yvp
Newbie level 4
c1rx1con
Has anyone of u tried CAN in normal mode operation? i interfaced transceiver (MCP2551) with the dspic, also the loopback test is responding.
please suggest a way to get this CAN module working!!! HELP
( the code is a modified form of the code available at microchip's website for loopback test )
here is the code for transmission
#include <p30f4012.h>
#define FCY 7370000 // 7.37 MHz
#define BITRATE 1000000 // 1Mbps
#define NTQ 15 // Number of Tq cycles which will make the
//CAN Bit Timing .
#define BRP_VAL ((FCY/(2*NTQ*BITRATE))-1) //Formulae used for C1CFG1bits.BRP
//---------------------------------------------------------------------
// Buffer Registers for CAN data to be send out in the transmit mode.
unsigned int OutData0[4] = {0x5251, 0x5453, 0x5655, 0x5857};
unsigned int OutData1[2] = {0x5A59, 0x5C5B};
unsigned int OutData2[4] = {0x6261, 0x6463, 0x6665, 0x6867};
unsigned int OutData3[2] = {0x6A69, 0x6C6B};
// Intilializing the receive registers to be 0
unsigned int InData0[4] = {0, 0, 0, 0};
unsigned int InData1[2] = {0, 0};
unsigned int InData2[4] = {0, 0, 0, 0};
unsigned int InData3[2] = {0, 0};
//---------------------------------------------------------------------
int main(void)
{
//____________________________________________________________________________________________
// Osc initialization
//____________________________________________________________________________________________
OSCCONbits.COSC=1; //set internal oscillator as clock
OSCCONbits.TUN0=0; //set it to its default frequency
OSCCONbits.TUN1=0;
OSCCONbits.TUN2=0;
OSCCONbits.TUN3=0;
OSCCONbits.LPOSCEN=0;
TRISE = 0x0000; // Initialize the PORTD as output
LATE = 0x0000; // Initially LEDs of dsPICDEM1.1 Plus GP Board are off
//--------------------------------------------------------------------------------------------------------------------
//Initialization of CAN1 Module and Enabling of CAN1 Interrupts
//--------------------------------------------------------------------------------------------------------------------
C1CTRLbits.CANCKS = 1; // Select the CAN Master Clock . It is equal to Fcy here.
// equal to Fcy=7.37MHz)
C1CFG1bits.SJW=00; //Synchronized jump width time is 1 x TQ when SJW is equal to 00
C1CFG1bits.BRP = BRP_VAL; //((FCY/(2*NTQ*BITRATE))-1)
C1CFG2 = 0x03F5; // SEG1PH=6Tq, SEG2PH=3Tq, PRSEG=5Tq
// Sample 3 times
// Each bit time is 15Tq
///Interrupt Section of CAN Peripheral
C1INTF = 0; //Reset all The CAN Interrupts
IFS1bits.C1IF = 0; //Reset the Interrupt Flag status register
C1INTE = 0x00FF; //Enable all CAN interrupt sources
IEC1bits.C1IE = 1; //Enable the CAN1 Interrupt
//-----------------------------------------------------------------------------------------------------------------------
// Configure Receive registers, Filters and Masks
//-----------------------------------------------------------------------------------------------------------------------
// We are initializing the Receive Buffer 0 and Receive Buffer 1 for CAN1
C1RX0CON = C1RX1CON = 0x0000; // Receive Buffer1 and 0 Status
//and Control Register for CAN1
// Acceptance Mask Register0SID and Register1SID associated with Recieve Buffer0
// and Receive Buffer1 for CAN1
C1RXM0SID = C1RXM1SID = 0x1FFD;
// Acceptance Mask Register0EIDH and Register1EIDH associated with Recieve Buffer0
// and Receive Buffer1 for CAN1
C1RXM0EIDH = C1RXM1EIDH = 0x0FFF;
// Acceptance Mask Register0EIDL and Register1EIDL associated with Recieve Buffer0
