CAN transciever ISO1050EVM

// TI File $Revision: /main/2 $
// Checkin $Date: July 30, 2009   18:44:22 $
//###########################################################################
// Filename: Example_28xEcan_A_to_B_Xmit.c
//
// Description: eCAN-A To eCAN-B TXLOOP - Transmit loop
//
// ASSUMPTIONS:
//
//    This program requires the DSP2833x header files.
//
//    Both CAN ports of the 2833x DSP need to be connected
//    to each other (via CAN transceivers)0



//
//       eCANA is on GPIO31 (CANTXA)  and
//                   GPIO30 (CANRXA)
//
//       eCANB is on GPIO8  (CANTXB)  and
//                   GPIO10 (CANRXB)
//
//    As supplied, this project is configured for "boot to SARAM"
//    operation.  The 2833x Boot Mode table is shown below.
//    For information on configuring the boot mode of an eZdsp,
//    please refer to the documentation included with the eZdsp,
//
//       $Boot_Table:
//
//         GPIO87   GPIO86     GPIO85   GPIO84
//          XA15     XA14       XA13     XA12
//           PU       PU         PU       PU
//        ==========================================
//            1        1          1        1    Jump to Flash
//            1        1          1        0    SCI-A boot
//            1        1          0        1    SPI-A boot
//            1        1          0        0    I2C-A boot
//            1        0          1        1    eCAN-A boot
//            1        0          1        0    McBSP-A boot
//            1        0          0        1    Jump to XINTF x16
//            1        0          0        0    Jump to XINTF x32
//            0        1          1        1    Jump to OTP
//            0        1          1        0    Parallel GPIO I/O boot
//            0        1          0        1    Parallel XINTF boot
//            0        1          0        0    Jump to SARAM	    <- "boot to SARAM"
//            0        0          1        1    Branch to check boot mode
//            0        0          1        0    Boot to flash, bypass ADC cal
//            0        0          0        1    Boot to SARAM, bypass ADC cal
//            0        0          0        0    Boot to SCI-A, bypass ADC cal
//                                              Boot_Table_End$
//
// DESCRIPTION:
//
//    This example TRANSMITS data to another CAN module using MAILBOX5
//    This program could either loop forever or transmit "n" # of times,
//    where "n" is the TXCOUNT value.
//
//    This example can be used to check CAN-A and CAN-B. Since CAN-B is
//    initialized in DSP2833x_ECan.c, it will acknowledge all frames
//    transmitted by the node on which this code runs. Both CAN ports of
//    the 2833x DSP need to be connected to each other (via CAN transceivers)
//
//###########################################################################
// Original Author: HJ
//
// $TI Release: 2833x/2823x Header Files V1.32 $
// $Release Date: June 28, 2010 $
//###########################################################################

#include "DSP28x_Project.h"     // Device Headerfile and Examples Include File

#define TXCOUNT  100  // Transmission will take place (TXCOUNT) times..

// Globals for this example
long      i;
long 	  loopcount = 0;


void main()
{

/* Create a shadow register structure for the CAN control registers. This is
 needed, since, only 32-bit access is allowed to these registers. 16-bit access
 to these registers could potentially corrupt the register contents. This is
 especially true while writing to a bit (or group of bits) among bits 16 - 31 */

   struct ECAN_REGS ECanaShadow;

// Step 1. Initialize System Control:
// PLL, WatchDog, enable Peripheral Clocks
// This example function is found in the DSP2833x_SysCtrl.c file.
   InitSysCtrl();

// Step 2. Initalize GPIO:
// This example function is found in the DSP2833x_Gpio.c file and
// illustrates how to set the GPIO to it's default state.
// InitGpio();  // Skipped for this example

   // Just initalize eCAN pins for this example
   // This function is in DSP2833x_ECan.c
   InitECanGpio();

// 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.

// No interrupts used in this example.

// Step 4. Initialize all the Device Peripherals:
// This function is found in DSP2833x_InitPeripherals.c
// InitPeripherals(); // Not required for this example

   // In this case just initalize eCAN-A and eCAN-B
   // This function is in DSP2833x_ECan.c
   InitECan();

// Step 5. User specific code:

/* Write to the MSGID field  */

   ECanaMboxes.MBOX25.MSGID.all = 0x95555555; // Extended Identifier

/* Configure Mailbox under test as a Transmit mailbox */

   ECanaShadow.CANMD.all = ECanaRegs.CANMD.all;
   ECanaShadow.CANMD.bit.MD25 = 0;
   ECanaRegs.CANMD.all = ECanaShadow.CANMD.all;

