WebSVN – HomeAutomation – Diff – /trunk/EmbeddedSoftware/PIC/canToSerial/Source/CAN.c


/*********************************************************************
 *
 *                  CAN driver
 *
 *********************************************************************
 * FileName:        $HeadURL: https://svn.auml.se/svn/HomeAutomation/trunk/EmbeddedSoftware/PIC/canToSerial/Source/CAN.c $
 * Last changed:    $LastChangedDate: 2007-01-28 14:58:11 +0100 (Sun, 28 Jan 2007) $
 * By:              $LastChangedBy: johboh $
 * Revision:        $Revision: 260 $
 ********************************************************************/
 
#include <CANdefs.h>
#include <stackTasks.h>
#include <CAN.h>
 
static void canGetPacket(void);
 
#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 = 0x03;    //500Kbit@40MHz 1TQ Sync, 2TQ Prop, 4TQ Phase1, 3TQ Phase2
    //BRGCON2 = 0x99;
    //BRGCON3 = 0x02;
 
    //75%, 250Kbps @40MHz
    //BRGCON1 = 0x09;
    //BRGCON2 = 0xDB;
    //BRGCON3 = 0x01;
 
    //75% ,1 , 500Kbps @40MHz
    //BRGCON1 = 0x01;
    //BRGCON2 = (0xB6 | 0x80);
    //BRGCON3 = 0x04;
   
    //75% ,1 , 500Kbps @80MHz
    //BRGCON1 = 0x03;
    //BRGCON2 = (0xB6 | 0x80);
    //BRGCON3 = 0x04;
 
    // 500Khz@40Mhz (new by the book)
    BRGCON1 = 0x04;
    BRGCON2 = 0xD1;
    BRGCON3 = 0x81;
 
 
    //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;
 
    // Set ressesive VDD
    CIOCONbits.ENDRHI = 1;
 
    // INTERRUPTS
   
    // Diable transmit interrupt
    TXBIE = 0;
 
    //rx any interrupt
    PIR3 = 0;
    PIE3 = 0b00000011;
 
    // High interrupt
    IPR3 =0b00000011;
 
    // Programmable buffers interrupt
    BIE0  = 0xFF;  
 
 
    //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: canISR
*
*   Input:  none
*   Output: none
*   Pre-conditions: a call to canInit()
*   Affects: interrupt registers and receive data buffers
*   Depends: ..
*/
void canISR()
{
    if (PIR3bits.RXBnIF || PIR3bits.RXB1IF || PIR3bits.RXB0IF)
    {
        ECANCON=(ECANCON&0b00000)|(0b10000|(CANCON&0x0F));
        if (RXB0CONbits.RXFUL) canGetPacket();
   
        if (PIR3bits.RXBnIF) {PIR3bits.RXBnIF = 0; return;}
        if (PIR3bits.RXB1IF) {PIR3bits.RXB1IF = 0; return;}
        if (PIR3bits.RXB0IF) {PIR3bits.RXB0IF = 0; return;}
    }
}
 
 
/*
*   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.
*/
void canGetPacket()
{
        CAN_MESSAGE cm;
 
        // Set extended mode or not.
        cm.extended=(RXB0SIDLbits.EXID==0?FALSE:TRUE);
 
        // Clear
        cm.ident=0;
 
 
        if (cm.extended==TRUE)
        {
            //Read extended ident.
 
            //xx xx xx 28 27 26 25 24   23 22 21 20 19 18 17 16   15 14 13 12 11 10 09 08   07 06 05 04 03 02 01 00
 
            //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
 
 
            cm.ident = (((DWORD)RXB0SIDH)<<21) + (((DWORD)(RXB0SIDL & 0xE0))<<13) + (((DWORD)(RXB0SIDL & 0x03))<<16) + (((DWORD)RXB0EIDH)<<8) + (BYTE)RXB0EIDL;
 
        }
        else
        {
            //Read standard ident.
 
