www.pudn.com > lab27-CAN.zip > eCAN_back.c, change:2013-07-16,size:12600b


 
//########################################################################### 
// Original Author H.J. 
// 
// $TI Release: DSP2833x Header Files V1.01 $ 
// $Release Date: September 26, 2007 $ 
//########################################################################### 
#include "DSP2833x_Device.h"     // DSP2833x Headerfile Include File 
#include "DSP2833x_Examples.h"   // DSP2833x 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  PassCount; 
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 ECanbShadow;  
 
// Step 1. Initialize System Control: 
// PLL, WatchDog, enable Peripheral Clocks 
// This example function is found in the DSP2833x_SysCtrl.c file. 
   InitSysCtrl(); 
 
// Step 2. Initalize GPIO:  
// This example function is found in the DSP2833x_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 DSP2833x_ECan.c 
   InitECanGpio(); 
 
// 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 DSP2833x_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 DSP2833x_DefaultIsr.c. 
// This function is found in DSP2833x_PieVect.c. 
   InitPieVectTable(); 
 
// Step 4. Initialize all the Device Peripherals: 
// This function is found in DSP2833x_InitPeripherals.c 
// InitPeripherals(); // Not required for this example 
  
// Step 5. User specific code, enable interrupts: 
 
    MessageReceivedCount = 0; 
    ErrorCount = 0; 
    PassCount = 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; 
    ECanbShadow.CANTIOC.all = ECanbRegs.CANTIOC.all; 
    ECanbShadow.CANTIOC.bit.TXFUNC = 1; 
    ECanbRegs.CANTIOC.all = ECanbShadow.CANTIOC.all; 
 
    ECanbShadow.CANRIOC.all = ECanbRegs.CANRIOC.all; 
    ECanbShadow.CANRIOC.bit.RXFUNC = 1; 
    ECanbRegs.CANRIOC.all = ECanbShadow.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. 
    ECanbRegs.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  
    ECanbMboxes.MBOX0.MSGID.all = 0x9555AAA0;  
    ECanbMboxes.MBOX1.MSGID.all = 0x9555AAA1;  
    ECanbMboxes.MBOX2.MSGID.all = 0x9555AAA2;  
    ECanbMboxes.MBOX3.MSGID.all = 0x9555AAA3;  
    ECanbMboxes.MBOX4.MSGID.all = 0x9555AAA4;  
    ECanbMboxes.MBOX5.MSGID.all = 0x9555AAA5;  
    ECanbMboxes.MBOX6.MSGID.all = 0x9555AAA6;  
    ECanbMboxes.MBOX7.MSGID.all = 0x9555AAA7;  
    ECanbMboxes.MBOX8.MSGID.all = 0x9555AAA8;  
    ECanbMboxes.MBOX9.MSGID.all = 0x9555AAA9;  
    ECanbMboxes.MBOX10.MSGID.all = 0x9555AAAA;  
    ECanbMboxes.MBOX11.MSGID.all = 0x9555AAAB;  
    ECanbMboxes.MBOX12.MSGID.all = 0x9555AAAC;  
    ECanbMboxes.MBOX13.MSGID.all = 0x9555AAAD;  
    ECanbMboxes.MBOX14.MSGID.all = 0x9555AAAE;  
    ECanbMboxes.MBOX15.MSGID.all = 0x9555AAAF;  
     
    // Write to the MSGID field of RECEIVE mailboxes MBOX16 - 31 
    ECanbMboxes.MBOX16.MSGID.all = 0x9555AAA0;  
    ECanbMboxes.MBOX17.MSGID.all = 0x9555AAA1;  
    ECanbMboxes.MBOX18.MSGID.all = 0x9555AAA2;  
    ECanbMboxes.MBOX19.MSGID.all = 0x9555AAA3;  
    ECanbMboxes.MBOX20.MSGID.all = 0x9555AAA4;  
    ECanbMboxes.MBOX21.MSGID.all = 0x9555AAA5;  
    ECanbMboxes.MBOX22.MSGID.all = 0x9555AAA6;  
    ECanbMboxes.MBOX23.MSGID.all = 0x9555AAA7;  
    ECanbMboxes.MBOX24.MSGID.all = 0x9555AAA8;  
    ECanbMboxes.MBOX25.MSGID.all = 0x9555AAA9;  
    ECanbMboxes.MBOX26.MSGID.all = 0x9555AAAA;  
    ECanbMboxes.MBOX27.MSGID.all = 0x9555AAAB;  
    ECanbMboxes.MBOX28.MSGID.all = 0x9555AAAC;  
    ECanbMboxes.MBOX29.MSGID.all = 0x9555AAAD;  
    ECanbMboxes.MBOX30.MSGID.all = 0x9555AAAE;  
    ECanbMboxes.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. 
    ECanbRegs.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. 
    ECanbRegs.CANME.all = 0xFFFFFFFF; 
 
