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: 2006-11-14 11:44:27 +0100 (Tue, 14 Nov 2006) $
 * By:              $LastChangedBy: johboh $
 * Revision:        $Revision: 88 $
 ********************************************************************/
 
 
#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;
            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[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.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:
 
                ClrWdt();
 
                // 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;
 
 
 
 
        // 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 80	Rev 88
1	/*********************************************************************	1	/*********************************************************************
2	*	2	*
3	* Main application	3	* Main application
4	*	4	*
5	*********************************************************************	5	*********************************************************************
6	* FileName: Main.c	6	* FileName: $HeadURL: https://svn.auml.se/svn/HomeAutomation/trunk/EmbeddedSoftware/PIC/canBoot/Source/Main.c $
7	*	-
8	* ~~Author~~ ~~Date~~ ~~Comment~~	7	* Last changed: $LastChangedDate: 2006-11-14 11:44:27 +0100 (Tue, 14 Nov 2006) $
9	*~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~	8	* By: $LastChangedBy: johboh $
10	* ~~Johan Böhlin 21-10-06 Original~~ ~~(Rev~~ ~~1.0)~~	9	* Revision: $Revision: 88 $
11	********************************************************************/	10	********************************************************************/
12	// $Id: Main.c 80 2006-11-11 20:22:39Z johboh $	-
13		11
14	#include <compiler.h>	12	#include <compiler.h>
15	#include <stackTasks.h>	13	#include <stackTasks.h>
16	#include <CANdefs.h>	14	#include <CANdefs.h>
17	#include <CAN.h>	15	#include <CAN.h>
18	#include <boot.h>	16	#include <boot.h>
19		17
20	/ V E C T O R R E M A P P I N G *****************************************/	18	/ V E C T O R R E M A P P I N G *****************************************/
21		19
22	#pragma code _HIGH_INTERRUPT_VECTOR = 0x000008	20	#pragma code _HIGH_INTERRUPT_VECTOR = 0x000008
23	void _high_ISR (void)	21	void _high_ISR (void)
24	{	22	{
25	_asm goto RM_HIGH_INTERRUPT_VECTOR _endasm	23	_asm goto RM_HIGH_INTERRUPT_VECTOR _endasm
26	}	24	}
27		25
28	#pragma code _LOW_INTERRUPT_VECTOR = 0x000018	26	#pragma code _LOW_INTERRUPT_VECTOR = 0x000018
29	void _low_ISR (void)	27	void _low_ISR (void)
30	{	28	{
31	_asm goto RM_LOW_INTERRUPT_VECTOR _endasm	29	_asm goto RM_LOW_INTERRUPT_VECTOR _endasm
32	}	30	}
33		31
34	#pragma code	32	#pragma code
35		33
36		34
37	#ifdef USE_CAN	35	#ifdef USE_CAN
38	#include <CAN.h>	36	#include <CAN.h>
39	#endif	37	#endif
40		38
41	static CAN_PROTO_MESSAGE cm;	39	static CAN_PROTO_MESSAGE cm;
42	static BYTE ful=0;	40	static BYTE ful=0;
43	static DWORD cnt =0;	41	static DWORD cnt =0;
44		42