            //xx xx xx xx xx 10 09 08   07 06 05 04 03 02 01 00
 
            //RXB0SIDH 10 09 08 07 06 05 04 03
            //RXB0SIDL 02 01 00 xx xx xx xx xx
 
            cm.ident = (((DWORD)RXB0SIDH)<<3) + (((DWORD)RXB0SIDL)>>5);
        }
 
        // 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;
 
        //Call main parser
        canParse(cm);
}
 
 
/*
*   Function: canSendMessage
*
*   Input:  CAN_MESSAGE to send
*   Output: True if packet scheduled sucess, false otherwise.
*   Pre-conditions: canInit
*   Affects: ..
*   Depends: ..
*/
BOOL canSendMessage(CAN_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;
 
 
        if (cm.extended==TRUE)
        {
            //Write extended ident.
   
            //xx xx xx 28 27 26 25 24   23 22 21 20 19 18 17 16   15 14 13 12 11 10 09 08   07 06 05 04 03 02 01 00
 
            //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
 
 
            RXB0SIDH =  (BYTE)((cm.ident>>21));
            RXB0SIDL = ((BYTE)(cm.ident>>16) & 0x03) + ((BYTE)(cm.ident>>13) & 0xE0);
            RXB0EIDH =  (BYTE)(cm.ident>>8);
            RXB0EIDL =  (BYTE)cm.ident;
 
        }
        else
        {
            //Write standard ident.
       
            //xx xx xx xx xx 10 09 08   07 06 05 04 03 02 01 00
 
            //RXB0SIDH 10 09 08 07 06 05 04 03
            //RXB0SIDL 02 01 00 xx xx xx xx xx
 
            RXB0SIDH=  (BYTE)(cm.ident>>3);
            RXB0SIDL= ((BYTE)(cm.ident<<5) & 0xE0);
 
        }
 
        // 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=(cm.extended==TRUE?1:0);
 
        // Priority
        RXB0CON = (RXB0CON & 0b11111100) | prio;
 
        // mark as redy to transmit
        _asm
            bsf RXB0CON, 3, 0
        _endasm
 
        return TRUE;
 
}
 
 
 
