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/*********************************************************************
 *
 *                  CAN driver
 *
 *********************************************************************
 * FileName:        CAN.c
 *
 * Author               Date    Comment
 *~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
 * Johan Böhlin     21-10-06    Original        (Rev 1.0)
 ********************************************************************/
 
#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=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 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)
    {
        // Get which buffer that is ful.
             if (RXB0CONbits.RXFUL) { ECANCON=(ECANCON&0b00000)|0b10000; canGetPacket(); }
        else if (RXB1CONbits.RXFUL) { ECANCON=(ECANCON&0b00000)|0b10001; canGetPacket(); }
        else if (B0CONbits.RXFUL)   { ECANCON=(ECANCON&0b00000)|0b10010; canGetPacket(); }
        else if (B1CONbits.RXFUL)   { ECANCON=(ECANCON&0b00000)|0b10011; canGetPacket(); }
        else if (B2CONbits.RXFUL)   { ECANCON=(ECANCON&0b00000)|0b10100; canGetPacket(); }
        else if (B3CONbits.RXFUL)   { ECANCON=(ECANCON&0b00000)|0b10101; canGetPacket(); }
        else if (B4CONbits.RXFUL)   { ECANCON=(ECANCON&0b00000)|0b10110; canGetPacket(); }
        else if (B5CONbits.RXFUL)   { ECANCON=(ECANCON&0b00000)|0b10111; canGetPacket(); }
   
        if (PIR3bits.RXBnIF) {PIR3bits.RXBnIF = 0;}
        if (PIR3bits.RXB1IF) {PIR3bits.RXB1IF = 0;}
        if (PIR3bits.RXB0IF) {PIR3bits.RXB0IF = 0;}
   
    }
}
 
 
/*
*   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 56	Rev 73
1	/*********************************************************************	1	/*********************************************************************
2	*	2	*
3	* CAN driver	3	* CAN driver
4	*	4	*
5	*********************************************************************	5	*********************************************************************
6	* FileName: CAN.c	6	* FileName: CAN.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		12
13	#include <CANdefs.h>	13	#include <CANdefs.h>
14	#include <stackTasks.h>	14	#include <stackTasks.h>
15	#include <CAN.h>	15	#include <CAN.h>
16		16
17	static void canGetPacket(void);	17	static void canGetPacket(void);
18		18
19	#ifdef USE_CAN	19	#ifdef USE_CAN
20		20
21		21
22	/*	22	/*
23	* Function: canInit	23	* Function: canInit
24	*	24	*
25	* Input: none	25	* Input: none
26	* Output: none	26	* Output: none
27	* Pre-conditions: none	27	* Pre-conditions: none
28	* Affects: Changes can registers.	28	* Affects: Changes can registers.
29	* Depends: none.	29	* Depends: none.
30	*/	30	*/
31	void canInit()	31	void canInit()
32	{	32	{
33	CANCON = 0x80; //request config mode	33	CANCON = 0x80; //request config mode
34	while ((CANSTAT & 0xE0) != 0x80 ); //wait for config mode request	34	while ((CANSTAT & 0xE0) != 0x80 ); //wait for config mode request
35		35
36	// BAUD AND TQS	36	// BAUD AND TQS
37		37
38	BRGCON1=0;	38	BRGCON1=0;
39		39
40	// Sync_Seq = 2 x TQ = 1	40	// Sync_Seq = 2 x TQ = 1
41	BRGCON1bits.SJW1=0;	41	BRGCON1bits.SJW1=0;
42	BRGCON1bits.SJW0=1;	42	BRGCON1bits.SJW0=1;
43		43
44	// Setting BRP.	44	// Setting BRP.
