hcs12_can.c

#include <hidef.h>      /* common defines and macros */
#include "derivative.h"      /* derivative-specific definitions */
#include "can.h"

void canInit(void);

void main(void) 
{  
  unsigned char errorflag;
  unsigned char txbuff[] = "abcd";

  canInit();
  
  // wait while MSCAN is not syncd with the bus
  while(!mscanIsSync());
  
  mscanEnable();
  
  EnableInterrupts;
  
  for (;;) 
  {
    errorflag = mscanWrite(0x100, 0x00, txbuff, sizeof(txbuff)-1);
  }
}

interrupt 38 void canRxHandler(void)
{
  unsigned char length, index;
  unsigned char rxdata[8];
  
  length = mscanRxLength();
  mscanRead(rxdata, length);
}

void canInit()
{
  MsCanInitType init;
  init.id        = 0x100;
  init.sjw       = 4;
  init.prescaler = 8;
  init.tseg1     = 5;
  init.tseg2     = 2;
  init.options   = CANCTL1_LOOPB_MASK;

  mscanInitMode();
  mscanInit(&init);
  mscanNormalMode();
}