📄 experiment_m_9.c
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//###########################################################################
//
// FILE: experiment_m_9.c
//
// TITLE: DSP281x eCAN Back-to-back transmission and reception in
// SELF-TEST mode
//
//###########################################################################
#include "DSP281x_Device.h" // DSP281x Headerfile Include File
#include "DSP281x_Examples.h" // DSP281x Examples Include File
// Prototype statements for functions found within this file.
void mailbox_check(int32 T1, int32 T2, int32 T3);
void mailbox_read(int16 i);
void Gpio_select(void);
void InitSystem(void);
void InitCan(void);
// Global variable for this example
Uint32 ErrorCount;
Uint32 MessageReceivedCount;
Uint32 TestMbox1 = 0;
Uint32 TestMbox2 = 0;
Uint32 TestMbox3 = 0;
void main(void)
{
Uint16 j;
// eCAN control registers require read/write access using 32-bits. Thus we
// will create a set of shadow registers for this example. These shadow
// registers will be used to make sure the access is 32-bits and not 16.
struct ECAN_REGS ECanaShadow;
// Step 1. Initialize System Control:
// PLL, WatchDog, enable Peripheral Clocks
InitSystem();
// Step 2. Initalize GPIO:
// This example function is found in the DSP281x_Gpio.c file and
// illustrates how to set the GPIO to it's default state.
Gpio_select();
GpioDataRegs.GPBDAT.all = 0xFFFF; // Switch LED's off
// Step 3. Clear all interrupts and initialize PIE vector table:
// Disable CPU interrupts
DINT;
// Initialize PIE control registers to their default state.
// The default state is all PIE interrupts disabled and flags
// are cleared.
// This function is found in the DSP281x_PieCtrl.c file.
InitPieCtrl();
// Disable CPU interrupts and clear all CPU interrupt flags:
IER = 0x0000;
IFR = 0x0000;
// Initialize the PIE vector table with pointers to the shell Interrupt
// Service Routines (ISR).
// This will populate the entire table, even if the interrupt
// is not used in this example. This is useful for debug purposes.
// The shell ISR routines are found in DSP281x_DefaultIsr.c.
// This function is found in DSP281x_PieVect.c.
InitPieVectTable();
// Step 4. Initialize all the Device Peripherals:
// This function is found in DSP281x_InitPeripherals.c
// InitPeripherals(); // Not required for this example
// Step 5. User specific code, enable interrupts:
MessageReceivedCount = 0;
ErrorCount = 0;
// eCAN control registers require 32-bit access.
// If you want to write to a single bit, the compiler may break this
// access into a 16-bit access. One solution, that is presented here,
// is to use a shadow register to force the 32-bit access.
// Read the entire register into a shadow register. This access
// will be 32-bits. Change the desired bit and copy the value back
// to the eCAN register with a 32-bit write.
// Configure the eCAN RX and TX pins for eCAN transmissions
EALLOW;
ECanaShadow.CANTIOC.all = ECanaRegs.CANTIOC.all;
ECanaShadow.CANTIOC.bit.TXFUNC = 1;
ECanaRegs.CANTIOC.all = ECanaShadow.CANTIOC.all;
ECanaShadow.CANRIOC.all = ECanaRegs.CANRIOC.all;
ECanaShadow.CANRIOC.bit.RXFUNC = 1;
ECanaRegs.CANRIOC.all = ECanaShadow.CANRIOC.all;
EDIS;
// Disable all Mailboxes
// Since this write is to the entire register (instead of a bit
// field) a shadow register is not required.