#endif //USE_CAN
 

Rev 97	Rev 260
1	/*********************************************************************	1	/*********************************************************************
2	*	2	*
3	* CAN driver	3	* CAN driver
4	*	4	*
5	*********************************************************************	5	*********************************************************************
6	* FileName: $HeadURL: https://svn.auml.se/svn/HomeAutomation/trunk/EmbeddedSoftware/PIC/canToSerial/Source/CAN.c $	6	* FileName: $HeadURL: https://svn.auml.se/svn/HomeAutomation/trunk/EmbeddedSoftware/PIC/canToSerial/Source/CAN.c $
7	* Last changed: $LastChangedDate: ~~2006~~-11-~~14 21~~:~~22:17~~ +0100 (~~Tue,~~ 14 ~~Nov~~ ~~2006~~) $	7	* Last changed: $LastChangedDate: 2007-01-28 14:58:11 +0100 (Sun, 28 Jan 2007) $
8	* By: $LastChangedBy: johboh $	8	* By: $LastChangedBy: johboh $
9	* Revision: $Revision: 97 $	9	* Revision: $Revision: 260 $
10	********************************************************************/	10	********************************************************************/
11		11
12	#include <CANdefs.h>	12	#include <CANdefs.h>
13	#include <stackTasks.h>	13	#include <stackTasks.h>
14	#include <CAN.h>	14	#include <CAN.h>
15		15
16	static void canGetPacket(void);	16	static void canGetPacket(void);
17		17
18	#ifdef USE_CAN	18	#ifdef USE_CAN
19		19
20		20
21	/*	21	/*
22	* Function: canInit	22	* Function: canInit
23	*	23	*
24	* Input: none	24	* Input: none
25	* Output: none	25	* Output: none
26	* Pre-conditions: none	26	* Pre-conditions: none
27	* Affects: Changes can registers.	27	* Affects: Changes can registers.
28	* Depends: none.	28	* Depends: none.
29	*/	29	*/
30	void canInit()	30	void canInit()
31	{	31	{
32	CANCON = 0x80; //request config mode	32	CANCON = 0x80; //request config mode
33	while ((CANSTAT & 0xE0) != 0x80 ); //wait for config mode request	33	while ((CANSTAT & 0xE0) != 0x80 ); //wait for config mode request
34		34
35	// BAUD AND TQS	35	// BAUD AND TQS
36		36
-		37	//BRGCON1 = 0x03; //500Kbit@40MHz 1TQ Sync, 2TQ Prop, 4TQ Phase1, 3TQ Phase2
-		38	//BRGCON2 = 0x99;
-		39	//BRGCON3 = 0x02;
-		40
-		41	//75%, 250Kbps @40MHz
-		42	//BRGCON1 = 0x09;
-		43	//BRGCON2 = 0xDB;
-		44	//BRGCON3 = 0x01;
-		45
-		46	//75% ,1 , 500Kbps @40MHz
-		47	//BRGCON1 = 0x01;
-		48	//BRGCON2 = (0xB6 \| 0x80);
-		49	//BRGCON3 = 0x04;
-		50
-		51	//75% ,1 , 500Kbps @80MHz
-		52	//BRGCON1 = 0x03;
-		53	//BRGCON2 = (0xB6 \| 0x80);
-		54	//BRGCON3 = 0x04;
-		55
-		56	// 500Khz@40Mhz (new by the book)
-		57	BRGCON1 = 0x04;
-		58	BRGCON2 = 0xD1;
-		59	BRGCON3 = 0x81;
-		60
-		61
37	~~BRGCON1=0~~;	62	//BRGCON1=0;
38		63
39	// Sync_Seq = 2 x TQ = 1	64	// Sync_Seq = 2 x TQ = 1
40	BRGCON1bits.~~SJW1=0~~;	65	//BRGCON1bits.SJW1=0;
41	BRGCON1bits.~~SJW0=1~~;	66	//BRGCON1bits.SJW0=1;
42		67
43	// Setting BRP.	68	// Setting BRP.
44	~~BRGCON1=BRGCON1\|CAN_BRP~~;	69	//BRGCON1=BRGCON1\|CAN_BRP;
45		70