45	static void mainInit(void);	43	static void mainInit(void);
46	static BOOL canGetPacket(void);	44	static BOOL canGetPacket(void);
47	void TBLWT_Func(void);	45	void TBLWT_Func(void);
48	void TBLWTPOSTINC_Func (void);	46	void TBLWTPOSTINC_Func (void);
49	void TBLRD_Func(void);	47	void TBLRD_Func(void);
50		48
51	#define TICK_SUB_COUNTER_10MS 312	49	#define TICK_SUB_COUNTER_10MS 312
52	#define PACKET_TIMEOUT 14	50	#define PACKET_TIMEOUT 14
53	#define BOOTLOADER_INIT_TIMOUT 500	51	#define BOOTLOADER_INIT_TIMOUT 500
54		52
55	DWORD tickCounter = 0;	53	DWORD tickCounter = 0;
56	DWORD tickSubCounter = 0;	54	DWORD tickSubCounter = 0;
57		55
58	DWORD tickGet(void);	56	DWORD tickGet(void);
59		57
60	void main()	58	void main()
61	{	59	{
62	static PROGRAM_STATE pgs = pgsWATING_START;	60	static PROGRAM_STATE pgs = pgsWATING_START;
63	static DWORD t = 0;	61	static DWORD t = 0;
64	static WORD programmerSid=0;	62	static WORD programmerSid=0;
65		63
66	static BYTE errMsg = ERR_NO_ERROR;	64	static BYTE errMsg = ERR_NO_ERROR;
67	static PROGRAM_STATE afterAckPgs = pgsWATING_START;	65	static PROGRAM_STATE afterAckPgs = pgsWATING_START;
68	static DWORD pgmAddress = 0;	66	static DWORD pgmAddress = 0;
69	static BYTE bytesReceived = 0;	67	static BYTE bytesReceived = 0;
70		68
71	DWORD tBoot;	69	DWORD tBoot;
72		70
73	static BYTE pgmData[64];	71	static BYTE pgmData[64];
74		72
75	static BYTE tmp;	73	static BYTE tmp;
76		74
77	// Inits	75	// Inits
78	mainInit();	76	mainInit();
79		77
80	#ifdef USE_CAN	78	#ifdef USE_CAN
81	canInit();	79	canInit();
82	#endif	80	#endif
83		81
84	tBoot = tickGet();	82	tBoot = tickGet();
85		83
86		84
87	for(;;)	85	for(;;)
88	{	86	{
89	BYTE i;	87	BYTE i;
90	CAN_PROTO_MESSAGE outCm;	88	CAN_PROTO_MESSAGE outCm;
91	BOOL hasPacket = canGetPacket();	89	BOOL hasPacket = canGetPacket();
92		90
93	tickSubCounter++;	91	tickSubCounter++;
94	if (tickSubCounter>TICK_SUB_COUNTER_10MS)	92	if (tickSubCounter>TICK_SUB_COUNTER_10MS)
95	{	93	{
96	tickCounter++;	94	tickCounter++;
97	tickSubCounter=0;	95	tickSubCounter=0;
-		96	ClrWdt();
98	}	97	}
99		98
100	switch(pgs)	99	switch(pgs)
101	{	100	{
102	case pgsWATING_START:	101	case pgsWATING_START:
103	// Check if there is bootloader start packet	102	// 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)	103	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	{	104	{
106	// Has new start packet	105	// Has new start packet
107	pgmAddress = (((DWORD)cm.data[ADDRU_INDEX])<<16)+(((DWORD)cm.data[ADDRH_INDEX])<<8)+((DWORD)cm.data[ADDRL_INDEX]);	106	pgmAddress = (((DWORD)cm.data[ADDRU_INDEX])<<16)+(((DWORD)cm.data[ADDRH_INDEX])<<8)+((DWORD)cm.data[ADDRL_INDEX]);
108	programmerSid = cm.sid;	107	programmerSid = cm.sid;
109	t = tickGet();	108	t = tickGet();
110	errMsg = ERR_NO_ERROR;	109	errMsg = ERR_NO_ERROR;
111	afterAckPgs = pgsWAIT_FIRST_PGM_PACKET;	110	afterAckPgs = pgsWAIT_FIRST_PGM_PACKET;
112	pgs = pgsSEND_ACK;	111	pgs = pgsSEND_ACK;
113	// save pgm adress.	112	// save pgm adress.
