/// Main_u4.c
//
//// Transmitter Unit ////
//
// 03/24/07  CAN Unit Tests 4
//


//// dsPIC30F4011 Motor Controller Notes
///     Pin Assignments
//     /------------------------/
//   1-| !MCLR             AVdd |-40
//   2-| AN0/CN2/RB0       AVss |-39
//   3-| AN1/CN3/RB1  RE0/PWM1L |-38
//   4-| AN2/SS1/RB2  RE1/PWM1H |-37
//   5-| INDX/RB3     RE2/PWM2L |-36
//   6-| QEA/RB4      RE3/PWM2H |-35
//   7-| QEB/RB5      RE4/PWM3L |-34
//   8-| AN6/RB6      RE5/PWM3H |-33
//   9-| AN7/RB7            Vdd |-32
//  10-| AN8/RB8            Vss |-31
//  11-| Vdd               C1RX |-30 
//  12-| Vss               C1TX |-29 
//  13-| ---               U2RX |-28 
//  14-| RC15              U2TX |-27
//  15-| U1TX/RC13          PGC |-26
//  16-| U1RX/RC14          PGD |-25
//  17-| INT0/RE8           RF6 |-24
//  18-| INT2/RD1      RD0/INT1 |-23
//  19-| RD3                RD2 |-22
//  20-| Vss                Vdd |-21
//     /------------------------/


#include "p30f4011.h"
#include "can.h"

// Configuration Fuse Settings
//   Clock Switch, Fail Safe
//   Primary Oscillator = Fast RC @ PLLx16
//   Watch Dog OFF
//   Enable MCLR reset pin and turn off the power-up timers.
//   Disable Code Protection 
_FOSC(CSW_FSCM_OFF & FRC_PLL16);
_FWDT(WDT_OFF);
_FBORPOR(MCLR_EN & PWRT_OFF);   
_FGS(CODE_PROT_OFF);            


void PIO_Init()
{
  /// Initialize Port I/O

  // PORTB are Analog Input by Default
  //  _ADON = 0;     Turn Off A/D Peripheral
  //  _PCFGn = 0/1;  Analog = 0, Digital = 1

  //TRISBbits.TRISB0 = 1;   
  //_PCFG0 = 1;
  //TRISBbits.TRISB1 = 1;   
  //_PCFG1 = 1;
  //TRISBbits.TRISB2 = 1;   
  //_PCFG2 = 1;

  TRISBbits.TRISB3 = 1;  // QE Index
  _PCFG3 = 1;
  TRISBbits.TRISB4 = 1;  // QEA
  _PCFG4 = 1;
  TRISBbits.TRISB5 = 1;  // QEB
  _PCFG5 = 1;

  TRISBbits.TRISB6 = 1;   // Button
  _PCFG6 = 1;    
  TRISBbits.TRISB7 = 1;   // Button
  _PCFG7 = 1;

  //TRISBbits.TRISB8 = 1;
  //_PCFG8 = 1;

  TRISCbits.TRISC13 = 1;  // Button
  TRISCbits.TRISC14 = 0;  // LED
  LATCbits.LATC14 = 0;

  TRISCbits.TRISC15 = 1;  // Button

  TRISDbits.TRISD0 = 1;   // INT1
  TRISDbits.TRISD1 = 1;   // INT2
  TRISDbits.TRISD2 = 0;   // LED
  LATDbits.LATD2 = 0;
  TRISDbits.TRISD3 = 0;   // LED
  LATDbits.LATD3 = 0;

  TRISEbits.TRISE0 = 0;   // PWM
  LATEbits.LATE0 = 0;
  TRISEbits.TRISE1 = 0;   // PWM
  LATEbits.LATE1 = 0;
  TRISEbits.TRISE2 = 0;   // PWM
  LATEbits.LATE2 = 0;
  TRISEbits.TRISE3 = 0;   // PWM
  LATEbits.LATE3 = 0;
  TRISEbits.TRISE4 = 0;   // PWM
  LATEbits.LATE4 = 0;
  TRISEbits.TRISE5 = 0;   // PWM
  LATEbits.LATE5 = 0;