    // Specify that 8 bits will be sent/received 
    ECanbMboxes.MBOX0.MSGCTRL.bit.DLC = 8; 
    ECanbMboxes.MBOX1.MSGCTRL.bit.DLC = 8; 
    ECanbMboxes.MBOX2.MSGCTRL.bit.DLC = 8; 
    ECanbMboxes.MBOX3.MSGCTRL.bit.DLC = 8; 
    ECanbMboxes.MBOX4.MSGCTRL.bit.DLC = 8; 
    ECanbMboxes.MBOX5.MSGCTRL.bit.DLC = 8; 
    ECanbMboxes.MBOX6.MSGCTRL.bit.DLC = 8; 
    ECanbMboxes.MBOX7.MSGCTRL.bit.DLC = 8; 
    ECanbMboxes.MBOX8.MSGCTRL.bit.DLC = 8; 
    ECanbMboxes.MBOX9.MSGCTRL.bit.DLC = 8; 
    ECanbMboxes.MBOX10.MSGCTRL.bit.DLC = 8; 
    ECanbMboxes.MBOX11.MSGCTRL.bit.DLC = 8; 
    ECanbMboxes.MBOX12.MSGCTRL.bit.DLC = 8; 
    ECanbMboxes.MBOX13.MSGCTRL.bit.DLC = 8; 
    ECanbMboxes.MBOX14.MSGCTRL.bit.DLC = 8; 
    ECanbMboxes.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  
    ECanbMboxes.MBOX0.MSGCTRL.bit.RTR = 0;       
    ECanbMboxes.MBOX1.MSGCTRL.bit.RTR = 0;   
    ECanbMboxes.MBOX2.MSGCTRL.bit.RTR = 0;   
    ECanbMboxes.MBOX3.MSGCTRL.bit.RTR = 0; 
    ECanbMboxes.MBOX4.MSGCTRL.bit.RTR = 0; 
    ECanbMboxes.MBOX5.MSGCTRL.bit.RTR = 0; 
    ECanbMboxes.MBOX6.MSGCTRL.bit.RTR = 0; 
    ECanbMboxes.MBOX7.MSGCTRL.bit.RTR = 0; 
    ECanbMboxes.MBOX8.MSGCTRL.bit.RTR = 0; 
    ECanbMboxes.MBOX9.MSGCTRL.bit.RTR = 0; 
    ECanbMboxes.MBOX10.MSGCTRL.bit.RTR = 0; 
    ECanbMboxes.MBOX11.MSGCTRL.bit.RTR = 0; 
    ECanbMboxes.MBOX12.MSGCTRL.bit.RTR = 0; 
    ECanbMboxes.MBOX13.MSGCTRL.bit.RTR = 0; 
    ECanbMboxes.MBOX14.MSGCTRL.bit.RTR = 0; 
    ECanbMboxes.MBOX15.MSGCTRL.bit.RTR = 0; 
     
    // Write to the mailbox RAM field of MBOX0 - 15 
    ECanbMboxes.MBOX0.MDL.all = 0x9555AAA0; 
    ECanbMboxes.MBOX0.MDH.all = 0x89ABCDEF; 
 
    ECanbMboxes.MBOX1.MDL.all = 0x9555AAA1; 
    ECanbMboxes.MBOX1.MDH.all = 0x89ABCDEF; 
    
    ECanbMboxes.MBOX2.MDL.all = 0x9555AAA2; 
    ECanbMboxes.MBOX2.MDH.all = 0x89ABCDEF; 
  
    ECanbMboxes.MBOX3.MDL.all = 0x9555AAA3; 
    ECanbMboxes.MBOX3.MDH.all = 0x89ABCDEF; 
  
    ECanbMboxes.MBOX4.MDL.all = 0x9555AAA4; 
    ECanbMboxes.MBOX4.MDH.all = 0x89ABCDEF; 
  
    ECanbMboxes.MBOX5.MDL.all = 0x9555AAA5; 
    ECanbMboxes.MBOX5.MDH.all = 0x89ABCDEF; 
  
    ECanbMboxes.MBOX6.MDL.all = 0x9555AAA6; 
    ECanbMboxes.MBOX6.MDH.all = 0x89ABCDEF; 
  
    ECanbMboxes.MBOX7.MDL.all = 0x9555AAA7; 
    ECanbMboxes.MBOX7.MDH.all = 0x89ABCDEF; 
  
    ECanbMboxes.MBOX8.MDL.all = 0x9555AAA8; 
    ECanbMboxes.MBOX8.MDH.all = 0x89ABCDEF; 
  
