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<H5><A NAME="SECTION000114232000000000000">
Code for CodeWarrior</A>
</H5>
<TT>void initCanHCS12 (void)
<BR>
{
<BR>
newline
/Init the HCS12 microcontroler for CanOpen <BR>
12();
<BR>
<BR>// Init the HCS12 driver
<BR>
canBusInit bi0 = {
<BR>
<BR>,
<BR>* no low power
<BR>
<BR>
<BR>
<BR>
<BR>
<BR>
<BR>
<BR>*/
<BR>
<BR>,
<BR>* no time stamp
<BR>
<BR>
<BR>
<BR>
<BR>
<BR>
<BR>&sstarf#star;/
<BR>
<BR>,
<BR>* enable MSCAN
<BR>
<BR>
<BR>
<BR>
<BR>
<BR>
<BR>
<BR>*/
<BR>
<BR>,
<BR>* clock source : oscillator (In fact, it is not used)
<BR>*/
<BR>
<BR>,
<BR>* no loop back
<BR>
<BR>
<BR>
<BR>
<BR>
<BR>
<BR>
<BR>*/
<BR>
<BR>,
<BR>* no listen only
<BR>
<BR>
<BR>
<BR>
<BR>
<BR>
<BR>*/
<BR>
<BR>,
<BR>* no low pass filter for wk up */
<BR>
<BR>
<BR>{
<BR>
<BR>
<BR>
1, /* clksrc */
<BR>
<BR>
<BR>
3, /* brp
<BR>&sstarf#star;/
<BR>
<BR>
<BR>
0, /* sjw
<BR>&sstarf#star;/
<BR>
<BR>
<BR>
0, /* samp
<BR>*/
<BR>
<BR>
<BR>
1, /* tseg2 &sstarf#star;/
<BR>
<BR>
<BR>
12,/* tseg1 &sstarf#star;/
<BR>
<BR>
<BR>},
<BR>
<BR>
<BR>{
<BR>
<BR>
<BR>
x00,
<BR>* Filter on 16 bits.
<BR>
<BR>
<BR>
<BR>
<BR>
<BR>
<BR>
<BR>
<BR>
See Motorola Block Guide V02.14 fig
4-3 */
<BR>
<BR>
<BR>
x00, 0xFF, /* filter 0 hight accept all msg
<BR>
<BR>&sstarf#star;/
<BR>
<BR>
<BR>
x00, 0xFF, /* filter 0 low accept all msg
<BR>
<BR>
<BR>&sstarf#star;/
<BR>
<BR>
<BR>
x00, 0xFF, /* filter 1 hight filter all of
&sstarf#star;/
<BR>
<BR>
<BR>
x00, 0xFF, /* filter 1 low filter all of
<BR>&sstarf#star;/
<BR>
<BR>
<BR>
x00, 0xFF, /* filter 2 hight filter most of
*/
<BR>
<BR>
<BR>
x00, 0xFF, /* filter 2 low filter most of
<BR>*/
<BR>
<BR>
<BR>
x00, 0xFF, /* filter 3 hight filter most of
*/
<BR>
<BR>
<BR>
x00, 0xFF, /* filter 3 low filter most of
<BR>*/
<BR>
<BR>
<BR>}
<BR>
<BR>};</TT>
<P>
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