//and Receive Buffer1 for CAN1
C1RXM0EIDL = C1RXM1EIDL = 0xFC00;
//Initializing of Acceptance Filter n Standard Identifier for CAN1
C1RXF0SID = 0x0AA8; //CAN1 Receive Acceptance Filter2 SID
C1RXF2SID = 0x1555; //CAN1 Receive Acceptance Filter2 SID
C1RXF2EIDH = 0x0004; //CAN1 Receive Acceptace Filter2 Extended Identifier high byte
C1RXF2EIDL = 0x8C00; //CAN1 Receive Acceptance Filter2 Extended identifier low byte
//-----------------------------------------------------------------------------------------------------------------------
// Configure Transmit Registers Buffer 0 and Transmit Buffer 1
//-----------------------------------------------------------------------------------------------------------------------
C1TX0CON = 0x0003; // High priority
C1TX0SID = 0x50A8; // SID
C1TX0EID = 0x0000; // EID
C1TX0DLC = 0x01C0; //Select the Data word Length for CAN1 Transmit Buffer0 which is 8 byte
// Data Field 1,Data Field 2, Data Field 3, Data Field 4 // 8 bytes selected by DLC
C1TX0B1 = OutData0[0];
C1TX0B2 = OutData0[1];
C1TX0B3 = OutData0[2];
C1TX0B4 = OutData0[3];
C1TX1CON = 0x0002; // High Intermediate priority
C1TX1SID = 0xA855; // SID
C1TX1EID = 0x0004; // EID
C1TX1DLC = 0x8DA0; //Select the Data word Length for CAN1 Transmit Buffer1 which
// is 4 byte
//Data Field 1, Data Field 2 // 4 bytes selected by DLC
C1TX1B1 = OutData1[0];
C1TX1B2 = OutData1[1];
//Change to NORMAL Operation Mode from Configuration Mode
C1CTRLbits.REQOP = 0;
while(C1CTRLbits.OPMODE != 0);//Wait for CAN1 mode change from Configuration Mode to Normal mode
//Enable transmission
C1TX0CONbits.TXREQ = 1;
C1TX1CONbits.TXREQ = 1;
while(1)
{
//ADD YOUR CODE HERE//
// THE CODE WILL LOOP HERE AND WHEN AN CAN INTERRUPT COMES IT WILL GO TO INTERRUPTS//
} //end while loop
} //end main loop
//--------------------------------------------------------------------------------------------------------------------------
//Interrupt Section for CAN1
//--------------------------------------------------------------------------------------------------------------------------
void __attribute__((interrupt, no_auto_psv)) _C1Interrupt(void)
{
IFS1bits.C1IF = 0; //Clear interrupt flag
if(C1INTFbits.TX0IF)
{
C1INTFbits.TX0IF = 0; //If the Interrupt is due to Transmit0 of CAN1 Clear the Interrupt
LATEbits.LATE0 = 1;
}
else if(C1INTFbits.TX1IF)
{
C1INTFbits.TX1IF = 0; //If the Interrupt is due to Transmit1 of CAN1 Clear the Interrupt
LATEbits.LATE1 = 1;
}
if(C1INTFbits.RX0IF)
{
C1INTFbits.RX0IF = 0; //If the Interrupt is due to Receive0 of CAN1 Clear the Interrupt
InData0[0] = C1RX0B1;
InData0[1] = C1RX0B2; //Move the recieve data from Buffers to InData
InData0[2] = C1RX0B3;
InData0[3] = C1RX0B4;
if ((InData0[0]==OutData0[0]) && (InData0[1]==OutData0[1]) && (InData0[2]==OutData0[2]) && (InData0[3]==OutData0[3]))
LATEbits.LATE0 = 1; // If the data received is same which was transmitted
// turn on the LED
}
else if(C1INTFbits.RX1IF)
{
C1INTFbits.RX1IF = 0; //If the Interrupt is due to Receive1 of CAN1 Clear the Interrupt
InData1[0] = C1RX1B1; //Move the data received to Indata Registers
InData1[1] = C1RX1B2;
if ((InData1[0]==OutData1[0]) && (InData1[1]==OutData1[1]))
LATEbits.LATE1 =1; //If the data received is same which was transmitted
//turn on the LED
}
}
for receiving uC the code is
#include <p30f4012.h>
#define FCY 7370000 // 7.37 MHz
#define BITRATE 1000000 // 1Mbps
#define NTQ 15 // Number of Tq cycles which will make the
//CAN Bit Timing .
