#include "DSP28_Device.h"


//---------------------------------------------------------------------------
// InitECan: 
//---------------------------------------------------------------------------
// This function initializes to a known state.
//
void InitECan(void)
{
	//struct ECAN_REGS ECanaShadow;
	EALLOW;//配置io口為cantx,canrx
	
	ECanaRegs.CANTIOC.bit.TXFUNC = 1;	//cantx 配置為發送
	ECanaRegs.CANRIOC.bit.RXFUNC = 1;	//canrx 配置為接受	
	ECanaRegs.CANMC.bit.CCR = 1;//cpu請求變換配置	
	EDIS;	
    
	while(ECanaRegs.CANES.bit.CCE != 1);{;}//判斷cpu對配置寄存器進行了寫操作
	
	EALLOW;
    ECanaRegs.CANBTC.bit.SAM=0;  //can模塊采樣3個值并進行多數表決
	/*(BRPREG+1)=10 feeds a 15MHz CAN clock*/
	ECanaRegs.CANBTC.bit.BRP  = 19;
	
	ECanaRegs.CANBTC.bit.TSEG2 = 5;
	ECanaRegs.CANBTC.bit.TSEG1 = 7;//見p601，500k的比特率	
	
	ECanaRegs.CANMC.bit.CCR = 0;//cpu請求通常的操作	
	EDIS;	
	while(ECanaRegs.CANES.bit.CCE != 0){;}; //判斷cpu對配置寄存器進行了寫操作
	
	
//	EALLOW;
    //以下為對郵箱進行配置
    ECanaMboxes.MBOX0.MCF.all = 0x00000000;
    ECanaMboxes.MBOX1.MCF.all = 0x00000000;
    ECanaRegs.CANTA.all = 0xFFFFFFFF;
	ECanaRegs.CANRMP.all = 0xFFFFFFFF;

	ECanaRegs.CANGIF0.all = 0xFFFFFFFF;
	ECanaRegs.CANGIF1.all = 0xFFFFFFFF;
    
	ECanaRegs.CANME.all = 0;//所有的郵箱不使能
//	ECanaRegs.CANMD.all = 0x80000000;//郵箱指向寄存器，郵箱15配置為發送，31配置為接受
	ECanaRegs.CANMD.bit.MD0=0;
	ECanaRegs.CANMD.bit.MD1=1;    
	
//	ECanaMboxes.MBOX0.MID.all = 0x90000002;
    ECanaMboxes.MBOX0.MID.all=	0x00000002;
	
	/*接收郵箱的ID號*/
	//ECanaMboxes.MBOX15.MID.all = 0x90000002;
	ECanaMboxes.MBOX1.MID.all=	0x00000002;	
	ECanaMboxes.MBOX0.MDRL.bit.LOW_WORD=1;	
 
   
	ECanaMboxes.MBOX0.MCF.bit.DLC = 8;	/*數據長度 8個BYTE*/	
	ECanaMboxes.MBOX1.MCF.bit.DLC = 8;	
			
	/*沒有遠方應答幀被請求*/
	ECanaMboxes.MBOX0.MCF.bit.RTR = 0;	
	ECanaMboxes.MBOX1.MCF.bit.RTR = 0;	

	ECanaRegs.CANME.bit.ME0=1;// 使能郵箱0
	ECanaRegs.CANME.bit.ME1=1;// 使能郵箱1
//	EDIS;
	
	EALLOW;
		
	ECanaRegs.CANMC.bit.STM =0;//不使能自檢模式
	ECanaRegs.CANMC.bit.SCM = 0;//處于scc模式
	ECanaRegs.CANMC.bit.DBO=1;//首先接受或發送數據的低位字節
	EDIS;	
	EALLOW;
	ECanaRegs.CANMIM.bit.MIM1=1;    //使能郵箱1
	ECanaRegs.CANMIL.all = 0;       //在中斷線0上產生郵箱中斷
	ECanaRegs.CANGIF0.all = 0xFFFFFFFF; //清除can全局中斷標志0寄存器
	ECanaRegs.CANGIM.bit.I0EN = 1;  //使能ecan0int線全局使能
//	ECanaRegs.CANGIM.bit.I1EN = 1;  //使能ecan1int線全局使能
	ECanaRegs.CANGIM.all = 0x3ff07;  //全局中斷屏蔽寄存器全使能
	EDIS;
	PieCtrl.PIEIER9.bit.INTx6 = 1;   //使能can中斷
	PieCtrl.PIEIER9.bit.INTx5 = 1;

}