45	BRGCON1=BRGCON1\|CAN_BRP;	45	BRGCON1=BRGCON1\|CAN_BRP;
46		46
47	// Maximum PHEG1	47	// Maximum PHEG1
48	BRGCON2bits.SEG2PHTS = 1;	48	BRGCON2bits.SEG2PHTS = 1;
49		49
50	// Phase_Seg1 = 2 x TQ = 1	50	// Phase_Seg1 = 2 x TQ = 1
51	BRGCON2bits.SEG1PH2 = 0;	51	BRGCON2bits.SEG1PH2 = 0;
52	BRGCON2bits.SEG1PH1 = 0;	52	BRGCON2bits.SEG1PH1 = 0;
53	BRGCON2bits.SEG1PH0 = 1;	53	BRGCON2bits.SEG1PH0 = 1;
54		54
55	// Prop_Seq = 2 x TQ = 1	55	// Prop_Seq = 2 x TQ = 1
56	BRGCON2bits.PRSEG2 = 0;	56	BRGCON2bits.PRSEG2 = 0;
57	BRGCON2bits.PRSEG1 = 0;	57	BRGCON2bits.PRSEG1 = 0;
58	BRGCON2bits.PRSEG0 = 1;	58	BRGCON2bits.PRSEG0 = 1;
59		59
60	// Enableing bus wake-up	60	// Enableing bus wake-up
61	BRGCON3bits.WAKDIS = 0;	61	BRGCON3bits.WAKDIS = 0;
62		62
63	// Dont use filter when wakeup	63	// Dont use filter when wakeup
64	BRGCON3bits.WAKFIL = 0;	64	BRGCON3bits.WAKFIL = 0;
65		65
66	// Phase_Seg2 = 2 x TQ = 1	66	// Phase_Seg2 = 2 x TQ = 1
67	BRGCON3bits.SEG2PH2 = 0;	67	BRGCON3bits.SEG2PH2 = 0;
68	BRGCON3bits.SEG2PH1 = 0;	68	BRGCON3bits.SEG2PH1 = 0;
69	BRGCON3bits.SEG2PH0 = 1;	69	BRGCON3bits.SEG2PH0 = 1;
70		70
71	ECANCON=0;	71	ECANCON=0;
72	ECANCONbits.MDSEL1 = 0;	72	ECANCONbits.MDSEL1 = 0;
73	ECANCONbits.MDSEL0 = 1;	73	ECANCONbits.MDSEL0 = 1;
74		74
75		75
76	// FILTERS AND MASKS	76	// FILTERS AND MASKS
77	RXB0CONbits.RXM1=1;	77	RXB0CONbits.RXM1=1;
78	RXB0CONbits.RXM0=0;	78	RXB0CONbits.RXM0=0;
79		79
80		80
81	// INTERRUPTS	81	// INTERRUPTS
82		82
83	// Diable transmit interrupt	83	// Diable transmit interrupt
84	TXBIE = 0;	84	TXBIE = 0;
85		85
86	//rx any interrupt	86	//rx any interrupt
87	PIR3 = 0;	87	PIR3 = 0;
88	PIE3 = 0b00000011;	88	PIE3 = 0b00000011;
89		89
90	// High interrupt	90	// High interrupt
91	IPR3 =0b00000011;	91	IPR3 =0b00000011;
92		92
93	// Programmable buffers interrupt	93	// Programmable buffers interrupt
94	BIE0 = 0xFF;	94	BIE0 = 0xFF;
95		95
96		96
97	//loopback mode or not	97	//loopback mode or not
98	#ifdef CAN_LOOPBACK_MODE	98	#ifdef CAN_LOOPBACK_MODE
99	CANCON = 0x40;//request loopback mode	99	CANCON = 0x40;//request loopback mode
100	while ((CANSTAT & 0xE0) != 0x40 );//wait for loopback mode	100	while ((CANSTAT & 0xE0) != 0x40 );//wait for loopback mode
101	#else	101	#else
102	CANCON = 0x00;//request normal mode	102	CANCON = 0x00;//request normal mode
103	while ((CANSTAT & 0xE0) != 0x00 );//wait for normal mode	103	while ((CANSTAT & 0xE0) != 0x00 );//wait for normal mode
104	#endif	104	#endif
105		105
106	}	106	}
107		107
108		108
109	/*	109	/*
110	* Function: canISR	110	* Function: canISR
111	*	111	*
112	* Input: none	112	* Input: none
113	* Output: none	113	* Output: none
114	* Pre-conditions: a call to canInit()	114	* Pre-conditions: a call to canInit()
115	* Affects: interrupt registers and receive data buffers	115	* Affects: interrupt registers and receive data buffers
116	* Depends: ..	116	* Depends: ..
