WebSVN – HomeAutomation – Diff – /trunk/EmbeddedSoftware/PIC/canBoot/Source/Main.c


/*********************************************************************
 *
 *                  Main application
 *
 *********************************************************************
 * FileName:        $HeadURL: https://svn.auml.se/svn/HomeAutomation/trunk/EmbeddedSoftware/PIC/canBoot/Source/Main.c $
 * Last changed:    $LastChangedDate: 2006-11-15 18:53:04 +0100 (Wed, 15 Nov 2006) $
 * By:              $LastChangedBy: johboh $
 * Revision:        $Revision: 110 $
 ********************************************************************/
 
#include <compiler.h>
#include <stackTasks.h>
#include <CANdefs.h>
#include <CAN.h>
#include <boot.h>
#include <funcdefs.h>
#include <EEaccess.h>
 
/** V E C T O R  R E M A P P I N G *******************************************/
 
#pragma code _HIGH_INTERRUPT_VECTOR = 0x000008
void _high_ISR (void)
{
    _asm goto RM_HIGH_INTERRUPT_VECTOR _endasm
}
 
#pragma code _LOW_INTERRUPT_VECTOR = 0x000018
void _low_ISR (void)
{
    _asm goto RM_LOW_INTERRUPT_VECTOR _endasm
}
 
#pragma code
 
 
#ifdef USE_CAN
    #include <CAN.h>
#endif
 
static CAN_PROTO_MESSAGE cm;
static DWORD cnt =0;
 
static void mainInit(void);
static BOOL canGetPacket(void);
void TBLWT_Func(void);
void TBLWTPOSTINC_Func (void);
void TBLRD_Func(void);
 
#define TICK_SUB_COUNTER_10MS 312
#define PACKET_TIMEOUT 14
#define BOOTLOADER_INIT_TIMOUT 500
 
DWORD tickCounter = 0;
DWORD tickSubCounter = 0;
 
DWORD tickGet(void);
 
static int MY_ID = DEFAULT_ID;
static BYTE MY_NID = DEFAULT_NID;
 
void main()
{
    static PROGRAM_STATE pgs = pgsWATING_START;
    static DWORD t = 0;
    static WORD programmerSid=0;
   
    static BYTE errMsg = ACK_ERR_NO_ERROR;
    static PROGRAM_STATE afterAckPgs = pgsWATING_START;
    static DWORD pgmAddress = 0;
    static BYTE bytesReceived = 0;
 
    DWORD tBoot;
   
    static BYTE pgmData[64];
 
    CAN_PROTO_MESSAGE outCmHeart;
 
    // Inits
    mainInit();
 
    #ifdef USE_CAN
        canInit();
    #endif
 
    tBoot = tickGet();
   
    // 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 bootloader startup heatbeat
    outCmHeart.funct                    = FUNCT_BOOTLOADER;
    outCmHeart.funcc                    = FUNCC_BOOT_HEARTBEAT;
    outCmHeart.nid                      = MY_NID;
    outCmHeart.sid                      = MY_ID;
    outCmHeart.data_length              = 1;
    outCmHeart.data[BOOT_DATA_HEARTBEAT_INDEX] = HEARTBEAT_BOOT_STARTUP;
    while(!canSendMessage(outCmHeart,PRIO_HIGH));
 
 
    for(;;)
    {
        BYTE i;
        CAN_PROTO_MESSAGE outCm;
        BOOL hasPacket = canGetPacket();
 
        tickSubCounter++;
        if (tickSubCounter>TICK_SUB_COUNTER_10MS)
        {
            tickCounter++;
            tickSubCounter=0;
            ClrWdt();
        }
 
        switch(pgs)
        {
            case pgsWATING_START:
                // Check if there is bootloader start packet
                if (hasPacket==TRUE && cm.funct==FUNCT_BOOTLOADER && cm.funcc==FUNCC_BOOT_INIT && ((((unsigned int)cm.data[BOOT_DATA_RID_HIGH_INDEX])<<8)+cm.data[BOOT_DATA_RID_LOW_INDEX])==MY_ID && cm.nid==MY_NID)
                {
                    // Has new start packet
                    pgmAddress      = (((DWORD)cm.data[BOOT_DATA_ADDRU_INDEX])<<16)+(((DWORD)cm.data[BOOT_DATA_ADDRH_INDEX])<<8)+((DWORD)cm.data[BOOT_DATA_ADDRL_INDEX]);
                    programmerSid   = cm.sid;
                    t               = tickGet();
                    errMsg          = ACK_ERR_NO_ERROR;
                    afterAckPgs     = pgsWAIT_FIRST_PGM_PACKET;
                    pgs             = pgsSEND_ACK;
                    // save pgm adress.
                   
                }
 
                // Bootloader timeout
                if ((tickGet()-tBoot)>BOOTLOADER_INIT_TIMOUT)
                {
                    pgs = pgsDONE;
                }
            break;         
 
            case pgsSEND_ACK:
                // send ack
                outCm.funct             = FUNCT_BOOTLOADER;
                outCm.funcc             = FUNCC_BOOT_ACK;
                outCm.nid               = MY_NID;
                outCm.sid               = MY_ID;
                outCm.data_length       = 8;
                outCm.data[BOOT_DATA_ERR_INDEX] = errMsg;
                t                       = tickGet();
                pgs                     = afterAckPgs;
 
                while(!canSendMessage(outCm,PRIO_HIGH));
            break;
 
 
            case pgsWAIT_FIRST_PGM_PACKET:
                // wait for first pgm packet.
                if ((tickGet()-t)>PACKET_TIMEOUT)
                {
                    // Timeout, resend ack.
                    errMsg          = ACK_ERR_NO_ERROR;
                    afterAckPgs     = pgsWAIT_FIRST_PGM_PACKET;
                    pgs             = pgsSEND_ACK;
                }
 
                // If programming packet...
                if (hasPacket==TRUE && cm.funct==FUNCT_BOOTLOADER && (cm.funcc & 0x3E3)==FUNCC_BOOT_PGM && cm.nid==MY_NID && cm.sid==programmerSid)
                {
                    BYTE localIndex = (BYTE)((cm.funcc & 0x1C)>>2)*8;
 
