/* -------------------------------------------------------------------------- */
void main(void) {
u8 i;
u16 tout;
GPIOH->ODR&=~ALL_LEDs; // LEDs - as push-pull outputs, all off
GPIOH->DDR|= ALL_LEDs;
GPIOH->CR1|= ALL_LEDs;
init_CAN();
CAN->DGR|= CAN_DGR_LBKM; // set CAN in loop back mode
leds= 0; // utility variables
id_offset= -1;
while (1) {
CAN->PSR= 0; // send my message
memcpy(&CAN->Page.TxMailbox.MDLCR, &MY_MESS[0], MY_MESS_DLC + 5);
id_offset= ++id_offset & 0x0F;
CAN->Page.TxMailbox.MIDR2+= (id_offset<<2);
CAN->Page.TxMailbox.MCSR|= CAN_MCSR_TXRQ; // transmit request
tout= 50000;
while((CAN->TSR & CAN_TSR_TXOK0) == 0 && --tout > 0); // wait for transmition OK
if(tout) {
set_Tx_LEDs();
CAN->TSR|= CAN_TSR_RQCP0;
}
else
if(CAN->Page.TxMailbox.MCSR & CAN_MCSR_TERR)
CAN->Page.TxMailbox.MCSR|= CAN_MCSR_ABRQ;
tout= 50000;
while((CAN->RFR & CAN_RFR_FMP01) == 0 && --tout > 0); // wait for any CAN receive message
if(tout) {
CAN->PSR= 7; // page 7 - read messsage
while (CAN->RFR & CAN_RFR_FMP01) { // make up all received messages
memcpy(&mess[0], &CAN->Page.RxFIFO.MFMI, 14); // compare the message content
for(i=5; i<MY_MESS_DLC+5; ++i)
if(mess[i+1]!=MY_MESS[i]) { tout= 0; break; };
if(tout)
set_Rx_LEDs();
CAN->RFR|= CAN_RFR_RFOM; // release received message
while(CAN->RFR & CAN_RFR_RFOM); // wait until the current message is released
};
};
delay_loop((u32)( 5000));
switch_LEDs_off();
delay_loop((u32)(15000));
};
}
void initialisation_CAN(void){
/*IO settings*/
//Inputs (RPINxxbits.registre)
_C1RXR = 98; //RP98 Pin 34
//Outputs (RPORxxbits.registre)
_RP99R = 0b001110; //RP99 Pin 33
init_CAN(CAN_NORMAL, 8, 2, 3, 7);
}
void initialisation_CAN(void){
/*IO settings*/
//Inputs (RPINxxbits.registre)
_C1RXR = 66; //RP66 Pin 34
//Outputs (RPORxxbits.registre)
_RP65R = 0b001110; //RP65 Pin 33
init_CAN(CAN_NORMAL,8,4,1,5);
setup_can_rx();
setup_can_tx();
/*Timeout*/
Init_Timer5(10.0f);
/*Envoi périodique*/
Init_Timer4(15.0f);
}