46	// Maximum PHEG1	71	// Maximum PHEG1
47	BRGCON2bits.SEG2PHTS = 1;	72	//BRGCON2bits.SEG2PHTS = 1;
48		73
49	// Phase_Seg1 = 2 x TQ = 1	74	// Phase_Seg1 = 2 x TQ = 1
50	BRGCON2bits.SEG1PH2 = 0;	75	//BRGCON2bits.SEG1PH2 = 0;
51	BRGCON2bits.SEG1PH1 = 0;	76	//BRGCON2bits.SEG1PH1 = 0;
52	BRGCON2bits.SEG1PH0 = 1;	77	//BRGCON2bits.SEG1PH0 = 1;
53		78
54	// Prop_Seq = 2 x TQ = 1	79	// Prop_Seq = 2 x TQ = 1
55	BRGCON2bits.PRSEG2 = 0;	80	//BRGCON2bits.PRSEG2 = 0;
56	BRGCON2bits.PRSEG1 = 0;	81	//BRGCON2bits.PRSEG1 = 0;
57	BRGCON2bits.PRSEG0 = 1;	82	//BRGCON2bits.PRSEG0 = 1;
58		83
59	// Enableing bus wake-up	84	// Enableing bus wake-up
60	BRGCON3bits.WAKDIS = 0;	85	//BRGCON3bits.WAKDIS = 0;
61		86
62	// Dont use filter when wakeup	87	// Dont use filter when wakeup
63	BRGCON3bits.WAKFIL = 0;	88	//BRGCON3bits.WAKFIL = 0;
64		89
65	// Phase_Seg2 = 2 x TQ = 1	90	// Phase_Seg2 = 2 x TQ = 1
66	BRGCON3bits.SEG2PH2 = 0;	91	//BRGCON3bits.SEG2PH2 = 0;
67	BRGCON3bits.SEG2PH1 = 0;	92	//BRGCON3bits.SEG2PH1 = 0;
68	BRGCON3bits.SEG2PH0 = 1;	93	//BRGCON3bits.SEG2PH0 = 1;
69		94
70	ECANCON=0;	95	ECANCON=0;
71	ECANCONbits.MDSEL1 = 1;	96	ECANCONbits.MDSEL1 = 1;
72	ECANCONbits.MDSEL0 = 0;	97	ECANCONbits.MDSEL0 = 0;
73		98
74		99
75	// FILTERS AND MASKS	100	// FILTERS AND MASKS
76	RXB0CONbits.RXM1=1;	101	RXB0CONbits.RXM1=1;
77	RXB0CONbits.RXM0=0;	102	RXB0CONbits.RXM0=0;
78		103
-		104	// Set ressesive VDD
-		105	CIOCONbits.ENDRHI = 1;
79		106
80	// INTERRUPTS	107	// INTERRUPTS
81		108
82	// Diable transmit interrupt	109	// Diable transmit interrupt
83	TXBIE = 0;	110	TXBIE = 0;
84		111
85	//rx any interrupt	112	//rx any interrupt
86	PIR3 = 0;	113	PIR3 = 0;
87	PIE3 = 0b00000011;	114	PIE3 = 0b00000011;
88		115
89	// High interrupt	116	// High interrupt
90	IPR3 =0b00000011;	117	IPR3 =0b00000011;
91		118
92	// Programmable buffers interrupt	119	// Programmable buffers interrupt
93	BIE0 = 0xFF;	120	BIE0 = 0xFF;
94		121
95		122
96	//loopback mode or not	123	//loopback mode or not
97	#ifdef CAN_LOOPBACK_MODE	124	#ifdef CAN_LOOPBACK_MODE
98	CANCON = 0x40;//request loopback mode	125	CANCON = 0x40;//request loopback mode
99	while ((CANSTAT & 0xE0) != 0x40 );//wait for loopback mode	126	while ((CANSTAT & 0xE0) != 0x40 );//wait for loopback mode
100	#else	127	#else
101	CANCON = 0x00;//request normal mode	128	CANCON = 0x00;//request normal mode
102	while ((CANSTAT & 0xE0) != 0x00 );//wait for normal mode	129	while ((CANSTAT & 0xE0) != 0x00 );//wait for normal mode
103	#endif	130	#endif
104		131
105	}	132	}
106		133
107		134
108	/*	135	/*
109	* Function: canISR	136	* Function: canISR
110	*	137	*
111	* Input: none	138	* Input: none
112	* Output: none	139	* Output: none
113	* Pre-conditions: a call to canInit()	140	* Pre-conditions: a call to canInit()
114	* Affects: interrupt registers and receive data buffers	141	* Affects: interrupt registers and receive data buffers
115	* Depends: ..	142	* Depends: ..
116	*/	143	*/
