DSP28335 CAN模块例程

相关函数

InitECanbGpio(); //初始化CANB

InitECanb();

void InitECanb(void) // Initialize eCAN-B module
{
struct ECAN_REGS ECanbShadow;

EALLOW; // EALLOW enables access to protected bits
/* Configure eCAN RX and TX pins for CAN operation using eCAN regs*/
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;

/* Initialize all bits of 'Master Control Field' to zero */
// Some bits of MSGCTRL register come up in an unknown state. For proper operation,
// all bits (including reserved bits) of MSGCTRL must be initialized to zero
//SCC模式只有0~15号邮箱
ECanbMboxes.MBOX0.MSGCTRL.all = 0x00000000;
ECanbMboxes.MBOX1.MSGCTRL.all = 0x00000000;
ECanbMboxes.MBOX2.MSGCTRL.all = 0x00000000;
ECanbMboxes.MBOX3.MSGCTRL.all = 0x00000000;
ECanbMboxes.MBOX4.MSGCTRL.all = 0x00000000;
ECanbMboxes.MBOX5.MSGCTRL.all = 0x00000000;
ECanbMboxes.MBOX6.MSGCTRL.all = 0x00000000;
ECanbMboxes.MBOX7.MSGCTRL.all = 0x00000000;
ECanbMboxes.MBOX8.MSGCTRL.all = 0x00000000;
ECanbMboxes.MBOX9.MSGCTRL.all = 0x00000000;
ECanbMboxes.MBOX10.MSGCTRL.all = 0x00000000;
ECanbMboxes.MBOX11.MSGCTRL.all = 0x00000000;
ECanbMboxes.MBOX12.MSGCTRL.all = 0x00000000;
ECanbMboxes.MBOX13.MSGCTRL.all = 0x00000000;
ECanbMboxes.MBOX14.MSGCTRL.all = 0x00000000;
ECanbMboxes.MBOX15.MSGCTRL.all = 0x00000000;

// TAn, RMPn, GIFn bits are all zero upon reset and are cleared again
// as a matter of precaution.
ECanbRegs.CANTA.all = 0xFFFFFFFF; /* Clear all TAn bits */
ECanbRegs.CANRMP.all = 0xFFFFFFFF; /* Clear all RMPn bits */
ECanbRegs.CANGIF0.all = 0xFFFFFFFF; /* Clear all interrupt flag bits */
ECanbRegs.CANGIF1.all = 0xFFFFFFFF;

/* Configure bit timing parameters for eCANB*/
ECanbShadow.CANMC.all = ECanbRegs.CANMC.all;
ECanbShadow.CANMC.bit.CCR = 1 ; // Set CCR = 1
ECanbRegs.CANMC.all = ECanbShadow.CANMC.all;
ECanbShadow.CANES.all = ECanbRegs.CANES.all;

do
{
ECanbShadow.CANES.all = ECanbRegs.CANES.all;
} while(ECanbShadow.CANES.bit.CCE != 1 ); // Wait for CCE bit to be cleared..

ECanbShadow.CANBTC.all = 0;

#if (CPU_FRQ_150MHZ) // CPU_FRQ_150MHz is defined in DSP2833x_Examples.h
/* The following block for all 150 MHz SYSCLKOUT (75 MHz CAN clock) - default. Bit rate = 500k Mbps
See Note at end of file */
ECanbShadow.CANBTC.bit.BRPREG = 9;
ECanbShadow.CANBTC.bit.TSEG2REG = 2;
ECanbShadow.CANBTC.bit.TSEG1REG = 10;
#endif
#if (CPU_FRQ_100MHZ) // CPU_FRQ_100MHz is defined in DSP2833x_Examples.h
/* The following block is only for 100 MHz SYSCLKOUT (50 MHz CAN clock). Bit rate = 1 Mbps
See Note at end of file */
ECanbShadow.CANBTC.bit.BRPREG = 4;
ECanbShadow.CANBTC.bit.TSEG2REG = 1;
ECanbShadow.CANBTC.bit.TSEG1REG = 6;
#endif

//ECanbShadow.CANBTC.all = ECanbRegs.CANBTC.all;
ECanbShadow.CANBTC.bit.SAM = 1;
ECanbRegs.CANBTC.all = ECanbShadow.CANBTC.all;

ECanbShadow.CANMC.all = ECanbRegs.CANMC.all;
ECanbShadow.CANMC.bit.CCR = 0 ; // Set CCR = 0
ECanbRegs.CANMC.all = ECanbShadow.CANMC.all;

ECanbShadow.CANES.all = ECanbRegs.CANES.all;

do
{
ECanbShadow.CANES.all = ECanbRegs.CANES.all;
} while(ECanbShadow.CANES.bit.CCE != 0 ); // Wait for CCE bit to be cleared..