                    // Save bytes in memory, setup start adress etc..
                    bytesReceived   = 8;       
                    pgmData[localIndex+0]=cm.data[0]; pgmData[localIndex+1]=cm.data[1]; pgmData[localIndex+2]=cm.data[2]; pgmData[localIndex+3]=cm.data[3];
                    pgmData[localIndex+4]=cm.data[4]; pgmData[localIndex+5]=cm.data[5]; pgmData[localIndex+6]=cm.data[6]; pgmData[localIndex+7]=cm.data[7];
               
                    pgs             = pgsWAIT_PGM_PACKET;
                }
 
 
            break;
 
 
            case pgsWAIT_PGM_PACKET:
       
           
                // If programming packet...
                if (hasPacket==TRUE && cm.funct==FUNCT_BOOTLOADER && (cm.funcc & 0x3E3)==FUNCC_BOOT_PGM && cm.nid==MY_NID && cm.sid==programmerSid)
                {
                    BYTE localIndex = (BYTE)((cm.funcc & 0x1C)>>2)*8;
                    // Save bytes in memory, inc received bytes.
                    pgmData[localIndex+0]=cm.data[0]; pgmData[localIndex+1]=cm.data[1]; pgmData[localIndex+2]=cm.data[2]; pgmData[localIndex+3]=cm.data[3];
                    pgmData[localIndex+4]=cm.data[4]; pgmData[localIndex+5]=cm.data[5]; pgmData[localIndex+6]=cm.data[6]; pgmData[localIndex+7]=cm.data[7];
                   
                    bytesReceived   += 8;
                    pgs              = pgsWAIT_PGM_PACKET;
                }
 
                // If adress packet (control packet)..
                if (hasPacket==TRUE && cm.funct==FUNCT_BOOTLOADER && cm.funcc==FUNCC_BOOT_ADDR && cm.nid==MY_NID && cm.sid==programmerSid)
                {
                    // Send ack and goto wait first packet.
                    // save adress.
                    errMsg          = ACK_ERR_NO_ERROR;
                    afterAckPgs     = pgsWAIT_FIRST_PGM_PACKET;
                    pgs             = pgsSEND_ACK;
                }
               
                // If end packet...
                if (hasPacket==TRUE && cm.funct==FUNCT_BOOTLOADER && cm.funcc==FUNCC_BOOT_DONE && cm.nid==MY_NID && cm.sid==programmerSid)
                {
                    // write program.
                    // If no bytes received at all, assume end.
                    // If not 64 bytes received, send error ack and wait for first packet.
                    // If 64, write.
 
                    if (bytesReceived==0)
                    {
                        // No received, done.
                        errMsg          = ACK_ERR_NO_ERROR;
                        afterAckPgs     = pgsDONE;
                        pgs             = pgsSEND_ACK;
                    }
                    else if (bytesReceived!=64)
                    {
                        errMsg          = ACK_ERR_ERROR;
                        afterAckPgs     = pgsWAIT_FIRST_PGM_PACKET;
                        pgs             = pgsSEND_ACK;
                    }
                    else
                    {
                        pgs              = pgsWRITE_PROGRAM;
                        afterAckPgs     = pgsDONE;
                    }
                }
 
                // If bytes received 64, write..
                if (bytesReceived==64)
                {
                    LED0_IO=~LED0_IO;
                    pgs              = pgsWRITE_PROGRAM;
                    afterAckPgs     = pgsWAIT_PGM_PACKET;
                    // TODO! Send ack more than once..
                }
 
 
            break;
 
 
            case pgsWRITE_PROGRAM:
 
                ClrWdt();
 
                // Write program and send ack.
 
                // Check addr limit
                if (pgmAddress<RM_RESET_VECTOR)
                {              
                    errMsg          = ACK_ERR_ERROR;
                    pgs             = pgsSEND_ACK;
                    //Not allowed to write here!
                   
                }
 
                //Load Table pointer registers with base address to erase.
                TBLPTRU = (BYTE)((pgmAddress & 0xFF0000)>>16);
                TBLPTRH = (BYTE)((pgmAddress & 0xFF00)>>8);
                TBLPTRL = (BYTE)(pgmAddress & 0xFF);
 
                // point to Flash program memory
                EECON1bits.EEPGD = 1;
                // access Flash program memory
                EECON1bits.CFGS = 0;
                // enable write to memory
                EECON1bits.WREN = 1;
                // enable Row Erase operation
                EECON1bits.FREE = 1;
                // disable interrupts
                INTCONbits.GIE = 0;
 
                // Do it!
                EECON2 = 0x55;
                EECON2 = 0xAA;
                EECON1bits.WR = 1;
 
                // enable interrupts
                INTCONbits.GIE = 1;
               
                //Load Table pointer registers with base address to program.
                TBLPTRU = (BYTE)((pgmAddress & 0xFF0000)>>16);
                TBLPTRH = (BYTE)((pgmAddress & 0xFF00)>>8);
                TBLPTRL = (BYTE)(pgmAddress & 0xFF);
 
                // Load bytes
                for(i=0;i<63;i++)
                {
                    TABLAT=pgmData[i];
                    TBLWTPOSTINC_Func();
                }
                TABLAT=pgmData[63];
                TBLWT_Func();
 
 
                // point to Flash program memory
                EECON1bits.EEPGD = 1;
                // access Flash program memory
                EECON1bits.CFGS = 0;
                // enable write to memory
                EECON1bits.WREN = 1;
                // disable interrupts
                INTCONbits.GIE = 0;
               
                // Do it!
                EECON2 = 0x55;
                EECON2 = 0xAA;
                EECON1bits.WR = 1;
 
                // enable interrupts
                INTCONbits.GIE = 1;
 
                // disable write to memory
                EECON1bits.WREN = 0;
 
                pgmAddress     += 64;
                bytesReceived   = 0;
                errMsg          = ACK_ERR_NO_ERROR;
                pgs             = pgsSEND_ACK;
 
            break;
 
 
            case pgsDONE:
                _asm  goto RM_RESET_VECTOR _endasm
            break;
 
       
 
 
            default:
                pgs = pgsWATING_START;
            break;
        }
   
 
    }
}
 
 
/*
*   Function: mainInit
*
*   Input:  none
*   Output: none
*   Pre-conditions: none
*   Affects: Se code
*   Depends: none.
*/
void mainInit()
{
    LED0_TRIS=0;   
 
