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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>

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