Config.c

//--------------------------------------------------------------
//	File:			Config.c
//	Author:			Vadim Melnicuk
//	Company:		Birmingham City University
//	Date:			11/11/2013
//	Description:	
//--------------------------------------------------------------

//Header files
#include "Config.h"

//--------------------------------------------------------------

void Init(void)
{
	//FOSC Settings
	OSCCONbits.SCS = 0b00;			//Default primary oscillator
	OSCCONbits.IRCF = 0b111;		//16Mhz
	OSCTUNEbits.PLLEN = 1;			//PLL Enabled
	OSCTUNEbits.TUN = 0b000011;		//Tune the internal oscillator

	//I/O Settings
	ANCON0bits.ANSEL0 = 0;			//AN0 - Digital
	ANCON0bits.ANSEL1 = 0;			//AN1 - Digital
	ANCON0bits.ANSEL2 = 0;			//AN2 - Digital
	ANCON0bits.ANSEL3 = 0;			//AN3 - Digital
	ANCON0bits.ANSEL4 = 0;			//AN4 - Digital
	ANCON1bits.ANSEL8 = 0;			//AN8 - Digital
	ANCON1bits.ANSEL9 = 0;			//AN9 - Digital
	ANCON1bits.ANSEL10 = 0;			//AN10 - Digital

	TRISAbits.TRISA0 = 0;			//RA0 - Output
	TRISAbits.TRISA1 = 0;			//RA1 - Output
	TRISAbits.TRISA2 = 0;			//RA2 - Output
	TRISAbits.TRISA3 = 0;			//RA3 - Output
	TRISAbits.TRISA5 = 0;			//RA5 - Output
	TRISAbits.TRISA6 = 0;			//RA6 - Output
	TRISAbits.TRISA7 = 0;			//RA7 - Output

	TRISBbits.TRISB0 = 1;			//RB0 - Input
	TRISBbits.TRISB1 = 1;			//RB1 - Input
	TRISBbits.TRISB2 = 0;			//RB2 - Output
	TRISBbits.TRISB3 = 1;			//RB3 - Input
	TRISBbits.TRISB4 = 0;			//RB4 - Output
	TRISBbits.TRISB5 = 0;			//RB5 - Output

	TRISCbits.TRISC0 = 0;			//RC0 - Output
	TRISCbits.TRISC1 = 0;			//RC1 - Output
	TRISCbits.TRISC5 = 0;			//RC5 - Output
	TRISCbits.TRISC6 = 1;			//RC6 - Input TODO TRISCbits.TRISC6 1 or 0 p.333 Datasheet
	TRISCbits.TRISC7 = 1;			//RC7 - Input

	PORTA = 0;						//Reset PORTs & LATs
	LATA = 0;
	PORTB = 0;						//Reset PORTs & LATs
	LATB = 0;
	PORTC = 0;						//Reset PORTs & LATs
	LATC = 0;

	//Interrupts Settings
	RCONbits.IPEN = 1;				//Enable priority
	INTCONbits.GIEH = 1;			//Enable all high priority interrupts
	INTCONbits.GIEL = 1;			//Enable all low priority interrupts
	INTCONbits.TMR0IE = 1;			//Enables the TMR0 overflow interrupt
	INTCON2bits.TMR0IP = 1;			//High priority

	//Timer0
	T0CONbits.T0PS = 0b101;			//1:64 Prescale value
	T0CONbits.PSA = 0;				//Timer0 clock input comes from prescaler output
	T0CONbits.T0CS = 0;				//Internal instruction cycle clock (CLKO)
	T0CONbits.T08BIT = 0;			//Timer0 is configured as an 16-bit timer/counter
	T0CONbits.TMR0ON = 1;			//Timer0 ON

	//EUSART Settings
	BAUDCON1bits.BRG16 = 1;			//16-bit Baud Rate Generator
	BAUDCON1bits.CKTXP = 0;			//
	
	SPBRG1 = (((_XTAL_FREQ/4)/EUART_BAUD_RATE_KBPS)-1) & 0xFF;		//Calculate BAUDRATE - low byte
	SPBRGH1 = (((_XTAL_FREQ/4)/EUART_BAUD_RATE_KBPS)-1) >> 8;		//High byte

	TXSTA1bits.BRGH = 1;			//High speed
	TXSTA1bits.SYNC = 0;			//Asynchronous mode
	TXSTA1bits.TXEN = 0;			//Transmit is enabled
	TXSTA1bits.TX9 = 0;				//Selects 8-bit transmission

	RCSTA1bits.CREN = 0;			//Enables receiver
	RCSTA1bits.RX9 = 0;				//Selects 8-bit reception
	RCSTA1bits.SPEN = 1;			//Serial port is enabled

	//ECAN Settings
	CANCONbits.REQOP = 0b100;		//Request configuration mode
	while(CANSTATbits.OPMODE != 4);	//Wait for configuration mode
	ECANCONbits.MDSEL = 0b00;		//Legacy mode (Mode 0, default)

	BRGCON1bits.BRP = 0b111111;		//TQ = (2 x 64)/FOSC
	BRGCON1bits.SJW = 0b11;			//Synchronization jump width time = 4 x TQ
	//Normally a large SJW is only necessary when the clock generation of the
	//different nodes is inaccurate or unstable, such as using ceramic resonators.
	BRGCON2bits.PRSEG = 0b001;		//Propagation time = 2 x TQ
	BRGCON2bits.SEG1PH = 0b110;		//Phase Segment 1 time = 7 x TQ
	BRGCON2bits.SAM = 0;			//Bus line is sampled once at the sample point
	BRGCON2bits.SEG2PHTS = 1;		//Phase Segment 2 - Freely programmable
	BRGCON3bits.SEG2PH = 0b101;		//Phase Segment 2 time = 6 x TQ
	BRGCON3bits.WAKFIL = 0;			//CAN bus line filter is not used for wake-up
	BRGCON3bits.WAKDIS = 0;			//Enable CAN bus activity wake-up feature

	RXB0CONbits.RXM0 = 1;			//Receive all messages (including those with errors); filter criteria is ignored
	RXB0CONbits.RXM1 = 1;
	RXB1CONbits.RXM0 = 1;			//Receive all messages (including those with errors); filter criteria is ignored
	RXB1CONbits.RXM1 = 1;

	CANCONbits.REQOP = 0b000;		//Request normal mode
	while(CANSTATbits.OPMODE != 0);	//Wait for normal mode
}

unsigned short int tcti(unsigned char c1, unsigned char c2)	//Two char (low and high bytes) to int
{
	unsigned short int i;
	i = (c2 << 8) | c1;
	return i;
}

signed short int uitsi(unsigned short int i)	//Unsigned int to signed int
{
	if(i > 32768){
		return i;
	}else{
		return i - 65536;
	}
}

void Delay(unsigned short int t)
{
	unsigned short int n;
	for(n = 0; n <= t; n++){
		__delay_ms(1);
	}
}

void putch(char data)
{
	Tx1Byte(data);
}