#define BRP_VAL ((FCY/(2*NTQ*BITRATE))-1) //Formulae used for C1CFG1bits.BRP
//---------------------------------------------------------------------
// Buffer Registers for CAN data to be send out in the transmit mode.
unsigned int OutData0[4] = {0x5251, 0x5453, 0x5655, 0x5857};
unsigned int OutData1[2] = {0x5A59, 0x5C5B};
unsigned int OutData2[4] = {0x6261, 0x6463, 0x6665, 0x6867};
unsigned int OutData3[2] = {0x6A69, 0x6C6B};
// Intilializing the receive registers to be 0
unsigned int InData0[4] = {0, 0, 0, 0};
unsigned int InData1[2] = {0, 0};
unsigned int InData2[4] = {0, 0, 0, 0};
unsigned int InData3[2] = {0, 0};
//---------------------------------------------------------------------
int main(void)
{
//____________________________________________________________________________________________
// Osc initialization
//____________________________________________________________________________________________
OSCCONbits.COSC=1; //set internal oscillator as clock
OSCCONbits.TUN0=0; //set it to its default frequency
OSCCONbits.TUN1=0;
OSCCONbits.TUN2=0;
OSCCONbits.TUN3=0;
OSCCONbits.LPOSCEN=0;
TRISE = 0x0000; // Initialize the PORTE as output
LATE = 0x0000; // Initially LEDs of Eport are off
//--------------------------------------------------------------------------------------------------------------------
//Initialization of CAN1 Module and Enabling of CAN1 Interrupts
//--------------------------------------------------------------------------------------------------------------------
C1CTRLbits.CANCKS = 1; // Select the CAN Master Clock . It is equal to Fcy here.
// equal to Fcy=7.37MHz)
C1CFG1bits.SJW=00; //Synchronized jump width time is 1 x TQ when SJW is equal to 00
C1CFG1bits.BRP = BRP_VAL; //((FCY/(2*NTQ*BITRATE))-1)
C1CFG2 = 0x03F5; // SEG1PH=6Tq, SEG2PH=3Tq, PRSEG=5Tq
// Sample 3 times
// Each bit time is 15Tq
///Interrupt Section of CAN Peripheral
C1INTF = 0; //Reset all The CAN Interrupts
IFS1bits.C1IF = 0; //Reset the Interrupt Flag status register
C1INTE = 0x00FF; //Enable all CAN interrupt sources
IEC1bits.C1IE = 1; //Enable the CAN1 Interrupt
//-----------------------------------------------------------------------------------------------------------------------
// Configure Receive registers, Filters and Masks
//-----------------------------------------------------------------------------------------------------------------------
// We are initializing the Receive Buffer 0 and Receive Buffer 1 for CAN1
C1RX0CON = C1RX1CON = 0x0000; // Receive Buffer1 and 0 Status
//and Control Register for CAN1
// Acceptance Mask Register0SID and Register1SID associated with Recieve Buffer0
// and Receive Buffer1 for CAN1
C1RXM0SID = C1RXM1SID = 0x1FFD;
// Acceptance Mask Register0EIDH and Register1EIDH associated with Recieve Buffer0
// and Receive Buffer1 for CAN1
C1RXM0EIDH = C1RXM1EIDH = 0x0FFF;
// Acceptance Mask Register0EIDL and Register1EIDL associated with Recieve Buffer0
//and Receive Buffer1 for CAN1
C1RXM0EIDL = C1RXM1EIDL = 0xFC00;
//Initializing of Acceptance Filter n Standard Identifier for CAN1
C1RXF0SID = 0x0AA8; //CAN1 Receive Acceptance Filter2 SID
C1RXF2SID = 0x1555; //CAN1 Receive Acceptance Filter2 SID
C1RXF2EIDH = 0x0004; //CAN1 Receive Acceptace Filter2 Extended Identifier high byte
C1RXF2EIDL = 0x8C00; //CAN1 Receive Acceptance Filter2 Extended identifier low byte
