main.c
来自「DSP56F807的CAN通讯程序,可用于多子板互连、也可作为开发的原型程序」· C语言 代码 · 共 474 行
C
474 行
/*
* MSCAN demo code:
* Author: William Jiang
*
* NOTE:
* 1. HyperTerminal baudrate = 9600bps
* 2. For 56F805:
* change the linker command file so that
* : pflash orgin from 0x04 and length = 0x7E00-4
* comment two vectors for COP and h/w resets at the first two lines
* in IV_Table.
*/
#include "dsp56f805_io.h"
#include "can.h"
#include "rs232.h"
#include "stdio.h"
#define TEST_ECHO 0
#define TEST_29BITS_ID_RX_MASK 0
#define RX_CAN_ID 0x435 //0x1000885DL //0x18f1f160
#define FILTER_16BITS 0
#define FILTER_32BITS 1
#define BAUDRATE_1000KBPS 1 // change can.c to: io.can.ctl1=0x0081
#define BAUDRATE_500KBPS 0 // change can.c to: io.can.ctl1=0x0080
#define BAUDRATE_250KBPS 0
#define BAUDRATE_125KBPS 0
#define CANID_STAND(n,ID,RTR) CANID##n##_STAND(ID,RTR)
#define CANID_EXT(n,ID,RTR) CANID##n##_EXT(ID,RTR)
#define CANID0_STAND(ID,RTR) ((ID & 0x07F8)>>3)
#define CANID1_STAND(ID,RTR) (((ID & 0x0007)<<5) | (RTR<<4))
#define CANID0_EXT(ID,RTR) ((ID & 0x1FFFFFFFL)>>21)
#define CANID1_EXT(ID,RTR) ((((((ID & 0x1FFFFFFFL)>>15) & 0x0000003FL) & 0x38)<<2) | 0x18 | \
((((ID & 0x1FFFFFFFL)>>15) & 0x0000003FL) & 0x7))
#define CANID2_EXT(ID,RTR) (((ID & 0x1FFFFFFFL)>>7) & 0xFF)
#define CANID3_EXT(ID,RTR) ((((ID & 0x1FFFFFFFL) & 0x7F) <<1) | RTR)
#define ID_BITS_MASK_EXT(bitNo) \
((bitNo >=21 && bitNo <=28)? (1L << (bitNo-21)) : \
(bitNo >=15 && bitNo <=17)? (1L << (bitNo-15+8)) : \
(bitNo >=18 && bitNo <=20)? (1L << (bitNo-15+8+2)) : \
(bitNo >=7 && bitNo <=14)? (1L << (bitNo-7+16)) : \
(1L << (bitNo+1+24)))
/* CAN <-> SCI0 gateway example */
/* after connecting two EVMs via CAN bus, run this code on both of them */
/* and connect SCI0 to 9600 baud terminal with local echo disabled */
/* Any character received through SCI is sent to CAN, any character received */
/* over CAN is sent to SCI and echoed back to provide remote echo */
/* for debugging purposes to see contents of Peripheral registers and Core registers as global variables */
s_io *iop=(s_io *)0x0C00;
s_cr *crp=(s_cr *)0xFF80;
char *ErrMsg[] =
{
"Overrun!",
"Bus-off!",
"Transmit Error Passive!",
"Receiver Error Passive!",
"Transmitter Warning!",
"Receiver Warning!",
"Wake up!"
