can_test.c

瑞泰DSP2812开发板的can通讯源代码

#include "DSP28_Device.h"
void mailbox_check(int32 T1,int32 T2,int32 T3);
void mailbox_read(int16 i);
void delay();
interrupt void CAN0INTA_ISR();
//interrupt void CAN0INTARECEIVER_ISR();

//#define CAN_INT  1
//Global variable for this example
Uint32 ErrorCount=0;
Uint32 MessageReceiveCount=1;
Uint32 MessageTransferCount=1;
Uint32 inter=0,error=0;
extern Uint32 TestMbox1;
extern Uint32 TestMbox2;
extern Uint32 TestMbox3;
Uint32 a1[16];
Uint32 a2[16];
Uint32 a3[16];
Uint32 a[100],b[100];
void main(void)
{
	Uint16 j;
	/*初始化系统*/
	InitSysCtrl();

	/*关中断*/
	DINT;
	IER = 0x0000;
	IFR = 0x0000;

	/*初始化PIE中断*/
	InitPieCtrl();

	/*初始化PIE中断矢量表*/
	InitPieVectTable();	
	
	/*初始化SCIA寄存器*/
    InitECan();
	
	MessageReceiveCount = 0;
	ErrorCount = 0;
    
   #if CAN_INT
	/*设置中断服务程序入口地址*/
	EALLOW;	// This is needed to write to EALLOW protected registers
	
	PieVectTable.ECAN0INTA = &CAN0INTA_ISR;
	
	PieVectTable.ECAN1INTA = &ECAN1INTA_ISR;
	EDIS;   // This is needed to disable write to EALLOW protected registers

	/*开中断*/
	IER |= M_INT9;
	#endif
	EINT;   // Enable Global interrupt INTM
	ERTM;	// Enable Global realtime interrupt DBGM

	for(;;)
	{
		
		
	
		ECanaMboxes.MBOX0.MDRL.all = MessageReceiveCount;
		delay();
	    ECanaRegs.CANTRS.all = 0x0000FFFF;//发送在0~15信箱中的数据
	    
		
		while(ECanaRegs.CANTA.all != 0xffff);//判断邮箱中的数据是否发送成功
		ECanaRegs.CANTA.all = 0x0000FFFF;//清除发送响应寄存器中的标志
		MessageTransferCount++;
		
		while(ECanaRegs.CANRMP.all!= 0xffff0000){};//判断邮箱中的数据是否接收成功
	    
        ECanaRegs.CANRMP.all= 0xFFFF0000;//清除消息未决寄存器，此条语句应该放在这里，放在中断里发现不行
        while(ECanaRegs.CANRML.bit.RML16==1) {error++;ECanaRegs.CANRML.bit.RML16=1;}//查看接受消息丢失寄存器，是否接受邮箱丢失数据，丢失一数据，error的值加1
		
	
		MessageReceiveCount++;
		
		
		#if !CAN_INT
		for(j = 16; j < 32; j++)
		{ 
			mailbox_read(j);//读取邮箱0~15中的数据和id
		//	mailbox_check(TestMbox1,TestMbox2,TestMbox3);
		}
		#endif
	}

} 	

void mailbox_read(int16 MBXnbr)
{
   volatile struct MBOX *Mailbox;
   volatile struct MBOX *Mailbox1;
   Mailbox = &ECanaMboxes.MBOX0 + MBXnbr;
   Mailbox1= &ECanaMboxes.MBOX0 + MBXnbr-16;
   a1[MBXnbr-16]=Mailbox1->MDRL.all;
   a2[MBXnbr-16]=Mailbox->MDRL.all;
   a3[MBXnbr-16]=Mailbox->MDRL.all;
   delay();
   TestMbox1 = Mailbox->MDRL.all; // = 0x9555AAAn (n is the MBX number)
   TestMbox2 = Mailbox->MDRH.all; // = 0x89ABCDEF (a constant)
   TestMbox3 = Mailbox->MID.all;// = 0x9555AAAn (n is the MBX number)
   
   

} // MSGID of a rcv MBX is transmitted as the MDL data.


void mailbox_check(int32 T1, int32 T2, int32 T3)
{
    if((T1 != T3) || ( T2 != 0x89ABCDEF))
    {
       ErrorCount++;
    }
}

void delay()
{
	int m;
	for(m=0;m<100;m++){}
}

interrupt void CAN0INTA_ISR()
{
	a[inter]=ECanaMboxes.MBOX16.MDRL.all;
	b[inter]=ECanaMboxes.MBOX18.MDRL.all;
	inter++;
	if(inter==100)  
	inter=0;
	//ECanaRegs.CANRMP.all= 0x10000;//清除消息未决寄存器
	ECanaRegs.CANGIF0.all = 0xFFFFFFFF;//此条语句可有可无，试验证明cpu可以自动清除，不需要管理，可以读取该寄存器来读取一些标志，如0~4位表明
	//置位全局邮箱中断标志的邮箱号
	PieCtrl.PIEACK.bit.ACK9=1;
}
//===========================================================================
// No more.
//===========================================================================