Microchip Technology dsPIC33 series - Page 91

 2018 Microchip Technology Inc. DS70005340A-page 91
CAN FD Protocol Module
Example 9-1: Message Reception Code (Continued)
/* Configure filter 0 and MASK 0 to accept extended id messages with id = 2 and 3 */
C1FLTCON0Lbits.F0BP = 1; // message stored in FIFO1
C1FLTOBJ0L = 0x1000; // EID = 0x00002
C1FLTOBJ0H = 0x4000; // Match messages with extended identifier address
C1MASK0L = 0xF7FF; // MEID = 0x1FFFE - Last it is 0
C1MASK0H = 0xFFFF; // Match message types
C1FLTCON0Lbits.FLTEN0 = 1; // Enable the filter 0
/* Place the CAN module in Normal mode. */
C1CONHbits.REQOP = 0;
while(C1CONHbits.OPMOD != 0);
/* Get the address of the message buffer to read the received messages.*/
/* set UINC bit to update the FIFO tail */
CANFD_RX_MSGOBJ *rxObj;
rxObj = (CANFD_RX_MSGOBJ *)C1FIFOUA1L;
while(C1FIFOSTA1bits.TFNRFNIF ==0);
//Process the received messages
C1FIFOCON1Lbits.UINC = 1; // Update the FIFO message pointer.
while(1);
}