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OK. CAN bus

Three EasyPIC5
development systems
connected on a CAN bus
by CAN-SPI modules

SmartGPS module connected to

EasyPIC5 Development System





       
      
            
           
      
        
            
       
        
     
 Software 
      
             
  
  
     
Hardware  
 
        
          
             
       
  

      
     

      
    

     


  

 Figure 1. Message filtering

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Program to demonstrate the operation of a CAN bus

program CanSPI
‘ Description: This program demonstrates how to make a CAN network
using mikroElektronika
‘ CANSPI boards and mikroBasic compiler.
‘ Target device: Microchip PIC 16F887
‘ Oscillator: 8MHz crystal
#DEFINE NODE1 ‘ uncomment this line to build HEX for Node 1
‘#DEFINE NODE2 ‘ uncomment this line to build HEX for Node 2
‘#DEFINE NODE3} ‘ uncomment this line to build HEX for Node 3
dim Can_Init_Flags, Can_Send_Flags, Can_Rcv_Flags as byte ‘ can flags
Rx_Data_Len as byte ‘ received data length in bytes
RxTx_Data as byte[8] ‘ can rx/tx data buffer
Msg_Rcvd as byte ‘ reception flag
Tx_ID, Rx_ID as longint ‘ can rx and tx ID
ErrorCount as byte
‘ CANSPI module connections
dim CanSpi_CS as sbit at RC0_bit ‘ Chip select (CS) pin for
CANSPI board
CanSpi_CS_Direction as sbit at TRISC0_bit‘ Direction register for
CS pin
CanSpi_Rst as sbit at RC2_bit ‘ Reset pin for CANSPI board
CanSpi_Rst_Direction as sbit at TRISC2_bit ‘
Direction register for Reset pin
‘ End CANSPI module connections
main:
ANSEL = 0 ANSELH = 0 ‘ Configure analog pins as digital I/O
PORTB = 0 TRISB = 0 ‘ Initialize ports
PORTD = 0 TRISD = 0
ErrorCount = 0 ‘ Error flag
Can_Init_Flags = 0 Can_Send_Flags = 0 Can_Rcv_Flags = 0 ‘ clear
flags

Can_Send_Flags = _CANSPI_TX_PRIORITY_0 and ‘ form value to be used

_CANSPI_TX_XTD_FRAME and ‘ with CANSPIWrite
_CANSPI_TX_NO_RTR_FRAME
Schematic 1. Connecting the CAN-SPI module to a PIC16F887
Can_Init_Flags = _CANSPI_CONFIG_SAMPLE_THRICE and ‘ form value to be used
_CANSPI_CONFIG_PHSEG2_PRG_ON and‘ with CANSPIInit
_CANSPI_CONFIG_XTD_MSG and
 _CANSPI_CONFIG_DBL_BUFFER_ON and
_CANSPI_CONFIG_VALID_XTD_MSG
 SPI1_Init() ‘ initialize SPI module
 CANSPIInitialize(1, 3, 3, 3, 1, Can_Init_Flags) ‘ Initialize external
CANSPI module
 CANSPISetOperationMode(_CANSPI_MODE_CONFIG, TRUE) ‘ set CONFIGURATION
mode
 CANSPISetMask(_CANSPI_MASK_B1, -1, _CANSPI_CONFIG_XTD_MSG)
mask1 bits to ones
‘ set all

CANSPISetMask(_CANSPI_MASK_B2, -1, _CANSPI_CONFIG_XTD_MSG) ‘ set all

mask2 bits to ones
#IFDEF NODE1
CANSPISetFilter(_CANSPI_FILTER_B2_F4, 0x12, _CANSPI_CONFIG_XTD_MSG) ‘
Node1 accepts messages with ID 0x12
CANSPISetFilter(_CANSPI_FILTER_B1_F1, 0x13, _CANSPI_CONFIG_XTD_MSG) ‘
Node1 accepts messages with ID 0x13
#ELSE
CANSPISetFilter(_CANSPI_FILTER_B2_F2, 0x10, _CANSPI_CONFIG_XTD_MSG) ‘
Node2 and Node3 accept messages with ID 0x10
CANSPISetFilter(_CANSPI_FILTER_B1_F2, 0x11, _CANSPI_CONFIG_XTD_MSG) ‘
Node2 and Node3 accept messages with ID 0x11
#ENDIF
CANSPISetOperationMode(_CANSPI_MODE_NORMAL,0xFF) ‘ set NORMAL mode
RxTx_Data[0] = 0x40 ‘ set initial data to be sent
#IFDEF NODE1
Tx_ID = 0x10 ‘ set transmit ID for CAN message
#ENDIF
#IFDEF NODE2
Figure 2. Communication example Tx_ID = 0x12
#ENDIF
‘ set transmit ID for CAN message