ECanaRegs.CANME.all = 0;
// Mailboxs can be written to 16-bits or 32-bits at a time
// Write to the MSGID field of TRANSMIT mailboxes MBOX0 - 15
ECanaMboxes.MBOX0.MSGID.all = 0x9555AAA0;
ECanaMboxes.MBOX1.MSGID.all = 0x9555AAA1;
ECanaMboxes.MBOX2.MSGID.all = 0x9555AAA2;
ECanaMboxes.MBOX3.MSGID.all = 0x9555AAA3;
ECanaMboxes.MBOX4.MSGID.all = 0x9555AAA4;
ECanaMboxes.MBOX5.MSGID.all = 0x9555AAA5;
ECanaMboxes.MBOX6.MSGID.all = 0x9555AAA6;
ECanaMboxes.MBOX7.MSGID.all = 0x9555AAA7;
ECanaMboxes.MBOX8.MSGID.all = 0x9555AAA8;
ECanaMboxes.MBOX9.MSGID.all = 0x9555AAA9;
ECanaMboxes.MBOX10.MSGID.all = 0x9555AAAA;
ECanaMboxes.MBOX11.MSGID.all = 0x9555AAAB;
ECanaMboxes.MBOX12.MSGID.all = 0x9555AAAC;
ECanaMboxes.MBOX13.MSGID.all = 0x9555AAAD;
ECanaMboxes.MBOX14.MSGID.all = 0x9555AAAE;
ECanaMboxes.MBOX15.MSGID.all = 0x9555AAAF;
// Write to the MSGID field of RECEIVE mailboxes MBOX16 - 31
ECanaMboxes.MBOX16.MSGID.all = 0x9555AAA0;
ECanaMboxes.MBOX17.MSGID.all = 0x9555AAA1;
ECanaMboxes.MBOX18.MSGID.all = 0x9555AAA2;
ECanaMboxes.MBOX19.MSGID.all = 0x9555AAA3;
ECanaMboxes.MBOX20.MSGID.all = 0x9555AAA4;
ECanaMboxes.MBOX21.MSGID.all = 0x9555AAA5;
ECanaMboxes.MBOX22.MSGID.all = 0x9555AAA6;
ECanaMboxes.MBOX23.MSGID.all = 0x9555AAA7;
ECanaMboxes.MBOX24.MSGID.all = 0x9555AAA8;
ECanaMboxes.MBOX25.MSGID.all = 0x9555AAA9;
ECanaMboxes.MBOX26.MSGID.all = 0x9555AAAA;
ECanaMboxes.MBOX27.MSGID.all = 0x9555AAAB;
ECanaMboxes.MBOX28.MSGID.all = 0x9555AAAC;
ECanaMboxes.MBOX29.MSGID.all = 0x9555AAAD;
ECanaMboxes.MBOX30.MSGID.all = 0x9555AAAE;
ECanaMboxes.MBOX31.MSGID.all = 0x9555AAAF;
// Configure Mailboxes 0-15 as Tx, 16-31 as Rx
// Since this write is to the entire register (instead of a bit
// field) a shadow register is not required.
ECanaRegs.CANMD.all = 0xFFFF0000;
// Enable all Mailboxes */
// Since this write is to the entire register (instead of a bit
// field) a shadow register is not required.
ECanaRegs.CANME.all = 0xFFFFFFFF;
// Specify that 8 bits will be sent/received
ECanaMboxes.MBOX0.MSGCTRL.bit.DLC = 8;
ECanaMboxes.MBOX1.MSGCTRL.bit.DLC = 8;
ECanaMboxes.MBOX2.MSGCTRL.bit.DLC = 8;
ECanaMboxes.MBOX3.MSGCTRL.bit.DLC = 8;
ECanaMboxes.MBOX4.MSGCTRL.bit.DLC = 8;
ECanaMboxes.MBOX5.MSGCTRL.bit.DLC = 8;
ECanaMboxes.MBOX6.MSGCTRL.bit.DLC = 8;
ECanaMboxes.MBOX7.MSGCTRL.bit.DLC = 8;
ECanaMboxes.MBOX8.MSGCTRL.bit.DLC = 8;
ECanaMboxes.MBOX9.MSGCTRL.bit.DLC = 8;
ECanaMboxes.MBOX10.MSGCTRL.bit.DLC = 8;
ECanaMboxes.MBOX11.MSGCTRL.bit.DLC = 8;
ECanaMboxes.MBOX12.MSGCTRL.bit.DLC = 8;
ECanaMboxes.MBOX13.MSGCTRL.bit.DLC = 8;
ECanaMboxes.MBOX14.MSGCTRL.bit.DLC = 8;
ECanaMboxes.MBOX15.MSGCTRL.bit.DLC = 8;
// No remote frame is requested
// Since RTR bit is undefined upon reset,
// it must be initialized to the proper value
ECanaMboxes.MBOX0.MSGCTRL.bit.RTR = 0;
ECanaMboxes.MBOX1.MSGCTRL.bit.RTR = 0;
ECanaMboxes.MBOX2.MSGCTRL.bit.RTR = 0;
ECanaMboxes.MBOX3.MSGCTRL.bit.RTR = 0;
ECanaMboxes.MBOX4.MSGCTRL.bit.RTR = 0;
ECanaMboxes.MBOX5.MSGCTRL.bit.RTR = 0;
ECanaMboxes.MBOX6.MSGCTRL.bit.RTR = 0;
