Mikroelektronika MIKROE-350 データシート

SPI1_Init()                     ' initialize SPI1 module

Spi_Rd_Ptr = @SPI1_Read                                         '

Pass pointer to SPI Read sub function of used SPI module

CANSPIInitialize(1,3,3,3,1,Can_Init_Flags)                       '

Initialize external CANSPI module

CANSPISetOperationMode(_CANSPI_MODE_CONFIG,0xFF)                 '

set CONFIGURATION mode

CANSPISetMask(_CANSPI_MASK_B1,-1,_CANSPI_CONFIG_XTD_MSG)         '

set all mask1 bits to ones

CANSPISetMask(_CANSPI_MASK_B2,-1,_CANSPI_CONFIG_XTD_MSG)         '

set all mask2 bits to ones

CANSPISetFilter(_CANSPI_FILTER_B2_F4,3,_CANSPI_CONFIG_XTD_MSG)   '

set id of filter B1_F1 to 3

CANSPISetOperationMode(_CANSPI_MODE_NORMAL,0xFF)' set NORMAL mode

RxTx_Data[0] = 9          

' set initial data to be sent

Tx_ID = 12111             

' set transmit ID

CANSPIWrite(Tx_ID, RxTx_Data, 1, Can_Send_Flags)                 '

send initial message

while TRUE                

' endless loop

Msg_Rcvd = CANSPIRead(Rx_ID , RxTx_Data , Rx_Data_Len,

Can_Rcv_Flags)   ' receive message

if ((Rx_ID = 3) and Msg_Rcvd) then                          

' if message received check id

PORTC = RxTx_Data[0]    ' id correct, output data at PORTC

Inc(RxTx_Data[0])       ' increment received data
Delay_ms(10)

CANSPIWrite(Tx_ID, RxTx_Data, 1, Can_Send_Flags)

' send incremented data back

Code for the second CANSPI node:

program Can_Spi_2nd

dim Can_Init_Flags, Can_Send_Flags, Can_Rcv_Flags as byte ' can flags

Rx_Data_Len 

' received data length in bytes

RxTx_Data    

as byte[8]     ' CAN rx/tx data buffer

Msg_Rcvd 

' reception flag

Tx_ID, Rx_ID 

' can rx and tx ID

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CHAPTER 6