////////candeal2.h///////////////////////
#include "can.h"
void remote_rqst_ini(char MsgNum,uint id){
	uint temp;
  	SFRPAGE = CAN0_PAGE;
	CAN0ADR = IF1CMDMSK; //指向IF1 Command Mask Registers
	CAN0DAT = 0x00b3; 
	/*   IF1 Command Mask Registers  =0x00b3 
	WR/RD=1,Mask=0,Arb=1,Control=1,ClrIntPnd=0,TxRqst=0,DataA=1,DataB=1,一次發送8字節數據*/
	CAN0ADR = IF1ARB1;            
	CAN0DAT = 0x0000;  
	/*IF1 Arbitration Registers1 =0x0000，即ID15-0=0*/
	temp=id<<2;//標準id為ID28-ID18,所以要左移2位
	temp&=0x1fff;
	temp|=0x8000;
	CAN0DAT = temp; //地址自增，指向IF1 Arbitration Registers2
	/*IF1 Arbitration Registers2=100(id)00b
	MsgVal=1,Xtd=0,為標準模式，擴展ID無效，Dir=0，為接收*/
	CAN0DAT = 0x0488;
	/*IF1 Message Control Registers=0x0488
	NewDat=0,MsgLst=0,IntPnd=0,UMask=0,TxIE=0,RxIE=1,RmtEn=0,TxRqst=0
	EoB=1,DLC3-0=1000,即數據長度為8*/
	CAN0ADR = IF1CMDRQST;         
	CAN0DAT = MsgNum;   
	/*IF1 Command Request Registers=MsgNum,將以上配置寫入MsgNum號消息*/
}
void remote_rqst(char MsgNum){
	SFRPAGE = CAN0_PAGE;
	CAN0ADR = IF1CMDMSK; 
	CAN0DATL =0x87;//將TxRqst置1，發送遠程幀請求
	CAN0ADR = IF1CMDRQST;         
	CAN0DAT = MsgNum;   
}
void remote_send_ini(char MsgNum,uint id){
	uint temp;
  	SFRPAGE = CAN0_PAGE;
	CAN0ADR = IF1CMDMSK; //指向IF1 Command Mask Registers
	CAN0DAT = 0x00b3; 
	/*   IF1 Command Mask Registers  =0x00b3 
	WR/RD=1,Mask=0,Arb=1,Control=1,ClrIntPnd=0,TxRqst=0,DataA=1,DataB=1,一次發送8字節數據*/
	CAN0ADR = IF1ARB1;            
	CAN0DAT = 0x0000;  
	/*IF1 Arbitration Registers1 =0x0000，即ID15-0=0*/
	temp=id<<2;//標準id為ID28-ID18,所以要左移2位
	temp&=0x1fff;
	temp|=0xa000;
	CAN0DAT = temp; //地址自增，指向IF1 Arbitration Registers2
	/*IF1 Arbitration Registers2=101(id)00b
	MsgVal=1,Xtd=0,為標準模式，擴展ID無效，Dir=1，為發送*/
	CAN0DAT = 0x0a88;
	/*IF1 Message Control Registers=0x0488
	NewDat=0,MsgLst=0,IntPnd=0,UMask=0,TxIE=1,RxIE=0,RmtEn=1,TxRqst=0
	EoB=1,DLC3-0=1000,即數據長度為8*/
	CAN0ADR = IF1CMDRQST;         
	CAN0DAT = MsgNum;   
	/*IF1 Command Request Registers=MsgNum,將以上配置寫入MsgNum號消息*/
}
void remote_send_updata(char MsgNum,char *p,char len){
	char i;
	SFRPAGE = CAN0_PAGE;
	CAN0ADR = IF2CMDMSK;       	
	CAN0DATL = 0x08;  
	CAN0ADR = IF2CMDRQST;        
	CAN0DATL = MsgNum;  /*將該消息IntPnd清零，注意一定要保證將中斷標志位清零，否則將一直發生中斷，陷入死機狀態*/         
	CAN0ADR = IF1CMDMSK;         
	CAN0DAT = 0x008b;            
	/*   IF1 Command Mask Registers  =0x008b
	WR/RD=1,Mask=0,Arb=0,Control=0,ClrIntPnd=1(注意WR/RD＝1時，ClrIntPnd=1對消息IntPnd清零是無效的）,TxRqst=0,DataA=1,DataB=1,一次發送8字節數據*/
	CAN0ADR = IF1DATA1;          
	for(i=0;i<len;i+=2){
		CAN0DATH=*p++;
		CAN0DATL=*p++;
	}
 	CAN0ADR = IF1CMDRQST;        
	CAN0DATL = MsgNum;    
}
void transmit (char MsgNum,char *p,char len) 
/*將*p數據寫入can消息發送，len為數據長度*/
{	char i;
	SFRPAGE = CAN0_PAGE;
	CAN0ADR = IF1CMDMSK;         
	CAN0DAT = 0x0087;            
	/*   IF1 Command Mask Registers  =0x0087
	WR/RD=1,Mask=0,Arb=0,Control=0,ClrIntPnd=0,TxRqst=1,DataA=1,DataB=1,一次發送8字節數據*/
	CAN0ADR = IF1DATA1;          
	for(i=0;i<len;i+=2){
		CAN0DATH=*p++;
		CAN0DATL=*p++;
	}
 	CAN0ADR = IF1CMDRQST;        
	CAN0DATL = MsgNum;            
}
void receive_data (uchar MsgNum,char *p,char len)
/*將接收數據存入*p指針中，len為接收長度*/
{
	char i;
  	SFRPAGE = CAN0_PAGE;
	CAN0ADR = IF2CMDMSK;       	
	CAN0DATL = 0x0f;          
	/*   IF1 Command Mask Registers  =0xxx0f
	WR/RD=0,Mask=0,Arb=0,Control=0,ClrIntPnd=1,NewDat=1,DataA=1,DataB=1,一次發送8字節數據*/
	CAN0ADR = IF2CMDRQST;      
	CAN0DATL = MsgNum;       	  
	CAN0ADR = IF2DATA1;     	  
	for(i=0;i<len;i+=2){
		*p++=CAN0DATH;
		*p++=CAN0DATL;
	}
 }
void delay1ms(uint time){//延遲1ms*time,這不是一個精確值
	uint i;
	uint j;
	for (i=0;i<time;i++){
		for(j=0;j<300;j++);
	}
}