| void MSCAN0Init(void) {
CAN0CTL1 = 0x87;
CAN0BTR0 = 0x01; /* set SJW=1, Prescaler value=2*/
CAN0BTR1 = 0x65; /* set TSEG2=7,TSEG1=6 Bit Rate=500k*/
//CAN0BTR0 = 0x4F; /*CAN0BTR0 = 0x4F; set SJW=2, Prescaler value=16*/
//CAN0BTR1 = 0xE7; /*CAN0BTR1 = 0xE7; set TSEG2=7,TSEG1=8 Bit Rate=62.5k*/
CAN0IDMR0 = 0xFF; /*no filter,define to accept all coming message*/
CAN0IDMR1 = 0xFF;
CAN0IDMR2 = 0xFF;
CAN0IDMR3 = 0xFF;
CAN0IDMR4 = 0xFF;
CAN0IDMR5 = 0xFF;
CAN0IDMR6 = 0xFF;
CAN0IDMR7 = 0xFF;
CAN0CTL0_INITRQ = 0; /*enable normal operation mode*/
while(CAN0CTL1_INITAK != 0)
{
}
CAN0CTL0_TIME = 1; /*enable internal timer*/
CAN0CTL0_WUPE = 1; /*WAKE UP enable*/
CAN0RIER = 0x01; /*only enable receive buffer full interrupt*/
}
/***************************************************************************************
Function Name : MSCAN0Trans
Programmer : syding
Date : 2004.07.05
Arguments : none
Returns : none
Notes : This function sends message onto the CAN bus.
****************************************************************************************/
void MSCAN0Trans(byte * msgout)
{
unsigned char cansel;
CAN0TBSEL = CAN0TFLG; /*select one available transmit buffer*/
cansel = CAN0TBSEL;
CAN0TXIDR0 = 0x11; /*DP256:0x11; AG60:0x33; GZ16:0x22; MPC555:0x44*/
CAN0TXIDR1 = 0xff; /*Extended ID*/
CAN0TXIDR2 = 0xff;
CAN0TXIDR3 = 0xfe;
CAN0TXDSR0 = *msgout;
CAN0TXDSR1 = *(msgout+1);
CAN0TXDSR2 = *(msgout+2);
CAN0TXDSR3 = *(msgout+3);
CAN0TXDSR4 = *(msgout+4);
CAN0TXDSR5 = *(msgout+5);
CAN0TXDSR6 = *(msgout+6);
CAN0TXDSR7 = *(msgout+7);
CAN0TXDLR = 8;
CAN0TXTBPR = 0;
if (CAN0TXDSR4 != 0xff){
*ID = 0x11;
*(ID+1) = 0xff;
*(ID+2) = 0xff;
*(ID+3) = 0xFE;
//SCI0_TRAN_MSCAN(ID,msgout,0);
}
CAN0TFLG = cansel; /*clearing TxE to lauch transmission*/
PTM_PTM2 = 1;
time_delay_can();
PTM_PTM2 = 0;
}
/***************************************************************************************
Function Name : MSCAN0Rec
Programmer : syding
Date : 2004.08.17
Arguments : none
Returns : 1/0
Notes : This function receives message from the CAN bus.
****************************************************************************************/
#pragma CODE_SEG __NEAR_SEG NON_BANKED
#pragma TRAP_PROC
void interrupt MSCAN0Rec(void) {
if(index<100) {
ID0[index] = CAN0RXIDR0;
ID1[index] = CAN0RXIDR1;
ID2[index] = CAN0RXIDR2;
ID3[index] = CAN0RXIDR3;
Data0[index] = CAN0RXDSR0;
Data1[index] = CAN0RXDSR1;
Data2[index]= CAN0RXDSR2;
Data3[index] = CAN0RXDSR3;
Data4[index] = CAN0RXDSR4;
Data5[index] = CAN0RXDSR5;
Data6[index] = CAN0RXDSR6;
Data7[index] = CAN0RXDSR7;
Length[index] = CAN0RXDLR;
index=index+1;
}
else {
SCI0_TRAN_MSCAN();
}
CAN0RFLG = 0x01; /*clearing RXF to free the RxFG*/
}
#pragma CODE_SEG DEFAULT |
