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


//###########################################################################
//						main code
//###########################################################################
void main(void)
{

   struct	ECAN_REGS ECanbShadow;

 int counter=0;
 int counter2=0;
 int counter3=0;
 Uint16 temp;
  Uint16  temp2;
  Uint16  temp3;
  Uint16 temp4;

  InitSysCtrl();	// Basic Core Init from DSP2833x_SysCtrl.c

    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 (LEDs @ peripheral explorer)

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

	/* Write to Mailbox 2 message ID field		*/
	ECanbMboxes.MBOX2.MSGID.all  = 0x00500000;  // extended identifier
	    ECanbMboxes.MBOX2.MSGID.bit.IDE = 0;

      /* Configure Mailbox 2 as Receiver mailbox */


	 ECanbShadow.CANMD.all = ECanbRegs.CANMD.all;
	    ECanbShadow.CANMD.bit.MD2 = 1;
	    ECanbRegs.CANMD.all = ECanbShadow.CANMD.all;


   /* Enable Mailbox 1  						*/


    ECanbShadow.CANME.all = ECanbRegs.CANME.all;
    ECanbShadow.CANME.bit.ME2 = 1;
    ECanbRegs.CANME.all = ECanbShadow.CANME.all;



    InitPieCtrl();		// clear all pending PIE-Interrupts and to disable all PIE interrupt lines

	InitPieVectTable();	// default ISR's in PIE,This function will initialize the PIE-memory to an initial state.

	EALLOW;
	PieVectTable.TINT0 = &cpu_timer0_isr;
	EDIS;

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

	ConfigCpuTimer(&CpuTimer0,150,10000); // CPU - Timer0 at 100 milliseconds
	//parametre1=adress of core,parametre2=internal speed of DSP,paramtre3=period time for timer overflow


	PieCtrlRegs.PIEIER1.bit.INTx7 = 1;//to enable interupt mask of cputimer

	IER |=1;//enable interrupt core INT1

	EINT;//enable control interrupt lines 2 macros
	ERTM;//.......

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


	while(1)
	{
			while(CpuTimer0.InterruptCount ==0)	// wait for 10*100 milliseconds
			{
				EALLOW;
				SysCtrlRegs.WDKEY = 0x55;	// service WD #2
				EDIS;
			}
			CpuTimer0.InterruptCount = 0;

		    if(ECanbRegs.CANRMP.bit.RMP2 == 1 ) 	// valid new data in MBX1?
			{
			 	counter = (ECanbMboxes.MBOX2.MDL.all);
				counter2=ECanbMboxes.MBOX2.MDH.all;
				counter3=ECanbMboxes.MBOX2.MSGID.all;
				temp2=(ECanbMboxes.MBOX2.MDL.byte.BYTE1 & 0xFF);
				temp3=(ECanbMboxes.MBOX2.MDL.byte.BYTE2 & 0xFF);
				temp4=(ECanbMboxes.MBOX2.MDL.byte.BYTE3 & 0xFF);
							// clear the status flag RMP1
				ECanbRegs.CANRMP.bit.RMP2 = 1;										// and prepare MBX1 for next receive
				GpioDataRegs.GPBTOGGLE.bit.GPIO34 = 1;		// toggle red LED LD3 @ 28335CC

			}
	}
}

void Gpio_select(void)// Register secimi yap1yoruz I/O olarak
{
	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 = 0xAA;	// service WD #2
	EDIS;
	PieCtrlRegs.PIEACK.all = PIEACK_GROUP1;
}

//===========================================================================
// End of SourceCode.
//===========================================================================