dsp280x_ecan.c

SVPWM算法的DSP源码已通过硬件验证

// TI File $Revision: /main/5 $
// Checkin $Date: January 11, 2005   13:56:29 $
//###########################################################################
//
// FILE:	DSP280x_ECan.c
//
// TITLE:	DSP280x Enhanced CAN Initialization & Support Functions.
//
//###########################################################################
// $TI Release: DSP280x V1.10 $
// $Release Date: April 18, 2005 $
//###########################################################################

#include "DSP280x_Device.h"     // DSP28 Headerfile Include File
#include "DSP280x_Examples.h"   // DSP28 Examples Include File


//---------------------------------------------------------------------------
// InitECan: 
//---------------------------------------------------------------------------
// This function initializes the eCAN module to a known state.
//
void InitECan(void)
{
   InitECana();
#if DSP28_2808
   InitECanb();
#endif // if DSP28_2808
}

void InitECana(void)		// Initialize eCAN-A module
{
/* Create a shadow register structure for the CAN control registers. This is
 needed, since, only 32-bit access is allowed to these registers. 16-bit access
 to these registers could potentially corrupt the register contents. This is
 especially true while writing to a bit (or group of bits) among bits 16 - 31 */

struct ECAN_REGS ECanaShadow;

	EALLOW;		// EALLOW enables access to protected bits

/* Configure eCAN RX and TX pins for eCAN transmissions using eCAN regs*/  
    
    ECanaRegs.CANTIOC.bit.TXFUNC = 1;
    ECanaRegs.CANRIOC.bit.RXFUNC = 1;  

/* Configure eCAN for HECC mode - (reqd to access mailboxes 16 thru 31) */
									// HECC mode also enables time-stamping feature
	
	ECanaShadow.CANMC.all = ECanaRegs.CANMC.all;
	ECanaShadow.CANMC.bit.SCB = 1;				
	ECanaRegs.CANMC.all = ECanaShadow.CANMC.all;
	
/* Initialize all bits of 'Master Control Field' to zero */
// Some bits of MSGCTRL register come up in an unknown state. For proper operation,
// all bits (including reserved bits) of MSGCTRL must be initialized to zero
 
    ECanaMboxes.MBOX0.MSGCTRL.all = 0x00000000;
    ECanaMboxes.MBOX1.MSGCTRL.all = 0x00000000;
    ECanaMboxes.MBOX2.MSGCTRL.all = 0x00000000;
    ECanaMboxes.MBOX3.MSGCTRL.all = 0x00000000;
    ECanaMboxes.MBOX4.MSGCTRL.all = 0x00000000;
    ECanaMboxes.MBOX5.MSGCTRL.all = 0x00000000;
    ECanaMboxes.MBOX6.MSGCTRL.all = 0x00000000;
    ECanaMboxes.MBOX7.MSGCTRL.all = 0x00000000;
    ECanaMboxes.MBOX8.MSGCTRL.all = 0x00000000;
    ECanaMboxes.MBOX9.MSGCTRL.all = 0x00000000;
    ECanaMboxes.MBOX10.MSGCTRL.all = 0x00000000;
    ECanaMboxes.MBOX11.MSGCTRL.all = 0x00000000;
    ECanaMboxes.MBOX12.MSGCTRL.all = 0x00000000;
    ECanaMboxes.MBOX13.MSGCTRL.all = 0x00000000;
    ECanaMboxes.MBOX14.MSGCTRL.all = 0x00000000;
    ECanaMboxes.MBOX15.MSGCTRL.all = 0x00000000;
    ECanaMboxes.MBOX16.MSGCTRL.all = 0x00000000;
    ECanaMboxes.MBOX17.MSGCTRL.all = 0x00000000;
    ECanaMboxes.MBOX18.MSGCTRL.all = 0x00000000;
    ECanaMboxes.MBOX19.MSGCTRL.all = 0x00000000;
    ECanaMboxes.MBOX20.MSGCTRL.all = 0x00000000;
    ECanaMboxes.MBOX21.MSGCTRL.all = 0x00000000;
    ECanaMboxes.MBOX22.MSGCTRL.all = 0x00000000;
    ECanaMboxes.MBOX23.MSGCTRL.all = 0x00000000;
    ECanaMboxes.MBOX24.MSGCTRL.all = 0x00000000;
    ECanaMboxes.MBOX25.MSGCTRL.all = 0x00000000;
    ECanaMboxes.MBOX26.MSGCTRL.all = 0x00000000;
    ECanaMboxes.MBOX27.MSGCTRL.all = 0x00000000;
    ECanaMboxes.MBOX28.MSGCTRL.all = 0x00000000;
    ECanaMboxes.MBOX29.MSGCTRL.all = 0x00000000;
    ECanaMboxes.MBOX30.MSGCTRL.all = 0x00000000;
    ECanaMboxes.MBOX31.MSGCTRL.all = 0x00000000;
    
