User manual

mikroC PRO for PIC32
MikroElektronika
285
Can_Init_Flags = _CANSPI_CONFIG_SAMPLE_THRICE & // form value to be used
_CANSPI_CONFIG_PHSEG2_PRG_ON & // with CANSPIInit
_CANSPI_CONFIG_XTD_MSG &
_CANSPI_CONFIG_DBL_BUFFER_ON &
_CANSPI_CONFIG_VALID_XTD_MSG &
_CANSPI_CONFIG_LINE_FILTER_OFF;
// Initialize SPI2 module
SPI2_Init();
Delay_ms(10);
CANSPIInitialize(1,3,3,3,1,Can_Init_Flags); // initialize external CANSPI module
CANSPISetOperationMode(_CANSPI_MODE_CONFIG,0xFF); // set CONFIGURATION mode
CANSPISetMask(_CANSPI_MASK_B1,-1,_CANSPI_CONFIG_XTD_MSG); // set all mask1 bits to
ones
CANSPISetMask(_CANSPI_MASK_B2,-1,_CANSPI_CONFIG_XTD_MSG); // set all mask2 bits to
ones
CANSPISetFilter(_CANSPI_FILTER_B2_F3,ID_1st,_CANSPI_CONFIG_XTD_MSG); // set id of
lter B2_F3 to 1st node ID
CANSPISetOperationMode(_CANSPI_MODE_NORMAL,0xFF); // set NORMAL mode
while (1) { // endless loop
Msg_Rcvd = CANSPIRead(&Rx_ID , RxTx_Data , &Rx_Data_Len, &Can_Rcv_Flags); // receive
message
if ((Rx_ID == ID_1st) && Msg_Rcvd) { // if message received check id
PORTB = RxTx_Data[0]; // id correct, output data at PORTC
RxTx_Data[0]++ ; // increment received data
CANSPIWrite(ID_2nd, RxTx_Data, 1, Can_Send_Flags);// send incremented data back
}
}
}