DSP28335 CAN通讯实验

《DSP从零开始学习历程》@EnzoReventon

DSP 28335 CAN通讯实验

1. 实验目的：

实现开发板上同一个CAN口的数据收发，mail0发送数据，mail1接收数据。

2. 硬件设备

3. 软件准备

1. Code Composer Studio 6.1.3，用于编写，调试DSP程序。
   
   
   
2. ZCANPRO，用于调试CAN通讯。
   
   
   

4. CAN通讯的原理

5. 硬件设计

6. 软件设计

1. CAN初始化子函数

#include "DSP2833x_Device.h" // DSP2833x Headerfile Include File #include "DSP2833x_Examples.h" // DSP2833x Examples Include File void InitECan(void) { 
    //如果用到了CANA那么使能CANA，如果用到了CANB那么使能CANB InitECana(); #if DSP28_ECANB InitECanb(); #endif // if DSP28_ECANB } //CANA初始化函数 void InitECana(void) { 
    struct ECAN_REGS ECanaShadow; //建立一个阴影寄存器，因为CAN的一些寄存器无法进行直接操作，需要一个阴影寄存器进行间接操作 EALLOW; // EALLOW enables access to protected bits ECanaShadow.CANTIOC.all = ECanaRegs.CANTIOC.all;//can的发送IO口的配置寄存器读出来，赋值给阴影寄存器 ECanaShadow.CANTIOC.bit.TXFUNC = 1; //将负责发送功能的阴影寄存器置一 ECanaRegs.CANTIOC.all = ECanaShadow.CANTIOC.all;//将置一的阴影寄存器给can io寄存器赋值 ECanaShadow.CANRIOC.all = ECanaRegs.CANRIOC.all; ECanaShadow.CANRIOC.bit.RXFUNC = 1; ECanaRegs.CANRIOC.all = ECanaShadow.CANRIOC.all; ECanaShadow.CANMC.all = ECanaRegs.CANMC.all; ECanaShadow.CANMC.bit.SCB = 1; //CANMC主控制器 SCB=1为选择eCAN模式，=0 在SCC模式下只有0-15号邮箱可以使用 ECanaRegs.CANMC.all = ECanaShadow.CANMC.all; //清空邮箱的发送寄存器初始化 ECanaMboxes.MBOX0.MSGCTRL.all = 0x00000000; ECanaMboxes.MBOX1.MSGCTRL.all = 0x00000000; ECanaMboxes.MBOX2.MSGCTRL.all = 0x00000000; ECanaMboxes.MBOX3.MSGCTRL.all = 0x00000000; ECanaMboxes.MBOX4.MSGCTRL.all = 0x00000000; ECanaMboxes.MBOX5.MSGCTRL.all = 0x00000000; ECanaMboxes.MBOX6.MSGCTRL.all = 0x00000000; ECanaMboxes.MBOX7.MSGCTRL.all = 0x00000000; ECanaMboxes.MBOX8.MSGCTRL.all = 0x00000000; ECanaMboxes.MBOX9.MSGCTRL.all = 0x00000000; ECanaMboxes.MBOX10.MSGCTRL.all = 0x00000000; ECanaMboxes.MBOX11.MSGCTRL.all = 0x00000000; ECanaMboxes.MBOX12.MSGCTRL.all = 0x00000000; ECanaMboxes.MBOX13.MSGCTRL.all = 0x00000000; ECanaMboxes.MBOX14.MSGCTRL.all = 0x00000000; ECanaMboxes.MBOX15.MSGCTRL.all = 0x00000000; ECanaMboxes.MBOX16.MSGCTRL.all = 0x00000000; ECanaMboxes.MBOX17.MSGCTRL.all = 0x00000000; ECanaMboxes.MBOX18.MSGCTRL.all = 0x00000000; ECanaMboxes.MBOX19.MSGCTRL.all = 0x00000000; ECanaMboxes.MBOX20.MSGCTRL.all = 0x00000000; ECanaMboxes.MBOX21.MSGCTRL.all = 0x00000000; ECanaMboxes.MBOX22.MSGCTRL.all = 0x00000000; ECanaMboxes.MBOX23.MSGCTRL.all = 0x00000000; ECanaMboxes.MBOX24.MSGCTRL.all = 0x00000000; ECanaMboxes.MBOX25.MSGCTRL.all = 0x00000000; ECanaMboxes.MBOX26.MSGCTRL.all = 0x00000000; ECanaMboxes.MBOX27.MSGCTRL.all = 0x00000000; ECanaMboxes.MBOX28.MSGCTRL.all = 0x00000000; ECanaMboxes.MBOX29.MSGCTRL.all = 0x00000000; ECanaMboxes.MBOX30.MSGCTRL.all = 0x00000000; ECanaMboxes.MBOX31.MSGCTRL.all = 0x00000000; //============================================================================== //清除所有的发送标志，发送标志 ECanaRegs.CANTA.all = 0xFFFFFFFF; /* Clear all TAn bits *///发送应答寄存器 //清除所有的发送标志，接收标志 ECanaRegs.CANRMP.all = 0xFFFFFFFF; /* Clear all RMPn bits *///接收消息挂起寄存器 ECanaRegs.CANGIF0.all = 0xFFFFFFFF; /* Clear all interrupt flag bits *///全局中断标志寄存器 ECanaRegs.CANGIF1.all = 0xFFFFFFFF; //============================================================================== /* Configure bit timing parameters for eCANA*/ ECanaShadow.CANMC.all = ECanaRegs.CANMC.all; ECanaShadow.CANMC.bit.CCR = 1 ; // Set CCR = 1//CPU请求向配置寄存器CANBTC和SCC //的接收屏蔽寄存器（CANGAM，LAM[0]，LAM[3]）写配置 //在该位置位后，CPU必须等到CANES寄存器的CCE标志位为1时， //才能对CANBTC寄存器进行操作。如果ABO位置没有置位，CCR //位将会在总线离线状态下置位，BO状态能够通过清除这一位而退出 //=1 请求对位时序进行配置 ECanaRegs.CANMC.all = ECanaShadow.CANMC.all; //================================================================================= ECanaShadow.CANES.all = ECanaRegs.CANES.all; do { 
