SM320F2812: ECAN在selftest模型下正常，实际硬件环境下无法发送数据

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#include "DSP281x_Device.h" // DSP281x Headerfile Include File
#include "DSP281x_Examples.h" // DSP281x Examples Include File

extern void delay_loop();

#define TXCOUNT 1000 // Transmission will take place (TXCOUNT) times..

#define ENABLE_SELF_TEST 0

// Globals for this example
//long i_2;
long loopcount_2 = 0;


void enable_Interrupt_2(void);
void config_ecana_2();

interrupt void INTA_ISR_2(void);


void main_test_CAN_2(void)
{
struct ECAN_REGS ECanaShadow;
Uint32 value = 0;
long i = 0;

InitSysCtrl();


DINT;

InitPieCtrl();

IER = 0x0000;
IFR = 0x0000;

InitPieVectTable();

InitECan();
config_ecana_2();
enable_Interrupt_2();
//ECanaMboxes.MBOX0.MSGID.all = 0x95555555; // Extended Identifier

/* Begin transmitting */
while (1)
{
for(i=0; i < TXCOUNT; i++)
{
ECanaMboxes.MBOX0.MDL.all = value++;
ECanaMboxes.MBOX0.MDH.all = value;

ECanaShadow.CANTRS.all = 0;
ECanaShadow.CANTRS.bit.TRS0 = 1; // Set TRS for mailbox under test
ECanaRegs.CANTRS.all = ECanaShadow.CANTRS.all;

do
{
ECanaShadow.CANTA.all = ECanaRegs.CANTA.all;
} while(ECanaShadow.CANTA.bit.TA0 == 0 ); // Wait for TA5 bit to be set..


ECanaShadow.CANTA.all = 0;
ECanaShadow.CANTA.bit.TA0 = 1; // Clear TA0
ECanaRegs.CANTA.all = ECanaShadow.CANTA.all;

loopcount_2 ++;
}

value = 0;
loopcount_2 = 0;
delay_loop();
}

//asm(" ESTOP0"); // Stop here
}

void config_ecana_2()
{
struct ECAN_REGS ECanaShadow;

ECanaMboxes.MBOX0.MSGID.all = 0x95555555;
ECanaMboxes.MBOX1.MSGID.all = 0x10000;

/* Configure Mailbox under test as a Transmit mailbox */
// cana邮箱0设置为发送
ECanaShadow.CANMD.all = ECanaRegs.CANMD.all;
ECanaShadow.CANMD.bit.MD0 = 0;
ECanaRegs.CANMD.all = ECanaShadow.CANMD.all;

/* Enable Mailbox under test */

ECanaShadow.CANME.all = ECanaRegs.CANME.all;
ECanaShadow.CANME.bit.ME0 = 1;
ECanaRegs.CANME.all = ECanaShadow.CANME.all;

/* Write to DLC field in Master Control reg */

ECanaMboxes.MBOX0.MSGCTRL.bit.DLC = 8;
ECanaMboxes.MBOX1.MSGCTRL.bit.DLC = 8;

ECanaMboxes.MBOX0.MSGCTRL.bit.RTR = 0;
ECanaMboxes.MBOX1.MSGCTRL.bit.RTR = 0;

//cana配置位接受邮箱 mail1为接收邮箱
ECanaShadow.CANMD.all = ECanaRegs.CANMD.all;
ECanaShadow.CANMD.bit.MD1 = 1;
ECanaRegs.CANMD.all = ECanaShadow.CANMD.all;
// 使能邮箱1
ECanaShadow.CANME.all = ECanaRegs.CANME.all;
ECanaShadow.CANME.bit.ME1 =1;
ECanaRegs.CANME.all = ECanaShadow.CANME.all;

EALLOW;
ECanaRegs.CANMIM.all = 0xFFFFFFFF;

// 配置为self-test 模式
// Configure the eCAN for self test mode
// Enable the enhanced features of the eCAN.
ECanaShadow.CANMC.all = ECanaRegs.CANMC.all;
ECanaShadow.CANMC.bit.STM = ENABLE_SELF_TEST; // Configure CAN for self-test mode
ECanaShadow.CANMC.bit.SCB = 1; // eCAN mode (reqd to access 32 mailboxes)
ECanaRegs.CANMC.all = ECanaShadow.CANMC.all;