/* Disable all Mailboxes */
ECanbRegs.CANME.all = 0; // Required before writing the MSGIDs

EDIS;

/* Configure Mailbox under test as a Transmit mailbox */
ECanbShadow.CANMD.all = ECanbRegs.CANMD.all;
ECanbShadow.CANMD.all = 0xff00; //邮箱0~7为发送，8~15为接收
ECanbRegs.CANMD.all = ECanbShadow.CANMD.all;

ECanbShadow.CANGAM.all = ECanbRegs.CANGAM.all;
ECanbShadow.CANGAM.bit.AMI = 1; //标准帧和扩展帧都接受
ECanbShadow.CANGAM.bit.GAM2816 |= 0x1fff; //LAM(0)用于邮箱0~2 ,LAM(3)用于邮箱3~5,对于邮箱6~15,用全局接收屏蔽
ECanbRegs.CANGAM.all = ECanbShadow.CANGAM.all;

//接收中断设置
EALLOW;
ECanbShadow.CANMIM.all = ECanbRegs.CANMIM.all;
ECanbShadow.CANMIM.all = 0xff00 ; // 开启8~15号邮箱中断
ECanbRegs.CANMIM.all = ECanbShadow.CANMIM.all;
ECanbShadow.CANMIL.all = ECanbRegs.CANMIL.all;
ECanbShadow.CANMIL.all = 0xff00 ; // 8~15号邮箱中断在中断线1上产生
ECanbRegs.CANMIL.all = ECanbShadow.CANMIL.all;
ECanbShadow.CANGIM.all = ECanbRegs.CANGIM.all;
ECanbShadow.CANGIM.all = 0x02 ; // 中断线1使能
ECanbRegs.CANGIM.all = ECanbShadow.CANGIM.all;
EDIS;

//ECanbMboxes.MBOX15.MSGID.bit.AME=1; //15号邮箱接收任何ID的报文
ECanbMboxes.MBOX5.MSGID.all = 0; // stand Identifier
/* Enable Mailbox under test */
ECanbShadow.CANME.all = ECanbRegs.CANME.all;
ECanbShadow.CANME.all = 0xffff;
ECanbRegs.CANME.all = ECanbShadow.CANME.all;
}

//注意邮箱编号需要根据实际修改
//CANB 发送函数 Can_Id为11位标准帧ID, length为CAN数据长度(单位是字节), Data_L为低四位字节，Data_H为高四位字节
void CanBSend(Uint32 Can_Id, u8 length, Uint32 Data_L, Uint32 Data_H)
{
struct ECAN_REGS ECanbShadow;

//修改ID前要禁止邮箱才能往寄存器里面写值
ECanbShadow.CANME.all = ECanbRegs.CANME.all;
ECanbShadow.CANME.all = 0;
ECanbRegs.CANME.all = ECanbShadow.CANME.all;
/* Write to the MSGID field */
ECanbMboxes.MBOX5.MSGID.all = ( (Can_Id|0x10000000)<<18); // stand Identifier
//使能邮箱
ECanbShadow.CANME.all = ECanbRegs.CANME.all;
ECanbShadow.CANME.all = 0xffff;
ECanbRegs.CANME.all = ECanbShadow.CANME.all;

/* Write to DLC field in Master Control reg */
ECanbMboxes.MBOX5.MSGCTRL.bit.DLC = length; //8;
/* Write to the mailbox RAM field */
ECanbMboxes.MBOX5.MDL.all =Data_L; // 0x54555555; //高位4字节
ECanbMboxes.MBOX5.MDH.all =Data_H ; // 0x55578555; //低位4字节

//struct ECAN_REGS ECanbShadow;
ECanbShadow.CANTRS.all = 0;
ECanbShadow.CANTRS.bit.TRS5 = 1; // Set TRS for mailbox under test
ECanbRegs.CANTRS.all = ECanbShadow.CANTRS.all;
do
{
ECanbShadow.CANTA.all = ECanbRegs.CANTA.all;
} while(ECanbShadow.CANTA.bit.TA5 == 0 ); // Wait for TA5 bit to be set..
ECanbShadow.CANTA.all = 0;
ECanbShadow.CANTA.bit.TA5 = 1; // Clear TA5
ECanbRegs.CANTA.all = ECanbShadow.CANTA.all;
}

Uint32 Mbox_DL = 0;
Uint32 Mbox_DH = 0;
Uint32 Mbox_MSGID = 0;
Uint32 ttt=0;
interrupt void CANB_Recv_ISR(void) // CANB接收中断
{
struct ECAN_REGS ECanbShadow;
volatile struct MBOX *Mailbox;
PieCtrlRegs.PIEACK.all = PIEACK_GROUP9;

ttt=(ECanbRegs.CANGIF1.all)&0x0f;
Mailbox = &ECanbMboxes.MBOX0 + ttt; //邮箱0地址+邮箱中断向量得到偏移地址
Mbox_DL = Mailbox->MDL.all; // = 0x9555AAAn (n is the MBX number)
Mbox_DH = Mailbox->MDH.all; // = 0x89ABCDEF (a constant)
Mbox_MSGID = ((Mailbox->MSGID.all)&0X1FFC0000)>>18; // = 0x9555AAAn (n is the MBX number)

ECanbShadow.CANGIF1.all = ECanbRegs.CANGIF1.all;
ECanbShadow.CANGIF1.bit.GMIF1 = 1; //清除中断标志位
ECanbRegs.CANGIF1.all = ECanbShadow.CANGIF1.all;
ECanbRegs.CANRMP.all = 0XFF00; //清中断接收标志
}

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