    ECanaShadow.CANES.all = ECanaRegs.CANES.all; } while(ECanaShadow.CANES.bit.CCE != 1 ); // Wait for CCE bit to be set.. //CANES CCE=1 CPU已经对配置寄存器写访问 =0位拒绝 //================================================================================= //波特率设置 ECanaShadow.CANBTC.all = 0; #if (CPU_FRQ_150MHZ) // CPU_FRQ_150MHz is defined in DSP2833x_Examples.h /* The following block for all 150 MHz SYSCLKOUT (75 MHz CAN clock) - default. Bit rate = 1 Mbps See Note at End of File */ ECanaShadow.CANBTC.bit.BRPREG = 4; //BRPREG为波特率预调节 ECanaShadow.CANBTC.bit.TSEG2REG = 2; //时间段2位 ECanaShadow.CANBTC.bit.TSEG1REG = 10; //时间段1位 #endif #if (CPU_FRQ_100MHZ) // CPU_FRQ_100MHz is defined in DSP2833x_Examples.h /* The following block is only for 100 MHz SYSCLKOUT (50 MHz CAN clock). Bit rate = 1 Mbps See Note at End of File */ ECanaShadow.CANBTC.bit.BRPREG = 4; ECanaShadow.CANBTC.bit.TSEG2REG = 1; ECanaShadow.CANBTC.bit.TSEG1REG = 6; #endif ECanaShadow.CANBTC.bit.SAM = 1;//设置CAN模块使用的采样数已决定CAN总线的实际水平。 //=1 CAN模块采样三次，并以多数为准，三次采样只会在位速率预定值大于4时被选取。 //=0 CAN模块只会在采样点采样一次 ECanaRegs.CANBTC.all = ECanaShadow.CANBTC.all; //======================================================================================== ECanaShadow.CANMC.all = ECanaRegs.CANMC.all; ECanaShadow.CANMC.bit.CCR = 0 ; // Set CCR = 0 //=0 CPU请求正常操作。这只能在配置寄存器CANBTC置位位允许的值时完成。 ECanaRegs.CANMC.all = ECanaShadow.CANMC.all; //======================================================================================== ECanaShadow.CANES.all = ECanaRegs.CANES.all; do { 
    ECanaShadow.CANES.all = ECanaRegs.CANES.all; } while(ECanaShadow.CANES.bit.CCE != 0 ); // Wait for CCE bit to be cleared.. //CANES CCE=1 CPU已经对配置寄存器写访问 =0位拒绝 /* Disable all Mailboxes */ ECanaRegs.CANME.all = 0; // Required before writing the MSGIDs EDIS; } //CANB初始化函数 程序和初始化CANA是一样的。 //=========================================================================================== #if (DSP28_ECANB) void InitECanb(void) // Initialize eCAN-B module { 
    /* Create a shadow register structure for the CAN control registers. This is needed, since only 32-bit access is allowed to these registers. 16-bit access to these registers could potentially corrupt the register contents or return false data. This is especially true while writing to/reading from a bit (or group of bits) among bits 16 - 31 */ struct ECAN_REGS ECanbShadow; EALLOW; // EALLOW enables access to protected bits /* Configure eCAN RX and TX pins for CAN operation using eCAN regs*/ ECanbShadow.CANTIOC.all = ECanbRegs.CANTIOC.all; ECanbShadow.CANTIOC.bit.TXFUNC = 1; ECanbRegs.CANTIOC.all = ECanbShadow.CANTIOC.all; ECanbShadow.CANRIOC.all = ECanbRegs.CANRIOC.all; ECanbShadow.CANRIOC.bit.RXFUNC = 1; ECanbRegs.CANRIOC.all = ECanbShadow.CANRIOC.all; /* Configure eCAN for HECC mode - (reqd to access mailboxes 16 thru 31) */ ECanbShadow.CANMC.all = ECanbRegs.CANMC.all; ECanbShadow.CANMC.bit.SCB = 1; ECanbRegs.CANMC.all = ECanbShadow.CANMC.all; /* Initialize all bits of 'Master Control Field' to zero */ // Some bits of MSGCTRL register come up in an unknown state. For proper operation, // all bits (including reserved bits) of MSGCTRL must be initialized to zero ECanbMboxes.MBOX0.MSGCTRL.all = 0x00000000; ECanbMboxes.MBOX1.MSGCTRL.all = 0x00000000; ECanbMboxes.MBOX2.MSGCTRL.all = 0x00000000; ECanbMboxes.MBOX3.MSGCTRL.all = 0x00000000; ECanbMboxes.MBOX4.MSGCTRL.all = 0x00000000; ECanbMboxes.MBOX5.MSGCTRL.all = 0x00000000; ECanbMboxes.MBOX6.MSGCTRL.all = 0x00000000; ECanbMboxes.MBOX7.MSGCTRL.all = 0x00000000; ECanbMboxes.MBOX8.MSGCTRL.all = 0x00000000; ECanbMboxes.MBOX9.MSGCTRL.all = 0x00000000; ECanbMboxes.MBOX10.MSGCTRL.all = 0x00000000; ECanbMboxes.MBOX11.MSGCTRL.all = 0x00000000; ECanbMboxes.MBOX12.MSGCTRL.all = 0x00000000; ECanbMboxes.MBOX13.MSGCTRL.all = 0x00000000; ECanbMboxes.MBOX14.MSGCTRL.all = 0x00000000; ECanbMboxes.MBOX15.MSGCTRL.all = 0x00000000; ECanbMboxes.MBOX16.MSGCTRL.all = 0x00000000; ECanbMboxes.MBOX17.MSGCTRL.all = 0x00000000; ECanbMboxes.MBOX18.MSGCTRL.all = 0x00000000; ECanbMboxes.MBOX19.MSGCTRL.all = 0x00000000; ECanbMboxes.MBOX20.MSGCTRL.all = 0x00000000; ECanbMboxes.MBOX21.MSGCTRL.all = 0x00000000; ECanbMboxes.MBOX22.MSGCTRL.all = 0x00000000; ECanbMboxes.MBOX23.MSGCTRL.all = 0x00000000; ECanbMboxes.MBOX24.MSGCTRL.all = 0x00000000; ECanbMboxes.MBOX25.MSGCTRL.all = 0x00000000; ECanbMboxes.MBOX26.MSGCTRL.all = 0x00000000; ECanbMboxes.MBOX27.MSGCTRL.all = 0x00000000; ECanbMboxes.MBOX28.MSGCTRL.all = 0x00000000; ECanbMboxes.MBOX29.MSGCTRL.all = 0x00000000; ECanbMboxes.MBOX30.MSGCTRL.all = 0x00000000; ECanbMboxes.MBOX31.MSGCTRL.all = 0x00000000; // TAn, RMPn, GIFn bits are all zero upon reset and are cleared again // as a matter of precaution. ECanbRegs.CANTA.all = 0xFFFFFFFF; /* Clear all TAn bits */ ECanbRegs.CANRMP.all = 0xFFFFFFFF; /* Clear all RMPn bits */ ECanbRegs.CANGIF0.all = 0xFFFFFFFF; /* Clear all interrupt flag bits */ ECanbRegs.CANGIF1.all = 0xFFFFFFFF; /* Configure bit timing parameters for eCANB*/ ECanbShadow.CANMC.all = ECanbRegs.CANMC.all; ECanbShadow.CANMC.bit.CCR = 1 ; // Set CCR = 1 ECanbRegs.CANMC.all = ECanbShadow.CANMC.all; ECanbShadow.CANES.all = ECanbRegs.CANES.all; do { 
