//===========================================================================
//
// 文件名稱：	F2812_CANRE.c
//
// 功能描述：	DSP28 CAN 接收 ,  Mailbox 1
//				擴展標識符 0x10 000 000 ; 通信速率 100 KBPS   
//				接收一個字節的數據
//				看門狗使能，在主循環程序中喚醒 
//
//===========================================================================

#include "DSP281x_Device.h"

// 函數原型聲明

void Gpio_select(void);
void InitSystem(void);     
void InitCan(void);

void main(void)
{
	char w[8] ;
	int i =0 ;
	int RXcounter = 0;
	struct	ECAN_REGS ECanaShadow;
	
	InitSystem();		// 初始化DSP內核寄存器
	
	Gpio_select();		// 配置GPIO復用寄存器      
	
	InitCan();

	/* 寫消息標識符 MSGID 區  */
   	ECanaMboxes.MBOX1.MSGID.all  = 0x10000000;  // 擴展標識符
//   	ECanaMboxes.MBOX1.MSGID.all  = 0x9555AAA1;
   	ECanaMboxes.MBOX1.MSGID.bit.IDE = 1;		 
    
	/* 配置郵箱1作為接收器郵箱 */
	ECanaShadow.CANMD.all = ECanaRegs.CANMD.all;	
	ECanaShadow.CANMD.bit.MD1 = 1;
	ECanaRegs.CANMD.all = ECanaShadow.CANMD.all; 

	/* 使能郵箱mailbox 1  */
	
	ECanaShadow.CANME.all = ECanaRegs.CANME.all;	
	ECanaShadow.CANME.bit.ME1 = 1;
	ECanaRegs.CANME.all = ECanaShadow.CANME.all; 	   
	while(1)
	{    
    	do 
    	{
     		ECanaShadow.CANRMP.all = ECanaRegs.CANRMP.all;	
	    	EALLOW;
    		SysCtrlRegs.WDKEY = 0x55;       //  控制看門狗
    		SysCtrlRegs.WDKEY = 0xAA;				
	   		EDIS;
	    }   
        while(ECanaShadow.CANRMP.bit.RMP1 != 1 );       // 等待 RMP1置位..
                
 //    	GpioDataRegs.GPBDAT.all = ECanaMboxes.MBOX1.MDL.byte.BYTE0;

         RXcounter++;

	    ECanaShadow.CANRMP.bit.RMP1 = 1;
    	 w[0]= ECanaMboxes.MBOX1.MDL.byte.BYTE0;
	    // w[0]= ECanaMboxes.MBOX1.MDL.ALL;
		 w[1]= ECanaMboxes.MBOX1.MDL.byte.BYTE1;
    	 w[2]= ECanaMboxes.MBOX1.MDL.byte.BYTE2;
    	 w[3]= ECanaMboxes.MBOX1.MDL.byte.BYTE3;
    	 w[4]= ECanaMboxes.MBOX1.MDH.byte.BYTE4;
		 w[5]= ECanaMboxes.MBOX1.MDH.byte.BYTE5;
    	 w[6]= ECanaMboxes.MBOX1.MDH.byte.BYTE6;
    	 w[7]= ECanaMboxes.MBOX1.MDH.byte.BYTE7;
     //   *(int *)(0xF0000+4*i)   = w[0]&0xff+((w[1]&0xff)<<8);
     //   *(int *)(0xF0000+4*i+1) = w[2]&0xff+((w[3]&0xff)<<8);
     //   *(int *)(0xF0000+4*i+2) = w[4]&0xff+((w[5]&0xff)<<8);
     //   *(int *)(0xF0000+4*i+3) = w[6]&0xff+((w[7]&0xff)<<8);
     //   if(i<0x8000)
	//	{
	//	  i=i+4;
	//	}
    //    else i=0;



	 	ECanaRegs.CANRMP.all = ECanaShadow.CANRMP.all;    // 清除 RMP1 位并重新啟動接收
    }
} 	

void Gpio_select(void)
{
	EALLOW;
	GpioMuxRegs.GPAMUX.all = 0x0;	// 所有GPIO引腳配置為I/O
    GpioMuxRegs.GPBMUX.all = 0x0;   
    GpioMuxRegs.GPDMUX.all = 0x0;
    GpioMuxRegs.GPFMUX.all = 0x0;	
    GpioMuxRegs.GPFMUX.bit.CANTXA_GPIOF6 = 1;  //CAN引腳配置
	GpioMuxRegs.GPFMUX.bit.CANRXA_GPIOF7 = 1;		 
    GpioMuxRegs.GPEMUX.all = 0x0; 
    GpioMuxRegs.GPGMUX.all = 0x0;			
										
    GpioMuxRegs.GPADIR.all = 0x0;	  // GPIO PORT 配置為輸入
    GpioMuxRegs.GPBDIR.all = 0x00FF;  // GPIO Port B15-B8  配置為輸入 , B7-B0  配置為輸出
    GpioMuxRegs.GPDDIR.all = 0x0;	  // GPIO PORT   配置為輸入
    GpioMuxRegs.GPEDIR.all = 0x0;	  // GPIO PORT   配置為輸入
    GpioMuxRegs.GPFDIR.all = 0x0;	  // GPIO PORT   配置為輸入
    GpioMuxRegs.GPGDIR.all = 0x0;	  // GPIO PORT   配置為輸入

