//---------------------------------------------------------------------------
// InitECan:
//---------------------------------------------------------------------------
// This function initializes the eCAN module to a known state.
//
void InitECan(void)
{
InitECana();
#if DSP28_ECANB
InitECanb();
#endif // if DSP28_ECANB
}
void CAN_init(){
struct ECAN_REGS ECanaShadow;
//CAN_INFO_ARRAY[ID].upon_sent_isr = send_isr;
//CAN_INFO_ARRAY[ID].upon_receive_isr = receive_isr;
// Step 1. Initialize System Control:
// PLL, WatchDog, enable Peripheral Clocks
// This function is found in the F2806x_SysCtrl.c file.
// Should be commented out in regular usage. For normal usage initializing the system should be done elsewhere not in the CAN code.
// For testing purposes this is uncommented to initialize the system.
InitSysCtrl();
// Step 2. Initalize GPIO:
// Configure CAN pins using GPIO regs here
// This function is found in F2806x_ECan.c
InitECanGpio();
// Step 3. Clear all interrupts and initialize PIE vector table:
// Disable CPU interrupts
DINT;
// Disable CPU interrupts and clear all CPU interrupt flags:
IER = 0x0000;
IFR = 0x0000;
EALLOW;
//Direct ECANA0 interrupts to the proper isr
PieVectTable.ECAN0INTA = &ecan_isr;
EDIS;
// Enable the PIE Vector Table
PieCtrlRegs.PIECTRL.bit.ENPIE = 1;
// Step 4. Initialize CAN module
InitECana();
EALLOW;
//Allow all mailboxes to send interrupts
ECanaRegs.CANMIM.all = 0xFFFFFFFF;
//Disable all other system interrupts (not recommended)
//Only enable level 0 interrupts
//BY DEFAULT using level 0 CAN interrupts
ECanaRegs.CANGIM.all = 0x00000001;
// EALLOW;
ECanaShadow.CANMC.all = ECanaRegs.CANMC.all;
ECanaShadow.CANMC.bit.STM = 1; // Configure CAN for self-test mode
ECanaRegs.CANMC.all = ECanaShadow.CANMC.all;
//EDIS;
EDIS;
//CAN interrupts are part of IER 9
IER |= M_INT9;
//Enable ECAN interrupt 0 in PIE
PieCtrlRegs.PIEIER9.bit.INTx5 = 1;
// Enable global Interrupts and higher priority real-time debug events:
EINT; // Enable Global interrupt INTM
ERTM; // Enable Global realtime interrupt DBGM
}
void CANSetup()
{
InitECanaGpio();
InitECana();
ClearMailBoxes();
ECanaShadow.CANMIM.all = 0;
ECanaShadow.CANMIL.all = 0;
ECanaShadow.CANGIM.all = 0;
ECanaShadow.CANGAM.bit.AMI = 0; //must be standard
ECanaShadow.CANGIM.bit.I1EN = 1; // enable I1EN
ECanaShadow.CANMD.all = ECanaRegs.CANMD.all;
ECanaShadow.CANME.all = ECanaRegs.CANME.all;
//todo USER: Node specifc CAN setup
EALLOW;
// create mailbox for all Receive and transmit IDs
// MBOX0 - MBOX31
//Command RECEIVE
ECanaMboxes.MBOX0.MSGID.bit.IDE = 0; //standard id
ECanaMboxes.MBOX0.MSGID.bit.AME = 0; // all bit must match
ECanaMboxes.MBOX0.MSGID.bit.AAM = 0; // no RTR AUTO TRANSMIT
ECanaMboxes.MBOX0.MSGCTRL.bit.DLC = 8;
ECanaMboxes.MBOX0.MSGID.bit.STDMSGID = COMMAND_ID;
ECanaShadow.CANMD.bit.MD0 = 1; //receive
ECanaShadow.CANME.bit.ME0 = 1; //enable
ECanaShadow.CANMIM.bit.MIM0 = 1; //int enable
ECanaShadow.CANMIL.bit.MIL0 = 1; // Int.-Level MB#0 -> I1EN
//Heart TRANSMIT
ECanaMboxes.MBOX1.MSGID.bit.IDE = 0; //standard id
ECanaMboxes.MBOX1.MSGID.bit.AME = 0; // all bit must match
ECanaMboxes.MBOX1.MSGID.bit.AAM = 1; //RTR AUTO TRANSMIT
ECanaMboxes.MBOX1.MSGCTRL.bit.DLC = 8;
ECanaMboxes.MBOX1.MSGID.bit.STDMSGID = HEARTBEAT_ID;
ECanaShadow.CANMD.bit.MD1 = 0; //transmit
ECanaShadow.CANME.bit.ME1 = 1; //enable
//SOMETHING ODD ABOUT ORDER HERE AND RTR BIT...
//adc TRANSMIT
ECanaMboxes.MBOX2.MSGID.bit.IDE = 0; //standard id
ECanaMboxes.MBOX2.MSGID.bit.AME = 0; // all bit must match
ECanaMboxes.MBOX2.MSGID.bit.AAM = 1; //RTR AUTO TRANSMIT
ECanaMboxes.MBOX2.MSGCTRL.bit.DLC = 8;
ECanaMboxes.MBOX2.MSGID.bit.STDMSGID = ADC_ID;
ECanaShadow.CANMD.bit.MD2 = 0; //transmit
ECanaShadow.CANME.bit.ME2 = 1; //enable
//gp_button TRANSMIT
ECanaMboxes.MBOX3.MSGID.bit.IDE = 0; //standard id
ECanaMboxes.MBOX3.MSGID.bit.AME = 0; // all bit must match
ECanaMboxes.MBOX3.MSGID.bit.AAM = 1; //RTR AUTO TRANSMIT
ECanaMboxes.MBOX3.MSGCTRL.bit.DLC = 8;
ECanaMboxes.MBOX3.MSGID.bit.STDMSGID = GP_BUTTON_ID;
ECanaShadow.CANMD.bit.MD3 = 0; //transmit
ECanaShadow.CANME.bit.ME3 = 1; //enable
ECanaRegs.CANGAM.all = ECanaShadow.CANGAM.all;
ECanaRegs.CANGIM.all = ECanaShadow.CANGIM.all;
ECanaRegs.CANMIM.all = ECanaShadow.CANMIM.all;
ECanaRegs.CANMIL.all = ECanaShadow.CANMIL.all;
ECanaRegs.CANMD.all = ECanaShadow.CANMD.all;
ECanaRegs.CANME.all = ECanaShadow.CANME.all;
ECanaShadow.CANMC.all = ECanaRegs.CANMC.all;
ECanaShadow.CANMC.bit.STM = 0; // No self-test mode
ECanaRegs.CANMC.all = ECanaShadow.CANMC.all;
EDIS;
//ENABLE PIE INTERRUPTS
IER |= M_INT9;
PieCtrlRegs.PIEIER9.bit.INTx6= 1;
can_watch = StartStopWatch(SENDCAN_STOPWATCH);
}
void InitECan(void)
{
InitECana();
}