  TRISEbits.TRISE8 = 1;   // INT0

  TRISFbits.TRISF6 = 0;   // LED
  LATFbits.LATF6 = 0;
}


void CAN_Init()
{
  CAN1SetOperationMode(CAN_IDLE_CON 
                       & CAN_MASTERCLOCK_1 
                       & CAN_REQ_OPERMODE_CONFIG 
                       & CAN_CAPTURE_DIS);
  while (C1CTRLbits.OPMODE <= 3)
  {
    LATDbits.LATD2 = !PORTDbits.RD2;
  }

  // C1CFG1 Register
  //   UNUSED = uuuu uuuu .... ....
  //      SJW = .... .... 11.. .... = 0x00C0  Synch Jump Width (1-4 Tq for Resynch)
  //      BRP = .... .... ..11 1111 = 0x003F  Baud Rate Prescaler (slowest!)
  //            -------------------
  //   C1CFG1 = 0000 0000 1111 1111 = 0x00FF  Tq = 128/Fcan = 4.34028e-06s (230.4kHz)
  ////C1CFG1 = 0x00FF;

  // C1CFG2 Register
  //   UNUSED = u.uu u... .... ....
  //   WAKFIL = .0.. .... .... ....   Wakeup Interrupt (disable)
  //   SEG2PH = .... .111 .... ....   Phase Buffer Segment 1-8 Tq
  // SEG2PHTS = .... .... 0... ....   Segment Phase Time Select (0 = Max)
  //      SAM = .... .... .1.. ....   Samples (0 = 1, 1 = 3 samples)
  //   SEG1PH = .... .... ..11 1...   Phase Buffer Segment 1-8 Tq
  //    PRSEG = .... .... .... .111   Propagation Segment 1-8 Tq
  //            -------------------
  //   C1CFG2 = 0000 0111 0111 1111 = 0x077F
  ////C1CFG2 = 0x077F;

  // The above settings result in *NBT 
  //       SJW = 1 Tq (always 1 Tq)
  //     PRSEG = 8 Tq
  //    PHSEG1 = 8 Tq
  //    PHSEG2 = 8 Tq
  //    -------------
  //       NBT = 25 Tq     
  //
  // 	Tq = 2*(BRP + 1)/Fcy = 4.34028e-06s
  //	kbps = 1 / (Tq * NBT) / 1000 = 1 / (4.34028e-06 * 25) / 1000 = 9.216 kbps

  CAN1Initialize(CAN_SYNC_JUMP_WIDTH4 & CAN_BAUD_PRE_SCALE(0x3F),
                 CAN_WAKEUP_BY_FILTER_DIS 
                 & CAN_PHASE_SEG2_TQ(8) 
                 & CAN_PHASE_SEG1_TQ(8) 
                 & CAN_PROPAGATIONTIME_SEG_TQ(8) 
                 & CAN_SEG2_FREE_PROG
                 & CAN_SAMPLE3TIMES);


  /// Set Up Receiving
  // C1RX0CON Register
  //  UNUSED uuuu uuuu .uuu ....
  //   RXFUL .... .... 0... ....  1=Valid Received Message, 0=Clear After Read
  // RXRTRRO .... .... .... 0...  1=Remote Transfer Request Received
  //    DBEN .... .... .... .0..  1=RB0 Overflow writes to RB1
  //   JTOFF .... .... .... ..0.  Jump Table Offset
  // FILHIT0 .... .... .... ...0  0=Acceptance Filter 0: RXF0, 1=RXF1 (Read Only)
  C1RX0CON = 0x0000;

  // C1RX2CON Register
  //  UNUSED uuuu uuuu .uuu ....
  //   RXFUL .... .... 0... ....  1=Valid Received Message, 0=Clear After Read
  // RXRTRRO .... .... .... 0...  1=Remote Transfer Request Received
  //  FILHIT .... .... .... .000  Acceptance Filter 000=RXF0 to 101=RXF5 (Read Only) RXF0, RXF1 with DBEN=1
  C1RX1CON = 0x0000;