#IFDEF NODE3
Tx_ID = 0x13 ‘ set transmit ID for CAN message
 #ENDIF
#IFDEF NODE1
 CANSPIWrite(Tx_ID, RxTx_Data, 1, Can_Send_Flags)
initial message
‘ Node1 sends

 #ENDIF
while (TRUE) ‘ endless loop
 Msg_Rcvd = CANSPIRead(Rx_ID, RxTx_Data, Rx_Data_Len, Can_Rcv_Flags)
‘ attempt receive message
 if (Msg_Rcvd) then
#IFDEF NODE1
‘ if message is received then check id

if Rx_ID = 0x12 then ‘ check ID

PORTB = RxTx_Data[0] ‘ output data at PORTB
else
mikroBASIC PRO for PIC® library editor PORTD = RxTx_Data[0]
end if
‘ output data at PORTD

with ready to use libraries such as: delay_ms(50) ‘ wait for a while between messages
CAN_SPI, GLCD, Ethernet etc. Functions used in the program CANSPIWrite(Tx_ID, RxTx_Data, 1, Can_Send_Flags)
one byte of data
‘ send

inc(Tx_ID) ‘ switch to next message

if Tx_ID > 0x11 then Tx_ID = 0x10 end if ‘ check overflow
CANSPIGetOperationMode() Current operation mode #ENDIF
#IFDEF NODE2
if Rx_ID = 0x10 then begin ‘ check if this is our message
CANSPIInitialize()* Initialize the CANSPI module PORTB = RxTx_Data[0] ‘ display incoming data on PORTB
RxTx_Data[0] = RxTx_Data[0] shl 1 ‘ prepare data for
CANIRead()* Read message sending back
if RxTx_Data[0] = 0 then RxTx_Data[0] = 1 end if ‘
reinitialize if maximum reached
CANSPISetBaudRate() Set the CANSPI baud rate Delay_ms(10) ‘ wait for a while
CANSPIWrite(Tx_ID, RxTx_Data, 1, Can_Send_Flags) ‘ send
CANSPISetFilter()* Configure message filter one byte of data back
end if
#ENDIF
CANSPISetMask()* Advanced filtering configuration #IFDEF NODE3
if Rx_ID = 0x11 then ‘ check if this is our message
CANSPISet OperationMode()* Current operation mode PORTD = RxTx_Data[0] ‘ display incoming data on PORTD
RxTx_Data[0] = RxTx_Data[0] shr 1‘ prepare data for sending
back
CANSPIWrite()* Write message if RxTx_Data[0] = 0 then RxTx_Data[0] = 128 end if ‘
reinitialize if maximum reached
* CANSPI library functions used in the program Delay_ms(10) ‘ wait for a while
CANSPIWrite(Tx_ID, RxTx_Data, 1, Can_Send_Flags) ‘ send
one byte of data back
end if
#ENDIF
Other mikroBASIC PRO for PIC functions used in the program: else ‘ an error occured, wait for a while
#IFDEF NODE1
Delay_us() inc(ErrorCount) ‘ increment error indicator
Delay_ms(10) ‘ wait for 100ms
SPI1_init() if (ErrorCount > 10) then ‘ timeout expired - process errors
SPI1_read() ErrorCount = 0
inc(Tx_ID)
‘ reset error counter
‘ switch to another message
if Tx_ID > 0x11 then Tx_ID = 0x10 end if ‘ check overflow
CANSPIWrite(Tx_ID, RxTx_Data, 1, Can_Send_Flags) ‘ send
new message


GO TO
end if
#ENDIF
 end if
www.mikroe.com/en/article/ wend
end.

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