// TAn, RMPn, GIFn bits are all zero upon reset and are cleared again
//	as a matter of precaution. 

	ECanaRegs.CANTA.all	= 0xFFFFFFFF;	/* Clear all TAn bits */      
	
	ECanaRegs.CANRMP.all = 0xFFFFFFFF;	/* Clear all RMPn bits */      
	
	ECanaRegs.CANGIF0.all = 0xFFFFFFFF;	/* Clear all interrupt flag bits */ 
	ECanaRegs.CANGIF1.all = 0xFFFFFFFF;

	
/* Configure bit timing parameters for eCANA*/
	ECanaShadow.CANMC.all = ECanaRegs.CANMC.all;
	ECanaShadow.CANMC.bit.CCR = 1 ;            // Set CCR = 1
    ECanaRegs.CANMC.all = ECanaShadow.CANMC.all;
    
    while(ECanaRegs.CANES.bit.CCE != 1 ) {}   // Wait for CCE bit to be set..
    
    ECanaShadow.CANBTC.all = 0;
    ECanaShadow.CANBTC.bit.BRPREG = 9;
    ECanaShadow.CANBTC.bit.TSEG2REG = 1;
    ECanaShadow.CANBTC.bit.TSEG1REG = 6; 
    ECanaShadow.CANBTC.bit.SAM = 1;
    ECanaRegs.CANBTC.all = ECanaShadow.CANBTC.all;
    
    ECanaShadow.CANMC.all = ECanaRegs.CANMC.all;
	ECanaShadow.CANMC.bit.CCR = 0 ;            // Set CCR = 0
    ECanaRegs.CANMC.all = ECanaShadow.CANMC.all;
    
    while(ECanaRegs.CANES.bit.CCE == !0 ) {}   // Wait for CCE bit to be cleared..

/* Disable all Mailboxes  */
 	ECanaRegs.CANME.all = 0;		// Required before writing the MSGIDs

    EDIS;
}	


#if DSP28_2808
void InitECanb(void)		// Initialize eCAN-B module
{
/* Create a shadow register structure for the CAN control registers. This is
 needed, since, only 32-bit access is allowed to these registers. 16-bit access
 to these registers could potentially corrupt the register contents. This is
 especially true while writing to a bit (or group of bits) among bits 16 - 31 */

struct ECAN_REGS ECanbShadow;

   EALLOW;		// EALLOW enables access to protected bits

/* Configure eCAN RX and TX pins for eCAN transmissions using eCAN regs*/  
    
    ECanbRegs.CANTIOC.bit.TXFUNC = 1;
    ECanbRegs.CANRIOC.bit.RXFUNC = 1;   

/* Configure eCAN for HECC mode - (reqd to access mailboxes 16 thru 31) */

	ECanbShadow.CANMC.all = ECanbRegs.CANMC.all;
	ECanbShadow.CANMC.bit.SCB = 1;				
	ECanbRegs.CANMC.all = ECanbShadow.CANMC.all;
	
/* Initialize all bits of 'Master Control Field' to zero */
// Some bits of MSGCTRL register come up in an unknown state. For proper operation,
// all bits (including reserved bits) of MSGCTRL must be initialized to zero
 