114		113
115	}	114	}
116		115
117	// Bootloader timeout	116	// Bootloader timeout
118	if ((tickGet()-tBoot)>BOOTLOADER_INIT_TIMOUT)	117	if ((tickGet()-tBoot)>BOOTLOADER_INIT_TIMOUT)
119	{	118	{
120	pgs = pgsDONE;	119	pgs = pgsDONE;
121	}	120	}
122	break;	121	break;
123		122
124	case pgsSEND_ACK:	123	case pgsSEND_ACK:
125	// send ack	124	// send ack
126	outCm.funct = FUNCT_BOOTLOADER;	125	outCm.funct = FUNCT_BOOTLOADER;
127	outCm.funcc = FUNCC_BOOT_ACK;	126	outCm.funcc = FUNCC_BOOT_ACK;
128	outCm.nid = MY_NID;	127	outCm.nid = MY_NID;
129	outCm.sid = MY_ID;	128	outCm.sid = MY_ID;
130	outCm.data_length = 8;	129	outCm.data_length = 8;
131	outCm.remote_request = FALSE;	-
132	outCm.data[ERR_INDEX] = errMsg;	130	outCm.data[ERR_INDEX] = errMsg;
133	t = tickGet();	131	t = tickGet();
134	pgs = afterAckPgs;	132	pgs = afterAckPgs;
135		133
136	while(!canSendMessage(outCm,PRIO_HIGH));	134	while(!canSendMessage(outCm,PRIO_HIGH));
137	break;	135	break;
138		136
139		137
140	case pgsWAIT_FIRST_PGM_PACKET:	138	case pgsWAIT_FIRST_PGM_PACKET:
141	// wait for first pgm packet.	139	// wait for first pgm packet.
142	if ((tickGet()-t)>PACKET_TIMEOUT)	140	if ((tickGet()-t)>PACKET_TIMEOUT)
143	{	141	{
144	// Timeout, resend ack.	142	// Timeout, resend ack.
145	errMsg = ERR_NO_ERROR;	143	errMsg = ERR_NO_ERROR;
146	afterAckPgs = pgsWAIT_FIRST_PGM_PACKET;	144	afterAckPgs = pgsWAIT_FIRST_PGM_PACKET;
147	pgs = pgsSEND_ACK;	145	pgs = pgsSEND_ACK;
148	}	146	}
149		147
150	// If programming packet...	148	// If programming packet...
151	if (hasPacket==TRUE && cm.funct==FUNCT_BOOTLOADER && (cm.funcc & 0x3)==FUNCC_BOOT_PGM && cm.nid==MY_NID && cm.sid==programmerSid)	149	if (hasPacket==TRUE && cm.funct==FUNCT_BOOTLOADER && (cm.funcc & 0x3)==FUNCC_BOOT_PGM && cm.nid==MY_NID && cm.sid==programmerSid)
152	{	150	{
153	BYTE localIndex = (BYTE)((cm.funcc & 0x1C)>>2)*8;	151	BYTE localIndex = (BYTE)((cm.funcc & 0x1C)>>2)*8;
154		152
155	// Save bytes in memory, setup start adress etc..	153	// Save bytes in memory, setup start adress etc..
156	bytesReceived = 8;	154	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];	155	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];	156	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		157
160	pgs = pgsWAIT_PGM_PACKET;	158	pgs = pgsWAIT_PGM_PACKET;
161	}	159	}
162		160
163		161
164	break;	162	break;
165		163
166		164
167	case pgsWAIT_PGM_PACKET:	165	case pgsWAIT_PGM_PACKET:
168		166
169		167
170	// If programming packet...	168	// If programming packet...
171	if (hasPacket==TRUE && cm.funct==FUNCT_BOOTLOADER && (cm.funcc & 0x3)==FUNCC_BOOT_PGM && cm.nid==MY_NID && cm.sid==programmerSid)	169	if (hasPacket==TRUE && cm.funct==FUNCT_BOOTLOADER && (cm.funcc & 0x3)==FUNCC_BOOT_PGM && cm.nid==MY_NID && cm.sid==programmerSid)
172	{	170	{
173	BYTE localIndex = (BYTE)((cm.funcc & 0x1C)>>2)*8;	171	BYTE localIndex = (BYTE)((cm.funcc & 0x1C)>>2)*8;
174	// Save bytes in memory, inc received bytes.	172	// 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];	173	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];	174	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		175
178	bytesReceived += 8;	176	bytesReceived += 8;
179	pgs = pgsWAIT_PGM_PACKET;	177	pgs = pgsWAIT_PGM_PACKET;
180	}	178	}
181		179
182	// If adress packet (control packet)..	180	// 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)	181	if (hasPacket==TRUE && cm.funct==FUNCT_BOOTLOADER && cm.funcc==FUNCC_BOOT_ADDR && cm.nid==MY_NID && cm.sid==programmerSid)
184	{	182	{
185	// Send ack and goto wait first packet.	183	// Send ack and goto wait first packet.
