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/*********************************************************************
 *
 *                  Main application
 *
 *********************************************************************
 * FileName:        Main.c
 *
 * Author               Date    Comment
 *~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
 * Johan Böhlin     21-10-06    Original        (Rev 1.0)
 ********************************************************************/
// $Id: Main.c 80 2006-11-11 20:22:39Z johboh $
 
#include <compiler.h>
#include <stackTasks.h>
#include <CANdefs.h>
#include <CAN.h>
#include <boot.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 BYTE ful=0;
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);
 
void main()
{
    static PROGRAM_STATE pgs = pgsWATING_START;
    static DWORD t = 0;
    static WORD programmerSid=0;
   
    static BYTE errMsg = ERR_NO_ERROR;
    static PROGRAM_STATE afterAckPgs = pgsWATING_START;
    static DWORD pgmAddress = 0;
    static BYTE bytesReceived = 0;
 
    DWORD tBoot;
   
    static BYTE pgmData[64];
 
    static BYTE tmp;
 
    // Inits
    mainInit();
 
    #ifdef USE_CAN
        canInit();
    #endif
 
    tBoot = tickGet();
   
 
    for(;;)
    {
        BYTE i;
        CAN_PROTO_MESSAGE outCm;
        BOOL hasPacket = canGetPacket();
 
        tickSubCounter++;
        if (tickSubCounter>TICK_SUB_COUNTER_10MS)
        {
            tickCounter++;
            tickSubCounter=0;
        }
 
        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[RID_HIGH_INDEX])<<8)+cm.data[RID_LOW_INDEX])==MY_ID && cm.nid==MY_NID)
                {
                    // Has new start packet
                    pgmAddress      = (((DWORD)cm.data[ADDRU_INDEX])<<16)+(((DWORD)cm.data[ADDRH_INDEX])<<8)+((DWORD)cm.data[ADDRL_INDEX]);
                    programmerSid   = cm.sid;
                    t               = tickGet();
                    errMsg          = 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.remote_request    = FALSE;
                outCm.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          = ERR_NO_ERROR;
                    afterAckPgs     = pgsWAIT_FIRST_PGM_PACKET;
                    pgs             = pgsSEND_ACK;
                }
 
                // If programming packet...
                if (hasPacket==TRUE && cm.funct==FUNCT_BOOTLOADER && (cm.funcc & 0x3)==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 & 0x3)==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          = 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          = ERR_NO_ERROR;
                        afterAckPgs     = pgsDONE;
                        pgs             = pgsSEND_ACK;
                    }
                    else if (bytesReceived!=64)
                    {
                        errMsg          = 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:
 
 
                // Write program and send ack.
 
                // Check addr limit
                if (pgmAddress<RM_RESET_VECTOR)
                {              
                    errMsg          = 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          = 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 = 0;
    ECANCONbits.MDSEL0 = 1;
 
 
    // 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.
             if (RXB0CONbits.RXFUL) { ECANCON=(ECANCON&0b00000)|0b10000;  }
        else if (RXB1CONbits.RXFUL) { ECANCON=(ECANCON&0b00000)|0b10001;  }
        else if (B0CONbits.RXFUL)   { ECANCON=(ECANCON&0b00000)|0b10010;  }
        else if (B1CONbits.RXFUL)   { ECANCON=(ECANCON&0b00000)|0b10011;  }
        else if (B2CONbits.RXFUL)   { ECANCON=(ECANCON&0b00000)|0b10100;  }
        else if (B3CONbits.RXFUL)   { ECANCON=(ECANCON&0b00000)|0b10101;  }
        else if (B4CONbits.RXFUL)   { ECANCON=(ECANCON&0b00000)|0b10110;  }
        else if (B5CONbits.RXFUL)   { ECANCON=(ECANCON&0b00000)|0b10111;  }
        else 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;
 
        // Remote request
        cm.remote_request=(RXB0DLCbits.RXRTR==0?FALSE:TRUE);
 
        // 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;
       
