/**
* initializes the I2C bus
* @return 0 on success
*/
int Com_CAN_Init() {
int i;
InitECanGpio();
InitECan();
// Configure the eCAN for self test mode
// Enable the enhanced features of the eCAN.
//EALLOW;
//ECanaShadow.CANMC.all = ECanaRegs.CANMC.all;
//ECanaShadow.CANMC.bit.STM = 1; // Configure CAN for self-test mode
//ECanaShadow.CANMC.bit. = 1; // Configure CAN for self-test mode
//ECanaRegs.CANMC.all = ECanaShadow.CANMC.all;
//EDIS;
// reset all timestamps
for(i = 0; i < 32; i++) {
volatile Uint32* mots;
mots = &ECanaMOTSRegs.MOTS0 + i;
*mots = 0;
}
Com_CAN_InitReceiveMBoxes();
Com_CAN_InitTransmitMBoxes();
return 0;
}
void main(void)
{
InitSysCtrl();
// Copy time critical code and Flash setup code to RAM
// This includes the following ISR functions: epwm1_timer_isr(), epwm2_timer_isr()
// epwm3_timer_isr and and InitFlash();
// The RamfuncsLoadStart, RamfuncsLoadEnd, and RamfuncsRunStart
// symbols are created by the linker. Refer to the F28335.cmd file.
// Step 3. Clear all interrupts and initialize PIE vector table:
// Disable CPU interrupts
DINT;
// Initialize the PIE control registers to their default state.
// The default state is all PIE interrupts disabled and flags
// are cleared.
// This function is found in the DSP2833x_PieCtrl.c file.
InitPieCtrl();
// Disable CPU interrupts and clear all CPU interrupt flags:
IER = 0x0000;
IFR = 0x0000;
// Initialize the PIE vector table with pointers to the shell Interrupt
// Service Routines (ISR).
// This will populate the entire table, even if the interrupt
// is not used in this example. This is useful for debug purposes.
// The shell ISR routines are found in DSP2833x_DefaultIsr.c.
// This function is found in DSP2833x_PieVect.c.
InitPieVectTable();
// Interrupts that are used in this example are re-mapped to
// ISR functions found within this file.
EALLOW; // This is needed to write to EALLOW protected registers
PieVectTable.SEQ1INT = &PWM_AD_isr;
PieVectTable.ECAN0INTA = &Skiip4_CAN_isr;
EDIS; // This is needed to disable write to EALLOW protected registers
InitFlash();
MemCopy(&RamfuncsLoadStart, &RamfuncsLoadEnd, &RamfuncsRunStart);
MemCopy(&IQmathLoadStart, &IQmathLoadEnd, &IQmathRunStart);
//ECan-A模块初始化
InitECan();
InitECan1();
InitGpio(); // Skipped for this example
InitAdc(); // Initialize necessary ADC module, directly for SVPWM.
InitEPwm();
IER |= M_INT1;
// Enable SEQ1_INT which is connected to PIE1.1:
IER |= M_INT9;
// Enable eCAN0-A INT which is connected to PIE9.5:
EINT;
} // end of main()
