DSP2812CAN通讯程序

//########################################################################### // // FILE: Example_281xECanBack2Back.c // // TITLE: DSP281x eCAN Back-to-back transmission and reception in // SELF-TEST mode // // ASSUMPTIONS: // // This program requires the DSP281x V1.00 header files. // As supplied, this project is configured for "boot to H0" operation. // // Other then boot mode configuration, no other hardware configuration // is required. // // DESCRIPTION: // // This test transmits data back-to-back at high speed without // stopping. // The received data is verified. Any error is flagged. // MBX0 transmits to MBX16, MBX1 transmits to MBX17 and so on.... // This program illustrates the use of self-test mode // //########################################################################### // // Ver | dd mmm yyyy | Who | Description of changes // =====|=============|======|=============================================== // 1.00| 11 Sep 2003 | L.H. | Original Author H.J. // | | | Changes since previous version (v.58 Alpha) // | | | Updated to reflect bit name corrections in // | | | the DSP281x_ECan.h file //########################################################################### #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); // 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 // This example function is found in the DSP281x_SysCtrl.c file. InitSysCtrl(); // 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. // InitGpio(); // Skipped for this example // For this example, configure CAN pins using GPIO regs here EALLOW; GpioMuxRegs.GPFMUX.bit.CANTXA_GPIOF6 = 1; GpioMuxRegs.GPFMUX.bit.CANRXA_GPIOF7 = 1; EDIS; // 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.