ECanaMboxes.MBOX7.MSGCTRL.bit.RTR = 0;
ECanaMboxes.MBOX8.MSGCTRL.bit.RTR = 0;
ECanaMboxes.MBOX9.MSGCTRL.bit.RTR = 0;
ECanaMboxes.MBOX10.MSGCTRL.bit.RTR = 0;
ECanaMboxes.MBOX11.MSGCTRL.bit.RTR = 0;
ECanaMboxes.MBOX12.MSGCTRL.bit.RTR = 0;
ECanaMboxes.MBOX13.MSGCTRL.bit.RTR = 0;
ECanaMboxes.MBOX14.MSGCTRL.bit.RTR = 0;
ECanaMboxes.MBOX15.MSGCTRL.bit.RTR = 0;
// Write to the mailbox RAM field of MBOX0 - 15
ECanaMboxes.MBOX0.MDL.all = 0x9555AAA0;
ECanaMboxes.MBOX0.MDH.all = 0x89ABCDEF;
ECanaMboxes.MBOX1.MDL.all = 0x9555AAA1;
ECanaMboxes.MBOX1.MDH.all = 0x89ABCDEF;
ECanaMboxes.MBOX2.MDL.all = 0x9555AAA2;
ECanaMboxes.MBOX2.MDH.all = 0x89ABCDEF;
ECanaMboxes.MBOX3.MDL.all = 0x9555AAA3;
ECanaMboxes.MBOX3.MDH.all = 0x89ABCDEF;
ECanaMboxes.MBOX4.MDL.all = 0x9555AAA4;
ECanaMboxes.MBOX4.MDH.all = 0x89ABCDEF;
ECanaMboxes.MBOX5.MDL.all = 0x9555AAA5;
ECanaMboxes.MBOX5.MDH.all = 0x89ABCDEF;
ECanaMboxes.MBOX6.MDL.all = 0x9555AAA6;
ECanaMboxes.MBOX6.MDH.all = 0x89ABCDEF;
ECanaMboxes.MBOX7.MDL.all = 0x9555AAA7;
ECanaMboxes.MBOX7.MDH.all = 0x89ABCDEF;
ECanaMboxes.MBOX8.MDL.all = 0x9555AAA8;
ECanaMboxes.MBOX8.MDH.all = 0x89ABCDEF;
ECanaMboxes.MBOX9.MDL.all = 0x9555AAA9;
ECanaMboxes.MBOX9.MDH.all = 0x89ABCDEF;
ECanaMboxes.MBOX10.MDL.all = 0x9555AAAA;
ECanaMboxes.MBOX10.MDH.all = 0x89ABCDEF;
ECanaMboxes.MBOX11.MDL.all = 0x9555AAAB;
ECanaMboxes.MBOX11.MDH.all = 0x89ABCDEF;
ECanaMboxes.MBOX12.MDL.all = 0x9555AAAC;
ECanaMboxes.MBOX12.MDH.all = 0x89ABCDEF;
ECanaMboxes.MBOX13.MDL.all = 0x9555AAAD;
ECanaMboxes.MBOX13.MDH.all = 0x89ABCDEF;
ECanaMboxes.MBOX14.MDL.all = 0x9555AAAE;
ECanaMboxes.MBOX14.MDH.all = 0x89ABCDEF;
ECanaMboxes.MBOX15.MDL.all = 0x9555AAAF;
ECanaMboxes.MBOX15.MDH.all = 0x89ABCDEF;
// Since this write is to the entire register (instead of a bit
// field) a shadow register is not required.
EALLOW;
ECanaRegs.CANMIM.all = 0xFFFFFFFF;
// Request permission to change the configuration registers
ECanaShadow.CANMC.all = ECanaRegs.CANMC.all;
ECanaShadow.CANMC.bit.CCR = 1;
ECanaRegs.CANMC.all = ECanaShadow.CANMC.all;
EDIS;
// Wait until the CPU has been granted permission to change the
// configuration registers
// Wait for CCE bit to be set..
do
{
ECanaShadow.CANES.all = ECanaRegs.CANES.all;
} while(ECanaShadow.CANES.bit.CCE != 1 );
// Configure the eCAN timing
EALLOW;
ECanaShadow.CANBTC.all = ECanaRegs.CANBTC.all;
ECanaShadow.CANBTC.bit.BRPREG = 9; // (BRPREG + 1) = 10 feeds a 15 MHz CAN clock
ECanaShadow.CANBTC.bit.TSEG2REG = 5 ;// to the CAN module. (150 / 10 = 15)
ECanaShadow.CANBTC.bit.TSEG1REG = 7; // Bit time = 15
ECanaRegs.CANBTC.all = ECanaShadow.CANBTC.all;
ECanaShadow.CANMC.all = ECanaRegs.CANMC.all;
ECanaShadow.CANMC.bit.CCR = 0;
ECanaRegs.CANMC.all = ECanaShadow.CANMC.all;
EDIS;
// Wait until the CPU no longer has permission to change the
// configuration registers
do
{
ECanaShadow.CANES.all = ECanaRegs.CANES.all;
} while(ECanaShadow.CANES.bit.CCE != 0 );
// Configure the eCAN for self test mode
// Enable the enhanced features of the eCAN.