117	*/	117	*/
118	void canISR()	118	void canISR()
119	{	119	{
120		120
121		121
122	if (PIR3bits.RXBnIF \|\| PIR3bits.RXB1IF \|\| PIR3bits.RXB0IF)	122	if (PIR3bits.RXBnIF \|\| PIR3bits.RXB1IF \|\| PIR3bits.RXB0IF)
123	{	123	{
124	// Get which buffer that is ful.	124	// Get which buffer that is ful.
125	if (RXB0CONbits.RXFUL) { ECANCON=(ECANCON&0b00000)\|0b10000; canGetPacket(); }	125	if (RXB0CONbits.RXFUL) { ECANCON=(ECANCON&0b00000)\|0b10000; canGetPacket(); }
126	else if (RXB1CONbits.RXFUL) { ECANCON=(ECANCON&0b00000)\|0b10001; canGetPacket(); }	126	else if (RXB1CONbits.RXFUL) { ECANCON=(ECANCON&0b00000)\|0b10001; canGetPacket(); }
127	else if (B0CONbits.RXFUL) { ECANCON=(ECANCON&0b00000)\|0b10010; canGetPacket(); }	127	else if (B0CONbits.RXFUL) { ECANCON=(ECANCON&0b00000)\|0b10010; canGetPacket(); }
128	else if (B1CONbits.RXFUL) { ECANCON=(ECANCON&0b00000)\|0b10011; canGetPacket(); }	128	else if (B1CONbits.RXFUL) { ECANCON=(ECANCON&0b00000)\|0b10011; canGetPacket(); }
129	else if (B2CONbits.RXFUL) { ECANCON=(ECANCON&0b00000)\|0b10100; canGetPacket(); }	129	else if (B2CONbits.RXFUL) { ECANCON=(ECANCON&0b00000)\|0b10100; canGetPacket(); }
130	else if (B3CONbits.RXFUL) { ECANCON=(ECANCON&0b00000)\|0b10101; canGetPacket(); }	130	else if (B3CONbits.RXFUL) { ECANCON=(ECANCON&0b00000)\|0b10101; canGetPacket(); }
131	else if (B4CONbits.RXFUL) { ECANCON=(ECANCON&0b00000)\|0b10110; canGetPacket(); }	131	else if (B4CONbits.RXFUL) { ECANCON=(ECANCON&0b00000)\|0b10110; canGetPacket(); }
132	else if (B5CONbits.RXFUL) { ECANCON=(ECANCON&0b00000)\|0b10111; canGetPacket(); }	132	else if (B5CONbits.RXFUL) { ECANCON=(ECANCON&0b00000)\|0b10111; canGetPacket(); }
133		133
134	if (PIR3bits.RXBnIF) {PIR3bits.RXBnIF = 0;}	134	if (PIR3bits.RXBnIF) {PIR3bits.RXBnIF = 0;}
135	if (PIR3bits.RXB1IF) {PIR3bits.RXB1IF = 0;}	135	if (PIR3bits.RXB1IF) {PIR3bits.RXB1IF = 0;}
136	if (PIR3bits.RXB0IF) {PIR3bits.RXB0IF = 0;}	136	if (PIR3bits.RXB0IF) {PIR3bits.RXB0IF = 0;}
137		137
138	}	138	}
139	}	139	}
140		140
141		141
142	/*	142	/*
143	* Function: canGetPacket	143	* Function: canGetPacket
144	*	144	*
145	* Input: none	145	* Input: none
146	* Output: none	146	* Output: none
147	* Pre-conditions: a call to canISR and an packet is available and banked to RXB0	147	* Pre-conditions: a call to canISR and an packet is available and banked to RXB0
148	* Affects: Calls canParse() function in main for parsing received packet.	148	* Affects: Calls canParse() function in main for parsing received packet.
