/*
* ecan.c
*
* Created on: 2024年8月12日
* Author: Administrator
*/
#include "ecan.h"
extern volatile Uint32 RX_L;
extern volatile Uint32 RX_H;
void InitECANB(void)
{
config_eCANB();
Init_mail_Tx_Rx();
}
void Init_GPIOCANb(void)
{
EALLOW;
GpioCtrlRegs.GPAPUD.bit.GPIO17 = 0;// Enable pull-up for GPIO17 (CANRXA)
GpioCtrlRegs.GPAPUD.bit.GPIO16 = 0; // Enable pull-up for GPIO16 (CANTXA)
GpioCtrlRegs.GPAQSEL2.bit.GPIO17 = 3;
GpioCtrlRegs.GPAMUX2.bit.GPIO17 = 2;//复用位CANB的RX引脚
GpioCtrlRegs.GPAMUX2.bit.GPIO16 = 2;//复用位CANB的TX引脚
EDIS;
}
void config_eCANB(void)
{
EALLOW;
SysCtrlRegs.PCLKCR0.bit.ECANBENCLK=1; // eCAN-B
EDIS;
struct ECAN_REGS ECanbShadow;
EALLOW; // EALLOW enables access to protected bits
//配置eCAN的RX和TX分别为eCAN的接收和发送引脚
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;
ECanbShadow.CANMC.all = ECanbRegs.CANMC.all;
ECanbShadow.CANMC.bit.STM = 0; //工作在正常模式
ECanbShadow.CANMC.bit.SCB = 1; //工作在ecan模式
ECanbRegs.CANMC.all = ECanbShadow.CANMC.all;
//初始化所有主设备控制区域为0，MCF所有的位都初始化为0
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;
ECanbMboxes.MBOX16.MSGCTRL.all = 0x00000000;
ECanbMboxes.MBOX17.MSGCTRL.all = 0x00000000;
ECanbMboxes.MBOX18.MSGCTRL.all = 0x00000000;
ECanbMboxes.MBOX19.MSGCTRL.all = 0x00000000;
ECanbMboxes.MBOX20.MSGCTRL.all = 0x00000000;
ECanbMboxes.MBOX21.MSGCTRL.all = 0x00000000;
ECanbMboxes.MBOX22.MSGCTRL.all = 0x00000000;
ECanbMboxes.MBOX23.MSGCTRL.all = 0x00000000;
ECanbMboxes.MBOX24.MSGCTRL.all = 0x00000000;
ECanbMboxes.MBOX25.MSGCTRL.all = 0x00000000;
ECanbMboxes.MBOX26.MSGCTRL.all = 0x00000000;
ECanbMboxes.MBOX27.MSGCTRL.all = 0x00000000;
ECanbMboxes.MBOX28.MSGCTRL.all = 0x00000000;
ECanbMboxes.MBOX29.MSGCTRL.all = 0x00000000;
ECanbMboxes.MBOX30.MSGCTRL.all = 0x00000000;
// /* Clear all TAn bits */
// ECanbRegs.CANTA.all = 0xFFFFFFFF;
//
// /* Clear all RMPn bits */
// ECanbRegs.CANRMP.all = 0xFFFFFFFF;
//
// /* Clear all interrupt flag bits */
// ECanbRegs.CANGIF0.all = 0xFFFFFFFF;
// ECanbRegs.CANGIF1.all = 0xFFFFFFFF;
//
ECanbShadow.CANTA.all = ECanbRegs.CANTA.all;
ECanbShadow.CANTA.all = 0xFFFFFFFF;
ECanbRegs.CANTA.all = ECanbShadow.CANTA.all;
ECanbShadow.CANRMP.all = ECanbRegs.CANRMP.all;
ECanbShadow.CANRMP.all = 0xFFFFFFFF;
ECanbRegs.CANRMP.all = ECanbShadow.CANRMP.all;
ECanbShadow.CANGIF0.all = ECanbRegs.CANGIF0.all;
ECanbShadow.CANGIF0.all = 0xFFFFFFFF;
ECanbRegs.CANGIF0.all = ECanbShadow.CANGIF0.all;
ECanbShadow.CANGIF1.all = ECanbRegs.CANGIF1.all;
ECanbShadow.CANGIF1.all = 0xFFFFFFFF;
ECanbRegs.CANGIF1.all = ECanbShadow.CANGIF1.all;
//ccr置位等待cce
//CPU请求向CANBTC和CANGAM写配置信息，该位置1后必须等到CANED.CCE为1，才能
//对CANBTC进行操作。
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;
// CPU_FRQ_150MHz is defined in DSP2833x_Examples.h
/* The following block for all 150 MHz SYSCLKOUT (75 MHz CAN clock) - default. Bit rate = 1 Mbps
See Note at end of file */
ECanbShadow.CANBTC.bit.BRPREG = 19;