  // C1RXnSID Receive Buffer Standard Identifier Register
  //  UNUSED uuu. .... .... ....
  //     SID ...1 0101 0101 01..  Standard Indentifier, 11 bits
  //     SRR .... .... .... ..0.  Substitute Remote Request; 1=Remote Trsnafer Requested
  //   RXIDE .... .... .... ...0  Extended Identifier; 1=Extended ID, 0=Standard ID
	// Note:  We don't really need to set C1RXnSID or C1RXnEID.  This is the RECEIVED message's SID and EID
	//        However, the registers are R/W, so we can clear them (or set them anyway we like)
  C1RX0SID = 0x0000;    // 0x1554;
  C1RX1SID = 0x0000;    // 0x1554;

  // C1RXnEID Receive Buffer Extended Identifier Register
  //    UNUSED uuuu .... .... ....
  // EID<17:6> .... 0000 0000 0000  Extended Identifier, high 12 bits
  C1RX0EID = 0x0000;
  C1RX1EID = 0x0000;

  // RX Data Buffers
  C1RX0B1 = 0x0000;
  C1RX0B2 = 0x0000;
  C1RX0B3 = 0x0000;
  C1RX0B4 = 0x0000;

  C1RX1B1 = 0x0000;
  C1RX1B2 = 0x0000;
  C1RX1B3 = 0x0000;
  C1RX1B4 = 0x0000;

  // C1RXnDLC  Receive Buffer Data Length Control and EID low 6 bits
  //  EID<5:0> 0000 00.. .... ....  EID low 6 bits
  //     RXRTR .... ..0. .... ....  Receive Remote Transmission Request
  //  RB1, RB0 .... ...0 0... ....  Reserved CAN bits = 0
  //  DLC<3:0> .... .... .... 0000  Data Length Code:  0000 to 1000? 0 to 8? or DBEN 000 to 1111?
  C1RX0DLC = 0x0000;
  C1RX1DLC = 0x0000;
  
  // C1RXFnSID  Standard Identifier Message Acceptance Filters
  //  UNUSED 000. .... .... ..0.
  //     SID ...1 0101 0101 01..  Standard Identifier, 11 bits
  //   EXIDE .... .... .... ...0  Extended Identifier Filter Enable
  C1RXF0SID = 0x1554;
  C1RXF1SID = 0x1554;
  C1RXF2SID = 0x1554;
  C1RXF3SID = 0x1554;
  C1RXF4SID = 0x1554;
  C1RXF5SID = 0x1554;

  // C1RXFnEIDH  Extended Identifier Message Acceptance Filters, EID<17:6> High Bits
  //    UNUSED 0000 .... .... .... ....
  // EID<17:6> .... 0000 0000 0000 0000  EID<17:6> high 12 bits
  C1RXF0EIDH = 0x0000;
  C1RXF1EIDH = 0x0000;
  C1RXF2EIDH = 0x0000;
  C1RXF3EIDH = 0x0000;
  C1RXF4EIDH = 0x0000;
  C1RXF5EIDH = 0x0000;

  // C1RXFnEIDL  Extended Identifier Message Acceptance Filters, EID<5:0> Low Bits
  //   UNUSED .... ..00 0000 0000
  // EID<5:0> 0000 00.. .... ....  EID<5:0> low 6 bits
  C1RXF0EIDL = 0x0000;
  C1RXF1EIDL = 0x0000;
  C1RXF2EIDL = 0x0000;
  C1RXF3EIDL = 0x0000;
  C1RXF4EIDL = 0x0000;
  C1RXF5EIDL = 0x0000;

  // CAN1SetFilter(0, CAN_FILTER_SID(0x0555) & CAN_RX_EID_DIS, 
  //                  CAN_FILTER_EID(0x00000000));

  // C1RXMnSID  Standard Identifier Acceptance Mask
  //  UNUSED 000. .... .... ..0.
  //     SID ...0 0000 0000 00..  Standard Identifier, 11 bits (1=ANDed, 0=ORed)
  //    MIDE .... .... .... ...0  1=Match according to Filter EXIDE
  C1RXM0SID = 0x0000;
  C1RXM1SID = 0x0000;