        // Remote request
        if (cm.remote_request==TRUE)
        {
            _asm
                bsf RXB0DLC, 6, 0
            _endasm
        }
        else
        {
            _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 79	Rev 80
1	/*********************************************************************	1	/*********************************************************************
2	*	2	*
3	* Main application	3	* Main application
4	*	4	*
5	*********************************************************************	5	*********************************************************************
6	* FileName: Main.c	6	* FileName: Main.c
7	*	7	*
8	* Author Date Comment	8	* Author Date Comment
9	*~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~	9	*~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
10	* Johan Böhlin 21-10-06 Original (Rev 1.0)	10	* Johan Böhlin 21-10-06 Original (Rev 1.0)
11	********************************************************************/	11	********************************************************************/
12	// ~~$IDI$~~	12	// $Id: Main.c 80 2006-11-11 20:22:39Z johboh $
13		13
14	#include <compiler.h>	14	#include <compiler.h>
15	#include <stackTasks.h>	15	#include <stackTasks.h>
16	#include <CANdefs.h>	16	#include <CANdefs.h>
17	#include <CAN.h>	17	#include <CAN.h>
18	#include <boot.h>	18	#include <boot.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 BYTE ful=0;	42	static BYTE ful=0;
43	static DWORD cnt =0;	43	static DWORD cnt =0;
44		44
45	static void mainInit(void);	45	static void mainInit(void);
46	static BOOL canGetPacket(void);	46	static BOOL canGetPacket(void);
47	void TBLWT_Func(void);	47	void TBLWT_Func(void);
48	void TBLWTPOSTINC_Func (void);	48	void TBLWTPOSTINC_Func (void);
49	void TBLRD_Func(void);	49	void TBLRD_Func(void);
50		50
51	#define TICK_SUB_COUNTER_10MS 312	51	#define TICK_SUB_COUNTER_10MS 312
52	#define PACKET_TIMEOUT 14	52	#define PACKET_TIMEOUT 14
53	#define BOOTLOADER_INIT_TIMOUT 500	53	#define BOOTLOADER_INIT_TIMOUT 500
54		54
55	DWORD tickCounter = 0;	55	DWORD tickCounter = 0;
56	DWORD tickSubCounter = 0;	56	DWORD tickSubCounter = 0;
57		57
58	DWORD tickGet(void);	58	DWORD tickGet(void);
59		59
60	void main()	60	void main()
61	{	61	{
62	static PROGRAM_STATE pgs = pgsWATING_START;	62	static PROGRAM_STATE pgs = pgsWATING_START;
63	static DWORD t = 0;	63	static DWORD t = 0;
64	static WORD programmerSid=0;	64	static WORD programmerSid=0;
65		65
66	static BYTE errMsg = ERR_NO_ERROR;	66	static BYTE errMsg = ERR_NO_ERROR;
67	static PROGRAM_STATE afterAckPgs = pgsWATING_START;	67	static PROGRAM_STATE afterAckPgs = pgsWATING_START;
68	static DWORD pgmAddress = 0;	68	static DWORD pgmAddress = 0;
69	static BYTE bytesReceived = 0;	69	static BYTE bytesReceived = 0;
70		70
71	DWORD tBoot;	71	DWORD tBoot;
72		72
73	static BYTE pgmData[64];	73	static BYTE pgmData[64];
74		74
75	static BYTE tmp;	75	static BYTE tmp;
76		76
77	// Inits	77	// Inits
78	mainInit();	78	mainInit();
79		79
80	#ifdef USE_CAN	80	#ifdef USE_CAN
81	canInit();	81	canInit();
82	#endif	82	#endif
83		83
84	tBoot = tickGet();	84	tBoot = tickGet();
85		85
86		86
87	for(;;)	87	for(;;)
88	{	88	{
89	BYTE i;	89	BYTE i;
90	CAN_PROTO_MESSAGE outCm;	90	CAN_PROTO_MESSAGE outCm;
91	BOOL hasPacket = canGetPacket();	91	BOOL hasPacket = canGetPacket();