186	// save adress.	184	// save adress.
187	errMsg = ERR_NO_ERROR;	185	errMsg = ERR_NO_ERROR;
188	afterAckPgs = pgsWAIT_FIRST_PGM_PACKET;	186	afterAckPgs = pgsWAIT_FIRST_PGM_PACKET;
189	pgs = pgsSEND_ACK;	187	pgs = pgsSEND_ACK;
190	}	188	}
191		189
192	// If end packet...	190	// If end packet...
193	if (hasPacket==TRUE && cm.funct==FUNCT_BOOTLOADER && cm.funcc==FUNCC_BOOT_DONE && cm.nid==MY_NID && cm.sid==programmerSid)	191	if (hasPacket==TRUE && cm.funct==FUNCT_BOOTLOADER && cm.funcc==FUNCC_BOOT_DONE && cm.nid==MY_NID && cm.sid==programmerSid)
194	{	192	{
195	// write program.	193	// write program.
196	// If no bytes received at all, assume end.	194	// If no bytes received at all, assume end.
197	// If not 64 bytes received, send error ack and wait for first packet.	195	// If not 64 bytes received, send error ack and wait for first packet.
198	// If 64, write.	196	// If 64, write.
199		197
200	if (bytesReceived==0)	198	if (bytesReceived==0)
201	{	199	{
202	// No received, done.	200	// No received, done.
203	errMsg = ERR_NO_ERROR;	201	errMsg = ERR_NO_ERROR;
204	afterAckPgs = pgsDONE;	202	afterAckPgs = pgsDONE;
205	pgs = pgsSEND_ACK;	203	pgs = pgsSEND_ACK;
206	}	204	}
207	else if (bytesReceived!=64)	205	else if (bytesReceived!=64)
208	{	206	{
209	errMsg = ERR_ERROR;	207	errMsg = ERR_ERROR;
210	afterAckPgs = pgsWAIT_FIRST_PGM_PACKET;	208	afterAckPgs = pgsWAIT_FIRST_PGM_PACKET;
211	pgs = pgsSEND_ACK;	209	pgs = pgsSEND_ACK;
212	}	210	}
213	else	211	else
214	{	212	{
215	pgs = pgsWRITE_PROGRAM;	213	pgs = pgsWRITE_PROGRAM;
216	afterAckPgs = pgsDONE;	214	afterAckPgs = pgsDONE;
217	}	215	}
218	}	216	}
219		217
220	// If bytes received 64, write..	218	// If bytes received 64, write..
221	if (bytesReceived==64)	219	if (bytesReceived==64)
222	{	220	{
223	LED0_IO=~LED0_IO;	221	LED0_IO=~LED0_IO;
224	pgs = pgsWRITE_PROGRAM;	222	pgs = pgsWRITE_PROGRAM;
225	afterAckPgs = pgsWAIT_PGM_PACKET;	223	afterAckPgs = pgsWAIT_PGM_PACKET;
226	// TODO! Send ack more than once..	224	// TODO! Send ack more than once..
227	}	225	}
228		226
229		227
230	break;	228	break;
231		229
232		230
233	case pgsWRITE_PROGRAM:	231	case pgsWRITE_PROGRAM:
234		232
-		233	ClrWdt();
235		234
236	// Write program and send ack.	235	// Write program and send ack.
237		236
238	// Check addr limit	237	// Check addr limit
239	if (pgmAddress<RM_RESET_VECTOR)	238	if (pgmAddress<RM_RESET_VECTOR)
240	{	239	{
241	errMsg = ERR_ERROR;	240	errMsg = ERR_ERROR;
242	pgs = pgsSEND_ACK;	241	pgs = pgsSEND_ACK;
243	//Not allowed to write here!	242	//Not allowed to write here!
244		243
245	}	244	}
246		245
247	//Load Table pointer registers with base address to erase.	246	//Load Table pointer registers with base address to erase.
