/*********************************************************************
**	Module Name:		CAN-test  				    				**
**	Author:				Cbq  			    						**
**	Version:			1.0			    							**
**	CreateDate:			2008-06-22		    						**
**	Description:		            			    				**
**	Remark:				Huozq		    							**
**	Revision History:	2008-11-10			    					**
**********************************************************************/

/*********************************************************************
**	實驗目的:了解CAN寄存器的使用。                                  **
**	實驗說明:CAN自收發(fā)模式。                                        **                       **
**	實驗結果:參見用戶手冊說明。                                     **
**********************************************************************/


#include "DSP28_Device.h"
void mailbox_check(int32 T1,int32 T2,int32 T3);
void mailbox_read(int16 i);

//Global variable for this example
Uint32 ErrorCount;
Uint32 MessageReceiveCount;

extern Uint32 TestMbox1;
extern Uint32 TestMbox2;
extern Uint32 TestMbox3;

void main(void)
{
	Uint16 j;
	/*初始化系統(tǒng)*/
	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();	
	
	/*初始化SCIA寄存器*/
    InitECan();
	
	MessageReceiveCount = 0;
	ErrorCount = 0;
    
    #if CAN_INT
	/*設置中斷服務程序入口地址*/
	EALLOW;	// This is needed to write to EALLOW protected registers
	PieVectTable.ECAN0INTA = &ECAN0INTA_ISR;
	PieVectTable.ECAN1INTA = &ECAN1INTA_ISR;
	EDIS;   // This is needed to disable write to EALLOW protected registers

	/*開中斷*/
	IER |= M_INT9;
	#endif
	EINT;   // Enable Global interrupt INTM
	ERTM;	// Enable Global realtime interrupt DBGM

	for(;;)
	{
		ECanaRegs.CANTRS.all = 0x0000FFFF;
		while(ECanaRegs.CANTA.all != 0x0000FFFF);
		ECanaRegs.CANTA.all = 0x0000FFFF;
		MessageReceiveCount++;
		//for(j = 0; j < 0x1000; j++);
		
		#if !CAN_INT
		for(j = 0; j < 16; j++)
		{
			mailbox_read(j);
			mailbox_check(TestMbox1,TestMbox2,TestMbox3);
		}
		#endif
	}

} 	

void mailbox_read(int16 MBXnbr)
{
   volatile struct MBOX *Mailbox;
   Mailbox = &ECanaMboxes.MBOX0 + MBXnbr;
   TestMbox1 = Mailbox->MDRL.all; 	// = 0x9555AAAn (n is the MBX number)
   TestMbox2 = Mailbox->MDRH.all; 	// = 0x89ABCDEF (a constant)
   TestMbox3 = Mailbox->MID.all;	// = 0x9555AAAn (n is the MBX number)

} // MSGID of a rcv MBX is transmitted as the MDL data.在這里設斷點


void mailbox_check(int32 T1, int32 T2, int32 T3)
{
    if((T1 != T3) || ( T2 != 0x89ABCDEF))
    {
       ErrorCount++;
    }
}

//===========================================================================
// No more.
//===========================================================================