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//文件: Example_281xECanBack2Back.c
//功能: eCAN內(nèi)部功能自測程序
//#####################################################################
#include "DSP281x_Device.h" //頭文件
#include "DSP281x_Examples.h"
//函數(shù)聲明
void mailbox_check(int32 T1, int32 T2, int32 T3);
void mailbox_read(int16 i);
//全局變量
Uint32 ErrorCount;
Uint32 MessageReceivedCount;
Uint32 TestMbox1 = 0;
Uint32 TestMbox2 = 0;
Uint32 TestMbox3 = 0;
//主函數(shù)
void main(void)
{
Uint16 j;
struct ECAN_REGS ECanaShadow;
//步驟1.初始化系統(tǒng)控制(PLL, 看門狗，使能外設時鐘)
InitSysCtrl();
//步驟2.初始化 GPIO
//InitGpio(); //本例中略過
//步驟3.清除所有中斷并初始化PIE向量表
DINT; //禁止 CPU 所有中斷
//初始化 PIE 控制寄存器組.
//InitPieCtrl(); //本例中略過
//禁止CPU所有中斷并清除所有中斷標志位
IER = 0x0000;
IFR = 0x0000;
//InitPieVectTable(); //本例中略過
//步驟4.初始化所有外設
//InitPeripherals(); //本例中不需要
//步驟5.用戶程序段
MessageReceivedCount = 0;
ErrorCount = 0;
InitECan(); //初始化eCAN
//可以一次向郵箱寫16位或32位數(shù)據(jù)
//向發(fā)送郵箱MBOX0~15寫入MSGID(ID號)
ECanaMboxes.MBOX0.MSGID.all = 0x9555AAA0;
ECanaMboxes.MBOX1.MSGID.all = 0x9555AAA1;
ECanaMboxes.MBOX2.MSGID.all = 0x9555AAA2;
ECanaMboxes.MBOX3.MSGID.all = 0x9555AAA3;
ECanaMboxes.MBOX4.MSGID.all = 0x9555AAA4;
ECanaMboxes.MBOX5.MSGID.all = 0x9555AAA5;
ECanaMboxes.MBOX6.MSGID.all = 0x9555AAA6;
ECanaMboxes.MBOX7.MSGID.all = 0x9555AAA7;
ECanaMboxes.MBOX8.MSGID.all = 0x9555AAA8;
ECanaMboxes.MBOX9.MSGID.all = 0x9555AAA9;
ECanaMboxes.MBOX10.MSGID.all = 0x9555AAAA;
ECanaMboxes.MBOX11.MSGID.all = 0x9555AAAB;
ECanaMboxes.MBOX12.MSGID.all = 0x9555AAAC;
ECanaMboxes.MBOX13.MSGID.all = 0x9555AAAD;
ECanaMboxes.MBOX14.MSGID.all = 0x9555AAAE;
ECanaMboxes.MBOX15.MSGID.all = 0x9555AAAF;
//向接收郵箱 MBOX16~31寫入MSGID(ID號)
ECanaMboxes.MBOX16.MSGID.all = 0x9555AAA0;
ECanaMboxes.MBOX17.MSGID.all = 0x9555AAA1;
ECanaMboxes.MBOX18.MSGID.all = 0x9555AAA2;
ECanaMboxes.MBOX19.MSGID.all = 0x9555AAA3;
ECanaMboxes.MBOX20.MSGID.all = 0x9555AAA4;
ECanaMboxes.MBOX21.MSGID.all = 0x9555AAA5;
ECanaMboxes.MBOX22.MSGID.all = 0x9555AAA6;
ECanaMboxes.MBOX23.MSGID.all = 0x9555AAA7;
ECanaMboxes.MBOX24.MSGID.all = 0x9555AAA8;
ECanaMboxes.MBOX25.MSGID.all = 0x9555AAA9;
ECanaMboxes.MBOX26.MSGID.all = 0x9555AAAA;
ECanaMboxes.MBOX27.MSGID.all = 0x9555AAAB;
ECanaMboxes.MBOX28.MSGID.all = 0x9555AAAC;
ECanaMboxes.MBOX29.MSGID.all = 0x9555AAAD;
ECanaMboxes.MBOX30.MSGID.all = 0x9555AAAE;
ECanaMboxes.MBOX31.MSGID.all = 0x9555AAAF;
//配置郵箱0~15作為發(fā)送郵箱，16~31作為接收郵箱
//因為在這里寫操作是針對整個寄存器而不是某一位，所以不需要映射寄存器組
ECanaRegs.CANMD.all = 0xFFFF0000;
//使能所有的郵箱
ECanaRegs.CANME.all = 0xFFFFFFFF;
//設置每次發(fā)送和接收數(shù)據(jù)為8位格式
ECanaMboxes.MBOX0.MSGCTRL.bit.DLC = 8;
ECanaMboxes.MBOX1.MSGCTRL.bit.DLC = 8;
ECanaMboxes.MBOX2.MSGCTRL.bit.DLC = 8;
ECanaMboxes.MBOX3.MSGCTRL.bit.DLC = 8;
ECanaMboxes.MBOX4.MSGCTRL.bit.DLC = 8;
ECanaMboxes.MBOX5.MSGCTRL.bit.DLC = 8;
ECanaMboxes.MBOX6.MSGCTRL.bit.DLC = 8;