149	* Depends: none.	149	* Depends: none.
150	*/	150	*/
151	void canGetPacket()	151	void canGetPacket()
152	{	152	{
153	CAN_MESSAGE cm;	153	CAN_MESSAGE cm;
154		154
155	// Set extended mode or not.	155	// Set extended mode or not.
156	cm.extended=(RXB0SIDLbits.EXID==0?FALSE:TRUE);	156	cm.extended=(RXB0SIDLbits.EXID==0?FALSE:TRUE);
157		157
158	// Clear	158	// Clear
159	cm.ident=0;	159	cm.ident=0;
160		160
161		161
162	if (cm.extended==TRUE)	162	if (cm.extended==TRUE)
163	{	163	{
164	//Read extended ident.	164	//Read extended ident.
165		165
166	//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	166	//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
167		167
168	//RXB0SIDH 28 27 26 25 24 23 22 21	168	//RXB0SIDH 28 27 26 25 24 23 22 21
169	//RXB0SIDL 20 19 18 xx xx xx 17 16	169	//RXB0SIDL 20 19 18 xx xx xx 17 16
170	//RXB0EIDH 15 14 13 12 11 10 09 08	170	//RXB0EIDH 15 14 13 12 11 10 09 08
171	//RXB0EIDL 07 06 05 04 03 02 01 00	171	//RXB0EIDL 07 06 05 04 03 02 01 00
172		172
173		173
174	cm.ident = (((DWORD)RXB0SIDH)<<21) + (((DWORD)(RXB0SIDL & 0xE0))<<13) + (((DWORD)(RXB0SIDL & 0x03))<<16) + (((DWORD)RXB0EIDH)<<8) + (BYTE)RXB0EIDL;	174	cm.ident = (((DWORD)RXB0SIDH)<<21) + (((DWORD)(RXB0SIDL & 0xE0))<<13) + (((DWORD)(RXB0SIDL & 0x03))<<16) + (((DWORD)RXB0EIDH)<<8) + (BYTE)RXB0EIDL;
175		175
176	}	176	}
177	else	177	else
178	{	178	{
179	//Read standard ident.	179	//Read standard ident.
180		180
181	//xx xx xx xx xx 10 09 08 07 06 05 04 03 02 01 00	181	//xx xx xx xx xx 10 09 08 07 06 05 04 03 02 01 00
182		182
183	//RXB0SIDH 10 09 08 07 06 05 04 03	183	//RXB0SIDH 10 09 08 07 06 05 04 03
184	//RXB0SIDL 02 01 00 xx xx xx xx xx	184	//RXB0SIDL 02 01 00 xx xx xx xx xx
185		185
186	cm.ident = (((DWORD)RXB0SIDH)<<3) + (((DWORD)RXB0SIDL)>>5);	186	cm.ident = (((DWORD)RXB0SIDH)<<3) + (((DWORD)RXB0SIDL)>>5);
187	}	187	}
188		188
189	// Data length	189	// Data length
190	cm.data_length=(RXB0DLCbits.DLC3<<3)+(RXB0DLCbits.DLC2<<2)+(RXB0DLCbits.DLC1<<1)+RXB0DLCbits.DLC0;	190	cm.data_length=(RXB0DLCbits.DLC3<<3)+(RXB0DLCbits.DLC2<<2)+(RXB0DLCbits.DLC1<<1)+RXB0DLCbits.DLC0;
191		191
192	// Remote request	192	// Remote request
193	cm.remote_request=(RXB0DLCbits.RXRTR==0?FALSE:TRUE);	193	cm.remote_request=(RXB0DLCbits.RXRTR==0?FALSE:TRUE);
194		194
195	// Data one bye one, for speed	195	// Data one bye one, for speed
196	cm.data[0]=RXB0D0; cm.data[1]=RXB0D1;	196	cm.data[0]=RXB0D0; cm.data[1]=RXB0D1;
197	cm.data[2]=RXB0D2; cm.data[3]=RXB0D3;	197	cm.data[2]=RXB0D2; cm.data[3]=RXB0D3;
198	cm.data[4]=RXB0D4; cm.data[5]=RXB0D5;	198	cm.data[4]=RXB0D4; cm.data[5]=RXB0D5;