  // C1RXMnEIDH  Extended Identifier Message Acceptance Mask, EID<17:6> High Bits
  //    UNUSED 0000 .... .... .... ....
  // EID<17:6> .... 0000 0000 0000 0000  EID<17:6> high 12 bits
  C1RXM0EIDH = 0x0000;
  C1RXM1EIDH = 0x0000;

  // C1RXMnEIDL  Extended Identifier Message Acceptance Mask, EID<5:0> Low Bits
  //   UNUSED .... ..00 0000 0000
  // EID<5:0> 0000 00.. .... ....  EID<5:0> low 6 bits
  C1RXM0EIDL = 0x0000;
  C1RXM1EIDL = 0x0000;

  // CAN1SetMask(0, CAN_MASK_SID(0x0000) & CAN_MATCH_FILTER_TYPE,
  //                CAN_MASK_EID(0x00000000));

  CAN1SetRXMode(0, CAN_RXFUL_CLEAR & CAN_BUF0_DBLBUFFER_EN);
					
  C1EC = 0x0000;

  C1INTF = 0;
  IFS1bits.C1IF = 0;   // Clear the CAN1 Interrupt Flag bit
  C1INTE = 0x00FF;     // Enable all interrupt sources
  IEC1bits.C1IE = 1;
  INTCON1bits.NSTDIS = 1;

  CAN1SetOperationMode(CAN_IDLE_CON 
                       & CAN_CAPTURE_DIS 
                       & CAN_MASTERCLOCK_1 
                       & CAN_REQ_OPERMODE_NOR);
	
  // verify normal mode has been entered
  while(C1CTRLbits.OPMODE != 0)    // != 2 for CAN_REQ_OPERMODE_LOOPBK
  {
    LATDbits.LATD2 = !PORTDbits.RD2;
  }
  LATDbits.LATD2 = 0;
}



void TX0_Test()
{
  // C1TX0CON Register
  //  UNUSED uuuu uuuu u... .u..
  //   TXABT .... .... .0.. ....  Message was Aborted. Cleared by TXREQ=1
  //  TXLARB .... .... ..0. ....  Lost Arbitration.    Cleared by TXREQ=1
  //   TXERR .... .... ...0 ....  Bus Error on TX.     Cleared by TXREQ=1
  //   TXREQ .... .... .... 1...  TX Send Request      Cleared after Sent
  //   TXPRI .... .... .... ..11  11 Highest Priority 00 Lowest Priority
  C1TX0CON = 0x0003;  // High priority

  // C1TX0SID Register
  //  UNUSED .... .uuu .... ....
  //     SID 1010 1... 0101 01..  Standard Identifier, 11 Bits
  //     SRR .... .... .... ..0.  Substitute Remote Request Control
  //   TXIDE .... .... .... ...0  Transmit Extended Identifier
  C1TX0SID = 0xA854;   // SID = 10101010101 = 0x0555

  // C1TX0EID Register
  //  UNUSED .... uuuu .... ....
  //     EID 0000 .... 0000 0000  Extended Identifier, 12 of 18 bits
  C1TX0EID = 0x0000;   // EID = 0000000000000000000 (0x00000)

  // C1TX0DLC Register
  //  UNUSED .... .... .... .uuu 
  //     EID 0000 00.. .... .... Extended Identifier, last 6 of 18 bits
  //   TXRTR .... ..0. .... .... Remote Transmission Request
  //   TXRBn .... ...0 0... .... TXRB0 and TXRB1 must be set to 0 (Reserved bits)
  //     DLC .... .... .111 1... Data Length Code Bits 1000 = 8 max? (not documented!)
  C1TX0DLC = 0x0040; //.100 0
  C1TX0B1 = 0x5555;  //0x494D; // OutData3[0]; "I","M"  watch the byte order!
  C1TX0B2 = 0x5555;  //0x5243; // OutData3[1]; "R","C"
  C1TX0B3 = 0x5555;  //0x434F; // OutData3[2]; "C","O"
  C1TX0B4 = 0x5555;  //0x4948; // OutData3[3]; "I","H"  0x50 = "P"
 