92		92
93	tickSubCounter++;	93	tickSubCounter++;
94	if (tickSubCounter>TICK_SUB_COUNTER_10MS)	94	if (tickSubCounter>TICK_SUB_COUNTER_10MS)
95	{	95	{
96	tickCounter++;	96	tickCounter++;
97	tickSubCounter=0;	97	tickSubCounter=0;
98	}	98	}
99		99
100	switch(pgs)	100	switch(pgs)
101	{	101	{
102	case pgsWATING_START:	102	case pgsWATING_START:
103	// Check if there is bootloader start packet	103	// Check if there is bootloader start packet
104	if (hasPacket==TRUE && cm.funct==FUNCT_BOOTLOADER && cm.funcc==FUNCC_BOOT_INIT && ((((unsigned int)cm.data[RID_HIGH_INDEX])<<8)+cm.data[RID_LOW_INDEX])==MY_ID && cm.nid==MY_NID)	104	if (hasPacket==TRUE && cm.funct==FUNCT_BOOTLOADER && cm.funcc==FUNCC_BOOT_INIT && ((((unsigned int)cm.data[RID_HIGH_INDEX])<<8)+cm.data[RID_LOW_INDEX])==MY_ID && cm.nid==MY_NID)
105	{	105	{
106	// Has new start packet	106	// Has new start packet
107	pgmAddress = (((DWORD)cm.data[ADDRU_INDEX])<<16)+(((DWORD)cm.data[ADDRH_INDEX])<<8)+((DWORD)cm.data[ADDRL_INDEX]);	107	pgmAddress = (((DWORD)cm.data[ADDRU_INDEX])<<16)+(((DWORD)cm.data[ADDRH_INDEX])<<8)+((DWORD)cm.data[ADDRL_INDEX]);
108	programmerSid = cm.sid;	108	programmerSid = cm.sid;
109	t = tickGet();	109	t = tickGet();
110	errMsg = ERR_NO_ERROR;	110	errMsg = ERR_NO_ERROR;
111	afterAckPgs = pgsWAIT_FIRST_PGM_PACKET;	111	afterAckPgs = pgsWAIT_FIRST_PGM_PACKET;
112	pgs = pgsSEND_ACK;	112	pgs = pgsSEND_ACK;
113	// save pgm adress.	113	// save pgm adress.
114		114
115	}	115	}
116		116
117	// Bootloader timeout	117	// Bootloader timeout
118	if ((tickGet()-tBoot)>BOOTLOADER_INIT_TIMOUT)	118	if ((tickGet()-tBoot)>BOOTLOADER_INIT_TIMOUT)
119	{	119	{
120	pgs = pgsDONE;	120	pgs = pgsDONE;
121	}	121	}
122	break;	122	break;
123		123
124	case pgsSEND_ACK:	124	case pgsSEND_ACK:
125	// send ack	125	// send ack
126	outCm.funct = FUNCT_BOOTLOADER;	126	outCm.funct = FUNCT_BOOTLOADER;
127	outCm.funcc = FUNCC_BOOT_ACK;	127	outCm.funcc = FUNCC_BOOT_ACK;
128	outCm.nid = MY_NID;	128	outCm.nid = MY_NID;
129	outCm.sid = MY_ID;	129	outCm.sid = MY_ID;
130	outCm.data_length = 8;	130	outCm.data_length = 8;
131	outCm.remote_request = FALSE;	131	outCm.remote_request = FALSE;
132	outCm.data[ERR_INDEX] = errMsg;	132	outCm.data[ERR_INDEX] = errMsg;
133	t = tickGet();	133	t = tickGet();
134	pgs = afterAckPgs;	134	pgs = afterAckPgs;
135		135
136	while(!canSendMessage(outCm,PRIO_HIGH));	136	while(!canSendMessage(outCm,PRIO_HIGH));
137	break;	137	break;
138		138
139		139
140	case pgsWAIT_FIRST_PGM_PACKET:	140	case pgsWAIT_FIRST_PGM_PACKET:
141	// wait for first pgm packet.	141	// wait for first pgm packet.
142	if ((tickGet()-t)>PACKET_TIMEOUT)	142	if ((tickGet()-t)>PACKET_TIMEOUT)
143	{	143	{
144	// Timeout, resend ack.	144	// Timeout, resend ack.
145	errMsg = ERR_NO_ERROR;	145	errMsg = ERR_NO_ERROR;
146	afterAckPgs = pgsWAIT_FIRST_PGM_PACKET;	146	afterAckPgs = pgsWAIT_FIRST_PGM_PACKET;
147	pgs = pgsSEND_ACK;	147	pgs = pgsSEND_ACK;
148	}	148	}
149		149
150	// If programming packet...	150	// If programming packet...
151	if (hasPacket==TRUE && cm.funct==FUNCT_BOOTLOADER && (cm.funcc & 0x3)==FUNCC_BOOT_PGM && cm.nid==MY_NID && cm.sid==programmerSid)	151	if (hasPacket==TRUE && cm.funct==FUNCT_BOOTLOADER && (cm.funcc & 0x3)==FUNCC_BOOT_PGM && cm.nid==MY_NID && cm.sid==programmerSid)
152	{	152	{