/* Enable Mailbox under test */

   ECanaShadow.CANME.all = ECanaRegs.CANME.all;
   ECanaShadow.CANME.bit.ME25 = 1;
   ECanaRegs.CANME.all = ECanaShadow.CANME.all;

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

   ECanaMboxes.MBOX25.MSGCTRL.bit.DLC = 8;

/* Write to the mailbox RAM field */

   ECanaMboxes.MBOX25.MDL.all = 0x55555555;
   ECanaMboxes.MBOX25.MDH.all = 0x55555555;

/* Begin transmitting */


   for(i=0; i < TXCOUNT; i++)
   {
       ECanaShadow.CANTRS.all = 0;
       ECanaShadow.CANTRS.bit.TRS25 = 1;             // Set TRS for mailbox under test
       ECanaRegs.CANTRS.all = ECanaShadow.CANTRS.all;

       do
    	{
      	ECanaShadow.CANTA.all = ECanaRegs.CANTA.all;
    	} while(ECanaShadow.CANTA.bit.TA25 == 0 );   // Wait for TA5 bit to be set..


       ECanaShadow.CANTA.all = 0;
       ECanaShadow.CANTA.bit.TA25 = 1;     	         // Clear TA5
       ECanaRegs.CANTA.all = ECanaShadow.CANTA.all;

       loopcount ++;
    }
     asm(" ESTOP0");  // Stop here
}

//
//      Lab CAN_1  : TMS320F2812
//      (C) Frank Bormann
//
//###########################################################################
//
// FILE:    Lab_CAN_1.c
//
// TITLE:   DSP28 CAN - Transmission with the Zwickau-adapterboard
//
//          Jumper JP4 :  2-3  ( 120 Ohm enabled)
//          Jumper JP5 :  1-2  ; Jumper JP6 _ 1-2 ( highspeed transceiver SN


//
//          Aim of the test :
//          Transmit the status of the 8 switches from GPIO - Port B15...B8
//          repeat the transmission every second
//          Mailbox 5 is used for transmission
//          Identifier : 0x1000 0000
//          DLC =  1
//
//          Frequency Osscillator : 30MHz
//          PLLCR = 0xA   :  multiply by 5
//          SYSCLKOUT = CLKIN = 150MHz
//          Highspeed - Prescaler (HISPCP = 0x0001; div by 2 ) : 75 Mhz
//          Lowspeed - Prescaler (LOSPCP  = 0x0002; div by 4 ) : 37.5 Mhz
//###########################################################################
//
//  Ver | dd mmm yyyy | Who  | Description of changes
// =====|=============|======|===============================================
//  1.0 | 09 May 2003 | F.B. | Startup Version for Lab_CAN_1
//  2.0 | 27 Nov 2003 | F.B. | adapted to header-files Version 1.00
//      |             |      |
//###########################################################################

// CAUTION :  DSP281x_ECan.h  , Version 1.0 ( Hareesh) contains an error
// the byte field of struct  CANMDL_BYTES and CANMDH_BYTES
// have the wrong order ( Byte1 to 4)instead of Byte 4 to 1)
// MODIFY  :  inside DSP281x_ECan.h modify the two structures to :
// struct  CANMDL_BYTES {      // bits   description
//   Uint16      BYTE3:8;     // 31:24
//   Uint16      BYTE2:8;     // 23:16
//   Uint16      BYTE1:8;     // 15:8
//   Uint16      BYTE0:8;     // 7:0
// };
//
// struct  CANMDH_BYTES {      // bits   description
//   Uint16      BYTE7:8;     // 63:56
//   Uint16      BYTE6:8;     // 55:48
//   Uint16      BYTE5:8;     // 47:40
//   Uint16      BYTE4:8;     // 39:32
// };
//##########################################################################

#include "DSP28x_Project.h"


#define IDENTIFIER 0x10000000

// Prototype statements for functions found within this file.

void Gpio_select(void);
void delay_loop();
Uint16 loopcount =0;
// Global Variables

/* Create a shadow register structure for the CAN control registers. This is
 needed, since, only 32-bit access is allowed to these registers. 16-bit access
 to these registers could potentially corrupt the register contents. This is
 especially true while writing to a bit (or group of bits) among bits 16 - 31 */

struct  ECAN_REGS ECanaShadow;

main()
{
// Initialize System Control registers, PLL, WatchDog, Clocks to default state:
// This function is found in the DSP28_SysCtrl.c file.
    InitSysCtrl();