    ECanbShadow.CANES.all = ECanbRegs.CANES.all; } while(ECanbShadow.CANES.bit.CCE != 1 ); // Wait for CCE bit to be cleared.. ECanbShadow.CANBTC.all = 0; #if (CPU_FRQ_150MHZ) // CPU_FRQ_150MHz is defined in DSP2833x_Examples.h /* The following block for all 150 MHz SYSCLKOUT (75 MHz CAN clock) - default. Bit rate = 1 Mbps See Note at end of file */ ECanbShadow.CANBTC.bit.BRPREG = 4; ECanbShadow.CANBTC.bit.TSEG2REG = 2; ECanbShadow.CANBTC.bit.TSEG1REG = 10; #endif #if (CPU_FRQ_100MHZ) // CPU_FRQ_100MHz is defined in DSP2833x_Examples.h /* The following block is only for 100 MHz SYSCLKOUT (50 MHz CAN clock). Bit rate = 1 Mbps See Note at end of file */ ECanbShadow.CANBTC.bit.BRPREG = 4; ECanbShadow.CANBTC.bit.TSEG2REG = 1; ECanbShadow.CANBTC.bit.TSEG1REG = 6; #endif ECanbShadow.CANBTC.bit.SAM = 1; ECanbRegs.CANBTC.all = ECanbShadow.CANBTC.all; ECanbShadow.CANMC.all = ECanbRegs.CANMC.all; ECanbShadow.CANMC.bit.CCR = 0 ; // Set CCR = 0 ECanbRegs.CANMC.all = ECanbShadow.CANMC.all; ECanbShadow.CANES.all = ECanbRegs.CANES.all; do { 
    ECanbShadow.CANES.all = ECanbRegs.CANES.all; } while(ECanbShadow.CANES.bit.CCE != 0 ); // Wait for CCE bit to be cleared.. /* Disable all Mailboxes */ ECanbRegs.CANME.all = 0; // Required before writing the MSGIDs EDIS; } #endif // if DSP28_ECANB //=========================================================================================== //GPIO初始化程序 同样也是用到那个can初始化哪个 void InitECanGpio(void) { 
    InitECanaGpio(); #if (DSP28_ECANB) InitECanbGpio(); #endif // if DSP28_ECANB } //=========================================================================================== void InitECanaGpio(void) { 
    EALLOW; /* Enable internal pull-up for the selected CAN pins */ // Pull-ups can be enabled or disabled by the user. // This will enable the pullups for the specified pins. // Comment out other unwanted lines. GpioCtrlRegs.GPAPUD.bit.GPIO18 = 0; // Enable pull-up for GPIO18 (CANRXA) GpioCtrlRegs.GPAPUD.bit.GPIO19 = 0; // Enable pull-up for GPIO19 (CANTXA) /* Set qualification for selected CAN pins to asynch only */ // Inputs are synchronized to SYSCLKOUT by default. // This will select asynch (no qualification) for the selected pins. GpioCtrlRegs.GPAQSEL2.bit.GPIO18 = 3; // Asynch qual for GPIO18 (CANRXA) /* Configure eCAN-A pins using GPIO regs*/ // This specifies which of the possible GPIO pins will be eCAN functional pins. GpioCtrlRegs.GPAMUX2.bit.GPIO18 = 3; // Configure GPIO18 for CANRXA operation GpioCtrlRegs.GPAMUX2.bit.GPIO19 = 3; // Configure GPIO19 for CANTXA operation EDIS; } #if (DSP28_ECANB) void InitECanbGpio(void) { 
    EALLOW; /* Enable internal pull-up for the selected CAN pins */ // Pull-ups can be enabled or disabled by the user. // This will enable the pullups for the specified pins. // Comment out other unwanted lines. GpioCtrlRegs.GPAPUD.bit.GPIO16 = 0; // Enable pull-up for GPIO16 (CANTXB) GpioCtrlRegs.GPAPUD.bit.GPIO17 = 0; // Enable pull-up for GPIO17 (CANRXB) /* Set qualification for selected CAN pins to asynch only */ // Inputs are synchronized to SYSCLKOUT by default. // This will select asynch (no qualification) for the selected pins. // Comment out other unwanted lines. GpioCtrlRegs.GPAQSEL2.bit.GPIO17 = 3; // Asynch qual for GPIO17 (CANRXB) /* Configure eCAN-B pins using GPIO regs*/ // This specifies which of the possible GPIO pins will be eCAN functional pins. GpioCtrlRegs.GPAMUX2.bit.GPIO16 = 2; // Configure GPIO16 for CANTXB operation GpioCtrlRegs.GPAMUX2.bit.GPIO17 = 2; // Configure GPIO17 for CANRXB operation EDIS; } #endif // if DSP28_ECANB 