};
void print_rx_errors(void);
void testCanTx();
void loop (void) {
struct can_frame frame;
char c;
while(1) {
if (can_rxstat()) {
can_rx(&frame); /* receive CAN frame */
#if FILTER_16BITS
#if 0
if ((frame.id[0]==0xc8)&&(frame.id[1]==0xc0)) {
frame.id[0]=0x0002; /* change ID (echo) */
can_tx(-1,&frame); /* provide echo on remote terminal using first empty tx buffer */
sci_putchar(frame.data[0]); /* treat first data byte as character and display it on local terminal */
}
#else
// ID = 0x435
if ((frame.id[0]==0x86)&&(frame.id[1]==0xa0)) {
frame.id[0]=0x0002; /* change ID (echo) */
can_tx(-1,&frame); /* provide echo on remote terminal using first empty tx buffer */
sci_putchar(frame.data[0]); /* treat first data byte as character and display it on local terminal */
}
#endif
else
if(frame.id[0]==0x00 && frame.id[1]==0x00 )
{
// Check the Receiver Flag Register to see what kind of errors occured
sci_send_string("\x0dError: ID = 0x0000 is received!\x0d");
print_rx_errors();
}
else
{
print_rx_errors();
}
}
if ((c=sci_getchar())!=-1) { /* receive character from SCI */
frame.id[0]=0xc8; /* ID = 0x646 */
frame.id[1]=0xc0; /* standard frame */
#elif FILTER_32BITS
// test 29 bits ID = 0x646L
if ((frame.id[0]==0x00)&&(frame.id[1]==0x08)&&(frame.id[2]==0x06)&&(frame.id[3]==0x8c)) {
frame.id[0]=0x0002; /* change ID (echo) */
can_tx(-1,&frame); /* provide echo on remote terminal using first empty tx buffer */
sci_putchar(frame.data[0]); /* treat first data byte as character and display it on local terminal */
}
else
if((frame.id[0]==0x00 && frame.id[1]==0x00) || /* standard frame */
(frame.id[0]==0x00 && frame.id[1]==0x08 && frame.id[2]==0x00 && frame.id[3]==0x00) ) /* extended frame */
{
sci_send_string("\x0dError: ID = 0x0000 is received!\x0d");
print_rx_errors();
}
else
{
print_rx_errors();
}
}
if ((c=sci_getchar())!=-1) { /* receive character from SCI */
frame.id[0]=0x00; /* ID = 0x646 */
frame.id[1]=0x08; /* extended frame */
frame.id[2]=0x06;
frame.id[3]=0x8c;
#else
#endif
frame.length=1; /* 1 byte */
frame.priority=0;
frame.data[0]=c; /* put character from SCI into frame */
can_tx(-1,&frame); /* transmit the frame over CAN */
}
}
}
void main (void) {
struct can_config config;
sci_init(260); /* 9600 baud */
#if BAUDRATE_250KBPS
config.timing=0x58c9; /* 250kbps: 40MHz clk divided by 10, SJW= 4Tq, */
/* TSEG1 = PROP_SEG+PHASE_SEG1 = 4+5=9, TSEG2 = 6 */
#elif BAUDRATE_125KBPS
config.timing=0x23A7; /* 125kbps: 40Mhz clk divided by 40, */
/* TSEG1= PROP_SEG+PHASE_SEG1=1+3,TSEG2=3; synchro jump: 3 */
#elif BAUDRATE_400KBPS
config.timing=0x7A04; /* 400 kbit: 40Mhz clk divided by 5, TSEG1=11,TSEG2=8; synchro jump: 1 */
#elif BAUDRATE_500KBPS
// change can.c to: io.can.ctl1=0x0080
config.timing=0x1401; /* 0.5 Mbit: 8Mhz external clk divided by 2, segments: 1+4+1+2; synchro jump: 1 */
#elif BAUDRATE_1000KBPS
// change can.c to: io.can.ctl1=0x0081
config.timing=0x1404; /* 1 M bps: 40Mhz internal clk divided by 5 = 8M CAN clock, segments: 1+4+1+2; synchro jump: 1 */
#else
/// 0.5MHz CAN bit rate using internal PLL clock source
// change can.c to: io.can.ctl1=0x0081
//config.timing=0x1409; /* 0.5 Mbit: 40Mhz internal clk divided by 10=4M CAN clock, segments: 1+4+1+2; synchro jump: 1 */
#endif
#if FILTER_16BITS
config.filters=0x01; /* Four 16-bit acceptance filters */
#if 1
#if 0
// Set receiver ID to any, standard frame
config.acceptance0.f16b.filter0=0xffff;
config.acceptance0.f16b.filter1=0xffff;
config.acceptance1.f16b.filter0=0xffff;
config.acceptance1.f16b.filter1=0xffff;
// Set mask register IDMR1,3,5,7 bits RTR - don't care, IDE - 0 for standard frame,
// AM[2:0]= 111 for 16-bit filters.
config.mask0.f16b.filter0=0xffff;
config.mask0.f16b.filter1=0xffff;
config.mask1.f16b.filter0=0xffff;
config.mask1.f16b.filter1=0xffff;
#else
#if 0
// Set receiver ID to 0x646, standard frame
config.acceptance0.f16b.filter0=0xc0c8;
config.acceptance0.f16b.filter1=0xc0c8;
config.acceptance1.f16b.filter0=0xc0c8;
config.acceptance1.f16b.filter1=0xc0c8;
// Set mask register IDMR1,3,5,7 bits RTR - don't care, IDE - 0 for standard frame,
// AM[2:0]= 111 for 16-bit filters.