153	BYTE localIndex = (BYTE)((cm.funcc & 0x1C)>>2)*8;	153	BYTE localIndex = (BYTE)((cm.funcc & 0x1C)>>2)*8;
154		154
155	// Save bytes in memory, setup start adress etc..	155	// Save bytes in memory, setup start adress etc..
156	bytesReceived = 8;	156	bytesReceived = 8;
157	pgmData[localIndex+0]=cm.data[0]; pgmData[localIndex+1]=cm.data[1]; pgmData[localIndex+2]=cm.data[2]; pgmData[localIndex+3]=cm.data[3];	157	pgmData[localIndex+0]=cm.data[0]; pgmData[localIndex+1]=cm.data[1]; pgmData[localIndex+2]=cm.data[2]; pgmData[localIndex+3]=cm.data[3];
158	pgmData[localIndex+4]=cm.data[4]; pgmData[localIndex+5]=cm.data[5]; pgmData[localIndex+6]=cm.data[6]; pgmData[localIndex+7]=cm.data[7];	158	pgmData[localIndex+4]=cm.data[4]; pgmData[localIndex+5]=cm.data[5]; pgmData[localIndex+6]=cm.data[6]; pgmData[localIndex+7]=cm.data[7];
159		159
160	pgs = pgsWAIT_PGM_PACKET;	160	pgs = pgsWAIT_PGM_PACKET;
161	}	161	}
162		162
163		163
164	break;	164	break;
165		165
166		166
167	case pgsWAIT_PGM_PACKET:	167	case pgsWAIT_PGM_PACKET:
168		168
169		169
170	// If programming packet...	170	// If programming packet...
171	if (hasPacket==TRUE && cm.funct==FUNCT_BOOTLOADER && (cm.funcc & 0x3)==FUNCC_BOOT_PGM && cm.nid==MY_NID && cm.sid==programmerSid)	171	if (hasPacket==TRUE && cm.funct==FUNCT_BOOTLOADER && (cm.funcc & 0x3)==FUNCC_BOOT_PGM && cm.nid==MY_NID && cm.sid==programmerSid)
172	{	172	{
173	BYTE localIndex = (BYTE)((cm.funcc & 0x1C)>>2)*8;	173	BYTE localIndex = (BYTE)((cm.funcc & 0x1C)>>2)*8;
174	// Save bytes in memory, inc received bytes.	174	// Save bytes in memory, inc received bytes.
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];	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];
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];	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];
177		177
178	bytesReceived += 8;	178	bytesReceived += 8;
179	pgs = pgsWAIT_PGM_PACKET;	179	pgs = pgsWAIT_PGM_PACKET;
180	}	180	}
181		181
182	// If adress packet (control packet)..	182	// If adress packet (control packet)..
183	if (hasPacket==TRUE && cm.funct==FUNCT_BOOTLOADER && cm.funcc==FUNCC_BOOT_ADDR && cm.nid==MY_NID && cm.sid==programmerSid)	183	if (hasPacket==TRUE && cm.funct==FUNCT_BOOTLOADER && cm.funcc==FUNCC_BOOT_ADDR && cm.nid==MY_NID && cm.sid==programmerSid)
184	{	184	{
185	// Send ack and goto wait first packet.	185	// Send ack and goto wait first packet.
186	// save adress.	186	// save adress.
187	errMsg = ERR_NO_ERROR;	187	errMsg = ERR_NO_ERROR;
188	afterAckPgs = pgsWAIT_FIRST_PGM_PACKET;	188	afterAckPgs = pgsWAIT_FIRST_PGM_PACKET;
189	pgs = pgsSEND_ACK;	189	pgs = pgsSEND_ACK;
190	}	190	}
191		191
192	// If end packet...	192	// If end packet...
193	if (hasPacket==TRUE && cm.funct==FUNCT_BOOTLOADER && cm.funcc==FUNCC_BOOT_DONE && cm.nid==MY_NID && cm.sid==programmerSid)	193	if (hasPacket==TRUE && cm.funct==FUNCT_BOOTLOADER && cm.funcc==FUNCC_BOOT_DONE && cm.nid==MY_NID && cm.sid==programmerSid)
194	{	194	{
195	// write program.	195	// write program.
196	// If no bytes received at all, assume end.	196	// If no bytes received at all, assume end.
197	// If not 64 bytes received, send error ack and wait for first packet.	197	// If not 64 bytes received, send error ack and wait for first packet.
198	// If 64, write.	198	// If 64, write.
199		199
200	if (bytesReceived==0)	200	if (bytesReceived==0)