248	TBLPTRU = (BYTE)((pgmAddress & 0xFF0000)>>16);	247	TBLPTRU = (BYTE)((pgmAddress & 0xFF0000)>>16);
249	TBLPTRH = (BYTE)((pgmAddress & 0xFF00)>>8);	248	TBLPTRH = (BYTE)((pgmAddress & 0xFF00)>>8);
250	TBLPTRL = (BYTE)(pgmAddress & 0xFF);	249	TBLPTRL = (BYTE)(pgmAddress & 0xFF);
251		250
252	// point to Flash program memory	251	// point to Flash program memory
253	EECON1bits.EEPGD = 1;	252	EECON1bits.EEPGD = 1;
254	// access Flash program memory	253	// access Flash program memory
255	EECON1bits.CFGS = 0;	254	EECON1bits.CFGS = 0;
256	// enable write to memory	255	// enable write to memory
257	EECON1bits.WREN = 1;	256	EECON1bits.WREN = 1;
258	// enable Row Erase operation	257	// enable Row Erase operation
259	EECON1bits.FREE = 1;	258	EECON1bits.FREE = 1;
260	// disable interrupts	259	// disable interrupts
261	INTCONbits.GIE = 0;	260	INTCONbits.GIE = 0;
262		261
263	// Do it!	262	// Do it!
264	EECON2 = 0x55;	263	EECON2 = 0x55;
265	EECON2 = 0xAA;	264	EECON2 = 0xAA;
266	EECON1bits.WR = 1;	265	EECON1bits.WR = 1;
267		266
268	// enable interrupts	267	// enable interrupts
269	INTCONbits.GIE = 1;	268	INTCONbits.GIE = 1;
270		269
271	//Load Table pointer registers with base address to program.	270	//Load Table pointer registers with base address to program.
272	TBLPTRU = (BYTE)((pgmAddress & 0xFF0000)>>16);	271	TBLPTRU = (BYTE)((pgmAddress & 0xFF0000)>>16);
273	TBLPTRH = (BYTE)((pgmAddress & 0xFF00)>>8);	272	TBLPTRH = (BYTE)((pgmAddress & 0xFF00)>>8);
274	TBLPTRL = (BYTE)(pgmAddress & 0xFF);	273	TBLPTRL = (BYTE)(pgmAddress & 0xFF);
275		274
276	// Load bytes	275	// Load bytes
277	for(i=0;i<63;i++)	276	for(i=0;i<63;i++)
278	{	277	{
279	TABLAT=pgmData[i];	278	TABLAT=pgmData[i];
280	TBLWTPOSTINC_Func();	279	TBLWTPOSTINC_Func();
281	}	280	}
282	TABLAT=pgmData[63];	281	TABLAT=pgmData[63];
283	TBLWT_Func();	282	TBLWT_Func();
284		283
285		284
286	// point to Flash program memory	285	// point to Flash program memory
287	EECON1bits.EEPGD = 1;	286	EECON1bits.EEPGD = 1;
288	// access Flash program memory	287	// access Flash program memory
289	EECON1bits.CFGS = 0;	288	EECON1bits.CFGS = 0;
290	// enable write to memory	289	// enable write to memory
291	EECON1bits.WREN = 1;	290	EECON1bits.WREN = 1;
292	// disable interrupts	291	// disable interrupts
293	INTCONbits.GIE = 0;	292	INTCONbits.GIE = 0;
294		293
295	// Do it!	294	// Do it!
296	EECON2 = 0x55;	295	EECON2 = 0x55;
297	EECON2 = 0xAA;	296	EECON2 = 0xAA;
298	EECON1bits.WR = 1;	297	EECON1bits.WR = 1;
299		298
300	// enable interrupts	299	// enable interrupts
301	INTCONbits.GIE = 1;	300	INTCONbits.GIE = 1;
302		301
303	// disable write to memory	302	// disable write to memory
304	EECON1bits.WREN = 0;	303	EECON1bits.WREN = 0;
305		304
306	pgmAddress += 64;	305	pgmAddress += 64;
307	bytesReceived = 0;	306	bytesReceived = 0;
308	errMsg = ERR_NO_ERROR;	307	errMsg = ERR_NO_ERROR;
309	pgs = pgsSEND_ACK;	308	pgs = pgsSEND_ACK;
310		309
311	break;	310	break;
312		311
313		312
314	case pgsDONE:	313	case pgsDONE:
315	_asm goto RM_RESET_VECTOR _endasm	314	_asm goto RM_RESET_VECTOR _endasm
316	break;	315	break;
317		316
318		317
319		318
320		319
321	default:	320	default:
322	pgs = pgsWATING_START;	321	pgs = pgsWATING_START;
323	break;	322	break;
324	}	323	}
325		324
326		325
327	}	326	}
328	}	327	}
329		328
330		329
331	/*	330	/*
332	* Function: mainInit	331	* Function: mainInit
333	*	332	*
334	* Input: none	333	* Input: none
335	* Output: none	334	* Output: none
336	* Pre-conditions: none	335	* Pre-conditions: none
337	* Affects: Se code	336	* Affects: Se code
338	* Depends: none.	337	* Depends: none.