199	cm.data[6]=RXB0D6; cm.data[7]=RXB0D7;	199	cm.data[6]=RXB0D6; cm.data[7]=RXB0D7;
200		200
201	// Clear ful status	201	// Clear ful status
202	RXB0CONbits.RXFUL=0;	202	RXB0CONbits.RXFUL=0;
203		203
204	//Call main parser	204	//Call main parser
205	canParse(cm);	205	canParse(cm);
206	}	206	}
207		207
208		208
209	/*	209	/*
210	* Function: canSendMessage	210	* Function: canSendMessage
211	*	211	*
212	* Input: CAN_MESSAGE to send	212	* Input: CAN_MESSAGE to send
213	* Output: True if packet scheduled sucess, false otherwise.	213	* Output: True if packet scheduled sucess, false otherwise.
214	* Pre-conditions: canInit	214	* Pre-conditions: canInit
215	* Affects: ..	215	* Affects: ..
216	* Depends: ..	216	* Depends: ..
217	*/	217	*/
218	BOOL canSendMessage(CAN_MESSAGE cm,CAN_PRIORITY prio)	218	BOOL canSendMessage(CAN_MESSAGE cm,CAN_PRIORITY prio)
219	{	219	{
220		220
221	if ( TXB0CONbits.TXREQ == 0 ) { ECANCON=(ECANCON&0b00000)\|0b00011; }	221	if ( TXB0CONbits.TXREQ == 0 ) { ECANCON=(ECANCON&0b00000)\|0b00011; }
222	if ( TXB1CONbits.TXREQ == 0 ) { ECANCON=(ECANCON&0b00000)\|0b00100; }	222	if ( TXB1CONbits.TXREQ == 0 ) { ECANCON=(ECANCON&0b00000)\|0b00100; }
223	if ( TXB2CONbits.TXREQ == 0 ) { ECANCON=(ECANCON&0b00000)\|0b00101; }	223	if ( TXB2CONbits.TXREQ == 0 ) { ECANCON=(ECANCON&0b00000)\|0b00101; }
224	// None of the transmit buffers were empty.	224	// None of the transmit buffers were empty.
225	else { return FALSE;}	225	else { return FALSE;}
226		226
227	if (prio<0 \|\| prio>3) prio = 0;	227	if (prio<0 \|\| prio>3) prio = 0;
228		228
229		229
230	if (cm.extended==TRUE)	230	if (cm.extended==TRUE)
231	{	231	{
232	//Write extended ident.	232	//Write extended ident.
233		233
234	//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	234	//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
235		235
236	//RXB0SIDH 28 27 26 25 24 23 22 21	236	//RXB0SIDH 28 27 26 25 24 23 22 21
237	//RXB0SIDL 20 19 18 xx xx xx 17 16	237	//RXB0SIDL 20 19 18 xx xx xx 17 16
238	//RXB0EIDH 15 14 13 12 11 10 09 08	238	//RXB0EIDH 15 14 13 12 11 10 09 08
239	//RXB0EIDL 07 06 05 04 03 02 01 00	239	//RXB0EIDL 07 06 05 04 03 02 01 00
240		240
241		241
242	RXB0SIDH = (BYTE)((cm.ident>>21));	242	RXB0SIDH = (BYTE)((cm.ident>>21));
243	RXB0SIDL = ((BYTE)(cm.ident>>16) & 0x03) + ((BYTE)(cm.ident>>13) & 0xE0);	243	RXB0SIDL = ((BYTE)(cm.ident>>16) & 0x03) + ((BYTE)(cm.ident>>13) & 0xE0);
244	RXB0EIDH = (BYTE)(cm.ident>>8);	244	RXB0EIDH = (BYTE)(cm.ident>>8);
245	RXB0EIDL = (BYTE)cm.ident;	245	RXB0EIDL = (BYTE)cm.ident;
246		246
247	}	247	}
248	else	248	else
249	{	249	{
250	//Write standard ident.	250	//Write standard ident.