117	void canISR()	144	void canISR()
118	{	145	{
119	if (PIR3bits.RXBnIF \|\| PIR3bits.RXB1IF \|\| PIR3bits.RXB0IF)	146	if (PIR3bits.RXBnIF \|\| PIR3bits.RXB1IF \|\| PIR3bits.RXB0IF)
120	{	147	{
121	ECANCON=(ECANCON&0b00000)\|(0b10000\|(CANCON&0x0F));	148	ECANCON=(ECANCON&0b00000)\|(0b10000\|(CANCON&0x0F));
122	if (RXB0CONbits.RXFUL) canGetPacket();	149	if (RXB0CONbits.RXFUL) canGetPacket();
123		150
124	if (PIR3bits.RXBnIF) {PIR3bits.RXBnIF = 0; return;}	151	if (PIR3bits.RXBnIF) {PIR3bits.RXBnIF = 0; return;}
125	if (PIR3bits.RXB1IF) {PIR3bits.RXB1IF = 0; return;}	152	if (PIR3bits.RXB1IF) {PIR3bits.RXB1IF = 0; return;}
126	if (PIR3bits.RXB0IF) {PIR3bits.RXB0IF = 0; return;}	153	if (PIR3bits.RXB0IF) {PIR3bits.RXB0IF = 0; return;}
127	}	154	}
128	}	155	}
129		156
130		157
131	/*	158	/*
132	* Function: canGetPacket	159	* Function: canGetPacket
133	*	160	*
134	* Input: none	161	* Input: none
135	* Output: none	162	* Output: none
136	* Pre-conditions: a call to canISR and an packet is available and banked to RXB0	163	* Pre-conditions: a call to canISR and an packet is available and banked to RXB0
137	* Affects: Calls canParse() function in main for parsing received packet.	164	* Affects: Calls canParse() function in main for parsing received packet.
138	* Depends: none.	165	* Depends: none.
139	*/	166	*/
140	void canGetPacket()	167	void canGetPacket()
141	{	168	{
142	CAN_MESSAGE cm;	169	CAN_MESSAGE cm;
143		170
144	// Set extended mode or not.	171	// Set extended mode or not.
145	cm.extended=(RXB0SIDLbits.EXID==0?FALSE:TRUE);	172	cm.extended=(RXB0SIDLbits.EXID==0?FALSE:TRUE);
146		173
147	// Clear	174	// Clear
148	cm.ident=0;	175	cm.ident=0;
149		176
150		177
151	if (cm.extended==TRUE)	178	if (cm.extended==TRUE)
152	{	179	{
153	//Read extended ident.	180	//Read extended ident.
154		181
155	//xx xx xx 28 27 26 25 24 23 22 21 20 19 18 17 16 15 14 13 12 11 10 09 08 07 06 05 04 03 02 01 00	182	//xx xx xx 28 27 26 25 24 23 22 21 20 19 18 17 16 15 14 13 12 11 10 09 08 07 06 05 04 03 02 01 00
156		183
157	//RXB0SIDH 28 27 26 25 24 23 22 21	184	//RXB0SIDH 28 27 26 25 24 23 22 21
158	//RXB0SIDL 20 19 18 xx xx xx 17 16	185	//RXB0SIDL 20 19 18 xx xx xx 17 16
159	//RXB0EIDH 15 14 13 12 11 10 09 08	186	//RXB0EIDH 15 14 13 12 11 10 09 08
160	//RXB0EIDL 07 06 05 04 03 02 01 00	187	//RXB0EIDL 07 06 05 04 03 02 01 00
161		188
162		189
163	cm.ident = (((DWORD)RXB0SIDH)<<21) + (((DWORD)(RXB0SIDL & 0xE0))<<13) + (((DWORD)(RXB0SIDL & 0x03))<<16) + (((DWORD)RXB0EIDH)<<8) + (BYTE)RXB0EIDL;	190	cm.ident = (((DWORD)RXB0SIDH)<<21) + (((DWORD)(RXB0SIDL & 0xE0))<<13) + (((DWORD)(RXB0SIDL & 0x03))<<16) + (((DWORD)RXB0EIDH)<<8) + (BYTE)RXB0EIDL;
164		191
165	}	192	}
166	else	193	else
167	{	194	{
168	//Read standard ident.	195	//Read standard ident.
169		196
170	//xx xx xx xx xx 10 09 08 07 06 05 04 03 02 01 00	197	//xx xx xx xx xx 10 09 08 07 06 05 04 03 02 01 00
171		198
172	//RXB0SIDH 10 09 08 07 06 05 04 03	199	//RXB0SIDH 10 09 08 07 06 05 04 03