339	*/	338	*/
340	void mainInit()	339	void mainInit()
341	{	340	{
342	LED0_TRIS=0;	341	LED0_TRIS=0;
343		342
344	// Enable internal PORTB pull-ups	343	// Enable internal PORTB pull-ups
345	INTCON2bits.RBPU = 0;	344	INTCON2bits.RBPU = 0;
346		345
347	// Enable Interrupts	346	// Enable Interrupts
348	INTCONbits.GIEH = 1;	347	INTCONbits.GIEH = 1;
349	INTCONbits.GIEL = 1;	348	INTCONbits.GIEL = 1;
350		349
351	// Enable interrupt prirority	350	// Enable interrupt prirority
352	RCONbits.IPEN=1;	351	RCONbits.IPEN=1;
353		352
354		353
355	}	354	}
356		355
357		356
358		357
359	/// CAN-------------------------------------------------------	358	/// CAN-------------------------------------------------------
360		359
361		360
362	#ifdef USE_CAN	361	#ifdef USE_CAN
363		362
364		363
365	/*	364	/*
366	* Function: canInit	365	* Function: canInit
367	*	366	*
368	* Input: none	367	* Input: none
369	* Output: none	368	* Output: none
370	* Pre-conditions: none	369	* Pre-conditions: none
371	* Affects: Changes can registers.	370	* Affects: Changes can registers.
372	* Depends: none.	371	* Depends: none.
373	*/	372	*/
374	void canInit()	373	void canInit()
375	{	374	{
376	CANCON = 0x80; //request config mode	375	CANCON = 0x80; //request config mode
377	while ((CANSTAT & 0xE0) != 0x80 ); //wait for config mode request	376	while ((CANSTAT & 0xE0) != 0x80 ); //wait for config mode request
378		377
379	// BAUD AND TQS	378	// BAUD AND TQS
380		379
381	BRGCON1=0;	380	BRGCON1=0;
382		381
383	// Sync_Seq = 2 x TQ = 1	382	// Sync_Seq = 2 x TQ = 1
384	BRGCON1bits.SJW1=0;	383	BRGCON1bits.SJW1=0;
385	BRGCON1bits.SJW0=1;	384	BRGCON1bits.SJW0=1;
386		385
387	// Setting BRP.	386	// Setting BRP.