config.mask0.f16b.filter0=0x1700;
config.mask0.f16b.filter1=0x1700;
config.mask1.f16b.filter0=0x1700;
config.mask1.f16b.filter1=0x1700;
#else
// Set receiver ID to 0x435, standard frame
config.acceptance0.f16b.filter0=0xa086;
config.acceptance0.f16b.filter1=0xa086;
config.acceptance1.f16b.filter0=0xa086;
config.acceptance1.f16b.filter1=0xa086;
// Set mask register IDMR1,3,5,7 bits RTR - don't care, IDE - 0 for standard frame,
// AM[2:0]= 111 for 16-bit filters.
config.mask0.f16b.filter0=0x1700;
config.mask0.f16b.filter1=0x1700;
config.mask1.f16b.filter0=0x1700;
config.mask1.f16b.filter1=0x1700;
#endif
#endif
#else
// Set receiver ID to 0x7e8, standard frame
config.acceptance0.f16b.filter0=0x00FD;
config.acceptance0.f16b.filter1=0x00FD;
config.acceptance1.f16b.filter0=0x00FD;
config.acceptance1.f16b.filter1=0x00FD;
// Set mask register IDMR1,3,5,7 bits RTR - don't care, IDE - 0 for standard frame,
// AM[2:0]= 111 for 16-bit filters.
config.mask0.f16b.filter0=0x1700;
config.mask0.f16b.filter1=0x1700;
config.mask1.f16b.filter0=0x1700;
config.mask1.f16b.filter1=0x1700;
#endif
#elif FILTER_32BITS /* use extended frame format: 29-bit ID */
config.filters=0; /* two 32-bit acceptance filters */
#if 1
#if 1
// Set receiver ID to 0x646, extended frame
config.acceptance0.f32b.filter0=0xffffffffL;
config.acceptance1.f32b.filter0=0xffffffffL;
// Set mask register IDMR1,3,5,7 bits RTR - don't care, IDE - 0 for standard frame,
// AM[2:0]= 111 for 16-bit filters.
config.mask0.f32b.filter0=0xffffffffL;
config.mask1.f32b.filter0=0xffffffffL;
#else
// Set receiver ID to 0x646, extended frame
config.acceptance0.f32b.filter0=0x8c060800L;
config.acceptance1.f32b.filter0=0x8c060800L;
// Set mask register IDMR1,3,5,7 bits RTR - don't care, IDE - 0 for standard frame,
// AM[2:0]= 111 for 16-bit filters.
config.mask0.f32b.filter0=0x01001000L;
config.mask1.f32b.filter0=0x01001000L;
#endif
#else
#if TEST_29BITS_ID_RX_MASK
// Not to receive messages from ID14 = 0, but
// to receive messages from ID14=1,
// Set receiver ID , extended frame
config.acceptance0.f32b.filter0= ((CANID_EXT(3,RX_CAN_ID,0) << 8
| CANID_EXT(2,RX_CAN_ID,0)) << 8
| CANID_EXT(1,RX_CAN_ID,0)) << 8
| CANID_EXT(0,RX_CAN_ID,0);
config.acceptance0.f32b.filter0 |= ID_BITS_MASK_EXT(14);//(1L<<23);//
config.acceptance1.f32b.filter0=config.acceptance0.f32b.filter0;
// Set mask register IDMR1,3,5,7 bits RTR - don't care, IDE - 1 for extended frame,
// AM[2:0]= 111 for 16-bit filters.
config.mask0.f32b.filter0=0xFF7FFFFFL;
config.mask1.f32b.filter0=0xFF7FFFFFL;
#else
// To Receive messages from RX_CAN_ID,
// Set receiver ID , extended frame
config.acceptance0.f32b.filter0= ((CANID_EXT(3,RX_CAN_ID,0) << 8
| CANID_EXT(2,RX_CAN_ID,0)) << 8
| CANID_EXT(1,RX_CAN_ID,0)) << 8
| CANID_EXT(0,RX_CAN_ID,0);
config.acceptance1.f32b.filter0=config.acceptance0.f32b.filter0;
// To Receive messages from RX_CAN_ID,
// Set mask register IDMR1,3,5,7 bits RTR - don't care, IDE - 1 for extended frame,
// AM[2:0]= 111 for 16-bit filters.
