User manual

342
mikoC PRO for dsPIC
MikroElektronika
/* Enable ECAN1 Interrupt */
IEC2bits.C1IE = 1; // enable ECAN1 interrupt
C1INTEbits.TBIE = 1; // enable ECAN1 tx interrupt
C1INTEbits.RBIE = 1; // enable ECAN1 rx interrupt
PORTB = 0; // clear PORTB
TRISB = 0; // set PORTB as output,
// for received message data displaying
Can_Init_Flags = 0; //
Can_Send_Flags = 0; // clear ags
Can_Rcv_Flags = 0; //
Can_Send_Flags = _ECAN_TX_PRIORITY_0 & // Form value to be used
_ECAN_TX_XTD_FRAME & // with CANSendMessage
_ECAN_TX_NO_RTR_FRAME;
Can_Init_Flags = _ECAN_CONFIG_SAMPLE_THRICE & // Form value to be used
_ECAN_CONFIG_PHSEG2_PRG_ON & // with CANInitialize
_ECAN_CONFIG_XTD_MSG &
_ECAN_CONFIG_MATCH_MSG_TYPE &
_ECAN_CONFIG_LINE_FILTER_OFF;
ECAN1DmaChannelInit(0, 1, &ECAN1RxTxRAMBuffer); // init dma channel 0 for
// dma to ECAN peripheral transfer
ECAN1DmaChannelInit(2, 0, &ECAN1RxTxRAMBuffer); // init dma channel 2 for
// ECAN peripheral to dma transfer
ECAN1Initialize(1, 3, 3, 3, 1, Can_Init_Flags); // initialize ECAN
ECAN1SetBufferSize(ECAN1RAMBUFFERSIZE); // set number of rx+tx buffers in DMA RAM
ECAN1SelectTxBuffers(0x000F); // select transmit buffers
// 0x000F = buffers 0:3 are transmit buffers
ECAN1SetOperationMode(_ECAN_MODE_CONFIG,0xFF); // set CONFIGURATION mode
ECAN1SetMask(_ECAN_MASK_0, -1, _ECAN_CONFIG_MATCH_MSG_TYPE & _ECAN_CONFIG_XTD_MSG);
// set all mask1 bits to ones
ECAN1SetMask(_ECAN_MASK_1, -1, _ECAN_CONFIG_MATCH_MSG_TYPE & _ECAN_CONFIG_XTD_MSG);
// set all mask2 bits to ones
ECAN1SetMask(_ECAN_MASK_2, -1, _ECAN_CONFIG_MATCH_MSG_TYPE & _ECAN_CONFIG_XTD_MSG);
// set all mask3 bits to ones
ECAN1SetFilter(_ECAN_FILTER_10, 12111, _ECAN_MASK_2, _ECAN_RX_BUFFER_7, _ECAN_CONFIG_
XTD_MSG); // set id of lter10 to 12111,
// assign mask2 to lter10
// assign buffer7 to lter10
ECAN1SetOperationMode(_ECAN_MODE_NORMAL,0xFF); // set NORMAL mode
Tx_ID = 3; // set tx ID
while (1) {
Msg_Rcvd = ECAN1Read(&Rx_ID , RxTx_Data , &Rx_Data_Len, &Can_Rcv_Flags); // receive
message
if ((Rx_ID == 12111u) && Msg_Rcvd) { // if message received check id
PORTB = RxTx_Data[0]; // id correct, output data at PORTB
RxTx_Data[0]++ ; // increment received data
ECAN1Write(Tx_ID, RxTx_Data, 1, Can_Send_Flags); // send incremented data back
}
}
}