ABL electronic PIC Microcontrollers PIC18 User Manual

// ..continued

#define CAN_CONFIG_DBL_BUFFER_BIT

0x10

#define CAN_CONFIG_DBL_BUFFER_ON

0xFF   

// XXX1XXXX

#define CAN_CONFIG_DBL_BUFFER_OFF

0xEF   

// XXX0XXXX

#define CAN_CONFIG_MSG_BITS

0x60

#define CAN_CONFIG_ALL_MSG

0xFF   

// X11XXXXX

#define CAN_CONFIG_VALID_XTD_MSG

0xDF   

// X10XXXXX

#define CAN_CONFIG_VALID_STD_MSG

0xBF   

// X01XXXXX

#define CAN_CONFIG_ALL_VALID_MSG

0x9F   

// X00XXXXX

You may use bitwise AND (

&

) to form config byte out of these values. For exam-

ple:

init =

CAN_CONFIG_SAMPLE_THRICE

& CAN_CONFIG_PHSEG2_PRG_ON &

CAN_CONFIG_STD_MSG

& CAN_CONFIG_DBL_BUFFER_ON &

CAN_CONFIG_VALID_XTD_MSG

& CAN_CONFIG_LINE_FILTER_OFF;

//...

CANInitialize(1, 1, 3, 3, 1, init);   

// initialize CAN

CAN_TX_MSG_FLAGS

are flags related to transmission of a CAN message:

#define CAN_TX_PRIORITY_BITS

0x03

#define CAN_TX_PRIORITY_0

0xFC  

// XXXXXX00

#define CAN_TX_PRIORITY_1

0xFD  

// XXXXXX01

#define CAN_TX_PRIORITY_2

0xFE  

// XXXXXX10

#define CAN_TX_PRIORITY_3

0xFF  

// XXXXXX11

#define CAN_TX_FRAME_BIT

0x08

#define CAN_TX_STD_FRAME

0xFF  

// XXXXX1XX

#define CAN_TX_XTD_FRAME

0xF7  

// XXXXX0XX

#define CAN_TX_RTR_BIT

0x40

#define CAN_TX_NO_RTR_FRAME

0xFF  

// X1XXXXXX

#define CAN_TX_RTR_FRAME

0xBF  

// X0XXXXXX

You may use bitwise AND (

&

) to adjust the appropriate flags. For example:

/* form value to be used with CANSendMessage: */

send_config =

CAN_TX_PRIORITY_0 && CAN_TX_XTD_FRAME &

CAN_TX_NO_RTR_FRAME;

//...

CANSendMessage(id, data, 1, send_config);

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