//-----------------------------------------------------------------------------------------------------------------------
// Configure Transmit Registers Buffer 0 and Transmit Buffer 1
//-----------------------------------------------------------------------------------------------------------------------
C1TX0CON = 0x0003; // High priority
C1TX0SID = 0x50A8; // SID
C1TX0EID = 0x0000; // EID
C1TX0DLC = 0x01C0; //Select the Data word Length for CAN1 Transmit Buffer0 which is 8 byte
// Data Field 1,Data Field 2, Data Field 3, Data Field 4 // 8 bytes selected by DLC
C1TX0B1 = OutData0[0];
C1TX0B2 = OutData0[1];
C1TX0B3 = OutData0[2];
C1TX0B4 = OutData0[3];
C1TX1CON = 0x0002; // High Intermediate priority
C1TX1SID = 0xA855; // SID
C1TX1EID = 0x0004; // EID
C1TX1DLC = 0x8DA0; //Select the Data word Length for CAN1 Transmit Buffer1 which
// is 4 byte
//Data Field 1, Data Field 2 // 4 bytes selected by DLC
C1TX1B1 = OutData1[0];
C1TX1B2 = OutData1[1];
//Change to NORMAL Operation Mode from Configuration Mode
C1CTRLbits.REQOP = 0;
while(C1CTRLbits.OPMODE != 0);//Wait for CAN1 mode change from Configuration Mode to Normal mode
/*//Enable transmission
C1TX0CONbits.TXREQ = 1;
C1TX1CONbits.TXREQ = 1;
*/
while(1)
{
//ADD YOUR CODE HERE//
// THE CODE WILL LOOP HERE AND WHEN AN CAN INTERRUPT COMES IT WILL GO TO INTERRUPTS//
} //end while loop
} //end main loop
//--------------------------------------------------------------------------------------------------------------------------
//Interrupt Section for CAN1
//--------------------------------------------------------------------------------------------------------------------------
void __attribute__((interrupt, no_auto_psv)) _C1Interrupt(void)
{
IFS1bits.C1IF = 0; //Clear interrupt flag
/* if(C1INTFbits.TX0IF)
{
C1INTFbits.TX0IF = 0; //If the Interrupt is due to Transmit0 of CAN1 Clear the Interrupt
}
else if(C1INTFbits.TX1IF)
{
C1INTFbits.TX1IF = 0; //If the Interrupt is due to Transmit1 of CAN1 Clear the Interrupt
}
*/
if(C1INTFbits.RX0IF)
{
C1INTFbits.RX0IF = 0; //If the Interrupt is due to Receive0 of CAN1 Clear the Interrupt
LATEbits.LATE0 = 1;
InData0[0] = C1RX0B1;
InData0[1] = C1RX0B2; //Move the recieve data from Buffers to InData
InData0[2] = C1RX0B3;
InData0[3] = C1RX0B4;
if ((InData0[0]==OutData0[0]) && (InData0[1]==OutData0[1]) && (InData0[2]==OutData0[2]) && (InData0[3]==OutData0[3]))
LATEbits.LATE0 = 1; // If the data received is same which was transmitted
// turn on the LED
}
else if(C1INTFbits.RX1IF)
{
C1INTFbits.RX1IF = 0; //If the Interrupt is due to Receive1 of CAN1 Clear the Interrupt
LATEbits.LATE1 =1;
InData1[0] = C1RX1B1; //Move the data received to Indata Registers
InData1[1] = C1RX1B2;
if ((InData1[0]==OutData1[0]) && (InData1[1]==OutData1[1]))
LATEbits.LATE1 =1; //If the data received is same which was transmitted
//turn on the LED
}
}
Has anyone of u tried CAN in normal mode operation? i interfaced transceiver (MCP2551) with the dspic, also the loopback test is responding.
please suggest a way to get this CAN module working!!! HELP
( the code is a modified form of the code available at microchip's website for loopback test )
here is the code for transmission
#include <p30f4012.h>
#define FCY 7370000 // 7.37 MHz
#define BITRATE 1000000 // 1Mbps
#define NTQ 15 // Number of Tq cycles which will make the
//CAN Bit Timing .
