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//文件: Example_281xECanBack2Back.c
//功能: eCAN内部功能自测程序
//#####################################################################
#include "DSP281x_Device.h" //头文件
#include "DSP281x_Examples.h"
//函数声明
void mailbox_check(int32 T1, int32 T2, int32 T3);
void mailbox_read(int16 i);
//全局变量
Uint32 ErrorCount;
Uint32 MessageReceivedCount;
Uint32 TestMbox1 = 0;
Uint32 TestMbox2 = 0;
Uint32 TestMbox3 = 0;
//主函数
void main(void)
{
Uint16 j;
struct ECAN_REGS ECanaShadow;
//步骤1.初始化系统控制(PLL, 看门狗，使能外设时钟)
InitSysCtrl();
//步骤2.初始化 GPIO
//InitGpio(); //本例中略过
//步骤3.清除所有中断并初始化PIE向量表
DINT; //禁止 CPU 所有中断
//初始化 PIE 控制寄存器组.
//InitPieCtrl(); //本例中略过
//禁止CPU所有中断并清除所有中断标志位
IER = 0x0000;
IFR = 0x0000;
//InitPieVectTable(); //本例中略过
//步骤4.初始化所有外设
//InitPeripherals(); //本例中不需要
//步骤5.用户程序段
MessageReceivedCount = 0;
ErrorCount = 0;
InitECan(); //初始化eCAN
//可以一次向邮箱写16位或32位数据
//向发送邮箱MBOX0~15写入MSGID(ID号)
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;
//向接收邮箱 MBOX16~31写入MSGID(ID号)
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;
//配置邮箱0~15作为发送邮箱，16~31作为接收邮箱
//因为在这里写操作是针对整个寄存器而不是某一位，所以不需要映射寄存器组
ECanaRegs.CANMD.all = 0xFFFF0000;
//使能所有的邮箱
ECanaRegs.CANME.all = 0xFFFFFFFF;
//设置每次发送和接收数据为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;
//向发送邮箱MBOX0~15中写入要发送的数据
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为自测试模式，并使能CAN模块为eCAN模式
EALLOW;
ECanaShadow.CANMC.all = ECanaRegs.CANMC.all;
ECanaShadow.CANMC.bit.STM = 1; //配置自测试模式
ECanaRegs.CANMC.all = ECanaShadow.CANMC.all;
EDIS;
//开始发送数据
while(1)
{
ECanaRegs.CANTRS.all = 0x0000FFFF; //设置TRS位，全部邮箱都发送数据
while(ECanaRegs.CANTA.all != 0x0000FFFF ) {}
//等待所有的 TAn 置位，此时说明所有邮箱数据都已经发送
ECanaRegs.CANTA.all = 0x0000FFFF; //清除发送位
MessageReceivedCount++;
//从接收邮箱中读取数据，并检验数据
for(j=0; j<16; j++) //读取并检验 16 个接收邮箱数据
{
mailbox_read(j); //函数功能为读取邮箱ID及数据
mailbox_check(TestMbox1,TestMbox2,TestMbox3); //检测接收的数据
}
}
}
//该函数功能为读取邮箱 ID 及数据
void mailbox_read(int16 MBXnbr)
{
volatile struct MBOX *Mailbox;
Mailbox = &ECanaMboxes.MBOX0 + MBXnbr;
TestMbox1 = Mailbox->MDL.all; //邮箱数据低字节为0x9555AAAn(n是邮箱号)
TestMbox2 = Mailbox->MDH.all; //邮箱数据高字节为0x89ABCDEF
TestMbox3 = Mailbox->MSGID.all; //邮箱ID为0x9555AAAn(n是邮箱号)
}
//测试程序
void mailbox_check(int32 T1, int32 T2, int32 T3)
{
if((T1 != T3) || ( T2 != 0x89ABCDEF))
{
ErrorCount++;
}
}