    ECanbMboxes.MBOX9.MDL.all = 0x9555AAA9; 
    ECanbMboxes.MBOX9.MDH.all = 0x89ABCDEF; 
  
    ECanbMboxes.MBOX10.MDL.all = 0x9555AAAA; 
    ECanbMboxes.MBOX10.MDH.all = 0x89ABCDEF; 
  
    ECanbMboxes.MBOX11.MDL.all = 0x9555AAAB; 
    ECanbMboxes.MBOX11.MDH.all = 0x89ABCDEF; 
  
    ECanbMboxes.MBOX12.MDL.all = 0x9555AAAC; 
    ECanbMboxes.MBOX12.MDH.all = 0x89ABCDEF; 
  
    ECanbMboxes.MBOX13.MDL.all = 0x9555AAAD; 
    ECanbMboxes.MBOX13.MDH.all = 0x89ABCDEF; 
  
    ECanbMboxes.MBOX14.MDL.all = 0x9555AAAE; 
    ECanbMboxes.MBOX14.MDH.all = 0x89ABCDEF; 
  
    ECanbMboxes.MBOX15.MDL.all = 0x9555AAAF; 
    ECanbMboxes.MBOX15.MDH.all = 0x89ABCDEF; 
 
    // Since this write is to the entire register (instead of a bit 
    // field) a shadow register is not required.  
    EALLOW; 
    ECanbRegs.CANMIM.all = 0xFFFFFFFF; 
 
    // Request permission to change the configuration registers 
    ECanbShadow.CANMC.all = ECanbRegs.CANMC.all; 
    ECanbShadow.CANMC.bit.CCR = 1;             
    ECanbRegs.CANMC.all = ECanbShadow.CANMC.all; 
    EDIS; 
     
    // Wait until the CPU has been granted permission to change the 
    // configuration registers 
    // Wait for CCE bit to be set.. 
    do  
    { 
      ECanbShadow.CANES.all = ECanbRegs.CANES.all; 
    } while(ECanbShadow.CANES.bit.CCE != 1 );   
     
    // Configure the eCAN timing 
    EALLOW; 
    ECanbShadow.CANBTC.all = ECanbRegs.CANBTC.all; 
 
    ECanbShadow.CANBTC.bit.BRPREG = 9;    // (BRPREG + 1) = 10 feeds a 15 MHz CAN clock 
    ECanbShadow.CANBTC.bit.TSEG2REG = 5 ; // to the CAN module. (150 / 10 = 15) 
    ECanbShadow.CANBTC.bit.TSEG1REG = 7;  // Bit time = 15 
    ECanbRegs.CANBTC.all = ECanbShadow.CANBTC.all; 
     
    ECanbShadow.CANMC.all = ECanbRegs.CANMC.all; 
    ECanbShadow.CANMC.bit.CCR = 0;             
    ECanbRegs.CANMC.all = ECanbShadow.CANMC.all; 
    EDIS; 
 
    // Wait until the CPU no longer has permission to change the 
    // configuration registers 
    do 
    { 
      ECanbShadow.CANES.all = ECanbRegs.CANES.all; 
    } while(ECanbShadow.CANES.bit.CCE != 0 );  
 
    // Configure the eCAN for self test mode  
    // Enable the enhanced features of the eCAN. 
    EALLOW; 
    ECanbShadow.CANMC.all = ECanbRegs.CANMC.all; 
    ECanbShadow.CANMC.bit.STM = 1;    // Configure CAN for self-test mode   
    ECanbShadow.CANMC.bit.SCB = 1;    // eCAN mode (reqd to access 32 mailboxes) 
    ECanbRegs.CANMC.all = ECanbShadow.CANMC.all; 
    EDIS; 
     
    // Begin transmitting  
    for(;;)                                 
    { 
      
       ECanbRegs.CANTRS.all = 0x0000FFFF;  // Set TRS for all transmit mailboxes 
       while(ECanbRegs.CANTA.all != 0x0000FFFF ) {}  // Wait for all TAn bits to be set.. 
       ECanbRegs.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 
       } 
 
       if(MessageReceivedCount > 100) 
       { 
	      if(ErrorCount == 0) 
		  { 
			asm("      ESTOP0"); // OK 
		  } 
		  else 
		  { 
			asm("      ESTOP0"); // ERROR 
		  } 
       }  
    } 
} 
 
// This function reads out the contents of the indicated  
// by the Mailbox number (MBXnbr). 
void mailbox_read(int16 MBXnbr) 
{ 
   volatile struct MBOX *Mailbox; 
   Mailbox = &ECanbMboxes.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++; 
    } 
    else 
    { 
       PassCount++; 
    } 
} 
 
 
//=========================================================================== 
// No more. 
//===========================================================================