#define BRP_VAL ((FCY/(2*NTQ*BITRATE))-1) //Formulae used for C1CFG1bits.BRP
//---------------------------------------------------------------------
// Buffer Registers for CAN data to be send out in the transmit mode.
unsigned int OutData0[4] = {0x5251, 0x5453, 0x5655, 0x5857};
unsigned int OutData1[2] = {0x5A59, 0x5C5B};
unsigned int OutData2[4] = {0x6261, 0x6463, 0x6665, 0x6867};
unsigned int OutData3[2] = {0x6A69, 0x6C6B};
// Intilializing the receive registers to be 0
unsigned int InData0[4] = {0, 0, 0, 0};
unsigned int InData1[2] = {0, 0};
unsigned int InData2[4] = {0, 0, 0, 0};
unsigned int InData3[2] = {0, 0};
//---------------------------------------------------------------------
int main(void)
{
//____________________________________________________________________________________________
// Osc initialization
//____________________________________________________________________________________________
OSCCONbits.COSC=1; //set internal oscillator as clock
OSCCONbits.TUN0=0; //set it to its default frequency
OSCCONbits.TUN1=0;
OSCCONbits.TUN2=0;
OSCCONbits.TUN3=0;
OSCCONbits.LPOSCEN=0;
TRISE = 0x0000; // Initialize the PORTD as output
LATE = 0x0000; // Initially LEDs of dsPICDEM1.1 Plus GP Board are off
//--------------------------------------------------------------------------------------------------------------------
//Initialization of CAN1 Module and Enabling of CAN1 Interrupts
//--------------------------------------------------------------------------------------------------------------------
C1CTRLbits.CANCKS = 1; // Select the CAN Master Clock . It is equal to Fcy here.
// equal to Fcy=7.37MHz)
C1CFG1bits.SJW=00; //Synchronized jump width time is 1 x TQ when SJW is equal to 00
C1CFG1bits.BRP = BRP_VAL; //((FCY/(2*NTQ*BITRATE))-1)
C1CFG2 = 0x03F5; // SEG1PH=6Tq, SEG2PH=3Tq, PRSEG=5Tq
// Sample 3 times
// Each bit time is 15Tq
///Interrupt Section of CAN Peripheral
C1INTF = 0; //Reset all The CAN Interrupts
IFS1bits.C1IF = 0; //Reset the Interrupt Flag status register
C1INTE = 0x00FF; //Enable all CAN interrupt sources
IEC1bits.C1IE = 1; //Enable the CAN1 Interrupt
//-----------------------------------------------------------------------------------------------------------------------
// Configure Receive registers, Filters and Masks
//-----------------------------------------------------------------------------------------------------------------------
// We are initializing the Receive Buffer 0 and Receive Buffer 1 for CAN1
C1RX0CON = C1RX1CON = 0x0000; // Receive Buffer1 and 0 Status
//and Control Register for CAN1
// Acceptance Mask Register0SID and Register1SID associated with Recieve Buffer0
// and Receive Buffer1 for CAN1
C1RXM0SID = C1RXM1SID = 0x1FFD;
// Acceptance Mask Register0EIDH and Register1EIDH associated with Recieve Buffer0
// and Receive Buffer1 for CAN1
C1RXM0EIDH = C1RXM1EIDH = 0x0FFF;
// Acceptance Mask Register0EIDL and Register1EIDL associated with Recieve Buffer0
//and Receive Buffer1 for CAN1
C1RXM0EIDL = C1RXM1EIDL = 0xFC00;
//Initializing of Acceptance Filter n Standard Identifier for CAN1
C1RXF0SID = 0x0AA8; //CAN1 Receive Acceptance Filter2 SID
C1RXF2SID = 0x1555; //CAN1 Receive Acceptance Filter2 SID
