User manual

mikroPascal PRO for dsPIC30/33 and PIC24
MikroElektronika
259
Can_Rcv_Flags := 0;
Can_Send_Flags := _CAN_TX_PRIORITY_0 and // form value to be used
_CAN_TX_XTD_FRAME and // with CANSendMessage
_CAN_TX_NO_RTR_FRAME;
Can_Init_Flags := _CAN_CONFIG_SAMPLE_THRICE and // form value to be used
_CAN_CONFIG_PHSEG2_PRG_ON and // with CANInitialize
_CAN_CONFIG_XTD_MSG and
_CAN_CONFIG_DBL_BUFFER_ON and
_CAN_CONFIG_MATCH_MSG_TYPE and
_CAN_CONFIG_LINE_FILTER_OFF;
CAN1Initialize(1,3,3,3,1,Can_Init_Flags); // initialize CAN
CAN1SetOperationMode(_CAN_MODE_CONFIG,0xFF); // set CONFIGURATION mode
CAN1SetMask(_CAN_MASK_B1, -1, _CAN_CONFIG_MATCH_MSG_TYPE and _CAN_CONFIG_XTD_MSG);
// set all mask1 bits to ones
CAN1SetMask(_CAN_MASK_B2, -1, _CAN_CONFIG_MATCH_MSG_TYPE and _CAN_CONFIG_XTD_MSG);
// set all mask2 bits to ones
CAN1SetFilter(_CAN_FILTER_B1_F1,ID_1st,_CAN_CONFIG_XTD_MSG); // set id of lter_B1_
F1 to 1st node ID
CAN1SetOperationMode(_CAN_MODE_NORMAL,0xFF); // set NORMAL mode
while TRUE do
begin
Msg_Rcvd := CAN1Read(Rx_ID , RxTx_Data , Rx_Data_Len, Can_Rcv_Flags);
if ((Rx_ID = ID_1st) and (Msg_Rcvd <> 0)) <> 0 then
begin
PORTB := RxTx_Data[0]; // output data at PORTB
RxTx_Data[0] := RxTx_Data[0] + 1;
CAN1Write(ID_2nd, RxTx_Data, 1, Can_Send_Flags); // send incremented data back
end;
end;
end.