388	BRGCON1=BRGCON1\|CAN_BRP;	387	BRGCON1=BRGCON1\|CAN_BRP;
389		388
390	// Maximum PHEG1	389	// Maximum PHEG1
391	BRGCON2bits.SEG2PHTS = 1;	390	BRGCON2bits.SEG2PHTS = 1;
392		391
393	// Phase_Seg1 = 2 x TQ = 1	392	// Phase_Seg1 = 2 x TQ = 1
394	BRGCON2bits.SEG1PH2 = 0;	393	BRGCON2bits.SEG1PH2 = 0;
395	BRGCON2bits.SEG1PH1 = 0;	394	BRGCON2bits.SEG1PH1 = 0;
396	BRGCON2bits.SEG1PH0 = 1;	395	BRGCON2bits.SEG1PH0 = 1;
397		396
398	// Prop_Seq = 2 x TQ = 1	397	// Prop_Seq = 2 x TQ = 1
399	BRGCON2bits.PRSEG2 = 0;	398	BRGCON2bits.PRSEG2 = 0;
400	BRGCON2bits.PRSEG1 = 0;	399	BRGCON2bits.PRSEG1 = 0;
401	BRGCON2bits.PRSEG0 = 1;	400	BRGCON2bits.PRSEG0 = 1;
402		401
403	// Enableing bus wake-up	402	// Enableing bus wake-up
404	BRGCON3bits.WAKDIS = 0;	403	BRGCON3bits.WAKDIS = 0;
405		404
406	// Dont use filter when wakeup	405	// Dont use filter when wakeup
407	BRGCON3bits.WAKFIL = 0;	406	BRGCON3bits.WAKFIL = 0;
408		407
409	// Phase_Seg2 = 2 x TQ = 1	408	// Phase_Seg2 = 2 x TQ = 1
410	BRGCON3bits.SEG2PH2 = 0;	409	BRGCON3bits.SEG2PH2 = 0;
411	BRGCON3bits.SEG2PH1 = 0;	410	BRGCON3bits.SEG2PH1 = 0;
412	BRGCON3bits.SEG2PH0 = 1;	411	BRGCON3bits.SEG2PH0 = 1;
413		412
414	ECANCON=0;	413	ECANCON=0;
415	ECANCONbits.MDSEL1 = 0;	414	ECANCONbits.MDSEL1 = 0;
416	ECANCONbits.MDSEL0 = 1;	415	ECANCONbits.MDSEL0 = 1;
417		416
418		417
419	// FILTERS AND MASKS	418	// FILTERS AND MASKS
420	RXB0CONbits.RXM1=1;	419	RXB0CONbits.RXM1=1;
421	RXB0CONbits.RXM0=0;	420	RXB0CONbits.RXM0=0;
422		421
423		422
424	// INTERRUPTS	423	// INTERRUPTS
425		424
426	// Diable transmit interrupt	425	// Diable transmit interrupt
427	TXBIE = 0;	426	TXBIE = 0;
428		427
429	//rx no interrupt	428	//rx no interrupt
430	PIR3 = 0;	429	PIR3 = 0;
431	PIE3 = 0;	430	PIE3 = 0;
432		431
433		432
434	// Programmable no buffers interrupt	433	// Programmable no buffers interrupt
435	BIE0 = 0x00;	434	BIE0 = 0x00;
436		435
437		436
438	//loopback mode or not	437	//loopback mode or not
439	#ifdef CAN_LOOPBACK_MODE	438	#ifdef CAN_LOOPBACK_MODE
440	CANCON = 0x40;//request loopback mode	439	CANCON = 0x40;//request loopback mode
441	while ((CANSTAT & 0xE0) != 0x40 );//wait for loopback mode	440	while ((CANSTAT & 0xE0) != 0x40 );//wait for loopback mode
442	#else	441	#else
443	CANCON = 0x00;//request normal mode	442	CANCON = 0x00;//request normal mode
444	while ((CANSTAT & 0xE0) != 0x00 );//wait for normal mode	443	while ((CANSTAT & 0xE0) != 0x00 );//wait for normal mode
445	#endif	444	#endif
446		445
447	}	446	}
448		447
449		448
450		449
451		450
452	/*	451	/*
453	* Function: canGetPacket	452	* Function: canGetPacket
454	*	453	*
455	* Input: none	454	* Input: none
456	* Output: none	455	* Output: none
457	* Pre-conditions: a call to canISR and an packet is available and banked to RXB0	456	* 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.	457	* Affects: Calls canParse() function in main for parsing received packet.
459	* Depends: none.	458	* Depends: none.
460	*/	459	*/
461	BOOL canGetPacket()	460	BOOL canGetPacket()
462	{	461	{
463		462
464	// Get which buffer that is ful.	463	// Get which buffer that is ful.