C1RXF2EIDH = 0x0004; //CAN1 Receive Acceptace Filter2 Extended Identifier high byte
C1RXF2EIDL = 0x8C00; //CAN1 Receive Acceptance Filter2 Extended identifier low byte
//-----------------------------------------------------------------------------------------------------------------------
// Configure Transmit Registers Buffer 0 and Transmit Buffer 1
//-----------------------------------------------------------------------------------------------------------------------
C1TX0CON = 0x0003; // High priority
C1TX0SID = 0x50A8; // SID
C1TX0EID = 0x0000; // EID
C1TX0DLC = 0x01C0; //Select the Data word Length for CAN1 Transmit Buffer0 which is 8 byte
// Data Field 1,Data Field 2, Data Field 3, Data Field 4 // 8 bytes selected by DLC
C1TX0B1 = OutData0[0];
C1TX0B2 = OutData0[1];
C1TX0B3 = OutData0[2];
C1TX0B4 = OutData0[3];
C1TX1CON = 0x0002; // High Intermediate priority
C1TX1SID = 0xA855; // SID
C1TX1EID = 0x0004; // EID
C1TX1DLC = 0x8DA0; //Select the Data word Length for CAN1 Transmit Buffer1 which
// is 4 byte
//Data Field 1, Data Field 2 // 4 bytes selected by DLC
C1TX1B1 = OutData1[0];
C1TX1B2 = OutData1[1];
//Change to NORMAL Operation Mode from Configuration Mode
C1CTRLbits.REQOP = 0;
while(C1CTRLbits.OPMODE != 0);//Wait for CAN1 mode change from Configuration Mode to Normal mode
//Enable transmission
C1TX0CONbits.TXREQ = 1;
C1TX1CONbits.TXREQ = 1;
while(1)
{
//ADD YOUR CODE HERE//
// THE CODE WILL LOOP HERE AND WHEN AN CAN INTERRUPT COMES IT WILL GO TO INTERRUPTS//
} //end while loop
} //end main loop
//--------------------------------------------------------------------------------------------------------------------------
//Interrupt Section for CAN1
//--------------------------------------------------------------------------------------------------------------------------
void __attribute__((interrupt, no_auto_psv)) _C1Interrupt(void)
{
IFS1bits.C1IF = 0; //Clear interrupt flag
if(C1INTFbits.TX0IF)
{
C1INTFbits.TX0IF = 0; //If the Interrupt is due to Transmit0 of CAN1 Clear the Interrupt
LATEbits.LATE0 = 1;
}
else if(C1INTFbits.TX1IF)
{
C1INTFbits.TX1IF = 0; //If the Interrupt is due to Transmit1 of CAN1 Clear the Interrupt
LATEbits.LATE1 = 1;
}
if(C1INTFbits.RX0IF)
{
C1INTFbits.RX0IF = 0; //If the Interrupt is due to Receive0 of CAN1 Clear the Interrupt
InData0[0] = C1RX0B1;
InData0[1] = C1RX0B2; //Move the recieve data from Buffers to InData
InData0[2] = C1RX0B3;
InData0[3] = C1RX0B4;
if ((InData0[0]==OutData0[0]) && (InData0[1]==OutData0[1]) && (InData0[2]==OutData0[2]) && (InData0[3]==OutData0[3]))
LATEbits.LATE0 = 1; // If the data received is same which was transmitted
// turn on the LED
}
else if(C1INTFbits.RX1IF)
{
C1INTFbits.RX1IF = 0; //If the Interrupt is due to Receive1 of CAN1 Clear the Interrupt
InData1[0] = C1RX1B1; //Move the data received to Indata Registers
InData1[1] = C1RX1B2;
if ((InData1[0]==OutData1[0]) && (InData1[1]==OutData1[1]))
LATEbits.LATE1 =1; //If the data received is same which was transmitted
//turn on the LED
}
}
for receiving uC the code is
#include <p30f4012.h>
#define FCY 7370000 // 7.37 MHz
#define BITRATE 1000000 // 1Mbps
#define NTQ 15 // Number of Tq cycles which will make the
//CAN Bit Timing .