201	{	201	{
202	// No received, done.	202	// No received, done.
203	errMsg = ERR_NO_ERROR;	203	errMsg = ERR_NO_ERROR;
204	afterAckPgs = pgsDONE;	204	afterAckPgs = pgsDONE;
205	pgs = pgsSEND_ACK;	205	pgs = pgsSEND_ACK;
206	}	206	}
207	else if (bytesReceived!=64)	207	else if (bytesReceived!=64)
208	{	208	{
209	errMsg = ERR_ERROR;	209	errMsg = ERR_ERROR;
210	afterAckPgs = pgsWAIT_FIRST_PGM_PACKET;	210	afterAckPgs = pgsWAIT_FIRST_PGM_PACKET;
211	pgs = pgsSEND_ACK;	211	pgs = pgsSEND_ACK;
212	}	212	}
213	else	213	else
214	{	214	{
215	pgs = pgsWRITE_PROGRAM;	215	pgs = pgsWRITE_PROGRAM;
216	afterAckPgs = pgsDONE;	216	afterAckPgs = pgsDONE;
217	}	217	}
218	}	218	}
219		219
220	// If bytes received 64, write..	220	// If bytes received 64, write..
221	if (bytesReceived==64)	221	if (bytesReceived==64)
222	{	222	{
223	LED0_IO=~LED0_IO;	223	LED0_IO=~LED0_IO;
224	pgs = pgsWRITE_PROGRAM;	224	pgs = pgsWRITE_PROGRAM;
225	afterAckPgs = pgsWAIT_PGM_PACKET;	225	afterAckPgs = pgsWAIT_PGM_PACKET;
226	// TODO! Send ack more than once..	226	// TODO! Send ack more than once..
227	}	227	}
228		228
229		229
230	break;	230	break;
231		231
232		232
233	case pgsWRITE_PROGRAM:	233	case pgsWRITE_PROGRAM:
234		234
235		235
236	// Write program and send ack.	236	// Write program and send ack.
237		237
238	// Check addr limit	238	// Check addr limit
239	if (pgmAddress<RM_RESET_VECTOR)	239	if (pgmAddress<RM_RESET_VECTOR)
240	{	240	{
241	errMsg = ERR_ERROR;	241	errMsg = ERR_ERROR;
242	pgs = pgsSEND_ACK;	242	pgs = pgsSEND_ACK;
243	//Not allowed to write here!	243	//Not allowed to write here!
244		244
245	}	245	}
246		246
247	//Load Table pointer registers with base address to erase.	247	//Load Table pointer registers with base address to erase.
248	TBLPTRU = (BYTE)((pgmAddress & 0xFF0000)>>16);	248	TBLPTRU = (BYTE)((pgmAddress & 0xFF0000)>>16);
249	TBLPTRH = (BYTE)((pgmAddress & 0xFF00)>>8);	249	TBLPTRH = (BYTE)((pgmAddress & 0xFF00)>>8);
250	TBLPTRL = (BYTE)(pgmAddress & 0xFF);	250	TBLPTRL = (BYTE)(pgmAddress & 0xFF);
251		251
252	// point to Flash program memory	252	// point to Flash program memory
253	EECON1bits.EEPGD = 1;	253	EECON1bits.EEPGD = 1;
254	// access Flash program memory	254	// access Flash program memory
255	EECON1bits.CFGS = 0;	255	EECON1bits.CFGS = 0;
256	// enable write to memory	256	// enable write to memory
257	EECON1bits.WREN = 1;	257	EECON1bits.WREN = 1;
258	// enable Row Erase operation	258	// enable Row Erase operation
259	EECON1bits.FREE = 1;	259	EECON1bits.FREE = 1;
260	// disable interrupts	260	// disable interrupts
261	INTCONbits.GIE = 0;	261	INTCONbits.GIE = 0;
262		262
263	// Do it!	263	// Do it!
264	EECON2 = 0x55;	264	EECON2 = 0x55;
265	EECON2 = 0xAA;	265	EECON2 = 0xAA;
266	EECON1bits.WR = 1;	266	EECON1bits.WR = 1;
267		267
268	// enable interrupts	268	// enable interrupts
269	INTCONbits.GIE = 1;	269	INTCONbits.GIE = 1;
270		270
271	//Load Table pointer registers with base address to program.	271	//Load Table pointer registers with base address to program.
272	TBLPTRU = (BYTE)((pgmAddress & 0xFF0000)>>16);	272	TBLPTRU = (BYTE)((pgmAddress & 0xFF0000)>>16);
273	TBLPTRH = (BYTE)((pgmAddress & 0xFF00)>>8);	273	TBLPTRH = (BYTE)((pgmAddress & 0xFF00)>>8);
274	TBLPTRL = (BYTE)(pgmAddress & 0xFF);	274	TBLPTRL = (BYTE)(pgmAddress & 0xFF);
275		275