// Initialise the physical pins of the DSP
    Gpio_select();

/* Initialize the CAN module */
    InitECan();

/* Write to the MSGID field  */

    ECanaMboxes.MBOX5.MSGID.all     = IDENTIFIER;
    ECanaMboxes.MBOX5.MSGID.bit.IDE = 1;  // Extended Identifier

/* Configure Mailbox under test as a Transmit mailbox */

    ECanaShadow.CANMD.all = ECanaRegs.CANMD.all;
    ECanaShadow.CANMD.bit.MD5 = 0;
    ECanaRegs.CANMD.all = ECanaShadow.CANMD.all;

/* Enable Mailbox under test */

    ECanaShadow.CANME.all = ECanaRegs.CANME.all;
    ECanaShadow.CANME.bit.ME5 = 1;
    ECanaRegs.CANME.all = ECanaShadow.CANME.all;

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

    ECanaMboxes.MBOX5.MSGCTRL.bit.DLC = 1;
    ECanaMboxes.MBOX5.MDL.all = 0x00000005;
      ECanaMboxes.MBOX5.MDH.all = 0x00000005;
/* Begin transmitting */


      for(;;)
      {
          ECanaShadow.CANTRS.all = 0;
          ECanaShadow.CANTRS.bit.TRS5 = 1;             // Set TRS for mailbox under test
          ECanaRegs.CANTRS.all = ECanaShadow.CANTRS.all;

          do
           {
           ECanaShadow.CANTA.all = ECanaRegs.CANTA.all;
           } while(ECanaShadow.CANTA.bit.TA5 == 0 );   // Wait for TA5 bit to be set..


          ECanaShadow.CANTA.all = 0;
          ECanaShadow.CANTA.bit.TA5 = 1;               // Clear TA5
          ECanaRegs.CANTA.all = ECanaShadow.CANTA.all;

          loopcount ++;
       }
        asm(" ESTOP0");  // Stop here

}

void Gpio_select(void)
{
    EALLOW;
    GpioCtrlRegs.GPAMUX1.all=0; //PORT A IS THE can PORT
    GpioCtrlRegs.GPAMUX2.all=0;
    GpioCtrlRegs.GPBMUX1.all=0;
       GpioCtrlRegs.GPBMUX2.all=0;


    GpioCtrlRegs.GPAMUX2.bit.GPIO19 = 3; // setting gpio19 as CANTXA
    GpioCtrlRegs.GPAMUX2.bit.GPIO18 = 3;  // setting gpio18 as CANRXA

    GpioCtrlRegs.GPADIR.all=0;       // GPIO PORTs  as input
    GpioCtrlRegs.GPBDIR.all=0x00ff;  // GPIO Port B15-B8 input , B7-B0 output
    GpioCtrlRegs.GPCDIR.all=0;


    GpioCtrlRegs.GPAQSEL1.all=0;          // Set GPIO input qualifier values
    GpioCtrlRegs.GPAQSEL2.all=0;

    GpioCtrlRegs.GPBQSEL1.all=0;
        GpioCtrlRegs.GPBQSEL2.all=0;



    GpioDataRegs.GPBDAT.all = 0x0000;   // Switch off LED's ( B7...B0)

    EDIS;
}

void delay_loop()
{
    long      i;
    for (i = 0; i < 10000000; i++) {}
}

//
//      Lab CAN_2  : TMS320F2812
//      (C) Frank Bormann
//
//###########################################################################
//
// FILE:    Lab_CAN_2.c
//
// TITLE:   DSP28 CAN - Receive with the Zwickau-adapterboard
//
//          Extended CAN-Frame is received with 1 MBPS
//          from highspeed-CAN
//          Jumper JP4 :  2-3  ( 120 Ohm enabled)
//          Jumper JP5 :  1-2  ; Jumper JP6 _ 1-2 ( highspeed transceiver SN


//
//          Aim of the test :
//          Receive a 1 byte dataframe with Identifier 0x10000000
//          and show the databyte on the LED's at GPIO-Port B7...B0
//          Mailbox 1 is used as receiver
//          Identifier : 0x1000 0000
//          DLC =  1
//
//          Frequency Osscillator : 30MHz
//          PLLCR = 0xA   :  multiply by 5
//          SYSCLKOUT = CLKIN = 150MHz
//          Highspeed - Prescaler (HISPCP = 0x0001; div by 2 ) : 75 Mhz
//          Lowspeed - Prescaler (LOSPCP  = 0x0002; div by 4 ) : 37.5 Mhz
//###########################################################################
//
//  Ver | dd mmm yyyy | Who  | Description of changes
// =====|=============|======|===============================================
//  1.0 | 09 May 2003 | F.B. | Startup Version for Lab_CAN_2
//  2.0 | 27 Nov 2003 | F.B. | adapted to header-files Version 1.00
//###########################################################################

