[参考译文] TMS320F28377D：C2000微控制器论坛

void InitCAN_A(void)
{
	int16_t iMsg;
	uint32_t status;
	//
    // Place CAN controller in init state, regardless of previous state.  This
    // will put controller in idle, and allow the message object RAM to be
    // programmed.
	//
	CanaRegs.CAN_CTL.bit.Init = 1;
    // Wait for busy bit to clear
    while(CanaRegs.CAN_IF1CMD.bit.Busy)；
	CanaRegs.CAN_CTL.bit.SWR = 1;
    while(CanaRegs.CAN_CTL.bit.SWR)；
    //setCANBitRate
    do{
        status = setCANBitRate(CAN_SYSCLK,CAN_BITRATE);
        DELAY_US(500);
    }while(status == 0);
    //
    // Initialize the message object that will be used for sending CAN
    // messages.
    //
    //setupMessageObject(CAN_TX_MSG_OBJ, CAN_MSG_ID, MSG_OBJ_TYPE_TRANSMIT);
    setupSend_MessageObject(CAN_TX_MSG_OBJ, CAN_MSG_ID);
    //
    // Initialize the message object that will be used for receiving CAN
    // messages.
    //
    setupRecive_MessageObject(CAN_RX_MSG_OBJ, CAN_MSG_ID);
    //enable can using operating mode
    CanaRegs.CAN_CTL.bit.Init = 0;
}

void setupSend_MessageObject(Uint32 objID, Uint32 msgID)
{
    //
    // Use Shadow variable for IF1CMD. IF1CMD should be written to in
    // single 32-bit write.
    //
    union CAN_IF1CMD_REG CAN_IF1CMD_SHADOW;

    //
    // Wait for busy bit to clear.
    //
    while(CanaRegs.CAN_IF1CMD.bit.Busy)
    {
    }

    //
    // Clear and Write out the registers to program the message object.
    //
    CAN_IF1CMD_SHADOW.all = 0;
    CanaRegs.CAN_IF1MSK.all = 0;
    CanaRegs.CAN_IF1ARB.all = 0;
    CanaRegs.CAN_IF1MCTL.all = 0;

    //
    // Set the Control, Mask, and Arb bit so that they get transferred to the
    // Message object.
    //

    CAN_IF1CMD_SHADOW.bit.Control = 1;
    CAN_IF1CMD_SHADOW.bit.Arb = 1;
//    CAN_IF1CMD_SHADOW.bit.Mask = 1;
    CAN_IF1CMD_SHADOW.bit.Mask = 0;
    CAN_IF1CMD_SHADOW.bit.DIR = 1;

    CAN_IF1CMD_SHADOW.bit.DATA_A = 1;          // 使能数据寄存器 A 访问
    CAN_IF1CMD_SHADOW.bit.DATA_B = 1;          // 使能数据寄存器 B 访问

    CanaRegs.CAN_IF1ARB.bit.Dir = 1;


    //
    // Set Message ID (this example assumes 11 bit ID mask)
    //
//    CanaRegs.CAN_IF1ARB.bit.Xtd = 0;
    CanaRegs.CAN_IF1ARB.bit.Xtd = 1;

//    CanaRegs.CAN_IF1ARB.bit.ID = ((Uint32)(0x123) << CAN_MSG_ID_SHIFT);
    CanaRegs.CAN_IF1ARB.bit.ID = 0x123456;

    CanaRegs.CAN_IF1ARB.bit.MsgVal = 1;

    //
    // Set the data length since this is set for all transfers.  This is
    // also a single transfer and not a FIFO transfer so set EOB bit.
    //
    CanaRegs.CAN_IF1MCTL.bit.DLC = messageSize;
    CanaRegs.CAN_IF1MCTL.bit.EoB = 1;
    //CanaRegs.CAN_IF1MCTL.bit.RmtEn = 0;    //非远程帧
    //
    // Transfer data to message object RAM
    //
    CAN_IF1CMD_SHADOW.bit.MSG_NUM = objID;
    CanaRegs.CAN_IF1CMD.all = CAN_IF1CMD_SHADOW.all;
    CAN_IF1CMD_SHADOW.all = 0;
}