2. 主程序函数页面

 #include "DSP28x_Project.h" // Device Headerfile and Examples Include File #define TXCOUNT 1000 // Transmission will take place (TXCOUNT) times.. // 定义一些常用的变量以及一些函数的声明 long i; long loopcount = 0; #define BEEP GpioDataRegs.GPADAT.bit.GPIO53 #define LED1 GpioDataRegs.GPADAT.bit.GPIO0 #define LED2 GpioDataRegs.GPADAT.bit.GPIO7 Uint16 j; Uint16 m; struct ECAN_REGS ECanbShadow; struct ECAN_REGS ECanaShadow; void mailbox_read(int MBXnbr); void mailID_Config(void); void mail_length(void); void mail_Data(void); void CANMIM_interrupt(void);//禁止邮箱中断子函数 void CAN_SelfTestMode(void);//can自我检测模式 void configtestled(void); void CANMIMI_interrupt_OPEN(void); Uint32 TESTMbox1 = 0; Uint32 TESTMbox2 = 0; Uint32 TESTMbox3 = 0; void main() { 
    unsigned long k = 0; InitSysCtrl(); InitXintf16Gpio(); InitECanGpio(); DINT; //禁止CPU中断 InitPieCtrl(); IER = 0x0000; //清除中断使能位 IFR = 0x0000; InitPieVectTable(); //================================================================================== /* 1. CANME 使能邮箱 =1使能邮箱 =0禁止邮箱 2. CANMD 配置邮箱接受还是发送 3. CANTRS =1 启动邮箱的数据发送 4. CANTRR =1 取消邮箱的数据发送，置位了CANTRS，数据还没发送出去，可以置位TRR取消数据的发送 5. CANRMP 如果有新的信息进入了邮箱，那么RMP将置位为1 */ InitECan();//CAN初始化 已经包含CANME.all =0 mailID_Config(); //设置数据的长度编码 mail_length(); //设置邮箱内容 // mail_Data();（根据自己需要可以选择调用，本实验中没有使用） CANMIM_interrupt();//CAN禁止中断模式 CAN_SelfTestMode();//CAN自检模式 CANMIMI_interrupt_OPEN(); while(1) { 
    //CANa TX for(i=0;i <TXCOUNT;i++) { 
    //配置邮箱的接受还是发送模式 ECanaRegs.CANMD.all = 0x00000000;//配置cana mail0为发送邮箱 //邮箱使能 激活 ECanaRegs.CANME.all = 0x00000003;//邮箱激活 ECanaMboxes.MBOX0.MDL.all = k; ECanaMboxes.MBOX0.MDH.all = k+1; ECanaRegs.CANTRS.all = 0x00000001; // Set TRS for all transmit mailboxes //发送请求置位寄存器 启动邮箱数据发送 while(ECanaRegs.CANTA.all != 0x00000001 ) { 
   } // Wait for all TAn bits to be set.. ECanaRegs.CANTA.all = 0x00000001; // Clear all TAn loopcount++;//计数成功的发射次数 k++; mailbox_read(0); } //======================================================= //CANb RX for(i=TXCOUNT;i <TXCOUNT*2;i++) { 
    //配置邮箱的接受还是发送模式 ECanaRegs.CANMD.bit.MD1 = 1;;//cana配置位接受邮箱 mail1为接收邮箱 ECanaRegs.CANME.bit.ME1 =1;; } //========================================================= k = 0; loopcount = 0; configtestled(); } // asm(" ESTOP0"); // Stop here } //========================================================== //GPIO复用LED灯闪烁子函数 void configtestled(void) { 
    EALLOW; GpioCtrlRegs.GPAMUX1.bit.GPIO0 = 0; // GPIO0复用为GPIO功能 GpioCtrlRegs.GPADIR.bit.GPIO0 = ~GpioCtrlRegs.GPADIR.bit.GPIO0; // GPIO0设置为输出 EDIS; } //========================================================== //读取指定邮箱的数据子函数 void mailbox_read(int16 MBXnbr) { 
    volatile struct MBOX *Mailbox; Mailbox = &ECanaMboxes.MBOX0 + MBXnbr; TESTMbox1 = Mailbox->MDL.all; TESTMbox2 = Mailbox->MDH.all; TESTMbox3 = Mailbox->MSGID.all; } //========================================================== //CAN邮箱的ID配置子函数，本实验中使用了mail0作为发送邮箱，并且不设置过滤器，也就是说数据可以直接发送至总线不需要考虑ID，mail1是接收数据，过滤ID为0x00000001. void mailID_Config(void) { 
    ECanaMboxes.MBOX0.MSGID.bit.IDE=0; // ECanaMboxes.MBOX1.MSGID.bit.IDE=0; //CANA ID //配置收发的ID // ECanaMboxes.MBOX0.MSGID.all = 0x00000000; ECanaMboxes.MBOX1.MSGID.all = 0x00000001; // ECanaMboxes.MBOX2.MSGID.all = 0x9555AAA2; // ECanaMboxes.MBOX3.MSGID.all = 0x9555AAA3; // ECanaMboxes.MBOX4.MSGID.all = 0x9555AAA4; // ECanaMboxes.MBOX5.MSGID.all = 0x9555AAA5; // ECanaMboxes.MBOX6.MSGID.all = 0x9555AAA6; // ECanaMboxes.MBOX7.MSGID.all = 0x9555AAA7; // ECanaMboxes.MBOX8.MSGID.all = 0x9555AAA8; // ECanaMboxes.MBOX9.MSGID.all = 0x9555AAA9; // ECanaMboxes.MBOX10.MSGID.all = 0x9555AAAA; // ECanaMboxes.MBOX11.MSGID.all = 0x9555AAAB; // ECanaMboxes.MBOX12.MSGID.all = 0x9555AAAC; // ECanaMboxes.MBOX13.MSGID.all = 0x9555AAAD; // ECanaMboxes.MBOX14.MSGID.all = 0x9555AAAE; // ECanaMboxes.MBOX15.MSGID.all = 0x9555AAAF; // Write to the MSGID field of RECEIVE mailboxes MBOX16 - 31 // ECanaMboxes.MBOX16.MSGID.all = 0x9555AA10; // ECanaMboxes.MBOX17.MSGID.all = 0x9555AA11; // ECanaMboxes.MBOX18.MSGID.all = 0x9555AA12; // ECanaMboxes.MBOX19.MSGID.all = 0x9555AA13; // ECanaMboxes.MBOX20.MSGID.all = 0x9555AA14; // ECanaMboxes.MBOX21.MSGID.all = 0x9555AA15; // ECanaMboxes.MBOX22.MSGID.all = 0x9555AA16; // ECanaMboxes.MBOX23.MSGID.all = 0x9555AA17; // ECanaMboxes.MBOX24.MSGID.all = 0x9555AA18; // ECanaMboxes.MBOX25.MSGID.all = 0x9555AA19; // ECanaMboxes.MBOX26.MSGID.all = 0x9555AA1A; // ECanaMboxes.MBOX27.MSGID.all = 0x9555AA1B; // ECanaMboxes.MBOX28.MSGID.all = 0x9555AA1C; // ECanaMboxes.MBOX29.MSGID.all = 0x9555AA1D; // ECanaMboxes.MBOX30.MSGID.all = 0x9555AA1E; // ECanaMboxes.MBOX31.MSGID.all = 0x9555AA1F; //CANB ID /* Configure Mailbox under test as a Transmit mailbox */ ECanbMboxes.MBOX0.MSGID.bit.IDE=0; // ECanbMboxes.MBOX0.MSGID.all = 0x00000000; // ECanbMboxes.MBOX1.MSGID.all = 0x9555AAA1; // ECanbMboxes.MBOX2.MSGID.all = 0x9555AAA2; // ECanbMboxes.MBOX3.MSGID.all = 0x9555AAA3; // ECanbMboxes.MBOX4.MSGID.all = 0x9555AAA4; // ECanbMboxes.MBOX5.MSGID.all = 0x9555AAA5; // ECanbMboxes.MBOX6.MSGID.all = 0x9555AAA6; // ECanbMboxes.MBOX7.MSGID.all = 0x9555AAA7; // ECanbMboxes.MBOX8.MSGID.all = 0x9555AAA8; // ECanbMboxes.MBOX9.MSGID.all = 0x9555AAA9; // ECanbMboxes.MBOX10.MSGID.all = 0x9555AAAA; // ECanbMboxes.MBOX11.MSGID.all = 0x9555AAAB; // ECanbMboxes.MBOX12.MSGID.all = 0x9555AAAC; // ECanbMboxes.MBOX13.MSGID.all = 0x9555AAAD; // ECanbMboxes.MBOX14.MSGID.all = 0x9555AAAE; // ECanbMboxes.MBOX15.MSGID.all = 0x9555AAAF; // Write to the MSGID field of RECEIVE mailboxes MBOX16 - 31 // ECanbMboxes.MBOX16.MSGID.all = 0x9555AA10; // ECanbMboxes.MBOX17.MSGID.all = 0x9555AA11; // ECanbMboxes.MBOX18.MSGID.all = 0x9555AA12; // ECanbMboxes.MBOX19.MSGID.all = 0x9555AA13; // ECanbMboxes.MBOX20.MSGID.all = 0x9555AA14; // ECanbMboxes.MBOX21.MSGID.all = 0x9555AA15; // ECanbMboxes.MBOX22.MSGID.all = 0x9555AA16; // ECanbMboxes.MBOX23.MSGID.all = 0x9555AA17; // ECanbMboxes.MBOX24.MSGID.all = 0x9555AA18; // ECanbMboxes.MBOX25.MSGID.all = 0x9555AA19; // ECanbMboxes.MBOX26.MSGID.all = 0x9555AA1A; // ECanbMboxes.MBOX27.MSGID.all = 0x9555AA1B; // ECanbMboxes.MBOX28.MSGID.all = 0x9555AA1C; // ECanbMboxes.MBOX29.MSGID.all = 0x9555AA1D; // ECanbMboxes.MBOX30.MSGID.all = 0x9555AA1E; // ECanbMboxes.MBOX31.MSGID.all = 0x9555AA1F; } //========================================================== //CAN邮箱的收发字节设置 void mail_length(void) { 
    ECanaMboxes.MBOX0.MSGCTRL.bit.DLC = 8; ECanaMboxes.MBOX1.MSGCTRL.bit.DLC = 8; // ECanaMboxes.MBOX2.MSGCTRL.bit.DLC = 8; // ECanaMboxes.MBOX3.MSGCTRL.bit.DLC = 8; // ECanaMboxes.MBOX4.MSGCTRL.bit.DLC = 8; // ECanaMboxes.MBOX5.MSGCTRL.bit.DLC = 8; // ECanaMboxes.MBOX6.MSGCTRL.bit.DLC = 8; // ECanaMboxes.MBOX7.MSGCTRL.bit.DLC = 8; // ECanaMboxes.MBOX8.MSGCTRL.bit.DLC = 8; // ECanaMboxes.MBOX9.MSGCTRL.bit.DLC = 8; // ECanaMboxes.MBOX10.MSGCTRL.bit.DLC = 8; // ECanaMboxes.MBOX11.MSGCTRL.bit.DLC = 8; // ECanaMboxes.MBOX12.MSGCTRL.bit.DLC = 8; // ECanaMboxes.MBOX13.MSGCTRL.bit.DLC = 8; // ECanaMboxes.MBOX14.MSGCTRL.bit.DLC = 8; // ECanaMboxes.MBOX15.MSGCTRL.bit.DLC = 8; // // ECanaMboxes.MBOX16.MSGCTRL.bit.DLC = 8; // ECanaMboxes.MBOX17.MSGCTRL.bit.DLC = 8; // ECanaMboxes.MBOX18.MSGCTRL.bit.DLC = 8; // ECanaMboxes.MBOX19.MSGCTRL.bit.DLC = 8; // ECanaMboxes.MBOX20.MSGCTRL.bit.DLC = 8; // ECanaMboxes.MBOX21.MSGCTRL.bit.DLC = 8; // ECanaMboxes.MBOX22.MSGCTRL.bit.DLC = 8; // ECanaMboxes.MBOX23.MSGCTRL.bit.DLC = 8; // ECanaMboxes.MBOX24.MSGCTRL.bit.DLC = 8; // ECanaMboxes.MBOX25.MSGCTRL.bit.DLC = 8; // ECanaMboxes.MBOX26.MSGCTRL.bit.DLC = 8; // ECanaMboxes.MBOX27.MSGCTRL.bit.DLC = 8; // ECanaMboxes.MBOX28.MSGCTRL.bit.DLC = 8; // ECanaMboxes.MBOX29.MSGCTRL.bit.DLC = 8; // ECanaMboxes.MBOX30.MSGCTRL.bit.DLC = 8; // ECanaMboxes.MBOX31.MSGCTRL.bit.DLC = 8; } //========================================================== //配置邮箱的数据 void mail_Data(void) { 