  // CAN1SetTXMode(0, CAN_TX_STOP_REQ & CAN_TX_PRIORITY_HIGH);

  // Enable transmission
  C1TX0CONbits.TXREQ = 1;
  while (C1TX0CONbits.TXREQ == 1)
  {
    LATDbits.LATD2 = !PORTDbits.RD2; 
  }
  LATDbits.LATD2 = 1;
}



int main(void)
{
  PIO_Init();
  CAN_Init();

  LATDbits.LATD2 = 0;
  //TX0_Test();     // Comment out for Receiver Unit

  int working = 1;
  while (working == 1)
  {
    LATDbits.LATD2 = !PORTDbits.RD2; 
  }
  return 0;
}


void __attribute__((__interrupt__)) _C1Interrupt(void)
{
  /// CAN Interrupt Service Routine
  // Set Event Processing Flags so we can immediately clear Interrupt Flags
  // The outer Main Process Loop will then handle these events at its convenience
  if (C1INTFbits.IVRIF) 
  { 
    C1INTFbits.IVRIF = 0;
    LATFbits.LATF6 = 1;
  }

  if (C1INTFbits.WAKIF) 
  { 
    C1INTFbits.WAKIF = 0;
  }

  if (C1INTFbits.ERRIF)
  {
    C1INTFbits.ERRIF = 0;  
    LATDbits.LATD3 = 1;
  }

  if (C1INTFbits.TX2IF) 
  { 
    C1INTFbits.TX2IF = 0;
  }
	
  if (C1INTFbits.TX1IF) 
  { 
    C1INTFbits.TX1IF = 0;
  }
  
  if (C1INTFbits.TX0IF)
  { 
    C1INTFbits.TX0IF = 0;
  }
  
  if (C1INTFbits.RX1IF) 
  { 
    // = C1RX1B1;
    // = C1RX1B2;
    // = C1RX1B3;
    // = C1RX1B4;
    C1RX1CONbits.RXFUL = 0;        
    C1INTFbits.RX1IF = 0;
    LATCbits.LATC14 = 1;
  }
  
  if (C1INTFbits.RX0IF) 
  { 
    // C1RX0B1;
    // C1RX0B2;
    // C1RX0B3;
    // C1RX0B4;
    C1RX0CONbits.RXFUL = 0;        
    C1INTFbits.RX0IF = 0;
    LATCbits.LATC14 = 1;
  }
  
  if (C1INTFbits.RX0OVR) 
  { 
    // Receive Buffer 0 Overflowed bit
    C1INTFbits.RX0OVR = 0;
  } 
  
  
  if (C1INTFbits.RX1OVR) 
  { 
    // Receive Buffer 1 Overflowed bit
    C1INTFbits.RX1OVR = 0;
  }  
  
  if (C1INTFbits.TXBO) 
  { 
    // Transmitter in Error State, Bus Off bit
    C1INTFbits.TXBO = 0;
  }      
  
  if (C1INTFbits.TXEP) 
  { 
    // Transmitter in Error State, Bus Passive bit
    C1INTFbits.TXEP = 0;
    LATCbits.LATC14 = 1;
  }      
  
  if (C1INTFbits.RXEP) 
  { 
    // Receiver in Error State, Bus Passive bit
    C1INTFbits.RXEP = 0;
    LATCbits.LATC14 = 1;
  }      
  
  if (C1INTFbits.TXWAR) 
  { 
    // Transmitter in Error State, Warning bit
    C1INTFbits.TXWAR = 0;
  }    

  if (C1INTFbits.RXWAR) 
  { 
    // Receiver in Error State, Warning bit
    C1INTFbits.RXWAR = 0;
  }    

  if (C1INTFbits.EWARN) 
  { 
    // Transmitter or Receiver is in Error State, Warning bit
    C1INTFbits.EWARN = 0;
  }    

  IFS1bits.C1IF = 0;
  C1INTF = 0x0000;
}