    // Enable internal PORTB pull-ups
    INTCON2bits.RBPU = 0;
   
    // Enable Interrupts
    INTCONbits.GIEH = 1;
    INTCONbits.GIEL = 1;
 
    // Enable interrupt prirority
    RCONbits.IPEN=1;
   
 
}
 
 
 
/// CAN-------------------------------------------------------
 
 
#ifdef USE_CAN
 
 
/*
*   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
 
    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;
    ECANCONbits.MDSEL0 = 0;
 
 
    // FILTERS AND MASKS
    RXB0CONbits.RXM1=1;
    RXB0CONbits.RXM0=0;
 
 
    // INTERRUPTS
   
    // Diable transmit interrupt
    TXBIE = 0;
 
    //rx no interrupt
    PIR3 = 0;
    PIE3 = 0;
 
 
    // Programmable no buffers interrupt
    BIE0  = 0x00;  
 
 
    //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
 
}
 
 
 
 
/*
*   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.
*/
BOOL canGetPacket()
{
 
        // Get which buffer that is ful.
        ECANCON=(ECANCON&0b00000)|(0b10000|(CANCON&0x0F));
        if (!RXB0CONbits.RXFUL) 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
 
        //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;
 
        return TRUE;
}
 
 
/*
*   Function: canSendMessage
*
*   Input:  CAN_MESSAGE to send
*   Output: True if packet scheduled sucess, false otherwise.
*   Pre-conditions: canInit
*   Affects: ..
*   Depends: ..
*/
BOOL canSendMessage(CAN_PROTO_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;
 
 
        //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 or not
        RXB0SIDLbits.EXID=1;
 
        // Priority
        RXB0CON = (RXB0CON & 0b11111100) | prio;
 
        // mark as redy to transmit
        _asm
            bsf RXB0CON, 3, 0
        _endasm
 
        return TRUE;
 
}
 
 
 
#endif //USE_CAN
 
 
 
