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Rev 97 Rev 260
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 *
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 *
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 *                  CAN driver
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 *                  CAN driver
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 *
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 *
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 *********************************************************************
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 *********************************************************************
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 * FileName:        $HeadURL: https://svn.auml.se/svn/HomeAutomation/trunk/EmbeddedSoftware/PIC/canToSerial/Source/CAN.c $
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 * FileName:        $HeadURL: https://svn.auml.se/svn/HomeAutomation/trunk/EmbeddedSoftware/PIC/canToSerial/Source/CAN.c $
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 * Last changed:    $LastChangedDate: 2006-11-14 21:22:17 +0100 (Tue, 14 Nov 2006) $
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 * Last changed:    $LastChangedDate: 2007-01-28 14:58:11 +0100 (Sun, 28 Jan 2007) $
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 * By:              $LastChangedBy: johboh $
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 * By:              $LastChangedBy: johboh $
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 * Revision:        $Revision: 97 $
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 * Revision:        $Revision: 260 $
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 ********************************************************************/
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 ********************************************************************/
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#include <CANdefs.h>
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#include <CANdefs.h>
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#include <stackTasks.h>
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#include <stackTasks.h>
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#include <CAN.h>
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#include <CAN.h>
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    CANCON = 0x80; //request config mode
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    CANCON = 0x80; //request config mode
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    while ((CANSTAT & 0xE0) != 0x80 ); //wait for config mode request
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    while ((CANSTAT & 0xE0) != 0x80 ); //wait for config mode request
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    // BAUD AND TQS
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    // BAUD AND TQS
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- 
 
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    //BRGCON1 = 0x03;    //500Kbit@40MHz 1TQ Sync, 2TQ Prop, 4TQ Phase1, 3TQ Phase2
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    //BRGCON2 = 0x99;
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    //BRGCON3 = 0x02;
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    //75%, 250Kbps @40MHz
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    //BRGCON1 = 0x09;
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    //BRGCON2 = 0xDB;
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    //BRGCON3 = 0x01;
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    //75% ,1 , 500Kbps @40MHz
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    //BRGCON1 = 0x01;
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    //BRGCON2 = (0xB6 | 0x80);
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    //BRGCON3 = 0x04;
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    //75% ,1 , 500Kbps @80MHz
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    //BRGCON1 = 0x03;
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    //BRGCON2 = (0xB6 | 0x80);
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    //BRGCON3 = 0x04;
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    // 500Khz@40Mhz (new by the book)
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    BRGCON1 = 0x04;
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    BRGCON2 = 0xD1;
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    BRGCON3 = 0x81;
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    BRGCON1=0;
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    //BRGCON1=0;
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    // Sync_Seq = 2 x TQ = 1
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    // Sync_Seq = 2 x TQ = 1
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    BRGCON1bits.SJW1=0;
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    //BRGCON1bits.SJW1=0;
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    BRGCON1bits.SJW0=1;
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    //BRGCON1bits.SJW0=1;
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    // Setting BRP.
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    // Setting BRP.
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    BRGCON1=BRGCON1|CAN_BRP;
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    //BRGCON1=BRGCON1|CAN_BRP;
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    // Maximum PHEG1
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    // Maximum PHEG1
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    BRGCON2bits.SEG2PHTS = 1;
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    //BRGCON2bits.SEG2PHTS = 1;
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    // Phase_Seg1 = 2 x TQ = 1
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    // Phase_Seg1 = 2 x TQ = 1
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    BRGCON2bits.SEG1PH2 = 0;
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    //BRGCON2bits.SEG1PH2 = 0;
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    BRGCON2bits.SEG1PH1 = 0;
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    //BRGCON2bits.SEG1PH1 = 0;
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    BRGCON2bits.SEG1PH0 = 1;
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    //BRGCON2bits.SEG1PH0 = 1;
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    // Prop_Seq = 2 x TQ = 1
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    // Prop_Seq = 2 x TQ = 1
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    BRGCON2bits.PRSEG2 = 0;
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    //BRGCON2bits.PRSEG2 = 0;
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    BRGCON2bits.PRSEG1 = 0;
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    //BRGCON2bits.PRSEG1 = 0;
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    BRGCON2bits.PRSEG0 = 1;
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    //BRGCON2bits.PRSEG0 = 1;
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    //  Enableing bus wake-up
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    //  Enableing bus wake-up
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    BRGCON3bits.WAKDIS = 0;
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    //BRGCON3bits.WAKDIS = 0;
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    // Dont use filter when wakeup
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    // Dont use filter when wakeup
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    BRGCON3bits.WAKFIL = 0;
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    //BRGCON3bits.WAKFIL = 0;
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    // Phase_Seg2 = 2 x TQ = 1
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    // Phase_Seg2 = 2 x TQ = 1
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    BRGCON3bits.SEG2PH2 = 0;
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    //BRGCON3bits.SEG2PH2 = 0;
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    BRGCON3bits.SEG2PH1 = 0;
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    //BRGCON3bits.SEG2PH1 = 0;
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    BRGCON3bits.SEG2PH0 = 1;
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    //BRGCON3bits.SEG2PH0 = 1;
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    ECANCON=0;
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    ECANCON=0;
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    ECANCONbits.MDSEL1 = 1;
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    ECANCONbits.MDSEL1 = 1;
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    ECANCONbits.MDSEL0 = 0;
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    ECANCONbits.MDSEL0 = 0;
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    // FILTERS AND MASKS
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    // FILTERS AND MASKS
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    RXB0CONbits.RXM1=1;
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    RXB0CONbits.RXM1=1;
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    RXB0CONbits.RXM0=0;
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    RXB0CONbits.RXM0=0;
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- 
 
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    // Set ressesive VDD
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    CIOCONbits.ENDRHI = 1;
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    // INTERRUPTS
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    // INTERRUPTS
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    // Diable transmit interrupt
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    // Diable transmit interrupt
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    TXBIE = 0;
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    TXBIE = 0;