251		251
252	//xx xx xx xx xx 10 09 08 07 06 05 04 03 02 01 00	252	//xx xx xx xx xx 10 09 08 07 06 05 04 03 02 01 00
253		253
254	//RXB0SIDH 10 09 08 07 06 05 04 03	254	//RXB0SIDH 10 09 08 07 06 05 04 03
255	//RXB0SIDL 02 01 00 xx xx xx xx xx	255	//RXB0SIDL 02 01 00 xx xx xx xx xx
256		256
257	RXB0SIDH= (BYTE)(cm.ident>>3);	257	RXB0SIDH= (BYTE)(cm.ident>>3);
258	RXB0SIDL= ((BYTE)(cm.ident<<5) & 0xE0);	258	RXB0SIDL= ((BYTE)(cm.ident<<5) & 0xE0);
259		259
260	}	260	}
261		261
262	// Data length	262	// Data length
263	RXB0DLC = 0;	263	RXB0DLC = 0;
264	if (cm.data_length>8) RXB0DLC=8; else RXB0DLC=cm.data_length;	264	if (cm.data_length>8) RXB0DLC=8; else RXB0DLC=cm.data_length;
265		265
266	// Remote request	266	// Remote request
267	if (cm.remote_request==TRUE)	267	if (cm.remote_request==TRUE)
268	{	268	{
269	_asm	269	_asm
270	bsf RXB0DLC, 6, 0	270	bsf RXB0DLC, 6, 0
271	_endasm	271	_endasm
272	}	272	}
273	else	273	else
274	{	274	{
275	_asm	275	_asm
276	bcf RXB0DLC, 6, 0	276	bcf RXB0DLC, 6, 0
277	_endasm	277	_endasm
278	}	278	}
279		279
280	// Data one bye one, for speed	280	// Data one bye one, for speed
281	RXB0D0=cm.data[0]; RXB0D1=cm.data[1];	281	RXB0D0=cm.data[0]; RXB0D1=cm.data[1];
282	RXB0D2=cm.data[2]; RXB0D3=cm.data[3];	282	RXB0D2=cm.data[2]; RXB0D3=cm.data[3];
283	RXB0D4=cm.data[4]; RXB0D5=cm.data[5];	283	RXB0D4=cm.data[4]; RXB0D5=cm.data[5];
284	RXB0D6=cm.data[6]; RXB0D7=cm.data[7];	284	RXB0D6=cm.data[6]; RXB0D7=cm.data[7];
285		285
286	// set extended or not	286	// set extended or not
287	RXB0SIDLbits.EXID=(cm.extended==TRUE?1:0);	287	RXB0SIDLbits.EXID=(cm.extended==TRUE?1:0);
288		288
289	// Priority	289	// Priority
290	RXB0CON = (RXB0CON & 0b11111100) \| prio;	290	RXB0CON = (RXB0CON & 0b11111100) \| prio;
291		291
292	// mark as redy to transmit	292	// mark as redy to transmit
293	_asm	293	_asm
294	bsf RXB0CON, 3, 0	294	bsf RXB0CON, 3, 0
295	_endasm	295	_endasm
296		296
297	return TRUE;	297	return TRUE;
298		298
299	}	299	}
300		300
301		301
302		302
303	#endif //USE_CAN	303	#endif //USE_CAN
304		304

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