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- C Compiler for Microchip PIC microcontrollers
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// .. continued
// Initialize external CAN module
CANSPIInitialize(1,1,3,3,1,aa);
// Set CANSPI to CONFIG mode
CANSPISetOperationMode(CAN_MODE_CONFIG,_TRUE);
ID = -1;
// Set all mask1 bits to ones
CANSPISetMask(CAN_MASK_B1,id,CAN_CONFIG_XTD_MSG);
// Set all mask2 bits to ones
CANSPISetMask(CAN_MASK_B2,id,CAN_CONFIG_XTD_MSG);
// Set id of filter B1_F1 to 12111
CANSPISetFilter(CAN_FILTER_B2_F4,12111,CAN_CONFIG_XTD_MSG);
// Set CANSPI to NORMAL mode
CANSPISetOperationMode(CAN_MODE_NORMAL,_TRUE);
while (1) {
zr = CANSPIRead(&id , &Data , &len, &aa2);
// Receive data, if any
if (id == 12111 & zr ) {
PORTB = data[0]++ ;
// Output data on PORTB
id = 3;
Delay_ms(500);
// Send incremented data back
CANSPIWrite(id,&data,1,aa1);
// If message contains 2 data bytes, output second byte at PORTD
if (len == 2) PORTD = data[1];
}
}
}//~!