132 lines
3.8 KiB
C
132 lines
3.8 KiB
C
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//###########################################################################
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//
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// FILE: F2837xD_can.c
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//
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// TITLE: F2837xD CAN Support Functions.
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//
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//###########################################################################
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//
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// $Release Date: $
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// $Copyright:
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// Copyright (C) 2013-2022 Texas Instruments Incorporated - http://www.ti.com/
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//
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// Redistribution and use in source and binary forms, with or without
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// modification, are permitted provided that the following conditions
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// are met:
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//
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// Redistributions of source code must retain the above copyright
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// notice, this list of conditions and the following disclaimer.
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//
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// Redistributions in binary form must reproduce the above copyright
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// notice, this list of conditions and the following disclaimer in the
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// documentation and/or other materials provided with the
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// distribution.
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//
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// Neither the name of Texas Instruments Incorporated nor the names of
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// its contributors may be used to endorse or promote products derived
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// from this software without specific prior written permission.
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//
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// THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
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// "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
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// LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR
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// A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT
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// OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL,
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// SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT
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// LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS OF USE,
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// DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND ON ANY
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// THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT
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// (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE
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// OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
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// $
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//###########################################################################
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//
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// Included Files
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//
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#include "F2837xD_device.h"
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#include "F2837xD_Examples.h"
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//
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// InitCAN - Initializes the CAN-A controller after reset.
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//
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void InitCAN(void)
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{
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int16_t iMsg;
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//
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// Place CAN controller in init state, regardless of previous state. This
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// will put controller in idle, and allow the message object RAM to be
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// programmed.
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//
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CanaRegs.CAN_CTL.bit.Init = 1;
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CanaRegs.CAN_CTL.bit.SWR = 1;
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//
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// Wait for busy bit to clear
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//
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while(CanaRegs.CAN_IF1CMD.bit.Busy)
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{
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}
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//
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// Clear the message value bit in the arbitration register. This indicates
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// the message is not valid and is a "safe" condition to leave the message
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// object. The same arb reg is used to program all the message objects.
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//
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CanaRegs.CAN_IF1CMD.bit.DIR = 1;
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CanaRegs.CAN_IF1CMD.bit.Arb = 1;
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CanaRegs.CAN_IF1CMD.bit.Control = 1;
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CanaRegs.CAN_IF1ARB.all = 0;
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CanaRegs.CAN_IF1MCTL.all = 0;
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CanaRegs.CAN_IF2CMD.bit.DIR = 1;
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CanaRegs.CAN_IF2CMD.bit.Arb = 1;
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CanaRegs.CAN_IF2CMD.bit.Control = 1;
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CanaRegs.CAN_IF2ARB.all = 0;
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CanaRegs.CAN_IF2MCTL.all = 0;
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//
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// Loop through to program all 32 message objects
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//
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for(iMsg = 1; iMsg <= 32; iMsg+=2)
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{
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//
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// Wait for busy bit to clear
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//
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while(CanaRegs.CAN_IF1CMD.bit.Busy)
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{
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}
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//
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// Initiate programming the message object
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//
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CanaRegs.CAN_IF1CMD.bit.MSG_NUM = iMsg;
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//
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// Wait for busy bit to clear
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//
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while(CanaRegs.CAN_IF2CMD.bit.Busy)
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{
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}
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//
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// Initiate programming the message object
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//
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CanaRegs.CAN_IF2CMD.bit.MSG_NUM = iMsg + 1;
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}
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//
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// Acknowledge any pending status interrupts.
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//
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volatile uint32_t discardRead = CanaRegs.CAN_ES.all;
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}
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//
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// End of file
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//
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