ECanaMboxes.MBOX7.MSGCTRL.bit.DLC = 8;
ECanaMboxes.MBOX8.MSGCTRL.bit.DLC = 8;
ECanaMboxes.MBOX9.MSGCTRL.bit.DLC = 8;
ECanaMboxes.MBOX10.MSGCTRL.bit.DLC = 8;
ECanaMboxes.MBOX11.MSGCTRL.bit.DLC = 8;
ECanaMboxes.MBOX12.MSGCTRL.bit.DLC = 8;
ECanaMboxes.MBOX13.MSGCTRL.bit.DLC = 8;
ECanaMboxes.MBOX14.MSGCTRL.bit.DLC = 8;
ECanaMboxes.MBOX15.MSGCTRL.bit.DLC = 8;
//向發(fā)送郵箱MBOX0~15中寫入要發(fā)送的數(shù)據(jù)
ECanaMboxes.MBOX0.MDL.all = 0x9555AAA0;
ECanaMboxes.MBOX0.MDH.all = 0x89ABCDEF;
ECanaMboxes.MBOX1.MDL.all = 0x9555AAA1;
ECanaMboxes.MBOX1.MDH.all = 0x89ABCDEF;
ECanaMboxes.MBOX2.MDL.all = 0x9555AAA2;
ECanaMboxes.MBOX2.MDH.all = 0x89ABCDEF;
ECanaMboxes.MBOX3.MDL.all = 0x9555AAA3;
ECanaMboxes.MBOX3.MDH.all = 0x89ABCDEF;
ECanaMboxes.MBOX4.MDL.all = 0x9555AAA4;
ECanaMboxes.MBOX4.MDH.all = 0x89ABCDEF;
ECanaMboxes.MBOX5.MDL.all = 0x9555AAA5;
ECanaMboxes.MBOX5.MDH.all = 0x89ABCDEF;
ECanaMboxes.MBOX6.MDL.all = 0x9555AAA6;
ECanaMboxes.MBOX6.MDH.all = 0x89ABCDEF;
ECanaMboxes.MBOX7.MDL.all = 0x9555AAA7;
ECanaMboxes.MBOX7.MDH.all = 0x89ABCDEF;
ECanaMboxes.MBOX8.MDL.all = 0x9555AAA8;
ECanaMboxes.MBOX8.MDH.all = 0x89ABCDEF;
ECanaMboxes.MBOX9.MDL.all = 0x9555AAA9;
ECanaMboxes.MBOX9.MDH.all = 0x89ABCDEF;
ECanaMboxes.MBOX10.MDL.all = 0x9555AAAA;
ECanaMboxes.MBOX10.MDH.all = 0x89ABCDEF;
ECanaMboxes.MBOX11.MDL.all = 0x9555AAAB;
ECanaMboxes.MBOX11.MDH.all = 0x89ABCDEF;
ECanaMboxes.MBOX12.MDL.all = 0x9555AAAC;
ECanaMboxes.MBOX12.MDH.all = 0x89ABCDEF;
ECanaMboxes.MBOX13.MDL.all = 0x9555AAAD;
ECanaMboxes.MBOX13.MDH.all = 0x89ABCDEF;
ECanaMboxes.MBOX14.MDL.all = 0x9555AAAE;
ECanaMboxes.MBOX14.MDH.all = 0x89ABCDEF;
ECanaMboxes.MBOX15.MDL.all = 0x9555AAAF;
ECanaMboxes.MBOX15.MDH.all = 0x89ABCDEF;
//配置eCAN為自測試模式，并使能CAN模塊為eCAN模式
EALLOW;
ECanaShadow.CANMC.all = ECanaRegs.CANMC.all;
ECanaShadow.CANMC.bit.STM = 1; //配置自測試模式
ECanaRegs.CANMC.all = ECanaShadow.CANMC.all;
EDIS;
//開始發(fā)送數(shù)據(jù)
while(1)
{
ECanaRegs.CANTRS.all = 0x0000FFFF; //設置TRS位，全部郵箱都發(fā)送數(shù)據(jù)
while(ECanaRegs.CANTA.all != 0x0000FFFF ) {}
//等待所有的 TAn 置位，此時說明所有郵箱數(shù)據(jù)都已經(jīng)發(fā)送
ECanaRegs.CANTA.all = 0x0000FFFF; //清除發(fā)送位
MessageReceivedCount++;
//從接收郵箱中讀取數(shù)據(jù)，并檢驗數(shù)據(jù)
for(j=0; j<16; j++) //讀取并檢驗 16 個接收郵箱數(shù)據(jù)
{
mailbox_read(j); //函數(shù)功能為讀取郵箱ID及數(shù)據(jù)
mailbox_check(TestMbox1,TestMbox2,TestMbox3); //檢測接收的數(shù)據(jù)
}
}
}
//該函數(shù)功能為讀取郵箱 ID 及數(shù)據(jù)
void mailbox_read(int16 MBXnbr)
{
volatile struct MBOX *Mailbox;
Mailbox = &ECanaMboxes.MBOX0 + MBXnbr;
TestMbox1 = Mailbox->MDL.all; //郵箱數(shù)據(jù)低字節(jié)為0x9555AAAn(n是郵箱號)
TestMbox2 = Mailbox->MDH.all; //郵箱數(shù)據(jù)高字節(jié)為0x89ABCDEF
TestMbox3 = Mailbox->MSGID.all; //郵箱ID為0x9555AAAn(n是郵箱號)
}
//測試程序
void mailbox_check(int32 T1, int32 T2, int32 T3)
{
if((T1 != T3) || ( T2 != 0x89ABCDEF))
{
ErrorCount++;
}
}