EALLOW;
ECanaShadow.CANMC.all = ECanaRegs.CANMC.all;
ECanaShadow.CANMC.bit.STM = 1; // Configure CAN for self-test mode
ECanaShadow.CANMC.bit.SCB = 1; // eCAN mode (reqd to access 32 mailboxes)
ECanaRegs.CANMC.all = ECanaShadow.CANMC.all;
EDIS;
// Begin transmitting
while(1)
{
ECanaRegs.CANTRS.all = 0x0000FFFF; // Set TRS for all transmit mailboxes
while(ECanaRegs.CANTA.all != 0x0000FFFF ) {} // Wait for all TAn bits to be set..
ECanaRegs.CANTA.all = 0x0000FFFF; // Clear all TAn
MessageReceivedCount++;
//Read from Receive mailboxes and begin checking for data */
for(j=0; j<16; j++) // Read & check 16 mailboxes
{
mailbox_read(j); // This func reads the indicated mailbox data
mailbox_check(TestMbox1,TestMbox2,TestMbox3); // Checks the received data
}
}
}
void Gpio_select(void)
{
EALLOW;
GpioMuxRegs.GPAMUX.all = 0x0; // all GPIO port Pin's to I/O
GpioMuxRegs.GPBMUX.all = 0x0;
GpioMuxRegs.GPDMUX.all = 0x0;
GpioMuxRegs.GPFMUX.all = 0x0;
GpioMuxRegs.GPEMUX.all = 0x0;
GpioMuxRegs.GPGMUX.all = 0x0;
GpioMuxRegs.GPFMUX.bit.CANTXA_GPIOF6 = 1; // Enable CAN - lines
GpioMuxRegs.GPFMUX.bit.CANRXA_GPIOF7 = 1;
GpioMuxRegs.GPADIR.all = 0x0; // GPIO PORT as input
GpioMuxRegs.GPBDIR.all = 0x00FF;// GPIO Port B15-B8 input , B7-B0 output
GpioMuxRegs.GPDDIR.all = 0x0; // GPIO PORT as input
GpioMuxRegs.GPEDIR.all = 0x0; // GPIO PORT as input
GpioMuxRegs.GPFDIR.all = 0x0; // GPIO PORT as input
GpioMuxRegs.GPGDIR.all = 0x0; // GPIO PORT as input
GpioMuxRegs.GPAQUAL.all = 0x0; // Set GPIO input qualifier values to zero
GpioMuxRegs.GPBQUAL.all = 0x0;
GpioMuxRegs.GPDQUAL.all = 0x0;
GpioMuxRegs.GPEQUAL.all = 0x0;
EDIS;
}
void InitSystem(void)
{
EALLOW; // Enable EALLOW protected register access
SysCtrlRegs.WDCR= 0x00E8; // Setup the watchdog
// 0x00E8 to disable the Watchdog , Prescaler = 1
// 0x00AF to NOT disable the Watchdog, Prescaler = 64
SysCtrlRegs.SCSR = 0; // Watchdog generates a RESET
SysCtrlRegs.PLLCR.bit.DIV = 10; // Setup the Clock PLL to multiply by 5
SysCtrlRegs.HISPCP.all = 0x1; // Setup Highspeed Clock Prescaler to divide by 2
SysCtrlRegs.LOSPCP.all = 0x2; // Setup Lowspeed CLock Prescaler to divide by 4
// Peripheral clock enables set for the selected peripherals.
SysCtrlRegs.PCLKCR.bit.EVAENCLK=0;
SysCtrlRegs.PCLKCR.bit.EVBENCLK=0;
SysCtrlRegs.PCLKCR.bit.SCIAENCLK=0;
SysCtrlRegs.PCLKCR.bit.SCIBENCLK=0;
SysCtrlRegs.PCLKCR.bit.MCBSPENCLK=0;
SysCtrlRegs.PCLKCR.bit.SPIENCLK=0;
SysCtrlRegs.PCLKCR.bit.ECANENCLK=1;
SysCtrlRegs.PCLKCR.bit.ADCENCLK=0;
EDIS;
}
// This function reads out the contents of the indicated
// by the Mailbox number (MBXnbr).
void mailbox_read(int16 MBXnbr)
{
volatile struct MBOX *Mailbox;
Mailbox = &ECanaMboxes.MBOX0 + MBXnbr;
TestMbox1 = Mailbox->MDL.all; // = 0x9555AAAn (n is the MBX number)
TestMbox2 = Mailbox->MDH.all; // = 0x89ABCDEF (a constant)
TestMbox3 = Mailbox->MSGID.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++;
}
}
//===========================================================================
// End
//===========================================================================
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