dsp281x_ecan.h

附件程序是我用DSP2812开发的无刷直流电机控制程序

   union CANBTC_REG  CANBTC;         // Bit Timing
   union CANES_REG   CANES;          // Error Status
   union CANTEC_REG  CANTEC;         // Transmit Error Counter
   union CANREC_REG  CANREC;         // Receive Error Counter
   union CANGIF0_REG CANGIF0;        // Global Interrupt Flag 0
   union CANGIM_REG  CANGIM;         // Global Interrupt Mask 0
   union CANGIF1_REG CANGIF1;        // Global Interrupt Flag 1
   union CANMIM_REG  CANMIM;         // Mailbox Interrupt Mask
   union CANMIL_REG  CANMIL;         // Mailbox Interrupt Level
   union CANOPC_REG  CANOPC;         // Overwrite Protection Control
   union CANTIOC_REG CANTIOC;        // TX I/O Control
   union CANRIOC_REG CANRIOC;        // RX I/O Control
   Uint32            CANTSC;         // Time-stamp counter
   union CANTOC_REG  CANTOC;         // Time-out Control
   union CANTOS_REG  CANTOS;         // Time-out Status               
 
};

/* --------------------------------------------------- */
/* eCAN Mailbox Registers                               */
/* ----------------------------------------------------*/

/* eCAN Message ID (MSGID) bit definitions */
struct  CANMSGID_BITS {        // bits  description
   Uint16      EXTMSGID_L:16;  // 0:15
   Uint16      EXTMSGID_H:2;   // 16:17
   Uint16      STDMSGID:11;    // 18:28  
   Uint16      AAM:1;          // 29   
   Uint16      AME:1;          // 30
   Uint16      IDE:1;          // 31   
 
};

/* Allow access to the bit fields or entire register */ 
union CANMSGID_REG {
   Uint32                all;
   struct CANMSGID_BITS  bit;
};

/* eCAN Message Control Field (MSGCTRL) bit definitions */
struct  CANMSGCTRL_BITS {     // bits  description
   Uint16 DLC:4;          // 0:3  
   Uint16 RTR:1;          // 4  
   Uint16 rsvd1:3;        // 7:5   reserved   
   Uint16 TPL:5;          // 12:8  
   Uint16 rsvd2:3;        // 15:13 reserved 
   Uint16 rsvd3:16;       // 31:16 reserved     
};

/* Allow access to the bit fields or entire register */ 
union CANMSGCTRL_REG {
   Uint32                  all;
   struct CANMSGCTRL_BITS  bit;
};

/* eCAN Message Data Register low (MDR_L) word definitions */
struct  CANMDL_WORDS {      // bits  description
   Uint16      LOW_WORD:16; // 0:15  
   Uint16      HI_WORD:16;  // 31:16  
};

/* eCAN Message Data Register low (MDR_L) byte definitions */
struct  CANMDL_BYTES {      // bits   description
   Uint16      BYTE1:8;     // 0:7
   Uint16      BYTE2:8;     // 8:15
   Uint16      BYTE3:8;     // 16:23
   Uint16      BYTE4:8;     // 24:31      
};


/* Allow access to the bit fields or entire register */ 

union CANMDL_REG {
   Uint32                all;
   struct CANMDL_WORDS   word;
   struct CANMDL_BYTES   byte;      
};



/* eCAN Message Data Register high  (MDR_H) word definitions */
struct  CANMDH_WORDS {         // bits  description
   Uint16      LOW_WORD:16;    // 0:15  
   Uint16      HI_WORD:16;     // 31:16  
};

/* eCAN Message Data Register low (MDR_H) byte definitions */
struct  CANMDH_BYTES {      // bits   description
   Uint16      BYTE5:8;     // 0:7  
   Uint16      BYTE6:8;     // 8:15
   Uint16      BYTE7:8;     // 16:23    
   Uint16      BYTE8:8;     // 24:31  
};

/* Allow access to the bit fields or entire register */ 
union CANMDH_REG {
   Uint32                  all;
   struct CANMDH_WORDS     word;
   struct CANMDH_BYTES     byte;
};


struct MBOX {
   union CANMSGID_REG     MSGID;
   union CANMSGCTRL_REG   MSGCTRL;
   union CANMDL_REG       MDL;
   union CANMDH_REG       MDH;
};

/**************************************/
/*          eCAN Mailboxes             */
/**************************************/

struct ECAN_MBOXES {
   struct MBOX MBOX0;
   struct MBOX MBOX1;
   struct MBOX MBOX2;
   struct MBOX MBOX3;
   struct MBOX MBOX4;
   struct MBOX MBOX5;
   struct MBOX MBOX6;
   struct MBOX MBOX7;
   struct MBOX MBOX8;
   struct MBOX MBOX9;
   struct MBOX MBOX10;
   struct MBOX MBOX11;
   struct MBOX MBOX12;
   struct MBOX MBOX13;
   struct MBOX MBOX14;
   struct MBOX MBOX15;
   struct MBOX MBOX16;
   struct MBOX MBOX17;
   struct MBOX MBOX18;
   struct MBOX MBOX19;
   struct MBOX MBOX20;
   struct MBOX MBOX21;
   struct MBOX MBOX22;
   struct MBOX MBOX23;
   struct MBOX MBOX24;
   struct MBOX MBOX25;
   struct MBOX MBOX26;
   struct MBOX MBOX27;
   struct MBOX MBOX28;
   struct MBOX MBOX29;
   struct MBOX MBOX30;
   struct MBOX MBOX31;
};   