// CAUTION :  DSP281x_ECan.h  , Version 1.0 ( Hareesh) contains an error
// the byte field of struct  CANMDL_BYTES and CANMDH_BYTES
// have the wrong order ( Byte1 to 4)instead of Byte 4 to 1)
// MODIFY  :  inside DSP281x_ECan.h modify the two structures to :
// struct  CANMDL_BYTES {      // bits   description
//   Uint16      BYTE3:8;     // 31:24
//   Uint16      BYTE2:8;     // 23:16
//   Uint16      BYTE1:8;     // 15:8
//   Uint16      BYTE0:8;     // 7:0
// };
//
// struct  CANMDH_BYTES {      // bits   description
//   Uint16      BYTE7:8;     // 63:56
//   Uint16      BYTE6:8;     // 55:48
//   Uint16      BYTE5:8;     // 47:40
//   Uint16      BYTE4:8;     // 39:32
// };
//##########################################################################

#include "DSP28x_Project.h"

#define IDENTIFIER 0x10000000

// Prototype statements for functions found within this file.

void Gpio_select(void);

// Global Variables

/* Create a shadow register structure for the CAN control registers. This is
 needed, since, only 32-bit access is allowed to these registers. 16-bit access
 to these registers could potentially corrupt the register contents. This is
 especially true while writing to a bit (or group of bits) among bits 16 - 31 */

struct  ECAN_REGS ECanaShadow;

main()
{
// Initialize System Control registers, PLL, WatchDog, Clocks to default state:
// This function is found in the DSP28_SysCtrl.c file.
    InitSysCtrl();

// Initialise the physical pins of the DSP
    Gpio_select();

/* Initialize the CAN module */

    InitECan();

/* Write to the MSGID field - MBX number is written as its MSGID */
    ECanaMboxes.MBOX1.MSGID.all  = IDENTIFIER;  // extended identifier
    ECanaMboxes.MBOX1.MSGID.bit.IDE = 1;

/* Configure Mailbox 1 as Receiver mailbox */
    ECanaShadow.CANMD.all = ECanaRegs.CANMD.all;
    ECanaShadow.CANMD.bit.MD1 = 1;
    ECanaRegs.CANMD.all = ECanaShadow.CANMD.all;

/* Enable Mailbox 1  */

    ECanaShadow.CANME.all = ECanaRegs.CANME.all;
    ECanaShadow.CANME.bit.ME1 = 1;
    ECanaRegs.CANME.all = ECanaShadow.CANME.all;

/* Begin Receiving */
   while(1)
    {
     do {
        ECanaShadow.CANRMP.all = ECanaRegs.CANRMP.all;
        }
        while(ECanaShadow.CANRMP.bit.RMP1 != 1 );       // Wait for RMP1 to be set..

     ECanaShadow.CANRMP.bit.RMP1 = 1;
     ECanaRegs.CANRMP.all = ECanaShadow.CANRMP.all;    // Clear RMP1 bit and start again



    }

}

void Gpio_select(void)
{
    EALLOW;
    GpioCtrlRegs.GPAMUX1.all=0; //PORT A IS THE can PORT
    GpioCtrlRegs.GPAMUX2.all=0;
    GpioCtrlRegs.GPBMUX1.all=0;
       GpioCtrlRegs.GPBMUX2.all=0;


    GpioCtrlRegs.GPAMUX2.bit.GPIO19 = 3; // setting gpio19 as CANTXA
    GpioCtrlRegs.GPAMUX2.bit.GPIO18 = 3;  // setting gpio18 as CANRXA

    GpioCtrlRegs.GPADIR.all=0;       // GPIO PORTs  as input
    GpioCtrlRegs.GPBDIR.all=0x00ff;  // GPIO Port B15-B8 input , B7-B0 output
    GpioCtrlRegs.GPCDIR.all=0;


    GpioCtrlRegs.GPAQSEL1.all=0;          // Set GPIO input qualifier values
    GpioCtrlRegs.GPAQSEL2.all=0;

    GpioCtrlRegs.GPBQSEL1.all=0;
        GpioCtrlRegs.GPBQSEL2.all=0;



    GpioDataRegs.GPBDAT.all = 0x0000;   // Switch off LED's ( B7...B0)

    EDIS;
}