#define BRP_VAL ((FCY/(2*NTQ*BITRATE))-1) //Formulae used for C1CFG1bits.BRP
//---------------------------------------------------------------------
// Buffer Registers for CAN data to be send out in the transmit mode.
unsigned int OutData0[4] = {0x5251, 0x5453, 0x5655, 0x5857};
unsigned int OutData1[2] = {0x5A59, 0x5C5B};
unsigned int OutData2[4] = {0x6261, 0x6463, 0x6665, 0x6867};
unsigned int OutData3[2] = {0x6A69, 0x6C6B};
// Intilializing the receive registers to be 0
unsigned int InData0[4] = {0, 0, 0, 0};
unsigned int InData1[2] = {0, 0};
unsigned int InData2[4] = {0, 0, 0, 0};
unsigned int InData3[2] = {0, 0};
//---------------------------------------------------------------------
int main(void)
{
//____________________________________________________________________________________________
// Osc initialization
//____________________________________________________________________________________________
OSCCONbits.COSC=1; //set internal oscillator as clock
OSCCONbits.TUN0=0; //set it to its default frequency
OSCCONbits.TUN1=0;
OSCCONbits.TUN2=0;
OSCCONbits.TUN3=0;
OSCCONbits.LPOSCEN=0;
TRISE = 0x0000; // Initialize the PORTE as output
LATE = 0x0000; // Initially LEDs of Eport are off
//--------------------------------------------------------------------------------------------------------------------
//Initialization of CAN1 Module and Enabling of CAN1 Interrupts
//--------------------------------------------------------------------------------------------------------------------
C1CTRLbits.CANCKS = 1; // Select the CAN Master Clock . It is equal to Fcy here.
// equal to Fcy=7.37MHz)
C1CFG1bits.SJW=00; //Synchronized jump width time is 1 x TQ when SJW is equal to 00
C1CFG1bits.BRP = BRP_VAL; //((FCY/(2*NTQ*BITRATE))-1)
C1CFG2 = 0x03F5; // SEG1PH=6Tq, SEG2PH=3Tq, PRSEG=5Tq
// Sample 3 times
// Each bit time is 15Tq
///Interrupt Section of CAN Peripheral
C1INTF = 0; //Reset all The CAN Interrupts
IFS1bits.C1IF = 0; //Reset the Interrupt Flag status register
C1INTE = 0x00FF; //Enable all CAN interrupt sources
IEC1bits.C1IE = 1; //Enable the CAN1 Interrupt
//-----------------------------------------------------------------------------------------------------------------------
// Configure Receive registers, Filters and Masks
//-----------------------------------------------------------------------------------------------------------------------
// We are initializing the Receive Buffer 0 and Receive Buffer 1 for CAN1
C1RX0CON = C1RX1CON = 0x0000; // Receive Buffer1 and 0 Status
//and Control Register for CAN1
// Acceptance Mask Register0SID and Register1SID associated with Recieve Buffer0
// and Receive Buffer1 for CAN1
C1RXM0SID = C1RXM1SID = 0x1FFD;
// Acceptance Mask Register0EIDH and Register1EIDH associated with Recieve Buffer0
// and Receive Buffer1 for CAN1
C1RXM0EIDH = C1RXM1EIDH = 0x0FFF;
// Acceptance Mask Register0EIDL and Register1EIDL associated with Recieve Buffer0
//and Receive Buffer1 for CAN1
C1RXM0EIDL = C1RXM1EIDL = 0xFC00;
//Initializing of Acceptance Filter n Standard Identifier for CAN1
C1RXF0SID = 0x0AA8; //CAN1 Receive Acceptance Filter2 SID