    ECanbMboxes.MBOX0.MSGCTRL.all = 0x00000000;
    ECanbMboxes.MBOX1.MSGCTRL.all = 0x00000000;
    ECanbMboxes.MBOX2.MSGCTRL.all = 0x00000000;
    ECanbMboxes.MBOX3.MSGCTRL.all = 0x00000000;
    ECanbMboxes.MBOX4.MSGCTRL.all = 0x00000000;
    ECanbMboxes.MBOX5.MSGCTRL.all = 0x00000000;
    ECanbMboxes.MBOX6.MSGCTRL.all = 0x00000000;
    ECanbMboxes.MBOX7.MSGCTRL.all = 0x00000000;
    ECanbMboxes.MBOX8.MSGCTRL.all = 0x00000000;
    ECanbMboxes.MBOX9.MSGCTRL.all = 0x00000000;
    ECanbMboxes.MBOX10.MSGCTRL.all = 0x00000000;
    ECanbMboxes.MBOX11.MSGCTRL.all = 0x00000000;
    ECanbMboxes.MBOX12.MSGCTRL.all = 0x00000000;
    ECanbMboxes.MBOX13.MSGCTRL.all = 0x00000000;
    ECanbMboxes.MBOX14.MSGCTRL.all = 0x00000000;
    ECanbMboxes.MBOX15.MSGCTRL.all = 0x00000000;
    ECanbMboxes.MBOX16.MSGCTRL.all = 0x00000000;
    ECanbMboxes.MBOX17.MSGCTRL.all = 0x00000000;
    ECanbMboxes.MBOX18.MSGCTRL.all = 0x00000000;
    ECanbMboxes.MBOX19.MSGCTRL.all = 0x00000000;
    ECanbMboxes.MBOX20.MSGCTRL.all = 0x00000000;
    ECanbMboxes.MBOX21.MSGCTRL.all = 0x00000000;
    ECanbMboxes.MBOX22.MSGCTRL.all = 0x00000000;
    ECanbMboxes.MBOX23.MSGCTRL.all = 0x00000000;
    ECanbMboxes.MBOX24.MSGCTRL.all = 0x00000000;
    ECanbMboxes.MBOX25.MSGCTRL.all = 0x00000000;
    ECanbMboxes.MBOX26.MSGCTRL.all = 0x00000000;
    ECanbMboxes.MBOX27.MSGCTRL.all = 0x00000000;
    ECanbMboxes.MBOX28.MSGCTRL.all = 0x00000000;
    ECanbMboxes.MBOX29.MSGCTRL.all = 0x00000000;
    ECanbMboxes.MBOX30.MSGCTRL.all = 0x00000000;
    ECanbMboxes.MBOX31.MSGCTRL.all = 0x00000000;

// TAn, RMPn, GIFn bits are all zero upon reset and are cleared again
//	as a matter of precaution. 

	ECanbRegs.CANTA.all	= 0xFFFFFFFF;	/* Clear all TAn bits */ 	

	ECanbRegs.CANRMP.all = 0xFFFFFFFF;	/* Clear all RMPn bits */ 
	
	ECanbRegs.CANGIF0.all = 0xFFFFFFFF;	/* Clear all interrupt flag bits */
	ECanbRegs.CANGIF1.all = 0xFFFFFFFF;

	
/* Configure bit timing parameters for eCANB*/

	ECanbShadow.CANMC.all = ECanbRegs.CANMC.all;
	ECanbShadow.CANMC.bit.CCR = 1 ;            // Set CCR = 1
    ECanbRegs.CANMC.all = ECanbShadow.CANMC.all;
    
    while(ECanbRegs.CANES.bit.CCE != 1 ) {}   // Wait for CCE bit to be set..
    