465	if (RXB0CONbits.RXFUL) { ECANCON=(ECANCON&0b00000)\|0b10000; }	464	if (RXB0CONbits.RXFUL) { ECANCON=(ECANCON&0b00000)\|0b10000; }
466	else if (RXB1CONbits.RXFUL) { ECANCON=(ECANCON&0b00000)\|0b10001; }	465	else if (RXB1CONbits.RXFUL) { ECANCON=(ECANCON&0b00000)\|0b10001; }
467	else if (B0CONbits.RXFUL) { ECANCON=(ECANCON&0b00000)\|0b10010; }	466	else if (B0CONbits.RXFUL) { ECANCON=(ECANCON&0b00000)\|0b10010; }
468	else if (B1CONbits.RXFUL) { ECANCON=(ECANCON&0b00000)\|0b10011; }	467	else if (B1CONbits.RXFUL) { ECANCON=(ECANCON&0b00000)\|0b10011; }
469	else if (B2CONbits.RXFUL) { ECANCON=(ECANCON&0b00000)\|0b10100; }	468	else if (B2CONbits.RXFUL) { ECANCON=(ECANCON&0b00000)\|0b10100; }
470	else if (B3CONbits.RXFUL) { ECANCON=(ECANCON&0b00000)\|0b10101; }	469	else if (B3CONbits.RXFUL) { ECANCON=(ECANCON&0b00000)\|0b10101; }
471	else if (B4CONbits.RXFUL) { ECANCON=(ECANCON&0b00000)\|0b10110; }	470	else if (B4CONbits.RXFUL) { ECANCON=(ECANCON&0b00000)\|0b10110; }
472	else if (B5CONbits.RXFUL) { ECANCON=(ECANCON&0b00000)\|0b10111; }	471	else if (B5CONbits.RXFUL) { ECANCON=(ECANCON&0b00000)\|0b10111; }
473	else return FALSE;	472	else return FALSE;
474		473
475		474
476	//RXB0SIDH 28 27 26 25 24 23 22 21	475	//RXB0SIDH 28 27 26 25 24 23 22 21
477	//RXB0SIDL 20 19 18 xx xx xx 17 16	476	//RXB0SIDL 20 19 18 xx xx xx 17 16
478	//RXB0EIDH 15 14 13 12 11 10 09 08	477	//RXB0EIDH 15 14 13 12 11 10 09 08
479	//RXB0EIDL 07 06 05 04 03 02 01 00	478	//RXB0EIDL 07 06 05 04 03 02 01 00
480		479
481	//funct xx xx xx xx 28 27 26 25	480	//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	481	//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	482	//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	483	//sid xx xx xx xx xx xx xx 08 07 06 05 04 03 02 01 00
485		484
486		485
487	cm.funct=((RXB0SIDH & 0xF0)>>4);	486	cm.funct=((RXB0SIDH & 0xF0)>>4);
488	cm.funcc=(((WORD)(RXB0SIDH & 0x0F))<<6)+(((WORD)(RXB0SIDL & 0xE0))>>2)+(((WORD)(RXB0SIDL & 0x03))<<1)+(((WORD)(RXB0EIDH & 0x80))>>7);	487	cm.funcc=(((WORD)(RXB0SIDH & 0x0F))<<6)+(((WORD)(RXB0SIDL & 0xE0))>>2)+(((WORD)(RXB0SIDL & 0x03))<<1)+(((WORD)(RXB0EIDH & 0x80))>>7);
489	cm.nid=((RXB0EIDH & 0x7E)>>1);	488	cm.nid=((RXB0EIDH & 0x7E)>>1);
490	cm.sid=(((WORD)(RXB0EIDH & 0x01))<<8)+RXB0EIDL;	489	cm.sid=(((WORD)(RXB0EIDH & 0x01))<<8)+RXB0EIDL;
491		490
492		491
493	// Data length	492	// Data length
494	cm.data_length=(RXB0DLCbits.DLC3<<3)+(RXB0DLCbits.DLC2<<2)+(RXB0DLCbits.DLC1<<1)+RXB0DLCbits.DLC0;	493	cm.data_length=(RXB0DLCbits.DLC3<<3)+(RXB0DLCbits.DLC2<<2)+(RXB0DLCbits.DLC1<<1)+RXB0DLCbits.DLC0;
495		494
496	// Remote request	-
497	cm.remote_request=(RXB0DLCbits.RXRTR==0?FALSE:TRUE);	-
498		-

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(root)/trunk/EmbeddedSoftware/PIC/canBoot/Source/Main.c @ 88 – Rev 80 → 88