can.c

一些TI的DSP2047上的我写的程序

/*2006-06-16*/


#include "sys2407.h"
#include "prot2407.h"
#include "ioreg.h"

void can_init(void);


void can_init(void)
{
  UINT16 temp;
  
  *( UINT16 *)MCRB=set_bit( *( UINT16 *)MCRB, MASK_6 | MASK_7);    /*config the IOPC6 and IOPC7 to CANTX and CANRX*/
  *CAN_IFR=0xFFFF;					/*clear all the can  int flag*/ 
  
    
  *CANMCR=set_bit(*CANMCR, MASK_12);        /*CCR=1*/
   
  while ( (*GSR & MASK_4 ) !=MASK_4) continue;             /*wait the CCE be 1*/ 
  
  
  *BCR2=0x03;					    /*TQ=(BCR2+1)/I_clksystem       */
  *BCR1=set_bit( *BCR1,MASK_10 | MASK_9 | MASK_7 |  MASK_5 | MASK_4 |MASK_3 | MASK_2 | MASK_0);
   /*TSEG1=7 TSEG2=5 BuadRate=500K*/  
   
  *CANMCR=clr_bit(*CANMCR, MASK_12);      /*CCR=0*/      
  while ( (*GSR & MASK_4 ) !=0) continue;             /*wait the CCE be 1*/ 
  
  
  *MDER= MASK_6;  /*config MSB2 to Revieve; Unable the MSBx */  
  
  /*DATA byte order is 0 1 2 3 4 5 6 7 */ 
  /*The module leaves the power-down mode when detecting any  dominant value on the CAN bus.*/ 
  /*.CDR=1*/  
  /*The mailbox to write is MBX2*/     
  *CANMCR= MASK_10 | MASK_9 |MASK_8 |MASK_1; 
   
   *LAM0_H=0x7FFF;
   *LAM0_L=0x0FFFF;
   *LAM1_H=0x7FFF;
   *LAM1_L=0x0FFFF;         /*the message the MSB0 1 2 3 recieved must be corpierate the identifue of MSBx*/
                           /*that is: the LAM register is unuseable*/              

  
                /*init the MBX2*/
  /*standar identifier*/
  /*No acceptence mask */ 
  /*the identifier is 0x222 */
  *MSGID2H=MASK_13 |(0x222<<2);  
  *MSGID2L=0xFFFF; 
  *MSGCTRL2=0x08;	/*data length=8 */ 
  *MBX2A=0X0000;	 				
  *MBX2B=0X0000;
  *MBX2C=0X0000;
  *MBX2D=0X0000;
  *CANMCR=clr_bit(*CANMCR , MASK_8);       /*.CDR=0*/
  
  
  /*init the MBX4*/
  
  *MSGID4H=MASK_13 |(0x444<<2);  
  *MSGID4L=0xFFFF; 
  *MSGCTRL4=0x08;	/*data frame,data length=8 */ 
  *MBX4A=0X0000;	 				
  *MBX4B=0X0000;
  *MBX4C=0X0000;
  *MBX4D=0X0000; 
  
  *MDER=*MDER | MASK_4 |MASK_2;    /*enable the MBX2 and MBX4*/
  
  /*low priority
  enable the  MIM2*/
  *CAN_IMR=MASK_15 | MASK_10;          /*init the int of the can*/
  *CAN_IFR=0xFFFF; 
  
   
  
}        

void msgb4_send(UINT16 A,UINT16 B,UINT16 C,UINT16 D)
{
  *MBX4A=A;	 				
  *MBX4B=B;
  *MBX4C=C;
  *MBX4D=D;    
  
  *TCR=*TCR | MASK_6;
  while ( !(*TCR & MASK_14) );  
  
  *TCR=clr_bit( *TCR, MASK_14);
}


void interrupt GISR5()
{
  if ( *PIVR==0x40 )
	{
	    	  
	  if ( get_bit(*CAN_IFR,MASK_10)==MASK_10 )
	  {
	   
	   msgb4_send(*MBX2A, *MBX2B, *MBX2C, *MBX2D);   /*send the data recived by MBX2*/
	   
	   
	   *RCR= set_bit(*RCR,MASK_6);    /*clr the intrrupt flag*/
	  }
	  
	  *CAN_IFR=0xFFFF;  	  
	
	}
	else
	{
	  ti_led_on(3); 
	  wait_ms(20);
	  ti_led_off(3); 
	}
 
}