can-memain.c

瑞泰DSP2812开发板的can通讯源代码

#include "DSP28_Device.h"


void delay(int n);
interrupt void CAN0INTA_ISR();
//interrupt void CAN0INTARECEIVER_ISR();

//#define CAN_INT  1
//Global variable for this example

Uint32          ErrorCount=0;
unsigned  int   MessageReceiveCount=0;
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];
unsigned  int  a[300], b[20];
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();	
	//InitGpio();
	EALLOW;
    GpioMuxRegs.GPFMUX.bit.CANTXA_GPIOF6=1;
    GpioMuxRegs.GPFMUX.bit.CANRXA_GPIOF7=1;
    EDIS;
	/*初始化SCIA寄存器*/
    InitECan();
	
	MessageReceiveCount = 1;   // 0;
	ErrorCount = 0;
    
   
	/*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;
	
	EINT;   // Enable Global interrupt INTM
	ERTM;	// Enable Global realtime interrupt DBGM   
	for(;;)
	{
		
	//ECanaRegs.CANME.all = 0;       //所有的邮箱不使能	
    //ECanaRegs.CANMC.bit.CDR=1;
	ECanaMboxes.MBOX15.MDRL.all = MessageReceiveCount;           //*2;        
    ECanaMboxes.MBOX0.MDRL.bit.LOW_WORD=MessageReceiveCount;     //*3;
   	    
	ECanaRegs.CANTRS.bit.TRS0=1;
	delay(1000);	
	while(ECanaRegs.CANTA.bit.TA0!= 1){;}//判断邮箱中的数据是否发送成功
	ECanaRegs.CANTA.bit.TA0= 1;//清除发送响应寄存器中的标志
	while(ECanaRegs.CANTA.bit.TA0!= 0){;}//等待发送响应标志被清除
	MessageTransferCount++;
		
	delay(1000);	    
    
	/*MessageReceiveCount++;	
	if(	MessageReceiveCount>=10)
	MessageReceiveCount=0;*/
	}

} 	


void delay(int n)
{
	int m,k,h;
	for(k=0;k<n;k++)
	{	for(m=0;m<100;m++)
	           for(h=0;h<100;h++){;} 
	}
}

interrupt void CAN0INTA_ISR()
{
    //while(ECanaRegs.CANRMP.bit.RMP16!= 1){};//判断邮箱中的数据是否接收成功
	a[inter]=ECanaMboxes.MBOX1.MDRL.all;
	b[inter]=ECanaMboxes.MBOX1.MDRH.all;
	inter++;
	
	if(inter==100) 
	 
	inter=0;
	ECanaRegs.CANRMP.bit.RMP1=1;
	//ECanaRegs.CANRMP.all= 0x0000000;//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
//	ECanaRegs.CANTA.all = 0xffff;
	ECanaRegs.CANRMP.all= 0xffff;
	PieCtrl.PIEACK.bit.ACK9=1;
	
	
	
}
//===========================================================================
// No more.
//===========================================================================