276	// Load bytes	276	// Load bytes
277	for(i=0;i<63;i++)	277	for(i=0;i<63;i++)
278	{	278	{
279	TABLAT=pgmData[i];	279	TABLAT=pgmData[i];
280	TBLWTPOSTINC_Func();	280	TBLWTPOSTINC_Func();
281	}	281	}
282	TABLAT=pgmData[63];	282	TABLAT=pgmData[63];
283	TBLWT_Func();	283	TBLWT_Func();
284		284
285		285
286	// point to Flash program memory	286	// point to Flash program memory
287	EECON1bits.EEPGD = 1;	287	EECON1bits.EEPGD = 1;
288	// access Flash program memory	288	// access Flash program memory
289	EECON1bits.CFGS = 0;	289	EECON1bits.CFGS = 0;
290	// enable write to memory	290	// enable write to memory
291	EECON1bits.WREN = 1;	291	EECON1bits.WREN = 1;
292	// disable interrupts	292	// disable interrupts
293	INTCONbits.GIE = 0;	293	INTCONbits.GIE = 0;
294		294
295	// Do it!	295	// Do it!
296	EECON2 = 0x55;	296	EECON2 = 0x55;
297	EECON2 = 0xAA;	297	EECON2 = 0xAA;
298	EECON1bits.WR = 1;	298	EECON1bits.WR = 1;
299		299
300	// enable interrupts	300	// enable interrupts
301	INTCONbits.GIE = 1;	301	INTCONbits.GIE = 1;
302		302
303	// disable write to memory	303	// disable write to memory
304	EECON1bits.WREN = 0;	304	EECON1bits.WREN = 0;
305		305
306	pgmAddress += 64;	306	pgmAddress += 64;
307	bytesReceived = 0;	307	bytesReceived = 0;
308	errMsg = ERR_NO_ERROR;	308	errMsg = ERR_NO_ERROR;
309	pgs = pgsSEND_ACK;	309	pgs = pgsSEND_ACK;
310		310
311	break;	311	break;
312		312
313		313
314	case pgsDONE:	314	case pgsDONE:
315	_asm goto RM_RESET_VECTOR _endasm	315	_asm goto RM_RESET_VECTOR _endasm
316	break;	316	break;
317		317
318		318
319		319
320		320
321	default:	321	default:
322	pgs = pgsWATING_START;	322	pgs = pgsWATING_START;
323	break;	323	break;
324	}	324	}
325		325
326		326
327	}	327	}
328	}	328	}
329		329
330		330
331	/*	331	/*
332	* Function: mainInit	332	* Function: mainInit
333	*	333	*
334	* Input: none	334	* Input: none
335	* Output: none	335	* Output: none
336	* Pre-conditions: none	336	* Pre-conditions: none
337	* Affects: Se code	337	* Affects: Se code
338	* Depends: none.	338	* Depends: none.
339	*/	339	*/
340	void mainInit()	340	void mainInit()
341	{	341	{
342	LED0_TRIS=0;	342	LED0_TRIS=0;
343		343
344	// Enable internal PORTB pull-ups	344	// Enable internal PORTB pull-ups
345	INTCON2bits.RBPU = 0;	345	INTCON2bits.RBPU = 0;
346		346
347	// Enable Interrupts	347	// Enable Interrupts
348	INTCONbits.GIEH = 1;	348	INTCONbits.GIEH = 1;
349	INTCONbits.GIEL = 1;	349	INTCONbits.GIEL = 1;
350		350
351	// Enable interrupt prirority	351	// Enable interrupt prirority
352	RCONbits.IPEN=1;	352	RCONbits.IPEN=1;
353		353
354		354
355	}	355	}
356		356
357		357
358		358
359	/// CAN-------------------------------------------------------	359	/// CAN-------------------------------------------------------
360		360
361		361
362	#ifdef USE_CAN	362	#ifdef USE_CAN
363		363
364		364
365	/*	365	/*
366	* Function: canInit	366	* Function: canInit
367	*	367	*
368	* Input: none	368	* Input: none
369	* Output: none	369	* Output: none
370	* Pre-conditions: none	370	* Pre-conditions: none
371	* Affects: Changes can registers.	371	* Affects: Changes can registers.
372	* Depends: none.	372	* Depends: none.
373	*/	373	*/
374	void canInit()	374	void canInit()
375	{	375	{
376	CANCON = 0x80; //request config mode	376	CANCON = 0x80; //request config mode