173	//RXB0SIDL 02 01 00 xx xx xx xx xx	200	//RXB0SIDL 02 01 00 xx xx xx xx xx
174		201
175	cm.ident = (((DWORD)RXB0SIDH)<<3) + (((DWORD)RXB0SIDL)>>5);	202	cm.ident = (((DWORD)RXB0SIDH)<<3) + (((DWORD)RXB0SIDL)>>5);
176	}	203	}
177		204
178	// Data length	205	// Data length
179	cm.data_length=(RXB0DLCbits.DLC3<<3)+(RXB0DLCbits.DLC2<<2)+(RXB0DLCbits.DLC1<<1)+RXB0DLCbits.DLC0;	206	cm.data_length=(RXB0DLCbits.DLC3<<3)+(RXB0DLCbits.DLC2<<2)+(RXB0DLCbits.DLC1<<1)+RXB0DLCbits.DLC0;
180		207
181	// Remote request	208	// Remote request
182	cm.remote_request=(RXB0DLCbits.RXRTR==0?FALSE:TRUE);	209	cm.remote_request=(RXB0DLCbits.RXRTR==0?FALSE:TRUE);
183		210
184	// Data one bye one, for speed	211	// Data one bye one, for speed
185	cm.data[0]=RXB0D0; cm.data[1]=RXB0D1;	212	cm.data[0]=RXB0D0; cm.data[1]=RXB0D1;
186	cm.data[2]=RXB0D2; cm.data[3]=RXB0D3;	213	cm.data[2]=RXB0D2; cm.data[3]=RXB0D3;
187	cm.data[4]=RXB0D4; cm.data[5]=RXB0D5;	214	cm.data[4]=RXB0D4; cm.data[5]=RXB0D5;
188	cm.data[6]=RXB0D6; cm.data[7]=RXB0D7;	215	cm.data[6]=RXB0D6; cm.data[7]=RXB0D7;
189		216
190	// Clear ful status	217	// Clear ful status
191	RXB0CONbits.RXFUL=0;	218	RXB0CONbits.RXFUL=0;
192		219
193	//Call main parser	220	//Call main parser
194	canParse(cm);	221	canParse(cm);
195	}	222	}
196		223
197		224
198	/*	225	/*
199	* Function: canSendMessage	226	* Function: canSendMessage
200	*	227	*
201	* Input: CAN_MESSAGE to send	228	* Input: CAN_MESSAGE to send
202	* Output: True if packet scheduled sucess, false otherwise.	229	* Output: True if packet scheduled sucess, false otherwise.
203	* Pre-conditions: canInit	230	* Pre-conditions: canInit
204	* Affects: ..	231	* Affects: ..
205	* Depends: ..	232	* Depends: ..
206	*/	233	*/
207	BOOL canSendMessage(CAN_MESSAGE cm,CAN_PRIORITY prio)	234	BOOL canSendMessage(CAN_MESSAGE cm,CAN_PRIORITY prio)
208	{	235	{
209		236
210	if ( TXB0CONbits.TXREQ == 0 ) { ECANCON=(ECANCON&0b00000)\|0b00011; }	237	if ( TXB0CONbits.TXREQ == 0 ) { ECANCON=(ECANCON&0b00000)\|0b00011; }
211	if ( TXB1CONbits.TXREQ == 0 ) { ECANCON=(ECANCON&0b00000)\|0b00100; }	238	if ( TXB1CONbits.TXREQ == 0 ) { ECANCON=(ECANCON&0b00000)\|0b00100; }
212	if ( TXB2CONbits.TXREQ == 0 ) { ECANCON=(ECANCON&0b00000)\|0b00101; }	239	if ( TXB2CONbits.TXREQ == 0 ) { ECANCON=(ECANCON&0b00000)\|0b00101; }
213	// None of the transmit buffers were empty.	240	// None of the transmit buffers were empty.
214	else { return FALSE;}	241	else { return FALSE;}
215		242
216	if (prio<0 \|\| prio>3) prio = 0;	243	if (prio<0 \|\| prio>3) prio = 0;
217		244
218		245
219	if (cm.extended==TRUE)	246	if (cm.extended==TRUE)
220	{	247	{
221	//Write extended ident.	248	//Write extended ident.
222		249
223	//xx xx xx 28 27 26 25 24 23 22 21 20 19 18 17 16 15 14 13 12 11 10 09 08 07 06 05 04 03 02 01 00	250	//xx xx xx 28 27 26 25 24 23 22 21 20 19 18 17 16 15 14 13 12 11 10 09 08 07 06 05 04 03 02 01 00