C1RXF2SID = 0x1555; //CAN1 Receive Acceptance Filter2 SID
C1RXF2EIDH = 0x0004; //CAN1 Receive Acceptace Filter2 Extended Identifier high byte
C1RXF2EIDL = 0x8C00; //CAN1 Receive Acceptance Filter2 Extended identifier low byte
//-----------------------------------------------------------------------------------------------------------------------
// Configure Transmit Registers Buffer 0 and Transmit Buffer 1
//-----------------------------------------------------------------------------------------------------------------------
C1TX0CON = 0x0003; // High priority
C1TX0SID = 0x50A8; // SID
C1TX0EID = 0x0000; // EID
C1TX0DLC = 0x01C0; //Select the Data word Length for CAN1 Transmit Buffer0 which is 8 byte
// Data Field 1,Data Field 2, Data Field 3, Data Field 4 // 8 bytes selected by DLC
C1TX0B1 = OutData0[0];
C1TX0B2 = OutData0[1];
C1TX0B3 = OutData0[2];
C1TX0B4 = OutData0[3];
C1TX1CON = 0x0002; // High Intermediate priority
C1TX1SID = 0xA855; // SID
C1TX1EID = 0x0004; // EID
C1TX1DLC = 0x8DA0; //Select the Data word Length for CAN1 Transmit Buffer1 which
// is 4 byte
//Data Field 1, Data Field 2 // 4 bytes selected by DLC
C1TX1B1 = OutData1[0];
C1TX1B2 = OutData1[1];
//Change to NORMAL Operation Mode from Configuration Mode
C1CTRLbits.REQOP = 0;
while(C1CTRLbits.OPMODE != 0);//Wait for CAN1 mode change from Configuration Mode to Normal mode
/*//Enable transmission
C1TX0CONbits.TXREQ = 1;
C1TX1CONbits.TXREQ = 1;
*/
while(1)
{
//ADD YOUR CODE HERE//
// THE CODE WILL LOOP HERE AND WHEN AN CAN INTERRUPT COMES IT WILL GO TO INTERRUPTS//
} //end while loop
} //end main loop
//--------------------------------------------------------------------------------------------------------------------------
//Interrupt Section for CAN1
//--------------------------------------------------------------------------------------------------------------------------
void __attribute__((interrupt, no_auto_psv)) _C1Interrupt(void)
{
IFS1bits.C1IF = 0; //Clear interrupt flag
/* if(C1INTFbits.TX0IF)
{
C1INTFbits.TX0IF = 0; //If the Interrupt is due to Transmit0 of CAN1 Clear the Interrupt
}
else if(C1INTFbits.TX1IF)
{
C1INTFbits.TX1IF = 0; //If the Interrupt is due to Transmit1 of CAN1 Clear the Interrupt
}
*/
if(C1INTFbits.RX0IF)
{
C1INTFbits.RX0IF = 0; //If the Interrupt is due to Receive0 of CAN1 Clear the Interrupt
LATEbits.LATE0 = 1;
InData0[0] = C1RX0B1;
InData0[1] = C1RX0B2; //Move the recieve data from Buffers to InData
InData0[2] = C1RX0B3;
InData0[3] = C1RX0B4;
if ((InData0[0]==OutData0[0]) && (InData0[1]==OutData0[1]) && (InData0[2]==OutData0[2]) && (InData0[3]==OutData0[3]))
LATEbits.LATE0 = 1; // If the data received is same which was transmitted
// turn on the LED
}
else if(C1INTFbits.RX1IF)
{
C1INTFbits.RX1IF = 0; //If the Interrupt is due to Receive1 of CAN1 Clear the Interrupt
LATEbits.LATE1 =1;
InData1[0] = C1RX1B1; //Move the data received to Indata Registers
InData1[1] = C1RX1B2;
if ((InData1[0]==OutData1[0]) && (InData1[1]==OutData1[1]))
LATEbits.LATE1 =1; //If the data received is same which was transmitted
//turn on the LED
}
}