; Orange5 programmer module v4.6
; (c) 2009-2015 CnCLab
; CHIP=Orange 5 CAN bus example
; Minimum software version 1.31 !!!

SOCKET=0
ALLPINS=0
;INFO="CAN Example"
POWER=0

@ARX=8  ; приемный массив.
@ATX={1,2,3,4,5,6,7,8}  ; массив для передачи.

BUSO=UTXF,252
BUSO=UTXC,253
BUSO=UTX,254
BUSI=URX,254


BUSO=CAN_MR,0x60
BUSO=CAN_BAUD,0x61   ; CAN_BAUD
BUSO=CAN_TCR,0x62    ; CAN Transfer Command (не используется)
BUSO=CAN_ACR,0x63    ; CAN Abort Command 
BUSO=CAN_MBOX,0x64   ; select mailbox 0..7
BUSO=CAN_MMR,0x65    ; CAN Message Mode 
BUSO=CAN_MAM,0x66    ; CAN Acceptance Mask 
BUSO=CAN_MID,0x67    ; CAN Message ID 
BUSO=CAN_DATL,0x6A   ; CAN Message L
BUSO=CAN_DATH,0x6B   ; CAN Message H
BUSO=CAN_MCR,0x6C    ; CAN Message Control

BUSI=CAN_STAT,0x60             
;BUSI=CAN_TIM,0x61
BUSI=CAN_TIMS,0x62   ; Timestamp 
BUSI=CAN_ECR,0x63    ; CAN Error Counter Rx
BUSI=CAN_ECT,0x63    ; CAN Error Counter Tx
BUSI=CAN_MMR,0x65    ; CAN Message Mode 
BUSI=CAN_MAM,0x66    ; CAN Acceptance Mask 
BUSI=CAN_MID,0x67    ; CAN Message ID 
BUSI=CAN_MSR,0x69    ; CAN Message Stat 
BUSI=CAN_DL,0x6A     ; CAN Message Low 
BUSI=CAN_DH,0x6B     ; CAN Message High


CDELAY=0 ; one set delay

R10=Baud,d
R12=Listen,C1
R13=ID,H4
R14=Data,E8

PINO=HSPEED,11


[#SETUP]
VCC=1
R10=125000     ;default baudrate
R12=1         ;Listen
R13=0x001     ;default  ID
R15=8         ;size


[INIT]
VCC=1

CAN_MR=0x00  ;disable
CAN_BAUD=R10 ;25000 ; BRP=5, PHASE2=1     baud=25000
;CAN_BAUD=50000
CAN_MR=0x81  ;enable, DRPT-no repeat

;CAN_MR=0x81  ;enable, DRPT-no repeat
;CAN_MBOX=0
;CAN_MMR=0x03000000 ;MOT=011-transmit

HSPEED=1 ;  For high-speed operation!

P=10000


; Edit and tx message from array
[TxMSG]

CAN_MR=0x0  
CAN_MBOX=4
CAN_MMR=0

UTX=@ATX         ;синхронизация массива!
R15?>8{R15=8}
R14=R15,R14=+1,R14=*256,R14=+1 ; array number and view size+1
;REGINFO(R14,)
GET=("Send Message",R13,R14) ;MID, MSG
RA?0{EXIT}
;в R14 возвращается  длина сообщения.
R15=R14
@ATX=URX   ;синхронизация массива!

;CAN_MR=0x81  ;enable, DRPT-no repeat
;must disable the mailbox before writing to CAN_MIDx registers!
;CAN_MR=0x81  ;enable, DRPT-no repeat
;CAN_MMR=0x03000000 ;MOT=011-transmit Mailbox
;P=20000



CAN_MR=0x81  ;enable, DRPT-no repeat
CAN_MMR=0x03000000 ;MOT=011-transmit Mailbox
R0=R13
R13?<0x20000000{ ; короткие ID
R0=<<18,R0=&0x1FFC0000 ;сдвиг в MIDa
} 
CAN_MID=R0

;CAN_MR=0x81  ;enable, DRPT-no repeat


; данные передаются из массива ATX
CAN_DATL=@ATX(R15) ;R15 - длина сообщения.
;@ATX[0]=R5
;R5=+1
;@ATX[1]=R5
;CAN_MCR=0x00880000  ;send 8 bytes msg
;CAN_TCR=0x10 ;tx mailbox1  - нужно не обязательно?
P=10
R0=CAN_STAT
R1=CAN_ECR
PRINT=S("Send: STAT=%08X, ECR=%08X",R0,R1)

; ждем успешной передачи сообщения.
LOOP(500){
R0=CAN_MSR
R0=&0x800000  ; MRDY
R0?!0{ ;1 Mailbox data have been transmitted. After setting the MOT field in the CAN_MMR, MRDY is reset to 1.
CAN_MMR=0x00000000 ; disable transmit Mailbox
CAN_MCR=0x00400000  ;MRDY, MABT are cleared by writing MTCR or MACR in the CAN_MCRx register
PRINT=L("message transmitted\n") ;transmit finished ok
}
P=100
}

P=250000
CAN_MMR=0x00000000 ; disable transmit Mailbox
CAN_MCR=0x00400000  ;MACR=1 Cancels transfer request if the message has not been transmitted to the CAN transceiver.
CAN_ACR=0xFF ; Cancels transfer request if the message has not been transmitted to the CAN transceiver.