224		251
225	//RXB0SIDH 28 27 26 25 24 23 22 21	252	//RXB0SIDH 28 27 26 25 24 23 22 21
226	//RXB0SIDL 20 19 18 xx xx xx 17 16	253	//RXB0SIDL 20 19 18 xx xx xx 17 16
227	//RXB0EIDH 15 14 13 12 11 10 09 08	254	//RXB0EIDH 15 14 13 12 11 10 09 08
228	//RXB0EIDL 07 06 05 04 03 02 01 00	255	//RXB0EIDL 07 06 05 04 03 02 01 00
229		256
230		257
231	RXB0SIDH = (BYTE)((cm.ident>>21));	258	RXB0SIDH = (BYTE)((cm.ident>>21));
232	RXB0SIDL = ((BYTE)(cm.ident>>16) & 0x03) + ((BYTE)(cm.ident>>13) & 0xE0);	259	RXB0SIDL = ((BYTE)(cm.ident>>16) & 0x03) + ((BYTE)(cm.ident>>13) & 0xE0);
233	RXB0EIDH = (BYTE)(cm.ident>>8);	260	RXB0EIDH = (BYTE)(cm.ident>>8);
234	RXB0EIDL = (BYTE)cm.ident;	261	RXB0EIDL = (BYTE)cm.ident;
235		262
236	}	263	}
237	else	264	else
238	{	265	{
239	//Write standard ident.	266	//Write standard ident.
240		267
241	//xx xx xx xx xx 10 09 08 07 06 05 04 03 02 01 00	268	//xx xx xx xx xx 10 09 08 07 06 05 04 03 02 01 00
242		269
243	//RXB0SIDH 10 09 08 07 06 05 04 03	270	//RXB0SIDH 10 09 08 07 06 05 04 03
244	//RXB0SIDL 02 01 00 xx xx xx xx xx	271	//RXB0SIDL 02 01 00 xx xx xx xx xx
245		272
246	RXB0SIDH= (BYTE)(cm.ident>>3);	273	RXB0SIDH= (BYTE)(cm.ident>>3);
247	RXB0SIDL= ((BYTE)(cm.ident<<5) & 0xE0);	274	RXB0SIDL= ((BYTE)(cm.ident<<5) & 0xE0);
248		275
249	}	276	}
250		277
251	// Data length	278	// Data length
252	RXB0DLC = 0;	279	RXB0DLC = 0;
253	if (cm.data_length>8) RXB0DLC=8; else RXB0DLC=cm.data_length;	280	if (cm.data_length>8) RXB0DLC=8; else RXB0DLC=cm.data_length;
254		281
255	// Remote request	282	// Remote request
256	if (cm.remote_request==TRUE)	283	if (cm.remote_request==TRUE)
257	{	284	{
258	_asm	285	_asm
259	bsf RXB0DLC, 6, 0	286	bsf RXB0DLC, 6, 0
260	_endasm	287	_endasm
261	}	288	}
262	else	289	else
263	{	290	{
264	_asm	291	_asm
265	bcf RXB0DLC, 6, 0	292	bcf RXB0DLC, 6, 0
266	_endasm	293	_endasm
267	}	294	}
268		295
269	// Data one bye one, for speed	296	// Data one bye one, for speed
270	RXB0D0=cm.data[0]; RXB0D1=cm.data[1];	297	RXB0D0=cm.data[0]; RXB0D1=cm.data[1];
271	RXB0D2=cm.data[2]; RXB0D3=cm.data[3];	298	RXB0D2=cm.data[2]; RXB0D3=cm.data[3];
272	RXB0D4=cm.data[4]; RXB0D5=cm.data[5];	299	RXB0D4=cm.data[4]; RXB0D5=cm.data[5];
273	RXB0D6=cm.data[6]; RXB0D7=cm.data[7];	300	RXB0D6=cm.data[6]; RXB0D7=cm.data[7];
274		301
275	// set extended or not	302	// set extended or not
276	RXB0SIDLbits.EXID=(cm.extended==TRUE?1:0);	303	RXB0SIDLbits.EXID=(cm.extended==TRUE?1:0);
277		304
278	// Priority	305	// Priority
279	RXB0CON = (RXB0CON & 0b11111100) \| prio;	306	RXB0CON = (RXB0CON & 0b11111100) \| prio;
280		307
281	// mark as redy to transmit	308	// mark as redy to transmit
282	_asm	309	_asm
283	bsf RXB0CON, 3, 0	310	bsf RXB0CON, 3, 0
284	_endasm	311	_endasm
285		312
286	return TRUE;	313	return TRUE;
287		314
288	}	315	}
289		316
290		317
291		318
292	#endif //USE_CAN	319	#endif //USE_CAN
293		320

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