    //高低8位数据 // ECanaMboxes.MBOX0.MDL.all = 0x00001123; // ECanaMboxes.MBOX0.MDH.all = 0x00001321; // ECanaMboxes.MBOX1.MDL.all = 0x; // ECanaMboxes.MBOX1.MDH.all = 0x; // // ECanaMboxes.MBOX2.MDL.all = 0x; // ECanaMboxes.MBOX2.MDH.all = 0x; // // ECanaMboxes.MBOX3.MDL.all = 0x; // ECanaMboxes.MBOX3.MDH.all = 0x; // // ECanaMboxes.MBOX4.MDL.all = 0x; // ECanaMboxes.MBOX4.MDH.all = 0x; // // ECanaMboxes.MBOX5.MDL.all = 0x; // ECanaMboxes.MBOX5.MDH.all = 0x; // // ECanaMboxes.MBOX6.MDL.all = 0x; // ECanaMboxes.MBOX6.MDH.all = 0x; // // ECanaMboxes.MBOX7.MDL.all = 0x; // ECanaMboxes.MBOX7.MDH.all = 0x; // // ECanaMboxes.MBOX8.MDL.all = 0x; // ECanaMboxes.MBOX8.MDH.all = 0x; // // ECanaMboxes.MBOX9.MDL.all = 0xaaaaaaaa; // ECanaMboxes.MBOX9.MDH.all = 0xaaaaaaaa; // // ECanaMboxes.MBOX10.MDL.all = 0xbbbbbbbb; // ECanaMboxes.MBOX10.MDH.all = 0xbbbbbbbb; // // ECanaMboxes.MBOX11.MDL.all = 0xcccccccc; // ECanaMboxes.MBOX11.MDH.all = 0xcccccccc; // // ECanaMboxes.MBOX12.MDL.all = 0xdddddddd; // ECanaMboxes.MBOX12.MDH.all = 0xdddddddd; // // ECanaMboxes.MBOX13.MDL.all = 0xeeeeeeee; // ECanaMboxes.MBOX13.MDH.all = 0xeeeeeeee; // // ECanaMboxes.MBOX14.MDL.all = 0xffffffff; // ECanaMboxes.MBOX14.MDH.all = 0xffffffff; // // ECanaMboxes.MBOX15.MDL.all = 0x00001233; // ECanaMboxes.MBOX15.MDH.all = 0x00003211; // 低8位数据 // ECanaMboxes.MBOX16.MDL.all = 0x00005444; // ECanaMboxes.MBOX16.MDH.all = 0x00005544; // // ECanaMboxes.MBOX17.MDL.all = 0x; // ECanaMboxes.MBOX17.MDH.all = 0x; // // ECanaMboxes.MBOX18.MDL.all = 0x; // ECanaMboxes.MBOX18.MDH.all = 0x; // // ECanaMboxes.MBOX19.MDL.all = 0x; // ECanaMboxes.MBOX19.MDH.all = 0x; // // ECanaMboxes.MBOX20.MDL.all = 0x; // ECanaMboxes.MBOX20.MDH.all = 0x; // // ECanaMboxes.MBOX21.MDL.all = 0x; // ECanaMboxes.MBOX21.MDH.all = 0x; // // ECanaMboxes.MBOX22.MDL.all = 0x; // ECanaMboxes.MBOX22.MDH.all = 0x; // // ECanaMboxes.MBOX23.MDL.all = 0x; // ECanaMboxes.MBOX23.MDH.all = 0x; // // ECanaMboxes.MBOX24.MDL.all = 0x; // ECanaMboxes.MBOX24.MDH.all = 0x; // // ECanaMboxes.MBOX25.MDL.all = 0x; // ECanaMboxes.MBOX25.MDH.all = 0x; // // ECanaMboxes.MBOX26.MDL.all = 0xaaaaaaaa; // ECanaMboxes.MBOX26.MDH.all = 0xaaaaaaaa; // // ECanaMboxes.MBOX27.MDL.all = 0xbbbbbbbb; // ECanaMboxes.MBOX27.MDH.all = 0xbbbbbbbb; // // ECanaMboxes.MBOX28.MDL.all = 0xcccccccc; // ECanaMboxes.MBOX28.MDH.all = 0xcccccccc; // // ECanaMboxes.MBOX29.MDL.all = 0xdddddddd; // ECanaMboxes.MBOX29.MDH.all = 0xdddddddd; // // ECanaMboxes.MBOX30.MDL.all = 0xeeeeeeee; // ECanaMboxes.MBOX30.MDH.all = 0xeeeeeeee; // // ECanaMboxes.MBOX31.MDL.all = 0xffffffff; // ECanaMboxes.MBOX31.MDH.all = 0xffffffff; //CANB //高低8位数据 // ECanbMboxes.MBOX0.MDL.all = 0xaaaaaaaa; // ECanbMboxes.MBOX0.MDH.all = 0xdddddddd; // // ECanbMboxes.MBOX1.MDL.all = 0x; // ECanbMboxes.MBOX1.MDH.all = 0x; // // ECanbMboxes.MBOX2.MDL.all = 0x; // ECanbMboxes.MBOX2.MDH.all = 0x; // // ECanbMboxes.MBOX3.MDL.all = 0x; // ECanbMboxes.MBOX3.MDH.all = 0x; // // ECanbMboxes.MBOX4.MDL.all = 0x; // ECanbMboxes.MBOX4.MDH.all = 0x; // // ECanbMboxes.MBOX5.MDL.all = 0x; // ECanbMboxes.MBOX5.MDH.all = 0x; // // ECanbMboxes.MBOX6.MDL.all = 0x; // ECanbMboxes.MBOX6.MDH.all = 0x; // // ECanbMboxes.MBOX7.MDL.all = 0x; // ECanbMboxes.MBOX7.MDH.all = 0x; // // ECanbMboxes.MBOX8.MDL.all = 0x; // ECanbMboxes.MBOX8.MDH.all = 0x; // // ECanbMboxes.MBOX9.MDL.all = 0xaaaaaaaa; // ECanbMboxes.MBOX9.MDH.all = 0xaaaaaaaa; // // ECanbMboxes.MBOX10.MDL.all = 0xbbbbbbbb; // ECanbMboxes.MBOX10.MDH.all = 0xbbbbbbbb; // // ECanbMboxes.MBOX11.MDL.all = 0xcccccccc; // ECanbMboxes.MBOX11.MDH.all = 0xcccccccc; // // ECanbMboxes.MBOX12.MDL.all = 0xdddddddd; // ECanbMboxes.MBOX12.MDH.all = 0xdddddddd; // // ECanbMboxes.MBOX13.MDL.all = 0xeeeeeeee; // ECanbMboxes.MBOX13.MDH.all = 0xeeeeeeee; // // ECanbMboxes.MBOX14.MDL.all = 0xffffffff; // ECanbMboxes.MBOX14.MDH.all = 0xffffffff; // // ECanbMboxes.MBOX15.MDL.all = 0x00001233; // ECanbMboxes.MBOX15.MDH.all = 0x00003211; // // //低8位数据 // // ECanbMboxes.MBOX16.MDL.all = 0x00005444; // ECanbMboxes.MBOX16.MDH.all = 0x00005544; // // ECanbMboxes.MBOX17.MDL.all = 0x; // ECanbMboxes.MBOX17.MDH.all = 0x; // // ECanbMboxes.MBOX18.MDL.all = 0x; // ECanbMboxes.MBOX18.MDH.all = 0x; // // ECanbMboxes.MBOX19.MDL.all = 0x; // ECanbMboxes.MBOX19.MDH.all = 0x; // // ECanbMboxes.MBOX20.MDL.all = 0x; // ECanbMboxes.MBOX20.MDH.all = 0x; // // ECanbMboxes.MBOX21.MDL.all = 0x; // ECanbMboxes.MBOX21.MDH.all = 0x; // // ECanbMboxes.MBOX22.MDL.all = 0x; // ECanbMboxes.MBOX22.MDH.all = 0x; // // ECanbMboxes.MBOX23.MDL.all = 0x; // ECanbMboxes.MBOX23.MDH.all = 0x; // // ECanbMboxes.MBOX24.MDL.all = 0x; // ECanbMboxes.MBOX24.MDH.all = 0x; // // ECanbMboxes.MBOX25.MDL.all = 0x; // ECanbMboxes.MBOX25.MDH.all = 0x; // // ECanbMboxes.MBOX26.MDL.all = 0xaaaaaaaa; // ECanbMboxes.MBOX26.MDH.all = 0xaaaaaaaa; // // ECanbMboxes.MBOX27.MDL.all = 0xbbbbbbbb; // ECanbMboxes.MBOX27.MDH.all = 0xbbbbbbbb; // // ECanbMboxes.MBOX28.MDL.all = 0xcccccccc; // ECanbMboxes.MBOX28.MDH.all = 0xcccccccc; // // ECanbMboxes.MBOX29.MDL.all = 0xdddddddd; // ECanbMboxes.MBOX29.MDH.all = 0xdddddddd; // // ECanbMboxes.MBOX30.MDL.all = 0xeeeeeeee; // ECanbMboxes.MBOX30.MDH.all = 0xeeeeeeee; // // ECanbMboxes.MBOX31.MDL.all = 0xffffffff; // ECanaMboxes.MBOX31.MDH.all = 0xffffffff; } //========================================================== //禁止邮箱中断子函数 不需要修改 void CANMIM_interrupt(void) { 
    /* Write to the mailbox RAM field */ EALLOW; ECanaRegs.CANMIM.all = 0xFFFFFFFF; //enable interrupt of mailbox//邮箱中断屏蔽寄存器 使能 } //========================================================== //中断打开子函数 void CANMIMI_interrupt_OPEN(void) { 
    EALLOW; ECanaShadow.CANMIM.all=ECanaRegs.CANMIM.all; ECanaShadow.CANMIM.bit.MIM16=1; ECanaRegs.CANMIM.all=ECanaShadow.CANMIM.all; ECanaShadow.CANMIL.all = ECanaRegs.CANMIL.all; ECanaShadow.CANMIL.all = 0; // 1-32号邮箱中断在中断线0上产生 ECanaRegs.CANMIL.all = ECanaShadow.CANMIL.all; ECanaShadow.CANGIM.all = ECanaRegs.CANGIM.all; ECanaShadow.CANGIM.bit.I0EN = 1 ; // 中断线0使能 ECanaRegs.CANGIM.all = ECanaShadow.CANGIM.all; ECanaShadow.CANMC.all = ECanaRegs.CANMC.all; ECanaShadow.CANMC.bit.STM = 0; // 0-Normal ECanaRegs.CANMC.all = ECanaShadow.CANMC.all; EDIS; EALLOW; // This is needed to write to EALLOW protected registers PieVectTable.ECAN0INTA = &ECAN0INTA_ISR;//R-CAN1 接收后中断函数 EDIS; // This is needed to disable write to EALLOW protected registers IER |=M_INT9;// 开CPU中断1~9(必须开放对应的CPU级中断口) PieCtrlRegs.PIECTRL.bit.ENPIE = 1; // Enable the PIE block PieCtrlRegs.PIEIER9.bit.INTx5=1; //R-CAN0 接收邮箱 EINT;//开总中断 ERTM;//使能实时中断（CPU级的） } //========================================================== //CAN自我检测功能，仅需要的时候才进行修改 void CAN_SelfTestMode(void) { 
    EALLOW; ECanaShadow.CANMC.all = ECanaRegs.CANMC.all; ECanaShadow.CANMC.bit.STM = 0; // Configure CAN for self-test mode//自动测试模式位 ECanaRegs.CANMC.all = ECanaShadow.CANMC.all; EDIS; EALLOW; ECanbShadow.CANMC.all = ECanbRegs.CANMC.all; ECanbShadow.CANMC.bit.STM = 0; // Configure CAN for self-test mode ECanbRegs.CANMC.all = ECanbShadow.CANMC.all; EDIS; } 