/* eCAN Local Acceptance Mask (LAM) bit definitions */
struct  CANLAM_BITS {                // bits  description
   Uint16      LAM_L:16;     // 0:15  
   Uint16      LAM_H:13;     // 16:28  
   Uint16 rsvd1:2;           // 29:30   reserved   
   Uint16      LAMI:1;       // 31 
};

/* Allow access to the bit fields or entire register */ 
union CANLAM_REG {
   Uint32        all;
   struct CANLAM_BITS  bit;
};


/**************************************/
/*    eCAN Local Acceptance Masks      */
/**************************************/

/* eCAN LAM File */
struct LAM_REGS {
   union CANLAM_REG LAM0;
   union CANLAM_REG LAM1;
   union CANLAM_REG LAM2;
   union CANLAM_REG LAM3;
   union CANLAM_REG LAM4;
   union CANLAM_REG LAM5;
   union CANLAM_REG LAM6;
   union CANLAM_REG LAM7;
   union CANLAM_REG LAM8;
   union CANLAM_REG LAM9;
   union CANLAM_REG LAM10;
   union CANLAM_REG LAM11;
   union CANLAM_REG LAM12;
   union CANLAM_REG LAM13;
   union CANLAM_REG LAM14;
   union CANLAM_REG LAM15;
   union CANLAM_REG LAM16;
   union CANLAM_REG LAM17;
   union CANLAM_REG LAM18;
   union CANLAM_REG LAM19;
   union CANLAM_REG LAM20;
   union CANLAM_REG LAM21;
   union CANLAM_REG LAM22;
   union CANLAM_REG LAM23;
   union CANLAM_REG LAM24;
   union CANLAM_REG LAM25;
   union CANLAM_REG LAM26;
   union CANLAM_REG LAM27;
   union CANLAM_REG LAM28;
   union CANLAM_REG LAM29;
   union CANLAM_REG LAM30;
   union CANLAM_REG LAM31;
};

/* Mailbox MOTS File */

struct MOTS_REGS {
   Uint32 MOTS0;
   Uint32 MOTS1;
   Uint32 MOTS2;
   Uint32 MOTS3;
   Uint32 MOTS4;
   Uint32 MOTS5;
   Uint32 MOTS6;
   Uint32 MOTS7;
   Uint32 MOTS8;
   Uint32 MOTS9;
   Uint32 MOTS10;
   Uint32 MOTS11;
   Uint32 MOTS12;
   Uint32 MOTS13;
   Uint32 MOTS14;
   Uint32 MOTS15;
   Uint32 MOTS16;
   Uint32 MOTS17;
   Uint32 MOTS18;
   Uint32 MOTS19;
   Uint32 MOTS20;
   Uint32 MOTS21;
   Uint32 MOTS22;
   Uint32 MOTS23;
   Uint32 MOTS24;
   Uint32 MOTS25;
   Uint32 MOTS26;
   Uint32 MOTS27;
   Uint32 MOTS28;
   Uint32 MOTS29;
   Uint32 MOTS30;
   Uint32 MOTS31;
};

/* Mailbox MOTO File */

struct MOTO_REGS {
   Uint32 MOTO0;
   Uint32 MOTO1;
   Uint32 MOTO2;
   Uint32 MOTO3;
   Uint32 MOTO4;
   Uint32 MOTO5;
   Uint32 MOTO6;
   Uint32 MOTO7;
   Uint32 MOTO8;
   Uint32 MOTO9;
   Uint32 MOTO10;
   Uint32 MOTO11;
   Uint32 MOTO12;
   Uint32 MOTO13;
   Uint32 MOTO14;
   Uint32 MOTO15;
   Uint32 MOTO16;
   Uint32 MOTO17;
   Uint32 MOTO18;
   Uint32 MOTO19;
   Uint32 MOTO20;
   Uint32 MOTO21;
   Uint32 MOTO22;
   Uint32 MOTO23;
   Uint32 MOTO24;
   Uint32 MOTO25;
   Uint32 MOTO26;
   Uint32 MOTO27;
   Uint32 MOTO28;
   Uint32 MOTO29;
   Uint32 MOTO30;
   Uint32 MOTO31;
};


//---------------------------------------------------------------------------
// eCAN External References & Function Declarations:
//
extern volatile struct ECAN_REGS ECanaRegs;
extern volatile struct ECAN_MBOXES ECanaMboxes;
extern volatile struct LAM_REGS ECanaLAMRegs;
extern volatile struct MOTO_REGS ECanaMOTORegs;
extern volatile struct MOTS_REGS ECanaMOTSRegs;

#ifdef __cplusplus
}
#endif /* extern "C" */

#endif  // end of DSP281x_ECAN.H definition        

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// No more.
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