    ECanbShadow.CANBTC.all = 0;
    ECanbShadow.CANBTC.bit.BRPREG = 9;
    ECanbShadow.CANBTC.bit.TSEG2REG = 1;
    ECanbShadow.CANBTC.bit.TSEG1REG = 6; 
    ECanbShadow.CANBTC.bit.SAM = 1;
    ECanbRegs.CANBTC.all = ECanbShadow.CANBTC.all;
    
    ECanbShadow.CANMC.all = ECanbRegs.CANMC.all;
	ECanbShadow.CANMC.bit.CCR = 0 ;            // Set CCR = 0
    ECanbRegs.CANMC.all = ECanbShadow.CANMC.all;
    
    while(ECanbRegs.CANES.bit.CCE == !0 ) {}   // Wait for CCE bit to be cleared..
	
/* Disable all Mailboxes  */
 	ECanbRegs.CANME.all = 0;		// Required before writing the MSGIDs

    EDIS;
}
#endif // if DSP28_2808


//---------------------------------------------------------------------------
// Example: InitECanGpio: 
//---------------------------------------------------------------------------
// This function initializes GPIO pins to function as eCAN pins
//
// Each GPIO pin can be configured as a GPIO pin or up to 3 different
// peripheral functional pins. By default all pins come up as GPIO
// inputs after reset.  
// 
// Caution: 
// Only one GPIO pin should be enabled for CANTXA/B operation.
// Only one GPIO pin shoudl be enabled for CANRXA/B operation. 
// Comment out other unwanted lines.


void InitECanGpio(void)
{
   InitECanaGpio();
#if DSP28_2808
   InitECanbGpio();
#endif // if DSP28_2808
}

void InitECanaGpio(void)
{
   EALLOW;

/* Enable internal pull-up for the selected CAN pins */
// Pull-ups can be enabled or disabled by the user. 
// This will enable the pullups for the specified pins.
// Comment out other unwanted lines.

	GpioCtrlRegs.GPAPUD.bit.GPIO30 = 0;	    // Enable pull-up for GPIO30 (CANRXA)
	GpioCtrlRegs.GPAPUD.bit.GPIO31 = 0;	    // Enable pull-up for GPIO31 (CANTXA)

/* Set qualification for selected CAN pins to asynch only */
// Inputs are synchronized to SYSCLKOUT by default.  
// This will select asynch (no qualification) for the selected pins.

    GpioCtrlRegs.GPAQSEL2.bit.GPIO30 = 3;   // Asynch qual for GPIO30 (CANRXA)   

/* Configure eCAN-A pins using GPIO regs*/
// This specifies which of the possible GPIO pins will be eCAN functional pins.

	GpioCtrlRegs.GPAMUX2.bit.GPIO30 = 1;	// Configure GPIO30 for CANTXA operation
	GpioCtrlRegs.GPAMUX2.bit.GPIO31 = 1;	// Configure GPIO31 for CANRXA operation
	

    EDIS;
}

#if DSP28_2808
void InitECanbGpio(void)
{
   EALLOW;
	
/* Enable internal pull-up for the selected CAN pins */
// Pull-ups can be enabled or disabled by the user. 
// This will enable the pullups for the specified pins.
// Comment out other unwanted lines.

	GpioCtrlRegs.GPAPUD.bit.GPIO8 = 0;	  // Enable pull-up for GPIO8  (CANTXB) 
//  GpioCtrlRegs.GPAPUD.bit.GPIO12 = 0;   // Enable pull-up for GPIO12 (CANTXB)
//  GpioCtrlRegs.GPAPUD.bit.GPIO16 = 0;   // Enable pull-up for GPIO16 (CANTXB)
//  GpioCtrlRegs.GPAPUD.bit.GPIO20 = 0;   // Enable pull-up for GPIO20 (CANTXB)

	GpioCtrlRegs.GPAPUD.bit.GPIO10 = 0;	  // Enable pull-up for GPIO10 (CANRXB)
//  GpioCtrlRegs.GPAPUD.bit.GPIO13 = 0;   // Enable pull-up for GPIO13 (CANRXB)
//  GpioCtrlRegs.GPAPUD.bit.GPIO17 = 0;   // Enable pull-up for GPIO17 (CANRXB)
//  GpioCtrlRegs.GPAPUD.bit.GPIO21 = 0;   // Enable pull-up for GPIO21 (CANRXB)

/* Set qualification for selected CAN pins to asynch only */
// Inputs are synchronized to SYSCLKOUT by default.  
// This will select asynch (no qualification) for the selected pins.
// Comment out other unwanted lines.