// 设置 CAN 发送 ID（支持标准帧和扩展帧）
void CAN_SetTxId(Uint32 id, Uint32 isExtId,Uint32 objID)
{
    // 等待发送缓冲区空闲
    while (CanaRegs.CAN_IF1CMD.bit.Busy);

    while(CanaRegs.CAN_IF1MCTL.bit.TxRqst);


    // 进入配置模式
    CanaRegs.CAN_IF1CMD.all = 0;
    CanaRegs.CAN_IF1CMD.bit.MSG_NUM = objID;
    CanaRegs.CAN_IF1CMD.bit.Arb = 1;

    if (isExtId)
    {
        // 扩展帧 ID (29 位)
        CanaRegs.CAN_IF1ARB.bit.Xtd = 1;         // 设置为扩展帧
        CanaRegs.CAN_IF1ARB.bit.ID = id;       // 设置扩展 ID
    }
    else
    {
        // 标准帧 ID (11 位)
        CanaRegs.CAN_IF1ARB.bit.Xtd = 0;         // 设置为标准帧
        CanaRegs.CAN_IF1ARB.bit.ID = (id << 18);     // 设置标准 ID
    }
    CanaRegs.CAN_IF1MCTL.bit.RmtEn = 0;      // 设置数据长度
    CanaRegs.CAN_IF1MCTL.bit.UMask = 0;      // 设置数据长度
}

void sendCANMessage_withID(Uint32 objID,Uint32 uID,Uint32 length)
{
    //
    // Use Shadow variable for IF1CMD. IF1CMD should be written to in
    // single 32-bit write.
    //
    union CAN_IF1CMD_REG CAN_IF1CMD_SHADOW;
    //
    // Wait for busy bit to clear.
    //
    while(CanaRegs.CAN_IF1CMD.bit.Busy);
    //
    // Write data to transfer into DATA-A and DATA-B interface registers
    //
    uint16_t index;
    for(index = 0; index < length; index++)
    {
        switch(index)
        {
            case 0:
                CanaRegs.CAN_IF1DATA.bit.Data_0 = ucTXMsgData[index];
                break;
            case 1:
                CanaRegs.CAN_IF1DATA.bit.Data_1 = ucTXMsgData[index];
                break;
            case 2:
                CanaRegs.CAN_IF1DATA.bit.Data_2 = ucTXMsgData[index];
                break;
            case 3:
                CanaRegs.CAN_IF1DATA.bit.Data_3 = ucTXMsgData[index];
                break;

            case 4:
                CanaRegs.CAN_IF1DATB.bit.Data_4 = ucTXMsgData[index];
                break;
            case 5:
                CanaRegs.CAN_IF1DATB.bit.Data_5 = ucTXMsgData[index];
                break;
            case 6:
                CanaRegs.CAN_IF1DATB.bit.Data_6 = ucTXMsgData[index];
                break;
            case 7:
                CanaRegs.CAN_IF1DATB.bit.Data_7 = ucTXMsgData[index];
                break;
        }
    }


    //
     // Set Direction to write and set DATA-A/DATA-B to be transfered to
     // message object
     //
     CAN_IF1CMD_SHADOW.all = 0;


     CAN_IF1CMD_SHADOW.bit.MSG_NUM = objID;

     CAN_IF1CMD_SHADOW.bit.Control = 1;



     CAN_IF1CMD_SHADOW.bit.Mask = 1;
     CAN_IF1CMD_SHADOW.bit.DIR = 1;

     CAN_IF1CMD_SHADOW.bit.DATA_A = 1;
     CAN_IF1CMD_SHADOW.bit.DATA_B = 1;


     CanaRegs.CAN_IF1MCTL.bit.DLC = (Uint8)length&0x0f;                  // 设置数据长度


     CanaRegs.CAN_IF1ARB.bit.MsgVal = 1;
     //
     // Set Tx Request Bit
     //


     CAN_IF1CMD_SHADOW.bit.TXRQST = 1;
     //
     // Transfer the message object to the message object specified by
     // objID.
     //

     CanaRegs.CAN_IF1CMD.all = CAN_IF1CMD_SHADOW.all;
     CAN_IF1CMD_SHADOW.all = 0;

}