377	while ((CANSTAT & 0xE0) != 0x80 ); //wait for config mode request	377	while ((CANSTAT & 0xE0) != 0x80 ); //wait for config mode request
378		378
379	// BAUD AND TQS	379	// BAUD AND TQS
380		380
381	BRGCON1=0;	381	BRGCON1=0;
382		382
383	// Sync_Seq = 2 x TQ = 1	383	// Sync_Seq = 2 x TQ = 1
384	BRGCON1bits.SJW1=0;	384	BRGCON1bits.SJW1=0;
385	BRGCON1bits.SJW0=1;	385	BRGCON1bits.SJW0=1;
386		386
387	// Setting BRP.	387	// Setting BRP.
388	BRGCON1=BRGCON1\|CAN_BRP;	388	BRGCON1=BRGCON1\|CAN_BRP;
389		389
390	// Maximum PHEG1	390	// Maximum PHEG1
391	BRGCON2bits.SEG2PHTS = 1;	391	BRGCON2bits.SEG2PHTS = 1;
392		392
393	// Phase_Seg1 = 2 x TQ = 1	393	// Phase_Seg1 = 2 x TQ = 1
394	BRGCON2bits.SEG1PH2 = 0;	394	BRGCON2bits.SEG1PH2 = 0;
395	BRGCON2bits.SEG1PH1 = 0;	395	BRGCON2bits.SEG1PH1 = 0;
396	BRGCON2bits.SEG1PH0 = 1;	396	BRGCON2bits.SEG1PH0 = 1;
397		397
398	// Prop_Seq = 2 x TQ = 1	398	// Prop_Seq = 2 x TQ = 1
399	BRGCON2bits.PRSEG2 = 0;	399	BRGCON2bits.PRSEG2 = 0;
400	BRGCON2bits.PRSEG1 = 0;	400	BRGCON2bits.PRSEG1 = 0;
401	BRGCON2bits.PRSEG0 = 1;	401	BRGCON2bits.PRSEG0 = 1;
402		402
403	// Enableing bus wake-up	403	// Enableing bus wake-up
404	BRGCON3bits.WAKDIS = 0;	404	BRGCON3bits.WAKDIS = 0;
405		405
406	// Dont use filter when wakeup	406	// Dont use filter when wakeup
407	BRGCON3bits.WAKFIL = 0;	407	BRGCON3bits.WAKFIL = 0;
408		408
409	// Phase_Seg2 = 2 x TQ = 1	409	// Phase_Seg2 = 2 x TQ = 1
410	BRGCON3bits.SEG2PH2 = 0;	410	BRGCON3bits.SEG2PH2 = 0;
411	BRGCON3bits.SEG2PH1 = 0;	411	BRGCON3bits.SEG2PH1 = 0;
412	BRGCON3bits.SEG2PH0 = 1;	412	BRGCON3bits.SEG2PH0 = 1;
413		413
414	ECANCON=0;	414	ECANCON=0;
415	ECANCONbits.MDSEL1 = 0;	415	ECANCONbits.MDSEL1 = 0;
416	ECANCONbits.MDSEL0 = 1;	416	ECANCONbits.MDSEL0 = 1;
417		417
418		418
419	// FILTERS AND MASKS	419	// FILTERS AND MASKS
420	RXB0CONbits.RXM1=1;	420	RXB0CONbits.RXM1=1;
421	RXB0CONbits.RXM0=0;	421	RXB0CONbits.RXM0=0;
422		422
423		423
424	// INTERRUPTS	424	// INTERRUPTS
425		425
426	// Diable transmit interrupt	426	// Diable transmit interrupt
427	TXBIE = 0;	427	TXBIE = 0;
428		428
429	//rx no interrupt	429	//rx no interrupt
430	PIR3 = 0;	430	PIR3 = 0;
431	PIE3 = 0;	431	PIE3 = 0;
432		432
433		433
434	// Programmable no buffers interrupt	434	// Programmable no buffers interrupt
435	BIE0 = 0x00;	435	BIE0 = 0x00;
436		436
437		437
438	//loopback mode or not	438	//loopback mode or not
439	#ifdef CAN_LOOPBACK_MODE	439	#ifdef CAN_LOOPBACK_MODE
440	CANCON = 0x40;//request loopback mode	440	CANCON = 0x40;//request loopback mode
441	while ((CANSTAT & 0xE0) != 0x40 );//wait for loopback mode	441	while ((CANSTAT & 0xE0) != 0x40 );//wait for loopback mode
442	#else	442	#else
443	CANCON = 0x00;//request normal mode	443	CANCON = 0x00;//request normal mode
444	while ((CANSTAT & 0xE0) != 0x00 );//wait for normal mode	444	while ((CANSTAT & 0xE0) != 0x00 );//wait for normal mode
445	#endif	445	#endif
446		446
447	}	447	}
448		448
449		449
450		450
451		451
452	/*	452	/*
453	* Function: canGetPacket	453	* Function: canGetPacket
454	*	454	*
455	* Input: none	455	* Input: none
456	* Output: none	456	* Output: none
457	* Pre-conditions: a call to canISR and an packet is available and banked to RXB0	457	* Pre-conditions: a call to canISR and an packet is available and banked to RXB0
