#include "DSP28_Device.h"


void delay(int n);
interrupt void CAN0INTA_ISR();
//interrupt void CAN0INTARECEIVER_ISR();

//#define CAN_INT  1
//Global variable for this example
Uint32 ErrorCount=0;
unsigned int MessageReceiveCount=0;
Uint32 MessageTransferCount=1;
Uint32 inter=0,error=0;
extern Uint32 TestMbox1;
extern Uint32 TestMbox2;
extern Uint32 TestMbox3;
Uint32 a1[16];
Uint32 a2[16];
Uint32 a3[16];
unsigned int a[300],b[20];
void main(void)
{
	//Uint16 j;
	/*初始化系統*/
	InitSysCtrl();

	/*關中斷*/
	DINT;
	IER = 0x0000;
	IFR = 0x0000;

	/*初始化PIE中斷*/
	InitPieCtrl();

	/*初始化PIE中斷矢量表*/
	InitPieVectTable();	
	//InitGpio();
	 EALLOW;
     GpioMuxRegs.GPFMUX.bit.CANTXA_GPIOF6=1;
     GpioMuxRegs.GPFMUX.bit.CANRXA_GPIOF7=1;
     EDIS;
	/*初始化SCIA寄存器*/
    InitECan();
	
	MessageReceiveCount = 0;
	ErrorCount = 0;
    
   
	/*設置中斷服務程序入口地址*/
	EALLOW;	// This is needed to write to EALLOW protected registers
	
	PieVectTable.ECAN0INTA = &CAN0INTA_ISR;
	
	//PieVectTable.ECAN1INTA = &ECAN1INTA_ISR;
	EDIS;   // This is needed to disable write to EALLOW protected registers

	/*開中斷*/
	IER |= M_INT9;
	
	EINT;   // Enable Global interrupt INTM
	ERTM;	// Enable Global realtime interrupt DBGM   
	for(;;)
	{
		
	//ECanaRegs.CANME.all = 0;//所有的郵箱不使能	
//	ECanaRegs.CANMC.bit.CDR=1;
//	ECanaMboxes.MBOX15.MDRL.all = MessageReceiveCount*2;        
    ECanaMboxes.MBOX15.MDRL.bit.LOW_WORD=MessageReceiveCount*3;
   // ECanaRegs.CANMC.bit.CDR=0;
  //  ECanaRegs.CANME.all = 0x80008000;//使能郵箱15和31
   
    ECanaRegs.CANTRS.all=0;	 	
	//ECanaRegs.CANTRS.all = 0x8000;//發送在0~15信箱中的數據	    
	ECanaRegs.CANTRS.bit.TRS15=1;
	delay(1000);	
	while(ECanaRegs.CANTA.bit.TA15!= 1){;}//判斷郵箱中的數據是否發送成功
	ECanaRegs.CANTA.bit.TA15= 1;//清除發送響應寄存器中的標志
	while(ECanaRegs.CANTA.bit.TA15!= 0){;}//等待發送響應標志被清除
	MessageTransferCount++;
		
	delay(100);
	    
    //ECanaRegs.CANRMP.bit.RMP16= 1;//清除消息未決寄存器，此條語句應該放在這里，放在中斷里發現不行
       // while(ECanaRegs.CANRML.bit.RML16==1) {error++;ECanaRegs.CANRML.bit.RML16=1;}//查看接受消息丟失寄存器，是否接受郵箱丟失數據，丟失一數據，error的值加1
	MessageReceiveCount++;	
	if(	MessageReceiveCount>=10)
	MessageReceiveCount=0;
	}

} 	


void delay(int n)
{
	int m,k;
	for(k=0;k<n;k++)
	{	for(m=0;m<100;m++){;} }
}

interrupt void CAN0INTA_ISR()
{
    //while(ECanaRegs.CANRMP.bit.RMP16!= 1){};//判斷郵箱中的數據是否接收成功
	a[inter]=ECanaMboxes.MBOX31.MDRL.all;
	b[inter]=ECanaMboxes.MBOX31.MDRH.all;
	inter++;
	
	if(inter==100) 
	 
	inter=0;
	ECanaRegs.CANRMP.all= 0x80000000;//清除消息未決寄存器
	//ECanaRegs.CANGIF0.all = 0xFFFFFFFF;//此條語句可有可無，試驗證明cpu可以自動清除，不需要管理，可以讀取該寄存器來讀取一些標志，如0~4位表明
	//置位全局郵箱中斷標志的郵箱號
//	ECanaRegs.CANTA.all = 0xffff;
	ECanaRegs.CANRMP.all= 0xffff;
	PieCtrl.PIEACK.bit.ACK9=1;
	
	
	
}
//===========================================================================
// No more.
//===========================================================================