ABL electronic PIC Microcontrollers PIC16 - Manual (Page 159)

MikroElektronika: Development tools - Books - Compilers
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mikroC - C Compiler for Microchip PIC microcontrollers
mikroC
making it simple...
// .. continued
// Set all mask1 bits to ones
CANSetMask(CAN_MASK_B1,ID,CAN_CONFIG_XTD_MSG);
// Set all mask2 bits to ones
CANSetMask(CAN_MASK_B2,ID,CAN_CONFIG_XTD_MSG);
// Set id of filter B1_F1 to 3
CANSetFilter(CAN_FILTER_B2_F3,3,CAN_CONFIG_XTD_MSG);
// Set CAN to NORMAL mode
CANSetOperationMode(CAN_MODE_NORMAL,0xFF);
PORTD = 0xFF;
id = 12111;
CANWrite(id,data,1,aa1); // Send message via CAN
while (1) {
oldstate = 0;
zr = CANRead(&id, data , &len, &aa2);
if ((id == 3) & zr) {
PORTD = 0xAA;
PORTC = data[0]; // Output data at PORTC
data[0]++ ;
// If message contains two data bytes, output second byte at PORTD
if (len == 2) PORTD = data[1];
data[1] = 0xFF;
id = 12111;
CANWrite(id, data, 2,aa1); // Send incremented data back
}
}
} //~!