function in main for parsing received packet.
  150. *   Depends: none.
  151. */
  152. void canGetPacket()
  153. {
  154.         CAN_MESSAGE cm;
  155.  
  156.         //RXB0SIDH 28 27 26 25 24 23 22 21
  157.         //RXB0SIDL 20 19 18 xx xx xx 17 16
  158.         //RXB0EIDH 15 14 13 12 11 10 09 08
  159.         //RXB0EIDL 07 06 05 04 03 02 01 00
  160.  
  161.         //funct xx xx xx xx 28 27 26 25
  162.         //funcc xx xx xx xx xx xx 24 23 22 21 20 19 18 17 16 15
  163.         //nid   xx xx 14 13 12 11 10 09
  164.         //sid   xx xx xx xx xx xx xx 08 07 06 05 04 03 02 01 00
  165.  
  166.  
  167.         cm.funct=((RXB0SIDH & 0xF0)>>4);
  168.         cm.funcc=(((WORD)(RXB0SIDH & 0x0F))<<6)+(((WORD)(RXB0SIDL & 0xE0))>>2)+(((WORD)(RXB0SIDL & 0x03))<<1)+(((WORD)(RXB0EIDH & 0x80))>>7);
  169.         cm.nid=((RXB0EIDH & 0x7E)>>1);
  170.         cm.sid=(((WORD)(RXB0EIDH & 0x01))<<8)+RXB0EIDL;
  171.  
  172.  
  173.         // Data length
  174.         cm.data_length=(RXB0DLCbits.DLC3<<3)+(RXB0DLCbits.DLC2<<2)+(RXB0DLCbits.DLC1<<1)+RXB0DLCbits.DLC0;
  175.  
  176.         // Data one bye one, for speed
  177.         cm.data[0]=RXB0D0;  cm.data[1]=RXB0D1;
  178.         cm.data[2]=RXB0D2;  cm.data[3]=RXB0D3;
  179.         cm.data[4]=RXB0D4;  cm.data[5]=RXB0D5;
  180.         cm.data[6]=RXB0D6;  cm.data[7]=RXB0D7;
  181.  
  182.         // Clear ful status
  183.         RXB0CONbits.RXFUL=0;
  184.  
  185.         //Call main parser
  186.         canParse(cm);
  187. }
  188.  
  189.  
  190. /*
  191. *   Function: canSendMessage
  192. *
  193. *   Input:  CAN_MESSAGE to send
  194. *   Output: True if packet scheduled sucess, false otherwise.
  195. *   Pre-conditions: canInit
  196. *   Affects: ..
  197. *   Depends: ..
  198. */
  199. BOOL canSendMessage(CAN_MESSAGE cm,CAN_PRIORITY prio)
  200. {
  201.    
  202.     if ( TXB0CONbits.TXREQ == 0 )  { ECANCON=(ECANCON&0b00000)|0b00011; }
  203.     if ( TXB1CONbits.TXREQ == 0 )  { ECANCON=(ECANCON&0b00000)|0b00100; }
  204.     if ( TXB2CONbits.TXREQ == 0 )  { ECANCON=(ECANCON&0b00000)|0b00101; }
  205.     // None of the transmit buffers were empty.
  206.     else { return FALSE;}
  207.  
  208.     if (prio<0 || prio>3) prio = 0;
  209.  
  210.  
  211.         //RXB0SIDH 28 27 26 25 24 23 22 21
  212.         //RXB0SIDL 20 19 18 xx xx xx 17 16
  213.         //RXB0EIDH 15 14 13 12 11 10 09 08
  214.         //RXB0EIDL 07 06 05 04 03 02 01 00
  215.  
  216.         //funct xx xx xx xx 28 27 26 25
  217.         //funcc xx xx xx xx xx xx 24 23 22 21 20 19 18 17 16 15
  218.         //nid   xx xx 14 13 12 11 10 09
  219.         //sid   xx xx xx xx xx xx xx 08 07 06 05 04 03 02 01 00
  220.  
  221.         RXB0SIDH = (BYTE)((cm.funct & 0x0F)<<4)+(BYTE)((cm.funcc & 0x03C0)>>6);
  222.         RXB0SIDL = (BYTE)((cm.funcc & 0x003F)<<2)+(BYTE)((cm.funcc & 0x0006)>>1);
  223.         RXB0EIDH = (BYTE)((cm.funcc & 0x0001)<<7)+(BYTE)((cm.nid & 0x3F)<<1)+(BYTE)((cm.sid & 0x0100)>>8);
  224.         RXB0EIDL = (BYTE)((cm.sid & 0x00FF));
  225.  
  226.         // Data length
  227.         RXB0DLC = 0;
  228.         if (cm.data_length>8) RXB0DLC=8; else RXB0DLC=cm.data_length;
  229.        
  230.  
  231.         // NOT Remote request
  232.         _asm
  233.             bcf RXB0DLC, 6, 0
  234.         _endasm
  235.        
  236.  
  237.         // Data one bye one, for speed
  238.         RXB0D0=cm.data[0];  RXB0D1=cm.data[1];
  239.         RXB0D2=cm.data[2];  RXB0D3=cm.data[3];
  240.         RXB0D4=cm.data[4];  RXB0D5=cm.data[5];
  241.         RXB0D6=cm.data[6];  RXB0D7=cm.data[7];
  242.  
  243.         // set extended
  244.         RXB0SIDLbits.EXID=1;
  245.  
  246.         // Priority
  247.         RXB0CON = (RXB0CON & 0b11111100) | prio;
  248.  
  249.         // mark as redy to transmit
  250.         _asm
  251.             bsf RXB0CON, 3, 0
  252.         _endasm
  253.  
  254.         return TRUE;
  255.  
  256. }
  257.  
  258.  
  259.  
  260. #endif //USE_CAN
  261.