EDIS;
}

void enable_Interrupt_2(void)
{
struct ECAN_REGS ECanaShadow;
EALLOW;

ECanaRegs.CANMIM.all = 0xFFFFFFFF;
ECanaRegs.CANMIL.all = 0; // 邮箱中断将产生ECAN0INT
ECanaRegs.CANGIF0.all = 0xFFFFFFFF;
ECanaRegs.CANGIM.bit.I0EN = 1;

/*ECanaShadow.CANMIM.all=ECanaRegs.CANMIM.all;
ECanaShadow.CANMIM.bit.MIM1=1;
ECanaRegs.CANMIM.all=ECanaShadow.CANMIM.all;

ECanaShadow.CANMIL.all = ECanaRegs.CANMIL.all;
ECanaShadow.CANMIL.all = 0; // 1-32号邮箱中断在中断线0上产生
ECanaRegs.CANMIL.all = ECanaShadow.CANMIL.all;

ECanaShadow.CANGIM.all = ECanaRegs.CANGIM.all;
ECanaShadow.CANGIM.bit.I0EN = 1 ; // 中断线0使能
ECanaRegs.CANGIM.all = ECanaShadow.CANGIM.all;

ECanaShadow.CANMC.all = ECanaRegs.CANMC.all;
ECanaShadow.CANMC.bit.STM = 0; // 0-Normal
ECanaRegs.CANMC.all = ECanaShadow.CANMC.all;*/

EDIS;

EALLOW; // This is needed to write to EALLOW protected registers
PieVectTable.ECAN0INTA = &INTA_ISR_2;//R-CAN1 接收后中断函数
EDIS; // This is needed to disable write to EALLOW protected registers

IER |=M_INT9;// 开CPU中断1~9(必须开放对应的CPU级中断口)

PieCtrlRegs.PIECRTL.bit.ENPIE = 1; // Enable the PIE block
PieCtrlRegs.PIEIER9.bit.INTx5=1; //R-CAN0 接收邮箱

EINT;//开总中断
ERTM;//使能实时中断（CPU级的）
}

interrupt void INTA_ISR_2(void)
{
Uint32 TestMbox1,TestMbox2,TestMbox3;
if(ECanaRegs.CANRMP.bit.RMP1==1)//RX get after flag and int BOX1
{
ECanaRegs.CANRMP.bit.RMP1=1; //clear GMIF1
TestMbox1 = ECanaMboxes.MBOX1.MDL.all;
TestMbox2 = ECanaMboxes.MBOX1.MDH.all;
TestMbox3 = ECanaMboxes.MBOX1.MSGID.all;//从外部接收邮箱1的ID，1为接收邮箱（CANMD）
}
PieCtrlRegs.PIEACK.all = PIEACK_GROUP9;

}

void InitECan(void)
{

/* Create a shadow register structure for the CAN control registers. This is
needed, since only 32-bit access is allowed to these registers. 16-bit access
to these registers could potentially corrupt the register contents or return
false data. This is especially true while writing to/reading from a bit
(or group of bits) among bits 16 - 31 */

struct ECAN_REGS ECanaShadow;

asm(" EALLOW");

/* Configure eCAN pins for CAN operation using GPIO regs*/

GpioMuxRegs.GPFMUX.bit.CANTXA_GPIOF6 = 1;
GpioMuxRegs.GPFMUX.bit.CANRXA_GPIOF7 = 1;

// 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 eCAN RX and TX pins for CAN operation using eCAN regs*/

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;

/* Configure eCAN for HECC mode - (reqd to access mailboxes 16 thru 31) */
// HECC mode also enables time-stamping feature

ECanaShadow.CANMC.all = ECanaRegs.CANMC.all;
ECanaShadow.CANMC.bit.SCB = 1;
ECanaRegs.CANMC.all = ECanaShadow.CANMC.all;

/* Initialize all bits of 'Master Control Field' to zero */
// Some bits of MSGCTRL register may come up in an unknown state. For proper operation,
// all bits (including reserved bits) of MSGCTRL must be initialized to zero