 
void TBLRD_Func()
{
_asm
    TBLRD
_endasm
}
 
void TBLWT_Func()
{
_asm
    TBLWT
_endasm
}
 
 
void TBLWTPOSTINC_Func (void){
_asm
    TBLWTPOSTINC
_endasm
}
 
DWORD tickGet()
{
    return tickCounter;
}
 
 
#pragma code user = RM_RESET_VECTOR
 

Rev 104	Rev 110
1	/*********************************************************************	1	/*********************************************************************
2	*	2	*
3	* Main application	3	* Main application
4	*	4	*
5	*********************************************************************	5	*********************************************************************
6	* FileName: $HeadURL: https://svn.auml.se/svn/HomeAutomation/trunk/EmbeddedSoftware/PIC/canBoot/Source/Main.c $	6	* FileName: $HeadURL: https://svn.auml.se/svn/HomeAutomation/trunk/EmbeddedSoftware/PIC/canBoot/Source/Main.c $
7	* Last changed: $LastChangedDate: 2006-11-15 10:22:35 +0100 (Wed, 15 Nov 2006) $	7	* Last changed: $LastChangedDate: 2006-11-15 18:53:04 +0100 (Wed, 15 Nov 2006) $
8	* By: $LastChangedBy: johboh $	8	* By: $LastChangedBy: johboh $
9	* Revision: $Revision: ~~104~~ $	9	* Revision: $Revision: 110 $
10	********************************************************************/	10	********************************************************************/
11		11
12	#include <compiler.h>	12	#include <compiler.h>
13	#include <stackTasks.h>	13	#include <stackTasks.h>
14	#include <CANdefs.h>	14	#include <CANdefs.h>
15	#include <CAN.h>	15	#include <CAN.h>
16	#include <boot.h>	16	#include <boot.h>
17	#include <funcdefs.h>	17	#include <funcdefs.h>
18	#include <EEaccess.h>	18	#include <EEaccess.h>
19		19
20	/ V E C T O R R E M A P P I N G *****************************************/	20	/ V E C T O R R E M A P P I N G *****************************************/
21		21
22	#pragma code _HIGH_INTERRUPT_VECTOR = 0x000008	22	#pragma code _HIGH_INTERRUPT_VECTOR = 0x000008
23	void _high_ISR (void)	23	void _high_ISR (void)
24	{	24	{
25	_asm goto RM_HIGH_INTERRUPT_VECTOR _endasm	25	_asm goto RM_HIGH_INTERRUPT_VECTOR _endasm
26	}	26	}
27		27
28	#pragma code _LOW_INTERRUPT_VECTOR = 0x000018	28	#pragma code _LOW_INTERRUPT_VECTOR = 0x000018
29	void _low_ISR (void)	29	void _low_ISR (void)
30	{	30	{
31	_asm goto RM_LOW_INTERRUPT_VECTOR _endasm	31	_asm goto RM_LOW_INTERRUPT_VECTOR _endasm
32	}	32	}
33		33
34	#pragma code	34	#pragma code
35		35
36		36
37	#ifdef USE_CAN	37	#ifdef USE_CAN
38	#include <CAN.h>	38	#include <CAN.h>
39	#endif	39	#endif
40		40
41	static CAN_PROTO_MESSAGE cm;	41	static CAN_PROTO_MESSAGE cm;
42	static DWORD cnt =0;	42	static DWORD cnt =0;
43		43
44	static void mainInit(void);	44	static void mainInit(void);
45	static BOOL canGetPacket(void);	45	static BOOL canGetPacket(void);
46	void TBLWT_Func(void);	46	void TBLWT_Func(void);
47	void TBLWTPOSTINC_Func (void);	47	void TBLWTPOSTINC_Func (void);
48	void TBLRD_Func(void);	48	void TBLRD_Func(void);
49		49
50	#define TICK_SUB_COUNTER_10MS 312	50	#define TICK_SUB_COUNTER_10MS 312
51	#define PACKET_TIMEOUT 14	51	#define PACKET_TIMEOUT 14
52	#define BOOTLOADER_INIT_TIMOUT 500	52	#define BOOTLOADER_INIT_TIMOUT 500
53		53
54	DWORD tickCounter = 0;	54	DWORD tickCounter = 0;
55	DWORD tickSubCounter = 0;	55	DWORD tickSubCounter = 0;
56		56
57	DWORD tickGet(void);	57	DWORD tickGet(void);
58		58
59	static int MY_ID = DEFAULT_ID;	59	static int MY_ID = DEFAULT_ID;
60	static BYTE MY_NID = DEFAULT_NID;	60	static BYTE MY_NID = DEFAULT_NID;
61		61
62	void main()	62	void main()
63	{	63	{
64	static PROGRAM_STATE pgs = pgsWATING_START;	64	static PROGRAM_STATE pgs = pgsWATING_START;
65	static DWORD t = 0;	65	static DWORD t = 0;
66	static WORD programmerSid=0;	66	static WORD programmerSid=0;
67		67
68	static BYTE errMsg = ACK_ERR_NO_ERROR;	68	static BYTE errMsg = ACK_ERR_NO_ERROR;
69	static PROGRAM_STATE afterAckPgs = pgsWATING_START;	69	static PROGRAM_STATE afterAckPgs = pgsWATING_START;
70	static DWORD pgmAddress = 0;	70	static DWORD pgmAddress = 0;
71	static BYTE bytesReceived = 0;	71	static BYTE bytesReceived = 0;
72		72
73	DWORD tBoot;	73	DWORD tBoot;
74		74
75	static BYTE pgmData[64];	75	static BYTE pgmData[64];
-		76
-		77	CAN_PROTO_MESSAGE outCmHeart;
76		78
77	// Inits	79	// Inits
78	mainInit();	80	mainInit();
79		81
80	#ifdef USE_CAN	82	#ifdef USE_CAN
81	canInit();	83	canInit();
82	#endif	84	#endif
83		85
84	tBoot = tickGet();	86	tBoot = tickGet();
85		87
86	// Read ID and NID if exist.	88	// Read ID and NID if exist.
87	if (EERead(NODE_ID_EE)==NODE_HAS_ID)	89	if (EERead(NODE_ID_EE)==NODE_HAS_ID)
88	{	90	{
89	MY_ID=(((WORD)EERead(NODE_ID_EE + 1))<<8)+EERead(NODE_ID_EE + 2);	91	MY_ID=(((WORD)EERead(NODE_ID_EE + 1))<<8)+EERead(NODE_ID_EE + 2);
90	MY_NID=EERead(NODE_ID_EE + 3);	92	MY_NID=EERead(NODE_ID_EE + 3);
91	}	93	}
-		94
-		95	// Send bootloader startup heatbeat