config.mask0.f32b.filter0=0x01001000L;
config.mask1.f32b.filter0=0x01001000L;
#endif //TEST_29BITS_ID_RX_MASK
#endif
#else
#endif
can_init(&config);
#if TEST_ECHO
printf("CAN <-> SCI gateway\r\n");
loop();
#else
testCanTx();
#endif
}
void print_rx_errors(void)
{
int i;
UWord16 flag;
i=0;
flag = can_rxflag();
can_clr_rxflag(flag); /* clear flags */
if(flag & ~RX_FLAG_BUF_FULL)
{
sci_send_string("Error:");
while( (flag>>=1) & 0x01 )
{
sci_send_string(ErrMsg[i++]);
}
sci_putchar(0x0d);
}
}
void testCanTx()
{
short i;
struct can_frame frame,frameRx;
for(;;)
{
#if FILTER_16BITS
frame.id[0]=CANID_STAND(0,0x7E0,0);
frame.id[1]=CANID_STAND(1,0x7E0,0);; /* standard frame */
frame.id[2]=0;
frame.id[3]=0;
#else
frame.id[0]=CANID_EXT(0,0x1000885dL,0);
frame.id[1]=CANID_EXT(1,0x1000885dL,0);; /* extended frame */
frame.id[2]=CANID_EXT(2,0x1000885dL,0);
frame.id[3]=CANID_EXT(3,0x1000885dL,0);
#endif
// Transmit first frame
frame.length=8;
frame.priority=0;
frame.data[0]=0x1;
frame.data[1]=0x2;
frame.data[2]=0x3;
frame.data[3]=0x4;
frame.data[4]=0x5;
frame.data[5]=0x6;
frame.data[6]=0x7;
frame.data[7]=0x8;
can_tx(-1,&frame);
#if TEST_29BITS_ID_RX_MASK
// Receive first frame
while (!can_rxstat()) {};
can_rx(&frameRx); /* receive CAN frame */
#endif //TEST_29BITS_ID_RX_MASK
#if 0
// Transmit second frame
frame.data[0]=0x03;
frame.data[1]=0x21;
frame.data[2]=0x83;
frame.data[3]=0x80;
frame.data[4]=0x80;
frame.data[5]=0x80;
frame.data[6]=0x80;
frame.data[7]=0x80;
can_tx(-1,&frame);
// Receive second frame
while (!can_rxstat()) {};
can_rx(&frameRx); /* receive CAN frame */
// Receive third frame
while (!can_rxstat()) {};
can_rx(&frameRx); /* receive CAN frame */
asm(nop);
#endif
#if 0
#if 1
frame.id[0]=0x86;
frame.id[1]=0xa0; /* standard frame */
frame.id[2]=0;
frame.id[3]=0;
frame.length=4;
frame.priority=0;
frame.data[0]='B';
frame.data[1]='y';
frame.data[2]='e';
frame.data[3]='!';
can_tx(-1,&frame);
// wait for a few seconds
for(i=0;i<2000;i++)
{
asm(nop);
asm(nop);
}
#else
// Send first CAN frame: ID = 0x03ce1e41
/*
bit28 bits 27-24 bits 23-20 bits 19-16 bits 15-12 bits 11-8 bits 7-4 bits 3-0
0 0011 1100 1110 0001 1110 0100 0001
Data Length: 4 bytes
Data: 0x45030400
Byte 0 Byte 1 Byte 2 Byte 3
0x45 0x03 0x04 0x00
*/
frame.id[0]=0x1E;
frame.id[1]=0x7C; /* extended frame */
frame.id[2]=0x3C;
frame.id[3]=0x82;
frame.length=4;
frame.priority=0;
frame.data[0]=0x45;
frame.data[1]=0x03;
frame.data[2]=0x04;
frame.data[3]=0x00;
can_tx(-1,&frame);
// wait for a few seconds
for(i=0;i<2000;i++)
{
asm(nop);
asm(nop);
}
// Send second CAN frame: ID = 0x03ce1e42
/*
bit28 bits 27-24 bits 23-20 bits 19-16 bits 15-12 bits 11-8 bits 7-4 bits 3-0
0 0011 1100 1110 0001 1110 0100 0010
Data Length: 4 bytes
Data: 0x45030400
Byte 0 Byte 1 Byte 2 Byte 3
0x45 0x03 0x04 0x00
*/
frame.id[0]=0x1E;
frame.id[1]=0x7C; /* extended frame */
frame.id[2]=0x3C;
frame.id[3]=0x84;
frame.length=4;
frame.priority=0;
frame.data[0]=0x45;
frame.data[1]=0x03;
frame.data[2]=0x04;
frame.data[3]=0x00;
can_tx(-1,&frame);
// wait for a few seconds
for(i=0;i<2000;i++)
{
asm(nop);
asm(nop);
}
#endif
#endif
}
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