    GpioMuxRegs.GPAQUAL.all = 0x0;	  // 設置所有 GPIO 輸入的量化值等于0
    GpioMuxRegs.GPBQUAL.all = 0x0;
    GpioMuxRegs.GPDQUAL.all = 0x0;
    GpioMuxRegs.GPEQUAL.all = 0x0;
    EDIS;
}     

void InitSystem(void)
{
   	EALLOW;
   	SysCtrlRegs.WDCR= 0x00AF;		// 配置看門狗 
   									// 0x00E8  禁止看門狗，預定標系數Prescaler = 1
   									// 0x00AF  不禁止看門狗, 預定標系數Prescaler = 64
   	SysCtrlRegs.SCSR = 0; 			// 看門狗產生復位	
   	SysCtrlRegs.PLLCR.bit.DIV = 10;	// 配置處理器鎖相環，倍頻系數為5
    
   	SysCtrlRegs.HISPCP.all = 0x1;   // 配置高速外設時鐘分頻系數： 2
   	SysCtrlRegs.LOSPCP.all = 0x2;   // 配置低速外設時鐘分頻系數： 4
      	
   	// 使用的外設時鐘時鐘設置：
   	// 一般不使用的外設的時鐘禁止，降低系統功耗   
   	SysCtrlRegs.PCLKCR.bit.EVAENCLK=0;
   	SysCtrlRegs.PCLKCR.bit.EVBENCLK=0;
   	SysCtrlRegs.PCLKCR.bit.SCIAENCLK=0;
   	SysCtrlRegs.PCLKCR.bit.SCIBENCLK=0;
   	SysCtrlRegs.PCLKCR.bit.MCBSPENCLK=0;
   	SysCtrlRegs.PCLKCR.bit.SPIENCLK=0;
   	SysCtrlRegs.PCLKCR.bit.ECANENCLK=1; // 使能CAN模塊的時鐘
   	SysCtrlRegs.PCLKCR.bit.ADCENCLK=0;
   	EDIS;
}  

void InitCan(void)
{
	asm("  EALLOW");
/* 使用eCAN寄存器配置 eCAN RX 和 TX 引腳作為 eCAN 模塊傳輸功能引腳*/  
    
    ECanaRegs.CANTIOC.bit.TXFUNC = 1;
    ECanaRegs.CANRIOC.bit.RXFUNC = 1;   

/*     配置 eCAN 工作在 HECC 模式               */
//     HECC 模式使能定時標簽功能
	ECanaRegs.CANMC.bit.SCB = 1;				

/* 配置位定時參數 */

	ECanaRegs.CANMC.bit.CCR = 1 ;            // Set CCR = 1
    
    while(ECanaRegs.CANES.bit.CCE != 1 ) {}   // 等待 CCE bit置位..
    
    ECanaRegs.CANBTC.bit.BRPREG = 99;
    ECanaRegs.CANBTC.bit.TSEG2REG = 2;
    ECanaRegs.CANBTC.bit.TSEG1REG = 10;  
    
    ECanaRegs.CANMC.bit.CCR = 0 ;             // Set CCR = 0
    while(ECanaRegs.CANES.bit.CCE == !0 ) {}   // 等待 CCE bit 清0..

/* Disable all Mailboxes  */
	
 	ECanaRegs.CANME.all = 0;		// 寫 MSGIDs之前需要此操作
	asm("  EDIS");
}    

/***************************************************/
/*  150 MHz SYSCLKOUT 時eCAN的時序配置             */ 
/***************************************************/
/*
下表給出在BT = 15  SP＝80％時，BRP不同的配置方式CAN的通信速率

---------------------------------------------------
BT = 15, TSEG1 = 10, TSEG2 = 2, Sampling Point = 80% 
---------------------------------------------------
1   Mbps : BRP+1 = 10 	: CAN clock = 15 MHz
500 kbps : BRP+1 = 20 	: CAN clock = 7.5 MHz 
250 kbps : BRP+1 = 40 	: CAN clock = 3.75 MHz 
125 kbps : BRP+1 = 80 	: CAN clock = 1.875 MHz 
100 kbps : BRP+1 = 100 	: CAN clock = 1.5 MHz
50  kbps : BRP+1 = 200 	: CAN clock = 0.75 MHz


-------------------------------------------------------------
 BT = 25時，通過改變 TSEG1 & TSEG2 獲得的不同的采樣點  
-------------------------------------------------------------

TSEG1 = 18, TSEG2 = 4, SP = 80% 
TSEG1 = 17, TSEG2 = 5, SP = 76% 
TSEG1 = 16, TSEG2 = 6, SP = 72% 
TSEG1 = 15, TSEG2 = 7, SP = 68% 
TSEG1 = 14, TSEG2 = 8, SP = 64% 

 BT = 25時，BRP不同的配置方式CAN的通信速率

1   Mbps : BRP+1 = 6 
500 kbps : BRP+1 = 12 
250 kbps : BRP+1 = 24 
125 kbps : BRP+1 = 48 
100 kbps : BRP+1 = 60
50  kbps : BRP+1 = 120

*/

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