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/*********************************************************************
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/*********************************************************************
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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:        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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 *
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 * Author               Date    Comment
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 * Last changed:    $LastChangedDate: 2006-11-14 21:22:17 +0100 (Tue, 14 Nov 2006) $
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 *~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
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 * By:              $LastChangedBy: johboh $
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 * Johan Böhlin     21-10-06    Original        (Rev 1.0)
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 * Revision:        $Revision: 97 $
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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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static void canGetPacket(void);
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static void canGetPacket(void);
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#ifdef USE_CAN
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#ifdef USE_CAN
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/*
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/*
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*   Function: canInit
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*   Function: canInit
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*
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*
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*   Input:  none
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*   Input:  none
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*   Output: none
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*   Output: none
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*   Pre-conditions: none
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*   Pre-conditions: none
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*   Affects: Changes can registers.
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*   Affects: Changes can registers.
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*   Depends: none.
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*   Depends: none.
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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 = 0;
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    ECANCONbits.MDSEL1 = 1;
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    ECANCONbits.MDSEL0 = 1;
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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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        CANCON = 0x00;//request normal mode
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        CANCON = 0x00;//request normal mode
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        while ((CANSTAT & 0xE0) != 0x00 );//wait for normal mode
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        while ((CANSTAT & 0xE0) != 0x00 );//wait for normal mode
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    #endif
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    #endif
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}
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}
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/*
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/*
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*   Function: canISR
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*   Function: canISR
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*
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*
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*   Input:  none
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*   Input:  none
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*   Output: none
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*   Output: none
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*   Affects: interrupt registers and receive data buffers
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*   Affects: interrupt registers and receive data buffers
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*   Depends: ..
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*   Depends: ..
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*/
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*/
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void canISR()
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void canISR()
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{
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{
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    if (PIR3bits.RXBnIF || PIR3bits.RXB1IF || PIR3bits.RXB0IF)
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    if (PIR3bits.RXBnIF || PIR3bits.RXB1IF || PIR3bits.RXB0IF)
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    {
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    {
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        // Get which buffer that is ful.
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             if (RXB0CONbits.RXFUL) { ECANCON=(ECANCON&0b00000)|0b10000; canGetPacket(); }
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        ECANCON=(ECANCON&0b00000)|(0b10000|(CANCON&0x0F));
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        else if (RXB1CONbits.RXFUL) { ECANCON=(ECANCON&0b00000)|0b10001; canGetPacket(); }
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        if (RXB0CONbits.RXFUL) canGetPacket();
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        else if (B0CONbits.RXFUL)   { ECANCON=(ECANCON&0b00000)|0b10010; canGetPacket(); }
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        else if (B1CONbits.RXFUL)   { ECANCON=(ECANCON&0b00000)|0b10011; canGetPacket(); }
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        else if (B2CONbits.RXFUL)   { ECANCON=(ECANCON&0b00000)|0b10100; canGetPacket(); }
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        else if (B3CONbits.RXFUL)   { ECANCON=(ECANCON&0b00000)|0b10101; canGetPacket(); }
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        else if (B4CONbits.RXFUL)   { ECANCON=(ECANCON&0b00000)|0b10110; canGetPacket(); }
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        else if (B5CONbits.RXFUL)   { ECANCON=(ECANCON&0b00000)|0b10111; canGetPacket(); }
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        if (PIR3bits.RXBnIF) {PIR3bits.RXBnIF = 0;}
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        if (PIR3bits.RXB1IF) {PIR3bits.RXB1IF = 0;}
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        if (PIR3bits.RXB0IF) {PIR3bits.RXB0IF = 0;}
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        if (PIR3bits.RXBnIF) {PIR3bits.RXBnIF = 0; return;}
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        if (PIR3bits.RXB1IF) {PIR3bits.RXB1IF = 0; return;}
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        if (PIR3bits.RXB0IF) {PIR3bits.RXB0IF = 0; return;}
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    }
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    }
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}
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}
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/*
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/*