458	* Affects: Calls canParse() function in main for parsing received packet.	458	* Affects: Calls canParse() function in main for parsing received packet.
459	* Depends: none.	459	* Depends: none.
460	*/	460	*/
461	BOOL canGetPacket()	461	BOOL canGetPacket()
462	{	462	{
463		463
464	// Get which buffer that is ful.	464	// Get which buffer that is ful.
465	if (RXB0CONbits.RXFUL) { ECANCON=(ECANCON&0b00000)\|0b10000; }	465	if (RXB0CONbits.RXFUL) { ECANCON=(ECANCON&0b00000)\|0b10000; }
466	else if (RXB1CONbits.RXFUL) { ECANCON=(ECANCON&0b00000)\|0b10001; }	466	else if (RXB1CONbits.RXFUL) { ECANCON=(ECANCON&0b00000)\|0b10001; }
467	else if (B0CONbits.RXFUL) { ECANCON=(ECANCON&0b00000)\|0b10010; }	467	else if (B0CONbits.RXFUL) { ECANCON=(ECANCON&0b00000)\|0b10010; }
468	else if (B1CONbits.RXFUL) { ECANCON=(ECANCON&0b00000)\|0b10011; }	468	else if (B1CONbits.RXFUL) { ECANCON=(ECANCON&0b00000)\|0b10011; }
469	else if (B2CONbits.RXFUL) { ECANCON=(ECANCON&0b00000)\|0b10100; }	469	else if (B2CONbits.RXFUL) { ECANCON=(ECANCON&0b00000)\|0b10100; }
470	else if (B3CONbits.RXFUL) { ECANCON=(ECANCON&0b00000)\|0b10101; }	470	else if (B3CONbits.RXFUL) { ECANCON=(ECANCON&0b00000)\|0b10101; }
471	else if (B4CONbits.RXFUL) { ECANCON=(ECANCON&0b00000)\|0b10110; }	471	else if (B4CONbits.RXFUL) { ECANCON=(ECANCON&0b00000)\|0b10110; }
472	else if (B5CONbits.RXFUL) { ECANCON=(ECANCON&0b00000)\|0b10111; }	472	else if (B5CONbits.RXFUL) { ECANCON=(ECANCON&0b00000)\|0b10111; }
473	else return FALSE;	473	else return FALSE;
474		474
475		475
476	//RXB0SIDH 28 27 26 25 24 23 22 21	476	//RXB0SIDH 28 27 26 25 24 23 22 21
477	//RXB0SIDL 20 19 18 xx xx xx 17 16	477	//RXB0SIDL 20 19 18 xx xx xx 17 16
478	//RXB0EIDH 15 14 13 12 11 10 09 08	478	//RXB0EIDH 15 14 13 12 11 10 09 08
479	//RXB0EIDL 07 06 05 04 03 02 01 00	479	//RXB0EIDL 07 06 05 04 03 02 01 00
480		480
481	//funct xx xx xx xx 28 27 26 25	481	//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	482	//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	483	//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	484	//sid xx xx xx xx xx xx xx 08 07 06 05 04 03 02 01 00
485		485
486		486
487	cm.funct=((RXB0SIDH & 0xF0)>>4);	487	cm.funct=((RXB0SIDH & 0xF0)>>4);
488	cm.funcc=(((WORD)(RXB0SIDH & 0x0F))<<6)+(((WORD)(RXB0SIDL & 0xE0))>>2)+(((WORD)(RXB0SIDL & 0x03))<<1)+(((WORD)(RXB0EIDH & 0x80))>>7);	488	cm.funcc=(((WORD)(RXB0SIDH & 0x0F))<<6)+(((WORD)(RXB0SIDL & 0xE0))>>2)+(((WORD)(RXB0SIDL & 0x03))<<1)+(((WORD)(RXB0EIDH & 0x80))>>7);
489	cm.nid=((RXB0EIDH & 0x7E)>>1);	489	cm.nid=((RXB0EIDH & 0x7E)>>1);
490	cm.sid=(((WORD)(RXB0EIDH & 0x01))<<8)+RXB0EIDL;	490	cm.sid=(((WORD)(RXB0EIDH & 0x01))<<8)+RXB0EIDL;
491		491
492		492
493	// Data length	493	// Data length
494	cm.data_length=(RXB0DLCbits.DLC3<<3)+(RXB0DLCbits.DLC2<<2)+(RXB0DLCbits.DLC1<<1)+RXB0DLCbits.DLC0;	494	cm.data_length=(RXB0DLCbits.DLC3<<3)+(RXB0DLCbits.DLC2<<2)+(RXB0DLCbits.DLC1<<1)+RXB0DLCbits.DLC0;
495		495
496	// Remote request	496	// Remote request
497	cm.remote_request=(RXB0DLCbits.RXRTR==0?FALSE:TRUE);	497	cm.remote_request=(RXB0DLCbits.RXRTR==0?FALSE:TRUE);
498		498
499	// Data one bye one, for speed	499	// Data one bye one, for speed
500	cm.data[0]=RXB0D0; cm.data[1]=RXB0D1;	500	cm.data[0]=RXB0D0; cm.data[1]=RXB0D1;

Subversion Repositories HomeAutomation

(root)/trunk/EmbeddedSoftware/PIC/canBoot/Source/Main.c @ 80 – Rev 79 → 80