3. 中断服务函数，在DSP2833x_DefaultIsr.c中找到ECAN0INTA_ISR。

// INT9.5 interrupt void ECAN0INTA_ISR(void) // eCAN-A { 
    if(ECanaRegs.CANRMP.all==0x00000002)//RX get after flag and int BOX1 { 
    ECanaRegs.CANRMP.all = 0x00000002;//clear GMIF1 TestMbox1 = ECanaMboxes.MBOX1.MDL.all; TestMbox2 = ECanaMboxes.MBOX1.MDH.all; TestMbox3 = ECanaMboxes.MBOX1.MSGID.all;//从外部接收邮箱1的ID，1为接收邮箱（CANMD） } PieCtrlRegs.PIEACK.all = PIEACK_GROUP9; } 

7. 程序调试

1. 编译
2. debug
3. 在变量观测表中添加观察变量
4. 全速运行程序

可以看到黄色的数据一直在变换。
程序中，loopcount’为发送成功计数，会一直在递增。
TESTMbox1-2为mail0邮箱0发送的数据，0-1000循环发送。低位TESTMbox1永远比高位TESTMbox2小1。
TESTMbox3为ID号。

5. 打开ZCANPRO，配置参数，波特率为1mbps，并根据实际串口选择连接。可以看到数据在源源不断的更新。
   
   
   
6. 通过ZCANPRO发送数据，DSP接收数据。

#pic_center)
根据压力测试，对于一个数据发送10次并且每次发送100帧，可以有较高成功率的接收到。根据自己的需求发送数据，配置帧ID等。
点击立即发送。可以在CCS的变量表中看到数据的变化。如下图所示。
200789对应的就是数据中的低八位：00031055
4181对应的就是数据中的高八位：00001055