[_SHOWRX]

R1=>>18,R1=&0x7FF ;11 bit ID
R2=>>16,R2=&0xF ; msg length

R18=@ARX[0]
R2?1{PRINT=L("ID%03X S%u. %02X\n",R1,R2,R18),RETURN}
R19=@ARX[1]
R2?2{PRINT=L("ID%03X S%u. %02X %02X\n",R1,R2,R18,R19),RETURN}
R1A=@ARX[2]
R2?3{PRINT=L("ID%03X S%u. %02X %02X %02X\n",R1,R2,R18,R19,R1A),RETURN}
R1B=@ARX[3]
R2?4{PRINT=L("ID%03X S%u. %02X %02X %02X %02X\n",R1,R2,R18,R19,R1A,R1B),RETURN}
R1C=@ARX[4]
R2?5{PRINT=L("ID%03X S%u. %02X %02X %02X %02X  %02X\n",R1,R2,R18,R19,R1A,R1B,R1C),RETURN}
R1D=@ARX[5]
R2?6{PRINT=L("ID%03X S%u. %02X %02X %02X %02X  %02X %02X\n",R1,R2,R18,R19,R1A,R1B,R1C,R1D),RETURN}
R1E=@ARX[6]
R2?7{PRINT=L("ID%03X S%u. %02X %02X %02X %02X  %02X %02X %02X\n",R1,R2,R18,R19,R1A,R1B,R1C,R1D,R1E),RETURN}
R1F=@ARX[7]
     PRINT=L("ID%03X S%u. %02X %02X %02X %02X  %02X %02X %02X %02X\n",R1,R2,R18,R19,R1A,R1B,R1C,R1D,R1E,R1F)


[RxMSG] 

CAN_MR=0
CAN_MBOX=0  
CAN_MMR=0x01000000 ;MOT=001-Reception Mailbox
;CAN_MMR=0x02000000 ;MOT=010 -Reception Mailbox with overwrite
CAN_MAM=0 ; //0xFFFFFFFF ;Message Acceptance Mask Register - receive ALL  
CAN_MCR= 0x00800000  ;MTCR=1 Allows the reception of the next message
;CAN_DATL=0xFFFFFFFF
;CAN_DATH=0xFFFFFFFF
CAN_MID=0x0 ;0xFFFFFFFF    ;???

CAN_MBOX=1  
CAN_MMR=0x01000000 ;MOT=010 -Reception Mailbox with overwrite
CAN_MAM=0x0        ;Message Acceptance Mask Register - receive ALL  
CAN_MID=0x00000000
CAN_MCR=0x00800000  ;MTCR=1 Allows the reception of the next message


R12?1{CAN_MR=0x15} ; 0x05  ;enable, ABM=Autobaud, TEOF=1
R12?0{CAN_MR=0x11} ; No Autobaud
CAN_MBOX=0 

P=1000
R9=0
LOOP(0xFFFFFFFF){
; данные передаются начиная с младшего байта DATAL
R11=CAN_STAT

;R5=R0
R9=+1,R3=R9,R3=&0xFFF,R3?0{R1=CAN_ECR,PRINT=S("ST=%08X EC=%04X",R11,R1)}
;R0=&0xFF ;mask mailboxes in CAN_STAT
R11[0]?1{    ;Mailbox0
CAN_MBOX=0
R1=CAN_MID
;R3=CAN_DL
;R4=CAN_DH ;data
@ARX=CAN_DL
R2=CAN_MSR
CAN_MCR=0x00800000  ;MTCR=1 Allows the reception of the next message   MRDY, MABT are cleared by writing MTCR or MACR in the CAN_MCRx register
_SHOWRX
}

R11[1]?1{   ;Mailbox1
CAN_MBOX=1
R1=CAN_MID
;R3=CAN_DL
;R4=CAN_DH ;data
@ARX=CAN_DL
R2=CAN_MSR
CAN_MCR=0x00800000  ;MTCR=1 Allows the reception of the next message   MRDY, MABT are cleared by writing MTCR or MACR in the CAN_MCRx register
_SHOWRX
}

P=1

}



[#Setup]
GET=("Set Baud",R10,R12)


[END]
CAN_ACR=0xFF ; Cancels transfer request if the message has not been transmitted to the CAN transceiver.
CAN_MR=0  ;disable CAN