/**
* 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 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
}