TMS320F28335 CAN通信

RNGxiaohu

can通信配置can.c
# B1 u) r# d9 G, d% |3 ~! [#include “can.h”
0 z+ g: y3 j  Blong int i;
long loopcount = 0;
* }5 c3 q6 C3 ~: C) z1 Dvoid Ecan_Config(void)
# A1 S7 V8 [! d- K- [6 a{
struct ECAN_REGS ECanaShadow;
struct ECAN_REGS ECanbShadow;
( _1 X0 Y9 Z* n& u// Step 5. User specific code:

. U# n% V# b$ b8 n8 n- `/* Write to the MSGID field */

ECanaMboxes.MBOX0.MSGID.all = 0x95555555; // Extended Identifier
' E/ l; F% e0 d) m% rECanaMboxes.MBOX15.MSGID.all = 0x95555555; // Extended Identifier
* G* E' A( v) y8 k: R2 j: n5 BECanbMboxes.MBOX25.MSGID.all = 0x95555555; // Extended Identifier
% u/ k8 o, i4 P& a% p9 ?% @* [; gECanbMboxes.MBOX0.MSGID.all = 0x95555555; // Extended Identifier
: A1 q3 V( r+ q
, R7 |1 ~5 d0 K( a/* 配置CANA 邮箱0为发送邮箱 */
ECanaShadow.CANMD.all =ECanaRegs.CANMD.all;
ECanaShadow.CANMD.bit.MD0 = 0;
( J4 Y" B+ T: T& q( cECanaRegs.CANMD.all = ECanaShadow.CANMD.all;
* B0 L+ v8 |& {4 }7 }
//配置CANB 邮箱25为接受邮箱
ECanbShadow.CANMD.all = ECanbRegs.CANMD.all;
, y- T& ^% ]6 K# r) u+ q; |4 p; |# YECanbShadow.CANMD.bit.MD25 = 1;
ECanbRegs.CANMD.all = ECanbShadow.CANMD.all;

//配置CANA 邮箱0使能
+ o. V! [- i9 \5 M1 mECanaShadow.CANME.all = ECanaRegs.CANME.all;
ECanaShadow.CANME.bit.ME0 = 1;
( K2 B8 R& S" b* nECanaRegs.CANME.all = ECanaShadow.CANME.all;
3 U% x) o) J& T6 D; F& t
4 T4 _( g; l/ U, _' g" L5 s//配置CANB 邮箱25使能
ECanbShadow.CANME.all = ECanbRegs.CANME.all;
ECanbShadow.CANME.bit.ME25 = 1;
* d( l" G2 Z0 k  \5 Q8 G8 A8 \ECanbRegs.CANME.all = ECanbShadow.CANME.all;
) n$ d6 @: l6 _4 ]# m5 p7 P
7 W9 N! d3 E* u- Q/* Write to DLC field in Master Control reg */
ECanaMboxes.MBOX0.MSGCTRL.bit.DLC = 8;
  m  |. Y2 F& z; `. A9 V, fECanbMboxes.MBOX25.MSGCTRL.bit.DLC = 8;

//CANA 邮箱0发送信息
ECanaMboxes.MBOX0.MDL.all = 0x12345678;
0 \2 m  i' |$ f( GECanaMboxes.MBOX0.MDH.all = 0x87654321;

// ECanbMboxes.MBOX25.MDL.all = 0x12345678;
7 j% I7 F% U2 `& D* W0 m// ECanbMboxes.MBOX25.MDH.all = 0x87654321;
8 H8 w1 a4 L0 q, r4 l) @//
/ s0 _# a2 ^2 g6 T4 j' T6 A! n( Y// //配置为自检模式，实验现象表明可以正常发送数据
/ P: ^' G, L% R8 Q5 q3 X// EALLOW;
// ECanaShadow.CANMC.all = ECanaRegs.CANMC.all;
" g# f! S5 m# a// ECanaShadow.CANMC.bit.STM = 1; // Configure CAN for self-test mode
// ECanaRegs.CANMC.all = ECanaShadow.CANMC.all;
8 w1 i3 r6 M0 Q// EDIS;
# h/ n. m- y% y
4 M5 X% G' o! p; Cfor( i=0; i < 1000; i++)
{
ECanaShadow.CANTRS.all = 0;
ECanaShadow.CANTRS.bit.TRS0 = 1; // Set TRS for mailbox under test
" S: w; e3 F2 O) I8 t" y8 EECanaRegs.CANTRS.all = ECanaShadow.CANTRS.all;
( T9 a& n2 M$ h7 q' j& i//单步运行卡在此处，需检查CAN总线是否挂载另一个节点，GPIO配置，CANA,CANB配置等问题
! P( N. h5 E7 }/ s  Sdo
) D8 U4 @5 ?% C2 u" D  r1 F4 l{
3 h! |; C0 t, d5 {+ {ECanaShadow.CANTA.all = ECanaRegs.CANTA.all;
} while(ECanaShadow.CANTA.bit.TA0 == 0 ); // Wait for TA5 bit to be set…

4 Z2 |7 K, W2 t* Z- t    ECanaShadow.CANTA.all = 0;
    ECanaShadow.CANTA.bit.TA0 = 1;               // Clear TA5
9 y* `" ]6 @) @0 I8 A. q7 ~    ECanaRegs.CANTA.all = ECanaShadow.CANTA.all;

    loopcount ++;
7 `2 u$ z6 n, C0 C8 v# g }
    ECanaShadow.CANTA.all = 0;
    ECanaShadow.CANTA.bit.TA0 = 1;               // Clear TA5
    ECanaRegs.CANTA.all = ECanaShadow.CANTA.all;

    loopcount ++;
5 N  X1 b1 ?5 s }

}
3 E+ o  y+ p8 P3 |! `
CAN通信的can.h文件
#ifndef CAN_H
#define CAN_H
$ }  w8 [2 ?/ H& v% o
  r, a3 p1 G/ ^5 k! f#include “DSP2833x_Device.h” // DSP2833x 头文件
2 f' [0 r! a1 N( y# j2 x. \' F#include “DSP2833x_Examples.h” // DSP2833x 例子相关头文件
$ C- I- ?! c. Gvoid Ecan_Config(void);

9 S: ^0 j- Q0 A3 C#endif /* APP_CAN_H_ */
9 Z3 Q# @% P" ?; f; W# c. Z
在主程序中运行该程序，则通过CAN分析仪可在PC机上看到发出1000次信息。

# F" R3 R! z; d3 ?, i7 ^0 O9 B/ O

CLBuu

配置CANA 邮箱0使能
ECanaShadow.CANME.all = ECanaRegs.CANME.all;