-		96	outCmHeart.funct = FUNCT_BOOTLOADER;
-		97	outCmHeart.funcc = FUNCC_BOOT_HEARTBEAT;
-		98	outCmHeart.nid = MY_NID;
-		99	outCmHeart.sid = MY_ID;
-		100	outCmHeart.data_length = 1;
-		101	outCmHeart.data[BOOT_DATA_HEARTBEAT_INDEX] = HEARTBEAT_BOOT_STARTUP;
-		102	while(!canSendMessage(outCmHeart,PRIO_HIGH));
92		103
93		104
94	for(;;)	105	for(;;)
95	{	106	{
96	BYTE i;	107	BYTE i;
97	CAN_PROTO_MESSAGE outCm;	108	CAN_PROTO_MESSAGE outCm;
98	BOOL hasPacket = canGetPacket();	109	BOOL hasPacket = canGetPacket();
99		110
100	tickSubCounter++;	111	tickSubCounter++;
101	if (tickSubCounter>TICK_SUB_COUNTER_10MS)	112	if (tickSubCounter>TICK_SUB_COUNTER_10MS)
102	{	113	{
103	tickCounter++;	114	tickCounter++;
104	tickSubCounter=0;	115	tickSubCounter=0;
105	ClrWdt();	116	ClrWdt();
106	}	117	}
107		118
108	switch(pgs)	119	switch(pgs)
109	{	120	{
110	case pgsWATING_START:	121	case pgsWATING_START:
111	// Check if there is bootloader start packet	122	// Check if there is bootloader start packet
112	if (hasPacket==TRUE && cm.funct==FUNCT_BOOTLOADER && cm.funcc==FUNCC_BOOT_INIT && ((((unsigned int)cm.data[BOOT_DATA_RID_HIGH_INDEX])<<8)+cm.data[BOOT_DATA_RID_LOW_INDEX])==MY_ID && cm.nid==MY_NID)	123	if (hasPacket==TRUE && cm.funct==FUNCT_BOOTLOADER && cm.funcc==FUNCC_BOOT_INIT && ((((unsigned int)cm.data[BOOT_DATA_RID_HIGH_INDEX])<<8)+cm.data[BOOT_DATA_RID_LOW_INDEX])==MY_ID && cm.nid==MY_NID)
113	{	124	{
114	// Has new start packet	125	// Has new start packet
115	pgmAddress = (((DWORD)cm.data[BOOT_DATA_ADDRU_INDEX])<<16)+(((DWORD)cm.data[BOOT_DATA_ADDRH_INDEX])<<8)+((DWORD)cm.data[BOOT_DATA_ADDRL_INDEX]);	126	pgmAddress = (((DWORD)cm.data[BOOT_DATA_ADDRU_INDEX])<<16)+(((DWORD)cm.data[BOOT_DATA_ADDRH_INDEX])<<8)+((DWORD)cm.data[BOOT_DATA_ADDRL_INDEX]);
116	programmerSid = cm.sid;	127	programmerSid = cm.sid;
117	t = tickGet();	128	t = tickGet();
118	errMsg = ACK_ERR_NO_ERROR;	129	errMsg = ACK_ERR_NO_ERROR;
119	afterAckPgs = pgsWAIT_FIRST_PGM_PACKET;	130	afterAckPgs = pgsWAIT_FIRST_PGM_PACKET;
120	pgs = pgsSEND_ACK;	131	pgs = pgsSEND_ACK;
121	// save pgm adress.	132	// save pgm adress.
122		133
123	}	134	}
124		135
125	// Bootloader timeout	136	// Bootloader timeout
126	if ((tickGet()-tBoot)>BOOTLOADER_INIT_TIMOUT)	137	if ((tickGet()-tBoot)>BOOTLOADER_INIT_TIMOUT)
127	{	138	{
128	pgs = pgsDONE;	139	pgs = pgsDONE;
129	}	140	}
130	break;	141	break;
131		142
132	case pgsSEND_ACK:	143	case pgsSEND_ACK:
133	// send ack	144	// send ack
134	outCm.funct = FUNCT_BOOTLOADER;	145	outCm.funct = FUNCT_BOOTLOADER;
135	outCm.funcc = FUNCC_BOOT_ACK;	146	outCm.funcc = FUNCC_BOOT_ACK;
136	outCm.nid = MY_NID;	147	outCm.nid = MY_NID;
137	outCm.sid = MY_ID;	148	outCm.sid = MY_ID;
138	outCm.data_length = 8;	149	outCm.data_length = 8;
139	outCm.data[BOOT_DATA_ERR_INDEX] = errMsg;	150	outCm.data[BOOT_DATA_ERR_INDEX] = errMsg;
140	t = tickGet();	151	t = tickGet();
141	pgs = afterAckPgs;	152	pgs = afterAckPgs;
142		153
143	while(!canSendMessage(outCm,PRIO_HIGH));	154	while(!canSendMessage(outCm,PRIO_HIGH));
144	break;	155	break;
145		156
146		157
147	case pgsWAIT_FIRST_PGM_PACKET:	158	case pgsWAIT_FIRST_PGM_PACKET:
148	// wait for first pgm packet.	159	// wait for first pgm packet.
149	if ((tickGet()-t)>PACKET_TIMEOUT)	160	if ((tickGet()-t)>PACKET_TIMEOUT)
150	{	161	{
151	// Timeout, resend ack.	162	// Timeout, resend ack.
152	errMsg = ACK_ERR_NO_ERROR;	163	errMsg = ACK_ERR_NO_ERROR;
153	afterAckPgs = pgsWAIT_FIRST_PGM_PACKET;	164	afterAckPgs = pgsWAIT_FIRST_PGM_PACKET;
154	pgs = pgsSEND_ACK;	165	pgs = pgsSEND_ACK;
155	}	166	}
156		167
157	// If programming packet...	168	// If programming packet...
158	if (hasPacket==TRUE && cm.funct==FUNCT_BOOTLOADER && (cm.funcc & 0x3E3)==FUNCC_BOOT_PGM && cm.nid==MY_NID && cm.sid==programmerSid)	169	if (hasPacket==TRUE && cm.funct==FUNCT_BOOTLOADER && (cm.funcc & 0x3E3)==FUNCC_BOOT_PGM && cm.nid==MY_NID && cm.sid==programmerSid)
159	{	170	{
160	BYTE localIndex = (BYTE)((cm.funcc & 0x1C)>>2)*8;	171	BYTE localIndex = (BYTE)((cm.funcc & 0x1C)>>2)*8;
161		172
162	// Save bytes in memory, setup start adress etc..	173	// Save bytes in memory, setup start adress etc..
163	bytesReceived = 8;	174	bytesReceived = 8;
164	pgmData[localIndex+0]=cm.data[0]; pgmData[localIndex+1]=cm.data[1]; pgmData[localIndex+2]=cm.data[2]; pgmData[localIndex+3]=cm.data[3];	175	pgmData[localIndex+0]=cm.data[0]; pgmData[localIndex+1]=cm.data[1]; pgmData[localIndex+2]=cm.data[2]; pgmData[localIndex+3]=cm.data[3];
165	pgmData[localIndex+4]=cm.data[4]; pgmData[localIndex+5]=cm.data[5]; pgmData[localIndex+6]=cm.data[6]; pgmData[localIndex+7]=cm.data[7];	176	pgmData[localIndex+4]=cm.data[4]; pgmData[localIndex+5]=cm.data[5]; pgmData[localIndex+6]=cm.data[6]; pgmData[localIndex+7]=cm.data[7];
166		177
167	pgs = pgsWAIT_PGM_PACKET;	178	pgs = pgsWAIT_PGM_PACKET;
168	}	179	}
169		180
