1 //###########################################################################
2 //
3 // FILE: F2837xD_can.c
4 //
5 // TITLE: F2837xD CAN Support Functions.
6 //
7 //###########################################################################
8 // $TI Release: F2837xD Support Library v3.05.00.00 $
9 // $Release Date: Tue Jun 26 03:15:23 CDT 2018 $
10 // $Copyright:
11 // Copyright (C) 2013-2018 Texas Instruments Incorporated - http://www.ti.com/
12 //
13 // Redistribution and use in source and binary forms, with or without
14 // modification, are permitted provided that the following conditions
15 // are met:
16 //
17 // Redistributions of source code must retain the above copyright
18 // notice, this list of conditions and the following disclaimer.
19 //
20 // Redistributions in binary form must reproduce the above copyright
21 // notice, this list of conditions and the following disclaimer in the
22 // documentation and/or other materials provided with the
23 // distribution.
24 //
25 // Neither the name of Texas Instruments Incorporated nor the names of
26 // its contributors may be used to endorse or promote products derived
27 // from this software without specific prior written permission.
28 //
29 // THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
30 // "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
31 // LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR
32 // A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT
33 // OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL,
34 // SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT
35 // LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS OF USE,
36 // DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND ON ANY
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38 // (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE
39 // OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
40 // $
41 //###########################################################################
42
43 //
44 // Included Files
45 //
46 #include "F2837xD_device.h"
47 #include "F2837xD_Examples.h"
48
49 //
50 // InitCAN - Initializes the CAN-A controller after reset.
51 //
InitCAN(void)52 void InitCAN(void)
53 {
54 int16_t iMsg;
55
56 //
57 // Place CAN controller in init state, regardless of previous state. This
58 // will put controller in idle, and allow the message object RAM to be
59 // programmed.
60 //
61 CanaRegs.CAN_CTL.bit.Init = 1;
62 CanaRegs.CAN_CTL.bit.SWR = 1;
63
64 //
65 // Wait for busy bit to clear
66 //
67 while(CanaRegs.CAN_IF1CMD.bit.Busy)
68 {
69 }
70
71 //
72 // Clear the message value bit in the arbitration register. This indicates
73 // the message is not valid and is a "safe" condition to leave the message
74 // object. The same arb reg is used to program all the message objects.
75 //
76 CanaRegs.CAN_IF1CMD.bit.DIR = 1;
77 CanaRegs.CAN_IF1CMD.bit.Arb = 1;
78 CanaRegs.CAN_IF1CMD.bit.Control = 1;
79
80 CanaRegs.CAN_IF1ARB.all = 0;
81
82 CanaRegs.CAN_IF1MCTL.all = 0;
83
84 CanaRegs.CAN_IF2CMD.bit.DIR = 1;
85 CanaRegs.CAN_IF2CMD.bit.Arb = 1;
86 CanaRegs.CAN_IF2CMD.bit.Control = 1;
87
88 CanaRegs.CAN_IF2ARB.all = 0;
89
90 CanaRegs.CAN_IF2MCTL.all = 0;
91
92 //
93 // Loop through to program all 32 message objects
94 //
95 for(iMsg = 1; iMsg <= 32; iMsg+=2)
96 {
97 //
98 // Wait for busy bit to clear
99 //
100 while(CanaRegs.CAN_IF1CMD.bit.Busy)
101 {
102 }
103
104 //
105 // Initiate programming the message object
106 //
107 CanaRegs.CAN_IF1CMD.bit.MSG_NUM = iMsg;
108
109 //
110 // Wait for busy bit to clear
111 //
112 while(CanaRegs.CAN_IF2CMD.bit.Busy)
113 {
114 }
115
116 //
117 // Initiate programming the message object
118 //
119 CanaRegs.CAN_IF2CMD.bit.MSG_NUM = iMsg + 1;
120 }
121
122 //
123 // Acknowledge any pending status interrupts.
124 //
125 volatile uint32_t discardRead = CanaRegs.CAN_ES.all;
126
127 }
128
129 //
130 // End of file
131 //
132