    GpioCtrlRegs.GPAQSEL1.bit.GPIO10 = 3; // Asynch qual for GPIO10 (CANRXB)   
//  GpioCtrlRegs.GPAQSEL1.bit.GPIO13 = 3; // Asynch qual for GPIO13 (CANRXB)   
//  GpioCtrlRegs.GPAQSEL2.bit.GPIO17 = 3; // Asynch qual for GPIO17 (CANRXB)   
//  GpioCtrlRegs.GPAQSEL2.bit.GPIO21 = 3; // Asynch qual for GPIO21 (CANRXB)   

/* Configure eCAN-B pins using GPIO regs*/
// This specifies which of the possible GPIO pins will be eCAN functional pins.

	GpioCtrlRegs.GPAMUX1.bit.GPIO8 = 2;   // Configure GPIO8 for CANTXB operation
//  GpioCtrlRegs.GPAMUX1.bit.GPIO12 = 2;  // Configure GPIO12 for CANTXB operation
//  GpioCtrlRegs.GPAMUX2.bit.GPIO16 = 2;  // Configure GPIO16 for CANTXB operation
//  GpioCtrlRegs.GPAMUX2.bit.GPIO20 = 3;  // Configure GPIO20 for CANTXB operation

	GpioCtrlRegs.GPAMUX1.bit.GPIO10 = 2;  // Configure GPIO10 for CANRXB operation
//  GpioCtrlRegs.GPAMUX1.bit.GPIO13 = 2;  // Configure GPIO13 for CANRXB operation
//  GpioCtrlRegs.GPAMUX2.bit.GPIO17 = 2;  // Configure GPIO17 for CANRXB operation
//  GpioCtrlRegs.GPAMUX2.bit.GPIO21 = 3;  // Configure GPIO21 for CANRXB operation
    
    EDIS;
}
#endif // if DSP28_2808

	
/***************************************************/
/* Bit configuration parameters for 100 MHz SYSCLKOUT*/ 
/***************************************************/
/*

The table below shows how BRP field must be changed to achieve different bit
rates with a BT of 10, for a 80% SP:
---------------------------------------------------
BT = 10, TSEG1 = 6, TSEG2 = 1, Sampling Point = 80% 
---------------------------------------------------
1   Mbps : BRP+1 = 10 	: CAN clock = 10 MHz
500 kbps : BRP+1 = 20 	: CAN clock = 5 MHz 
250 kbps : BRP+1 = 40 	: CAN clock = 2.5 MHz 
125 kbps : BRP+1 = 80 	: CAN clock = 1.25 MHz 
100 kbps : BRP+1 = 100 	: CAN clock = 1 MHz
50  kbps : BRP+1 = 200 	: CAN clock = 0.5 MHz

The table below shows how to achieve different sampling points with a BT of 25:
-------------------------------------------------------------
Achieving desired SP by changing TSEG1 & TSEG2 with BT = 25  
-------------------------------------------------------------

TSEG1 = 18, TSEG2 = 4, SP = 80% 
TSEG1 = 17, TSEG2 = 5, SP = 76% 
TSEG1 = 16, TSEG2 = 6, SP = 72% 
TSEG1 = 15, TSEG2 = 7, SP = 68% 
TSEG1 = 14, TSEG2 = 8, SP = 64% 

The table below shows how BRP field must be changed to achieve different bit
rates with a BT of 25, for the sampling points shown above: 

1   Mbps : BRP+1 = 4 
500 kbps : BRP+1 = 8 
250 kbps : BRP+1 = 16 
125 kbps : BRP+1 = 32 
100 kbps : BRP+1 = 40
50  kbps : BRP+1 = 80

*/

//===========================================================================
// End of file.
//===========================================================================