170		181
171	break;	182	break;
172		183
173		184
174	case pgsWAIT_PGM_PACKET:	185	case pgsWAIT_PGM_PACKET:
175		186
176		187
177	// If programming packet...	188	// If programming packet...
178	if (hasPacket==TRUE && cm.funct==FUNCT_BOOTLOADER && (cm.funcc & 0x3E3)==FUNCC_BOOT_PGM && cm.nid==MY_NID && cm.sid==programmerSid)	189	if (hasPacket==TRUE && cm.funct==FUNCT_BOOTLOADER && (cm.funcc & 0x3E3)==FUNCC_BOOT_PGM && cm.nid==MY_NID && cm.sid==programmerSid)
179	{	190	{
180	BYTE localIndex = (BYTE)((cm.funcc & 0x1C)>>2)*8;	191	BYTE localIndex = (BYTE)((cm.funcc & 0x1C)>>2)*8;
181	// Save bytes in memory, inc received bytes.	192	// Save bytes in memory, inc received bytes.
182	pgmData[localIndex+0]=cm.data[0]; pgmData[localIndex+1]=cm.data[1]; pgmData[localIndex+2]=cm.data[2]; pgmData[localIndex+3]=cm.data[3];	193	pgmData[localIndex+0]=cm.data[0]; pgmData[localIndex+1]=cm.data[1]; pgmData[localIndex+2]=cm.data[2]; pgmData[localIndex+3]=cm.data[3];
183	pgmData[localIndex+4]=cm.data[4]; pgmData[localIndex+5]=cm.data[5]; pgmData[localIndex+6]=cm.data[6]; pgmData[localIndex+7]=cm.data[7];	194	pgmData[localIndex+4]=cm.data[4]; pgmData[localIndex+5]=cm.data[5]; pgmData[localIndex+6]=cm.data[6]; pgmData[localIndex+7]=cm.data[7];
184		195
185	bytesReceived += 8;	196	bytesReceived += 8;
186	pgs = pgsWAIT_PGM_PACKET;	197	pgs = pgsWAIT_PGM_PACKET;
187	}	198	}
188		199
189	// If adress packet (control packet)..	200	// If adress packet (control packet)..
190	if (hasPacket==TRUE && cm.funct==FUNCT_BOOTLOADER && cm.funcc==FUNCC_BOOT_ADDR && cm.nid==MY_NID && cm.sid==programmerSid)	201	if (hasPacket==TRUE && cm.funct==FUNCT_BOOTLOADER && cm.funcc==FUNCC_BOOT_ADDR && cm.nid==MY_NID && cm.sid==programmerSid)
191	{	202	{
192	// Send ack and goto wait first packet.	203	// Send ack and goto wait first packet.
193	// save adress.	204	// save adress.
194	errMsg = ACK_ERR_NO_ERROR;	205	errMsg = ACK_ERR_NO_ERROR;
195	afterAckPgs = pgsWAIT_FIRST_PGM_PACKET;	206	afterAckPgs = pgsWAIT_FIRST_PGM_PACKET;
196	pgs = pgsSEND_ACK;	207	pgs = pgsSEND_ACK;
197	}	208	}
198		209
199	// If end packet...	210	// If end packet...
200	if (hasPacket==TRUE && cm.funct==FUNCT_BOOTLOADER && cm.funcc==FUNCC_BOOT_DONE && cm.nid==MY_NID && cm.sid==programmerSid)	211	if (hasPacket==TRUE && cm.funct==FUNCT_BOOTLOADER && cm.funcc==FUNCC_BOOT_DONE && cm.nid==MY_NID && cm.sid==programmerSid)
201	{	212	{
202	// write program.	213	// write program.
203	// If no bytes received at all, assume end.	214	// If no bytes received at all, assume end.
204	// If not 64 bytes received, send error ack and wait for first packet.	215	// If not 64 bytes received, send error ack and wait for first packet.
205	// If 64, write.	216	// If 64, write.
206		217
207	if (bytesReceived==0)	218	if (bytesReceived==0)
208	{	219	{
209	// No received, done.	220	// No received, done.
210	errMsg = ACK_ERR_NO_ERROR;	221	errMsg = ACK_ERR_NO_ERROR;
211	afterAckPgs = pgsDONE;	222	afterAckPgs = pgsDONE;
212	pgs = pgsSEND_ACK;	223	pgs = pgsSEND_ACK;
213	}	224	}
214	else if (bytesReceived!=64)	225	else if (bytesReceived!=64)
215	{	226	{
216	errMsg = ACK_ERR_ERROR;	227	errMsg = ACK_ERR_ERROR;
217	afterAckPgs = pgsWAIT_FIRST_PGM_PACKET;	228	afterAckPgs = pgsWAIT_FIRST_PGM_PACKET;
218	pgs = pgsSEND_ACK;	229	pgs = pgsSEND_ACK;
219	}	230	}
220	else	231	else
221	{	232	{
222	pgs = pgsWRITE_PROGRAM;	233	pgs = pgsWRITE_PROGRAM;
223	afterAckPgs = pgsDONE;	234	afterAckPgs = pgsDONE;
224	}	235	}
225	}	236	}
226		237
227	// If bytes received 64, write..	238	// If bytes received 64, write..
228	if (bytesReceived==64)	239	if (bytesReceived==64)
229	{	240	{
230	LED0_IO=~LED0_IO;	241	LED0_IO=~LED0_IO;
231	pgs = pgsWRITE_PROGRAM;	242	pgs = pgsWRITE_PROGRAM;
232	afterAckPgs = pgsWAIT_PGM_PACKET;	243	afterAckPgs = pgsWAIT_PGM_PACKET;
233	// TODO! Send ack more than once..	244	// TODO! Send ack more than once..
234	}	245	}
235		246
236		247
237	break;	248	break;
238		249
239		250
240	case pgsWRITE_PROGRAM:	251	case pgsWRITE_PROGRAM:
241		252
242	ClrWdt();	253	ClrWdt();
243		254
244	// Write program and send ack.	255	// Write program and send ack.
245		256
246	// Check addr limit	257	// Check addr limit
247	if (pgmAddress<RM_RESET_VECTOR)	258	if (pgmAddress<RM_RESET_VECTOR)
248	{	259	{
249	errMsg = ACK_ERR_ERROR;	260	errMsg = ACK_ERR_ERROR;
250	pgs = pgsSEND_ACK;	261	pgs = pgsSEND_ACK;
251	//Not allowed to write here!	262	//Not allowed to write here!
252		263
253	}	264	}
254		265
255	//Load Table pointer registers with base address to erase.	266	//Load Table pointer registers with base address to erase.
256	TBLPTRU = (BYTE)((pgmAddress & 0xFF0000)>>16);	267	TBLPTRU = (BYTE)((pgmAddress & 0xFF0000)>>16);
257	TBLPTRH = (BYTE)((pgmAddress & 0xFF00)>>8);	268	TBLPTRH = (BYTE)((pgmAddress & 0xFF00)>>8);
258	TBLPTRL = (BYTE)(pgmAddress & 0xFF);	269	TBLPTRL = (BYTE)(pgmAddress & 0xFF);