ECanaMboxes.MBOX0.MSGCTRL.all = 0x00000000;
ECanaMboxes.MBOX1.MSGCTRL.all = 0x00000000;
ECanaMboxes.MBOX2.MSGCTRL.all = 0x00000000;
ECanaMboxes.MBOX3.MSGCTRL.all = 0x00000000;
ECanaMboxes.MBOX4.MSGCTRL.all = 0x00000000;
ECanaMboxes.MBOX5.MSGCTRL.all = 0x00000000;
ECanaMboxes.MBOX6.MSGCTRL.all = 0x00000000;
ECanaMboxes.MBOX7.MSGCTRL.all = 0x00000000;
ECanaMboxes.MBOX8.MSGCTRL.all = 0x00000000;
ECanaMboxes.MBOX9.MSGCTRL.all = 0x00000000;
ECanaMboxes.MBOX10.MSGCTRL.all = 0x00000000;
ECanaMboxes.MBOX11.MSGCTRL.all = 0x00000000;
ECanaMboxes.MBOX12.MSGCTRL.all = 0x00000000;
ECanaMboxes.MBOX13.MSGCTRL.all = 0x00000000;
ECanaMboxes.MBOX14.MSGCTRL.all = 0x00000000;
ECanaMboxes.MBOX15.MSGCTRL.all = 0x00000000;
ECanaMboxes.MBOX16.MSGCTRL.all = 0x00000000;
ECanaMboxes.MBOX17.MSGCTRL.all = 0x00000000;
ECanaMboxes.MBOX18.MSGCTRL.all = 0x00000000;
ECanaMboxes.MBOX19.MSGCTRL.all = 0x00000000;
ECanaMboxes.MBOX20.MSGCTRL.all = 0x00000000;
ECanaMboxes.MBOX21.MSGCTRL.all = 0x00000000;
ECanaMboxes.MBOX22.MSGCTRL.all = 0x00000000;
ECanaMboxes.MBOX23.MSGCTRL.all = 0x00000000;
ECanaMboxes.MBOX24.MSGCTRL.all = 0x00000000;
ECanaMboxes.MBOX25.MSGCTRL.all = 0x00000000;
ECanaMboxes.MBOX26.MSGCTRL.all = 0x00000000;
ECanaMboxes.MBOX27.MSGCTRL.all = 0x00000000;
ECanaMboxes.MBOX28.MSGCTRL.all = 0x00000000;
ECanaMboxes.MBOX29.MSGCTRL.all = 0x00000000;
ECanaMboxes.MBOX30.MSGCTRL.all = 0x00000000;
ECanaMboxes.MBOX31.MSGCTRL.all = 0x00000000;

// TAn, RMPn, GIFn bits are all zero upon reset and are cleared again
// as a matter of precaution.

/* Clear all TAn bits */

ECanaRegs.CANTA.all = 0xFFFFFFFF;

/* Clear all RMPn bits */

ECanaRegs.CANRMP.all = 0xFFFFFFFF;

/* Clear all interrupt flag bits */

ECanaRegs.CANGIF0.all = 0xFFFFFFFF;
ECanaRegs.CANGIF1.all = 0xFFFFFFFF;

/* Configure bit timing parameters */

ECanaShadow.CANMC.all = ECanaRegs.CANMC.all;
ECanaShadow.CANMC.bit.CCR = 1 ; // Set CCR = 1
ECanaRegs.CANMC.all = ECanaShadow.CANMC.all;

ECanaShadow.CANES.all = ECanaRegs.CANES.all;

// Wait until the CPU has been granted permission to change the configuration registers
do
{
ECanaShadow.CANES.all = ECanaRegs.CANES.all;
} while(ECanaShadow.CANES.bit.CCE != 1 ); // Wait for CCE bit to be set..

ECanaShadow.CANBTC.all = 0;
ECanaShadow.CANBTC.bit.BRPREG = 9; // 1 Mbps @ 150 MHz SYSCLKOUT
ECanaShadow.CANBTC.bit.TSEG2REG = 2;
ECanaShadow.CANBTC.bit.TSEG1REG = 10;
ECanaShadow.CANBTC.bit.SAM = 1;
ECanaRegs.CANBTC.all = ECanaShadow.CANBTC.all;

ECanaShadow.CANMC.all = ECanaRegs.CANMC.all;
ECanaShadow.CANMC.bit.CCR = 0 ; // Set CCR = 0
ECanaRegs.CANMC.all = ECanaShadow.CANMC.all;

ECanaShadow.CANES.all = ECanaRegs.CANES.all;

// 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 ); // Wait for CCE bit to be cleared..

/* 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; // Required before writing the MSGIDs
}