ECanbShadow.CANBTC.bit.TSEG2REG = 2;
ECanbShadow.CANBTC.bit.TSEG1REG = 10;
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 );
ECanbRegs.CANME.all = 0;//禁用所有邮箱
EDIS;
}
void Init_mail_Tx_Rx(void)
{
// Uint32 Rec_l = 0x00000000;
// Uint32 Rec_h = 0x00000000;
struct ECAN_REGS ECanbShadow;
ECanbMboxes.MBOX16.MSGID.all = 0x80C20000;//设置接收邮箱的ID，扩展帧
ECanbMboxes.MBOX25.MSGID.all = 0x95555555; // Extended Identifier
/*邮箱25为TX，为RX*/
ECanbShadow.CANMD.all = ECanbRegs.CANMD.all;
ECanbShadow.CANMD.bit.MD25 = 0;
ECanbShadow.CANMD.bit.MD16 =1;
ECanbRegs.CANMD.all = ECanbShadow.CANMD.all;
//数据长度为8字节
ECanbMboxes.MBOX25.MSGCTRL.bit.DLC = 8;
ECanbMboxes.MBOX16.MSGCTRL.bit.DLC = 8;
//没有远方应答帧被请求*/
ECanbMboxes.MBOX16.MSGCTRL.bit.RTR = 0;
ECanbMboxes.MBOX25.MSGCTRL.bit.RTR = 0;
//使能邮箱
ECanbShadow.CANME.all = ECanbRegs.CANME.all;
ECanbShadow.CANME.bit.ME25 = 1;
ECanbShadow.CANME.bit.ME16 =1;
ECanbRegs.CANME.all = ECanbShadow.CANME.all;
//邮箱中断使能
EALLOW;
ECanbRegs.CANMIM.all = 0xFFFFFFFF;
//邮箱中断将产生在ECAN0INT
ECanbRegs.CANMIL.all = 0;
ECanbRegs.CANGIF0.all = 0xFFFFFFFF;
//ECAN0INT中断请求线被使能
ECanbRegs.CANGIM.bit.I0EN = 1;
EDIS;
}
void Trancemit_CANb(Uint32 highdata,Uint32 lowdata,Uint32 times)
{
struct ECAN_REGS ECanbShadow;
int i=0;
ECanbMboxes.MBOX25.MDL.all = lowdata;
ECanbMboxes.MBOX25.MDH.all = highdata;
for(i=0; i < times; i++)
{
ECanbShadow.CANTRS.all = 0;
ECanbShadow.CANTRS.bit.TRS25 = 1; // Set TRS for mailbox under test
ECanbRegs.CANTRS.all = ECanbShadow.CANTRS.all;
do
{
ECanbShadow.CANTA.all = ECanbRegs.CANTA.all;
} while(ECanbShadow.CANTA.bit.TA25 == 0 ); // Wait for TA5 bit to be set..
ECanbShadow.CANTA.all = 0;
ECanbShadow.CANTA.bit.TA25 = 1; // Clear TA5
ECanbRegs.CANTA.all = ECanbShadow.CANTA.all;
}
}
void InitEcanbRX()
{
EALLOW; // 写保护
PieVectTable.ECAN0INTB = &ECANB_RX; //设置ECAN0INTB中断服务程序的入口地址为ECAN0INTB_iSR
EDIS; // 禁用写保护
//使能PIE中断
PieCtrlRegs.PIEIER9.bit.INTx7 = 1;
//使能CPU中断
IER |= M_INT9;
EINT; //开全局中断
ERTM; //开实时中断
}
interrupt void ECANB_RX(void)
{
// volatile Uint32 Rec_l = 0x00000000;
// volatile Uint32 Rec_h = 0x00000000;
if(ECanbRegs.CANRMP.all != 0)
{
while(ECanbRegs.CANRMP.all != 0x00010000 ) ;
ECanbRegs.CANRMP.all = 0x00010000;
//收到的数据在接收邮箱Mbox16
RX_L = ECanbMboxes.MBOX16.MDL.all;
RX_H = ECanbMboxes.MBOX16.MDH.all;
PieCtrlRegs.PIEACK.bit.ACK9= 1;
EINT;
}
}
//main.c
/**
* main.c
*/
#include "DSP28x_Project.h"
#include "ecan.h"
volatile Uint32 RX_L = 0x00000000;
volatile Uint32 RX_H = 0x00000000;
int main(void)
{
InitSysCtrl();
Init_GPIOCANb();
DINT;
IER = 0x0000;
IFR = 0x0000;
InitPieCtrl();
InitPieVectTable();
EALLOW; // 写保护
PieVectTable.ECAN0INTB = &ECANB_RX; //设置ECAN0INTB中断服务程序的入口地址为ECAN0INTB_iSR
EDIS; // 禁用写保护
InitECANB();
Init_mail_Tx_Rx();
PieCtrlRegs.PIEIER9.bit.INTx7 = 1;
//使能CPU中断
IER |= M_INT9;
EINT; //开全局中断
ERTM; //开实时中断
InitEcanbRX();
Trancemit_CANb(0x11111111,0x22222222,3);
while(1)
{}
}
这是变量类型
