TMS570LC4357: DCAN1 through DCAN 4

/** @file HL_sys_main.c 
*   @brief Application main file
*   @date 11-Dec-2018
*   @version 04.07.01
*
*   This file contains an empty main function,
*   which can be used for the application.
*/

/* 
* Copyright (C) 2009-2018 Texas Instruments Incorporated - www.ti.com  
* 
* 
*  Redistribution and use in source and binary forms, with or without 
*  modification, are permitted provided that the following conditions 
*  are met:
*
*    Redistributions of source code must retain the above copyright 
*    notice, this list of conditions and the following disclaimer.
*
*    Redistributions in binary form must reproduce the above copyright
*    notice, this list of conditions and the following disclaimer in the 
*    documentation and/or other materials provided with the   
*    distribution.
*
*    Neither the name of Texas Instruments Incorporated nor the names of
*    its contributors may be used to endorse or promote products derived
*    from this software without specific prior written permission.
*
*  THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS 
*  "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT 
*  LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR
*  A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT 
*  OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, 
*  SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT 
*  LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS OF USE,
*  DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND ON ANY
*  THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT 
*  (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE 
*  OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
*
*/


/* USER CODE BEGIN (0) */
/* USER CODE END */

/* Include Files */

#include "HL_sys_common.h"

/* USER CODE BEGIN (1) */
#include "HL_esm.h"
#include "HL_can.h"
#include "HL_sys_core.h"


#define D_COUNT  8

uint32 cnt=0, error =0, tx_done =0;
uint8 tx_data[D_COUNT][8] = {0};
uint8 rx_data[D_COUNT][8] = {0};
uint8 *tx_ptr = &tx_data[0][0];
uint8 *rx_ptr = &rx_data[0][0];
uint8 *dptr=0;

void dumpSomeData();
/* USER CODE END */

/** @fn void main(void)
*   @brief Application main function
*   @note This function is empty by default.
*
*   This function is called after startup.
*   The user can use this function to implement the application.
*/

/* USER CODE BEGIN (2) */
uint32_t numTXOK=0, numRXOK=0;


/* USER CODE END */

int main(void)
{
/* USER CODE BEGIN (3) */
    /* enable irq interrupt in Cortex R4 */
    _enable_interrupt_();

    /** - writing a random data in RAM - to transmit */
    dumpSomeData();

    /** - configuring CAN1 MB1,Msg ID-1 to transmit and CAN2 MB1 to receive */
    canInit();

    /** - enabling error interrupts */
    canEnableErrorNotification(canREG1);
    canEnableErrorNotification(canREG2);
    canEnableStatusChangeNotification(canREG1);
    canEnableStatusChangeNotification(canREG2);

    /* Enter Test Mode */
    //canREG1->CTL |= (uint32)((uint32)1U << 7U);

    /* Configure Silent Mode to confirm that their is no TX interrupt generted in Silend mode*/
    //canREG1->TEST |= 1<<3;


    /** - starting transmission */
    for(cnt=0;cnt<D_COUNT;cnt++)
    {
          canTransmit(canREG1, canMESSAGE_BOX1, tx_ptr);  /* transmitting 8 different chunks 1 by 1 */
          while(tx_done == 0){};                          /* ... wait until transmit request is through        */
          tx_done=0;
          tx_ptr +=8;    /* next chunk ...*/
    }

    /** - check the received data with the one that was transmitted */
    tx_ptr = &tx_data[0][0];
    rx_ptr = &rx_data[0][0];

    for(cnt=0;cnt<63;cnt++)
    {
       if(*tx_ptr++ != *rx_ptr++)
       {
           error++; /* data error */
       }
    }

    while(1){}; /* wait forever after tx-rx complete. */
/* USER CODE END */

    return 0;
}


/* USER CODE BEGIN (4) */
/* can interrupt notification */
/* Note-You need to remove canMessageNotification from notification.c to avoid redefinition */
void canMessageNotification(canBASE_t *node, uint32 messageBox)
{
     /* node 1 - transfer request */
     if(node==canREG1)
     {
       tx_done=1; /* confirm transfer request */
     }
     /* node 2 - receive complete */
     if(node==canREG2)
     {
        while(!canIsRxMessageArrived(canREG2, canMESSAGE_BOX1));
        canGetData(canREG2, canMESSAGE_BOX1, rx_ptr); /* copy to RAM */
        rx_ptr +=8;
     }
}


void canStatusChangeNotification(canBASE_t *node, uint32 notification)
{
    if(node==canREG1)
    {
       numTXOK++;
    }
    /* node 2 - receive complete */
    if(node==canREG2)
    {
       numRXOK++;
    }
}

/* writing some data to ram  */
void dumpSomeData()
{
     uint32 tmp = 0x11;

     cnt = (D_COUNT*8)-1;
     dptr = &tx_data[0][0];
     *dptr = tmp;

     while(cnt--)
     {
        tmp = *dptr++;
        *dptr = tmp + 0x11;
     }
}


/* USER CODE END */