📄 canpci.c
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#include "DSP280x_Device.h" // DSP280x Headerfile Include File
#include "DSP280x_Examples.h" // DSP280x Examples Include File
// Prototype statements for functions found within this file.
void mailbox_check(int32 T1, int32 T2, int32 T3);
void mailbox_read();
void initCANA();
interrupt void Ecan0Inta_isr(void);
// Global variable for this example
Uint32 ErrorCount;
Uint32 PassCount;
Uint32 MessageReceivedCount;
Uint32 TestMbox1 = 0;
Uint32 TestMbox2 = 0;
Uint32 TestMbox3 = 0;
Uint16 can_receive_flag;
void main(void)
{
// Step 1. Initialize System Control:
// PLL, WatchDog, enable Peripheral Clocks
// This example function is found in the DSP280x_SysCtrl.c file.
InitSysCtrl();
// Step 2. Initalize GPIO:
// This example function is found in the DSP280x_Gpio.c file and
// illustrates how to set the GPIO to it's default state.
// InitGpio(); // Skipped for this example
// For this example, configure CAN pins using GPIO regs here
// This function is found in DSP280x_ECan.c
InitECanaGpio();
// Step 3. Clear all interrupts and initialize PIE vector table:
// Disable CPU interrupts
/*关中断*/
DINT;
IER = 0x0000;
IFR = 0x0000;
// 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 DSP280x_PieCtrl.c file.
InitPieCtrl();
// Disable CPU interrupts and clear all CPU interrupt flags:
// 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 DSP280x_DefaultIsr.c.
// This function is found in DSP280x_PieVect.c.
InitPieVectTable();
initCANA();
// Step 4. Initialize all the Device Peripherals:
// This function is found in DSP280x_InitPeripherals.c
// InitPeripherals(); // Not required for this example
// Step 5. User specific code, enable interrupts:
EALLOW; // This is needed to write to EALLOW protected registers
PieVectTable.ECAN0INTA=&Ecan0Inta_isr;
//PieVectTable.ECAN1INTA = &ECAN1INTA_ISR;
// This is needed to disable write to EALLOW protected registers
PieCtrlRegs.PIEIER9.bit.INTx6 = 1;
PieCtrlRegs.PIEIER9.bit.INTx5 = 1;
IER |= M_INT9;
EDIS;
EINT; // Enable Global interrupt INTM
ERTM; // Enable Global realtime interrupt DBGM
// Begin transmitting
for(;;)
{
if(can_receive_flag == 1)
{
ECanaRegs.CANTRS.all = 0x00000001;
while(ECanaRegs.CANTA.all != 0x00000001);
ECanaRegs.CANTA.all = 0x00000001;
can_receive_flag = 0;
}
}
}
// This function reads out the contents of the indicated
// by the Mailbox number (MBXnbr).
void mailbox_read()
{
TestMbox1 = ECanaMboxes.MBOX16.MDL.all;
TestMbox2 = ECanaMboxes.MBOX16.MDH.all;
ECanaMboxes.MBOX0.MDL.all=TestMbox1;
ECanaMboxes.MBOX0.MDH.all= TestMbox2;
}
void mailbox_check(int32 T1, int32 T2, int32 T3)
{
if((T1 != T3) || ( T2 != 0x89ABCDEF))
{
ErrorCount++;
asm (" ESTOP0");
///////////////
}
else
{
PassCount++;
}
}
interrupt void Ecan0Inta_isr(void) // eCAN-A
{
Uint16 j;
EALLOW;
j = ECanaRegs.CANGIF0.all;
ECanaRegs.CANGIF0.all = j;
ECanaRegs.CANRMP.bit.RMP16 = 1;
EDIS;
mailbox_read();
can_receive_flag = 1;
PieCtrlRegs.PIEACK.bit.ACK9 = 1;
EINT;
}
void initCANA()
{
struct ECAN_REGS ECanaShadow;
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 = 0x20000000;
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 = 0x00080000;
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 = 0x00010001;
// 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;*/
/*没有远方应答帧被请求*/
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;
//bit rate=sysclk/(BRP*bit-time)=60M/(9+1)*(7+5+3)=60M/150=400Kbps
ECanaShadow.CANBTC.bit.BRPREG = 9; // (BRPREG + 1) = 10 feeds a 6 MHz CAN clock
ECanaShadow.CANBTC.bit.TSEG2REG = 5 ; // to the CAN module. (60 / 10 = 6)
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 = 0;
ECanaShadow.CANMC.bit.SCB = 1; // eCAN mode (reqd to access 32 mailboxes)
ECanaRegs.CANMC.all = ECanaShadow.CANMC.all;
EDIS;
EALLOW;
ECanaRegs.CANMIM.all = 0xffffffff;
ECanaRegs.CANMIL.all = 0;
ECanaRegs.CANGIF0.all = 0xFFFFFFFF;
ECanaRegs.CANGIM.bit.I0EN = 1;
ECanaRegs.CANGIM.bit.I1EN = 1;
// ECanaRegs.CANGIM.all = 0x3ff07;
EDIS;
}
//===========================================================================
// No more.
//===========================================================================
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