259		270
260	// point to Flash program memory	271	// point to Flash program memory
261	EECON1bits.EEPGD = 1;	272	EECON1bits.EEPGD = 1;
262	// access Flash program memory	273	// access Flash program memory
263	EECON1bits.CFGS = 0;	274	EECON1bits.CFGS = 0;
264	// enable write to memory	275	// enable write to memory
265	EECON1bits.WREN = 1;	276	EECON1bits.WREN = 1;
266	// enable Row Erase operation	277	// enable Row Erase operation
267	EECON1bits.FREE = 1;	278	EECON1bits.FREE = 1;
268	// disable interrupts	279	// disable interrupts
269	INTCONbits.GIE = 0;	280	INTCONbits.GIE = 0;
270		281
271	// Do it!	282	// Do it!
272	EECON2 = 0x55;	283	EECON2 = 0x55;
273	EECON2 = 0xAA;	284	EECON2 = 0xAA;
274	EECON1bits.WR = 1;	285	EECON1bits.WR = 1;
275		286
276	// enable interrupts	287	// enable interrupts
277	INTCONbits.GIE = 1;	288	INTCONbits.GIE = 1;
278		289
279	//Load Table pointer registers with base address to program.	290	//Load Table pointer registers with base address to program.
280	TBLPTRU = (BYTE)((pgmAddress & 0xFF0000)>>16);	291	TBLPTRU = (BYTE)((pgmAddress & 0xFF0000)>>16);
281	TBLPTRH = (BYTE)((pgmAddress & 0xFF00)>>8);	292	TBLPTRH = (BYTE)((pgmAddress & 0xFF00)>>8);
282	TBLPTRL = (BYTE)(pgmAddress & 0xFF);	293	TBLPTRL = (BYTE)(pgmAddress & 0xFF);
283		294
284	// Load bytes	295	// Load bytes
285	for(i=0;i<63;i++)	296	for(i=0;i<63;i++)
286	{	297	{
287	TABLAT=pgmData[i];	298	TABLAT=pgmData[i];
288	TBLWTPOSTINC_Func();	299	TBLWTPOSTINC_Func();
289	}	300	}
290	TABLAT=pgmData[63];	301	TABLAT=pgmData[63];
291	TBLWT_Func();	302	TBLWT_Func();
292		303
293		304
294	// point to Flash program memory	305	// point to Flash program memory
295	EECON1bits.EEPGD = 1;	306	EECON1bits.EEPGD = 1;
296	// access Flash program memory	307	// access Flash program memory
297	EECON1bits.CFGS = 0;	308	EECON1bits.CFGS = 0;
298	// enable write to memory	309	// enable write to memory
299	EECON1bits.WREN = 1;	310	EECON1bits.WREN = 1;
300	// disable interrupts	311	// disable interrupts
301	INTCONbits.GIE = 0;	312	INTCONbits.GIE = 0;
302		313
303	// Do it!	314	// Do it!
304	EECON2 = 0x55;	315	EECON2 = 0x55;
305	EECON2 = 0xAA;	316	EECON2 = 0xAA;
306	EECON1bits.WR = 1;	317	EECON1bits.WR = 1;
307		318
308	// enable interrupts	319	// enable interrupts
309	INTCONbits.GIE = 1;	320	INTCONbits.GIE = 1;
310		321
311	// disable write to memory	322	// disable write to memory
312	EECON1bits.WREN = 0;	323	EECON1bits.WREN = 0;
313		324
314	pgmAddress += 64;	325	pgmAddress += 64;
315	bytesReceived = 0;	326	bytesReceived = 0;
316	errMsg = ACK_ERR_NO_ERROR;	327	errMsg = ACK_ERR_NO_ERROR;
317	pgs = pgsSEND_ACK;	328	pgs = pgsSEND_ACK;
318		329
319	break;	330	break;
320		331
321		332
322	case pgsDONE:	333	case pgsDONE:
323	_asm goto RM_RESET_VECTOR _endasm	334	_asm goto RM_RESET_VECTOR _endasm
324	break;	335	break;
325		336
326		337
327		338
328		339
329	default:	340	default:
330	pgs = pgsWATING_START;	341	pgs = pgsWATING_START;
331	break;	342	break;
332	}	343	}
333		344
334		345
335	}	346	}
336	}	347	}
337		348
338		349
339	/*	350	/*
340	* Function: mainInit	351	* Function: mainInit
341	*	352	*
342	* Input: none	353	* Input: none
343	* Output: none	354	* Output: none
344	* Pre-conditions: none	355	* Pre-conditions: none
345	* Affects: Se code	356	* Affects: Se code
346	* Depends: none.	357	* Depends: none.
347	*/	358	*/
348	void mainInit()	359	void mainInit()
349	{	360	{
350	LED0_TRIS=0;	361	LED0_TRIS=0;
351		362
352	// Enable internal PORTB pull-ups	363	// Enable internal PORTB pull-ups
353	INTCON2bits.RBPU = 0;	364	INTCON2bits.RBPU = 0;
354		365
355	// Enable Interrupts	366	// Enable Interrupts
356	INTCONbits.GIEH = 1;	367	INTCONbits.GIEH = 1;
357	INTCONbits.GIEL = 1;	368	INTCONbits.GIEL = 1;
358		369
359	// Enable interrupt prirority	370	// Enable interrupt prirority
360	RCONbits.IPEN=1;	371	RCONbits.IPEN=1;
361		372
362		373
363	}	374	}
364		375
365		376
366		377
367	/// CAN-------------------------------------------------------	378	/// CAN-------------------------------------------------------
368		379
369		380
370	#ifdef USE_CAN	381	#ifdef USE_CAN
371		382
372		383
373	/*	384	/*
374	* Function: canInit	385	* Function: canInit
375	*	386	*
376	* Input: none	387	* Input: none
377	* Output: none	388	* Output: none
378	* Pre-conditions: none	389	* Pre-conditions: none
379	* Affects: Changes can registers.	390	* Affects: Changes can registers.
380	* Depends: none.	391	* Depends: none.
381	*/	392	*/
382	void canInit()	393	void canInit()
383	{	394	{
384	CANCON = 0x80; //request config mode	395	CANCON = 0x80; //request config mode
385	while ((CANSTAT & 0xE0) != 0x80 ); //wait for config mode request	396	while ((CANSTAT & 0xE0) != 0x80 ); //wait for config mode request
386		397
387	// BAUD AND TQS	398	// BAUD AND TQS
388		399
389	BRGCON1=0;	400	BRGCON1=0;
