Datasheet

Library Example
This is a simple demonstration of CANSPI Library routines usage. First node initi-
ates the communication with the second node by sending some data to its address.
The second node responds by sending back the data incremented by 1. First node
then does the same and sends incremented data back to second node, etc.
Code for the first CANSPI node:
program Can_Spi_1st;
var Can_Init_Flags, Can_Send_Flags, Can_Rcv_Flags : byte; // can
flags
Rx_Data_Len : byte; // received data length in bytes
RxTx_Data : array[8] of byte; // can rx/tx data buffer
Msg_Rcvd : byte; // reception flag
Tx_ID, Rx_ID : longint; // can rx and tx ID
// CANSPI module connections
var CanSpi_CS : sbit at PORTB.B0;
CanSpi_CS_Direction : sbit at DDRB.B0;
CanSpi_Rst : sbit at PORTB.B2;
CanSpi_Rst_Direction : sbit at DDRB.B2;
// End CANSPI module connections
begin
ADCSRA.7 := 0; // Set AN pins to Digital I/O
PORTC := 0;
DDRC := 255;
Can_Init_Flags := 0; //
Can_Send_Flags := 0; // clear flags
Can_Rcv_Flags := 0; //
Can_Send_Flags := _CANSPI_TX_PRIORITY_0 and // form
value to be used
_CANSPI_TX_XTD_FRAME and // with CANSPIWrite
_CANSPI_TX_NO_RTR_FRAME;
Can_Init_Flags := _CANSPI_CONFIG_SAMPLE_THRICE and // form
value to be used
_CANSPI_CONFIG_PHSEG2_PRG_ON and// with CANSPIInit
_CANSPI_CONFIG_XTD_MSG and
_CANSPI_CONFIG_DBL_BUFFER_ON and
_CANSPI_CONFIG_VALID_XTD_MSG;
SPI1_Init(); //
initialize SPI1 module
199
MIKROELEKTRONIKA - SOFTWARE AND HARDWARE SOLUTIONS FOR EMBEDDED WORLD
Libraries
mikroPASCAL PRO for AVR
CHAPTER 6