"-------------------------------------------------------------------------
" module:   trio_can_net          version: v1.0            date:  14/11/2006
" author:       wang ye
" rev date:     14 nov 2006
"=========================================================================
" revision history:
"   v1.0 original release for communicating between mc2xx each other by can net.
"
"=========================================================================
"              copyright （c）1999 trio motion technology ltd
"                 unit 2, empire way, gloucester, gl2 5hy
"              : sales@
"=========================================================================
"desc-ription:
"1）   set up a network of up to 16 mc2xx units on can.
"2）   each module will use the vr area from "vbase" to "vbase+180".
"3）   each module have a special area in the vr for sending.（the area is 10 datas）
"     the area start address can be gotten by the parameter "can_id" and "vbase":
"      start_address=vbase+10＊（can_id-1）
"     the map of vr allocated for each module based can_id can be listed:
"            can_id                vr（） memory address
"               1                  vbase->vbase+9
"  2     vbase+10->vbase+19
"  3     vbase+20->vbase+29
"  4     vbase+30->vbase+39
"  5     vbase+40->vbase+49
"  6     vbase+50->vbase+59
"  7     vbase+60->vbase+69
"  8     vbase+70->vbase+79
"  9     vbase+80->vbase+89
"  10     vbase+90->vbase+99
"  11     vbase+100->vbase+109
"  12     vbase+110->vbase+119
"  13     vbase+120->vbase+129
"  14     vbase+130->vbase+139
"  15     vbase+140->vbase+149
"  16     vbase+150->vbase+159"
"
"4）   so, you can get datas from any other mc module just by reading the corresponding vr.
"     for example: set the can_id of current module is 2, vbase=100
"     you modify the vr（110）=100, then you could read the value of vr（110）
"     from others module of this can network, if all others module set the vbase=100.  
"5）   note: each module of can networks must set different can_id.
"     the value of can_id from 1 to 16. don"t over this value.
"     as long as don"t over the limit of can_id, you can use any more mc2xx in the networks. as well as
"           set any value for can_id.
"     don"t use the area from vbase+160 to vbase+180, because it will be used by system.
"          
"=========================================================================
can_id=15 " the can identifer of trio can network
mctype=0 " if it"s mc206x, the value=1; otherwise=0

vbase=100
interval=100

gosub initcan
while true
    gosub send_proc
    gosub receive_proc
wend

initcan:
    canio_enable=off
    "init the baud rate
    can（-1,2,1）
    "init the message
    for i=0 to 15
        if mctype=1 then
            if（i=can_id-1） then
                can（-1,5,i,i+1,5,1） "send
            else
                can（-1,5,i,i+1,5,0）
            endif
        else
            if（i=can_id-1） then
                can（-1,5,i,i+1,5） "send
            else

                can（-1,5,i,i+1,5）
            endif
        endif
    next i
return

send_proc:
    if ticks<=0 then
        for i=0 to 9
            vr（vbase+160+i）=vr（vbase+10＊（can_id-1）+i）
            b0=ieee_out（vr（vbase+160+i）,0）
            b1=ieee_out（vr（vbase+160+i）,1）
            b2=ieee_out（vr（vbase+160+i）,2）
            b3=ieee_out（vr（vbase+160+i）,3）
            for n=1 to 16
                if n=can_id then
                        can（-1,7,n-1,i,b0,b1,b2,b3）
                endif
            next n
            ticks=interval
        next i
    else
        for i=0 to 9
            if vr（vbase+160+i）<>vr（vbase+10＊（can_id-1）+i） then
                vr（vbase+160+i）=vr（vbase+10＊（can_id-1）+i）
                b0=ieee_out（vr（vbase+160+i）,0）
                b1=ieee_out（vr（vbase+160+i）,1）
                b2=ieee_out（vr（vbase+160+i）,2）
                b3=ieee_out（vr（vbase+160+i）,3）
                for n=1 to 16
                    if n=can_id then
                        can（-1,7,n-1,i,b0,b1,b2,b3）
                    endif
                next n
            endif
        next i
    endif
return

receive_proc:
    for i=0 to 15
"        if （i<>can_id） then
            if can（-1,3,i） then
                can（-1,6,i,vbase+10＊17）
                id=vr（vbase+10＊17）
                offset=vr（vbase+10＊17+1）
                b0=vr（vbase+10＊17+2）
                b1=vr（vbase+10＊17+3）
                b2=vr（vbase+10＊17+4）
                b3=vr（vbase+10＊17+5）
                res=ieee_in（b0,b1,b2,b3）
                vr（vbase+10＊（id-1）+offset）=res
            endif
"        endif
    next i
return