#include "DSP2833x_Device.h"

// external function prototypes
extern void InitSysCtrl(void);
extern void InitPieCtrl(void);
extern void InitPieVectTable(void);
extern void InitCpuTimers(void);
extern void InitECan(void);
extern void ConfigCpuTimer(struct CPUTIMER_VARS *, float, float);


// Prototype statements for functions found within this file.
void Gpio_select(void);
interrupt void cpu_timer0_isr(void);

//###########################################################################
//						main code
//###########################################################################
void main(void)
{
	int counter=0;	// binary counter for digital output
	struct	ECAN_REGS ECanbShadow;		// local copy of CANA registers

	InitSysCtrl();	// Basic Core Initialization
					// SYSCLK=150MHz, HISPCLK=75MHz, LSPCLK=37.5MHz

	EALLOW;
   	SysCtrlRegs.WDCR= 0x00AF;	// Re-enable the watchdog
   	EDIS;			// 0x00AF  to NOT disable the Watchdog, Prescaler = 64

	DINT;				// Disable all interrupts

	Gpio_select();	// GPIO9, GPIO11, GPIO34 and GPIO49 as output
					// to 4 LEDs at Peripheral Explorer

	/* Initialize the CAN module */
	// NOTE: first modify TI-file: InitECan() to 100kbps by setting BTR = 49
	InitECan();

	/* Write to Mailbox 1 message ID field  */
   

	    ECanbMboxes.MBOX1.MSGID.all     = 0x00500000;
	    ECanbMboxes.MBOX1.MSGID.bit.IDE = 0;  // standard Identifier

	/* Configure Mailbox 1 as transmit mailbox */
	

	  ECanbShadow.CANMD.all = ECanbRegs.CANMD.all;
	    ECanbShadow.CANMD.bit.MD1 = 0;
	    ECanbRegs.CANMD.all = ECanbShadow.CANMD.all;

	/* Enable Mailbox 1  */
	


    ECanbShadow.CANME.all = ECanbRegs.CANME.all;
    ECanbShadow.CANME.bit.ME1 = 1;
    ECanbRegs.CANME.all = ECanbShadow.CANME.all;

	/* Write to DLC field in Master Control reg */
	

       ECanaMboxes.MBOX5.MSGCTRL.all = 0;
    	ECanaMboxes.MBOX5.MSGCTRL.bit.DLC = 8;

	InitPieCtrl();		// basic setup of PIE table; from DSP2833x_PieCtrl.c

	InitPieVectTable();	// default ISR's in PIE

	EALLOW;
	PieVectTable.TINT0 = &cpu_timer0_isr;
	EDIS;

	InitCpuTimers();	// basic setup CPU Timer0, 1 and 2

	ConfigCpuTimer(&CpuTimer0,150,100000);

	PieCtrlRegs.PIEIER1.bit.INTx7 = 1;

	IER |=1;

	EINT;
	ERTM;

	CpuTimer0Regs.TCR.bit.TSS = 0;	// start timer0

	while(1)
	{
	  		while(CpuTimer0.InterruptCount < 10)	// wait for 10*100 milliseconds
			{
				EALLOW;
				SysCtrlRegs.WDKEY = 0xAA;	// service WD #2
				EDIS;
			}
			CpuTimer0.InterruptCount = 0;

			ECanbMboxes.MBOX1.MDL.byte.BYTE0 = counter & 0x00FF ;
     		ECanbShadow.CANTRS.all = 0;
     		ECanbShadow.CANTRS.bit.TRS1 = 1;     // Set TRS for mailbox under test
     		ECanbRegs.CANTRS.all = ECanbShadow.CANTRS.all;

			while(ECanbRegs.CANTA.bit.TA1 == 0 ) // Wait for TA1 bit to be set.
     		{
				EALLOW;
				SysCtrlRegs.WDKEY = 0xAA;				// Service watchdog #2
				EDIS;
     		}

	     	ECanbShadow.CANTA.all = 0;
	     	ECanbShadow.CANTA.bit.TA1 = 1;     	 // Clear Transmit Acknowledge #5
	     	ECanbRegs.CANTA.all = ECanbShadow.CANTA.all;

			counter++;
			GpioDataRegs.GPBTOGGLE.bit.GPIO34 = 1;		// toggle red LED LD3 @ 28335CC
	}
}

void Gpio_select(void)
{
	EALLOW;
	GpioCtrlRegs.GPAMUX1.all = 0;		// GPIO15 ... GPIO0 = General Puropse I/O
	GpioCtrlRegs.GPAMUX2.all = 0;		// GPIO31 ... GPIO16 = General Purpose I/O
	
	GpioCtrlRegs.GPAMUX1.bit.GPIO10 = 2;	// CANB_RX
	GpioCtrlRegs.GPAMUX1.bit.GPIO8 = 2;	// CANB_TX

	GpioCtrlRegs.GPBMUX1.all = 0;		// GPIO47 ... GPIO32 = General Purpose I/O
	GpioCtrlRegs.GPBMUX2.all = 0;		// GPIO63 ... GPIO48 = General Purpose I/O
	GpioCtrlRegs.GPCMUX1.all = 0;		// GPIO79 ... GPIO64 = General Purpose I/O
	GpioCtrlRegs.GPCMUX2.all = 0;		// GPIO87 ... GPIO80 = General Purpose I/O

	GpioCtrlRegs.GPADIR.all = 0;
	GpioCtrlRegs.GPADIR.bit.GPIO9 = 1;	// peripheral explorer: LED LD1 at GPIO9
	GpioCtrlRegs.GPADIR.bit.GPIO11 = 1;	// peripheral explorer: LED LD2 at GPIO11

	GpioCtrlRegs.GPBDIR.all = 0;		// GPIO63-32 as inputs
	GpioCtrlRegs.GPBDIR.bit.GPIO34 = 1;	// peripheral explorer: LED LD3 at GPIO34
	GpioCtrlRegs.GPBDIR.bit.GPIO49 = 1; // peripheral explorer: LED LD4 at GPIO49

	GpioCtrlRegs.GPCDIR.all = 0;		// GPIO87-64 as inputs
	EDIS;
}

interrupt void cpu_timer0_isr(void)
{
	CpuTimer0.InterruptCount++;
	EALLOW;
	SysCtrlRegs.WDKEY = 0x55;	// service WD #1
	EDIS;
	PieCtrlRegs.PIEACK.all = PIEACK_GROUP1;
}
//===========================================================================
// End of SourceCode.
//===========================================================================