390		401
391	// Sync_Seq = 2 x TQ = 1	402	// Sync_Seq = 2 x TQ = 1
392	BRGCON1bits.SJW1=0;	403	BRGCON1bits.SJW1=0;
393	BRGCON1bits.SJW0=1;	404	BRGCON1bits.SJW0=1;
394		405
395	// Setting BRP.	406	// Setting BRP.
396	BRGCON1=BRGCON1\|CAN_BRP;	407	BRGCON1=BRGCON1\|CAN_BRP;
397		408
398	// Maximum PHEG1	409	// Maximum PHEG1
399	BRGCON2bits.SEG2PHTS = 1;	410	BRGCON2bits.SEG2PHTS = 1;
400		411
401	// Phase_Seg1 = 2 x TQ = 1	412	// Phase_Seg1 = 2 x TQ = 1
402	BRGCON2bits.SEG1PH2 = 0;	413	BRGCON2bits.SEG1PH2 = 0;
403	BRGCON2bits.SEG1PH1 = 0;	414	BRGCON2bits.SEG1PH1 = 0;
404	BRGCON2bits.SEG1PH0 = 1;	415	BRGCON2bits.SEG1PH0 = 1;
405		416
406	// Prop_Seq = 2 x TQ = 1	417	// Prop_Seq = 2 x TQ = 1
407	BRGCON2bits.PRSEG2 = 0;	418	BRGCON2bits.PRSEG2 = 0;
408	BRGCON2bits.PRSEG1 = 0;	419	BRGCON2bits.PRSEG1 = 0;
409	BRGCON2bits.PRSEG0 = 1;	420	BRGCON2bits.PRSEG0 = 1;
410		421
411	// Enableing bus wake-up	422	// Enableing bus wake-up
412	BRGCON3bits.WAKDIS = 0;	423	BRGCON3bits.WAKDIS = 0;
413		424
414	// Dont use filter when wakeup	425	// Dont use filter when wakeup
415	BRGCON3bits.WAKFIL = 0;	426	BRGCON3bits.WAKFIL = 0;
416		427
417	// Phase_Seg2 = 2 x TQ = 1	428	// Phase_Seg2 = 2 x TQ = 1
418	BRGCON3bits.SEG2PH2 = 0;	429	BRGCON3bits.SEG2PH2 = 0;
419	BRGCON3bits.SEG2PH1 = 0;	430	BRGCON3bits.SEG2PH1 = 0;
420	BRGCON3bits.SEG2PH0 = 1;	431	BRGCON3bits.SEG2PH0 = 1;
421		432
422	ECANCON=0;	433	ECANCON=0;
423	ECANCONbits.MDSEL1 = 1;	434	ECANCONbits.MDSEL1 = 1;
424	ECANCONbits.MDSEL0 = 0;	435	ECANCONbits.MDSEL0 = 0;
425		436
426		437
427	// FILTERS AND MASKS	438	// FILTERS AND MASKS
428	RXB0CONbits.RXM1=1;	439	RXB0CONbits.RXM1=1;
429	RXB0CONbits.RXM0=0;	440	RXB0CONbits.RXM0=0;
430		441
431		442
432	// INTERRUPTS	443	// INTERRUPTS
433		444
434	// Diable transmit interrupt	445	// Diable transmit interrupt
435	TXBIE = 0;	446	TXBIE = 0;
436		447
437	//rx no interrupt	448	//rx no interrupt
438	PIR3 = 0;	449	PIR3 = 0;
439	PIE3 = 0;	450	PIE3 = 0;
440		451
441		452
442	// Programmable no buffers interrupt	453	// Programmable no buffers interrupt
443	BIE0 = 0x00;	454	BIE0 = 0x00;
444		455
445		456
446	//loopback mode or not	457	//loopback mode or not
447	#ifdef CAN_LOOPBACK_MODE	458	#ifdef CAN_LOOPBACK_MODE
448	CANCON = 0x40;//request loopback mode	459	CANCON = 0x40;//request loopback mode
449	while ((CANSTAT & 0xE0) != 0x40 );//wait for loopback mode	460	while ((CANSTAT & 0xE0) != 0x40 );//wait for loopback mode
450	#else	461	#else
451	CANCON = 0x00;//request normal mode	462	CANCON = 0x00;//request normal mode
452	while ((CANSTAT & 0xE0) != 0x00 );//wait for normal mode	463	while ((CANSTAT & 0xE0) != 0x00 );//wait for normal mode
453	#endif	464	#endif
454		465
455	}	466	}
456		467
457		468
458		469
459		470
460	/*	471	/*
461	* Function: canGetPacket	472	* Function: canGetPacket
462	*	473	*
463	* Input: none	474	* Input: none
464	* Output: none	475	* Output: none
465	* Pre-conditions: a call to canISR and an packet is available and banked to RXB0	476	* Pre-conditions: a call to canISR and an packet is available and banked to RXB0
466	* Affects: Calls canParse() function in main for parsing received packet.	477	* Affects: Calls canParse() function in main for parsing received packet.
467	* Depends: none.	478	* Depends: none.
468	*/	479	*/
469	BOOL canGetPacket()	480	BOOL canGetPacket()
470	{	481	{
471		482
472	// Get which buffer that is ful.	483	// Get which buffer that is ful.
473	ECANCON=(ECANCON&0b00000)\|(0b10000\|(CANCON&0x0F));	484	ECANCON=(ECANCON&0b00000)\|(0b10000\|(CANCON&0x0F));
474	if (!RXB0CONbits.RXFUL) return FALSE;	485	if (!RXB0CONbits.RXFUL) return FALSE;
475		486
476	//RXB0SIDH 28 27 26 25 24 23 22 21	487	//RXB0SIDH 28 27 26 25 24 23 22 21
477	//RXB0SIDL 20 19 18 xx xx xx 17 16	488	//RXB0SIDL 20 19 18 xx xx xx 17 16
478	//RXB0EIDH 15 14 13 12 11 10 09 08	489	//RXB0EIDH 15 14 13 12 11 10 09 08
479	//RXB0EIDL 07 06 05 04 03 02 01 00	490	//RXB0EIDL 07 06 05 04 03 02 01 00
480		491
481	//funct xx xx xx xx 28 27 26 25	492	//funct xx xx xx xx 28 27 26 25
482	//funcc xx xx xx xx xx xx 24 23 22 21 20 19 18 17 16 15	493	//funcc xx xx xx xx xx xx 24 23 22 21 20 19 18 17 16 15
483	//nid xx xx 14 13 12 11 10 09	494	//nid xx xx 14 13 12 11 10 09
484	//sid xx xx xx xx xx xx xx 08 07 06 05 04 03 02 01 00	495	//sid xx xx xx xx xx xx xx 08 07 06 05 04 03 02 01 00
485		496
486		497
487	cm.funct=((RXB0SIDH & 0xF0)>>4);	498	cm.funct=((RXB0SIDH & 0xF0)>>4);
488	cm.funcc=(((WORD)(RXB0SIDH & 0x0F))<<6)+(((WORD)(RXB0SIDL & 0xE0))>>2)+(((WORD)(RXB0SIDL & 0x03))<<1)+(((WORD)(RXB0EIDH & 0x80))>>7);	499	cm.funcc=(((WORD)(RXB0SIDH & 0x0F))<<6)+(((WORD)(RXB0SIDL & 0xE0))>>2)+(((WORD)(RXB0SIDL & 0x03))<<1)+(((WORD)(RXB0EIDH & 0x80))>>7);
489	cm.nid=((RXB0EIDH & 0x7E)>>1);	500	cm.nid=((RXB0EIDH & 0x7E)>>1);

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