#include "main.h" CCommCheck CommCheck; // Tx static CTx100 Tx100; static CTx101 Tx101; CTx102 Tx102; CTx103 Tx103; static CTx110 Tx110; static CTx120 Tx120; static CTx121 Tx121; static CTx130 Tx130; static CTx131 Tx131; static CTx132 Tx132; // Rx - GCU static CRx200 Rx200; static CRx201 Rx201; CRx210 Rx210; CRx220 Rx220; CRx221 Rx221; // Rx - ECU static CRx300 Rx300; static CRx301 Rx301; CRx310 Rx310; CRx320 Rx320; CRx321 Rx321; CRx322 Rx322; static void CInitECanA(void); static void CInitECanB(void); static void CECanASetMbox(void); static void CECanBSetMbox(void); static void CInitECanStructure(void); interrupt void CECanInterruptA(void) { struct ECAN_REGS ECanShadow; ECanShadow.CANRMP.all = ECanaRegs.CANRMP.all; GeneralOperValue.Conection.CarComputer = 1U; // 한번이라도 통신이 수신되었다면 해당 장치가 연결되었다고 판단. CommCheck.CarComputer = 0U; // 송신 시 타임아웃 카운트 클리어 /* if (ECanShadow.CANRMP.bit.RMP15 == 1U) { ECanShadow.CANRMP.bit.RMP15 = 1U; } if (ECanShadow.CANRMP.bit.RMP16 == 1U) { ECanShadow.CANRMP.bit.RMP16 = 1U; } */ ECanaRegs.CANRMP.all = ECanShadow.CANRMP.all; } void CSendECanDataA(void) { struct ECAN_REGS ECanShadow; static Uint16 uiSendPer100ms = 0U; Uint16 uiTemp; // 10ms ECanaMboxes.MBOX1.MDL.byte.BYTE0 = Tx101.ApuData.PlayState & 0x7U; uiTemp = (Tx101.ApuData.AlarmOccured << 0U) | (Tx101.ApuData.Emergency << 1U) | (Tx101.ApuData.PowerSwitch << 2U); ECanaMboxes.MBOX1.MDL.byte.BYTE1 = uiTemp; ECanaMboxes.MBOX1.MDL.byte.BYTE2 = Tx101.ApuData.GcuPlayState & 0x7U; uiTemp = (Tx101.ApuData.GcuAlarmOccured << 0U) | (Tx101.ApuData.GcuShutdown << 1U); ECanaMboxes.MBOX1.MDL.byte.BYTE3 = uiTemp; uiTemp = (Tx101.ApuData.EcuAlarmOccured << 0U) | ((Tx101.ApuData.EcuPlayState & 0x3FU) << 1U) | (Tx101.ApuData.OverrideActive << 4U) | (Tx101.ApuData.GlowPlugActive << 5U) | (Tx101.ApuData.HeaterActive << 6U) | (Tx101.ApuData.OilPressureMissing); ECanaMboxes.MBOX1.MDH.byte.BYTE4 = uiTemp; ECanaMboxes.MBOX1.MDH.byte.BYTE5 = 0; ECanaMboxes.MBOX1.MDH.byte.BYTE6 = 0; ECanaMboxes.MBOX1.MDH.byte.BYTE7 = 0; ECanShadow.CANTRS.all = ECanaRegs.CANTRS.all; ECanShadow.CANTRS.bit.TRS0 = 1U; ECanaRegs.CANTRS.all = ECanShadow.CANTRS.all; ECanShadow.CANTA.all = ECanaRegs.CANTA.all; ECanShadow.CANTA.bit.TA0 = 1U; ECanaRegs.CANTA.all = ECanShadow.CANTA.all; // 100ms if(uiSendPer100ms == 0U) { ECanShadow.CANTRS.all = ECanaRegs.CANTRS.all; ECanShadow.CANTRS.bit.TRS0 = 1U; ECanaRegs.CANTRS.all = ECanShadow.CANTRS.all; ECanShadow.CANTA.all = ECanaRegs.CANTA.all; ECanShadow.CANTA.bit.TA0 = 1U; ECanaRegs.CANTA.all = ECanShadow.CANTA.all; } uiSendPer100ms = (uiSendPer100ms + 1U) % 10U; } static void CInitECanA(void) { /* 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 ECanaShadow = {}; EALLOW; // EALLOW enables access to protected bits /* 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 = 0x00U; // Enable pull-up CANRXA GpioCtrlRegs.GPAPUD.bit.GPIO19 = 0x00U; // Enable pull-up 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 = 0x03U; // Asynch qual for 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 = 0x03U; // Configure CANRXA operation GpioCtrlRegs.GPAMUX2.bit.GPIO19 = 0x03U; // Configure CANTXA operation /* Configure eCAN RX and TX pins for CAN operation using eCAN regs*/ ECanaShadow.CANTIOC.all = ECanaRegs.CANTIOC.all; ECanaShadow.CANTIOC.bit.TXFUNC = 1U; ECanaRegs.CANTIOC.all = ECanaShadow.CANTIOC.all; ECanaShadow.CANRIOC.all = ECanaRegs.CANRIOC.all; ECanaShadow.CANRIOC.bit.RXFUNC = 1U; ECanaRegs.CANRIOC.all = ECanaShadow.CANRIOC.all; /* Configure eCAN for HECC mode - (reqd to access mailboxes 16 thru 31) */ // HECC mode also enables time-stamping feature ECanaShadow.CANMC.all = ECanaRegs.CANMC.all; ECanaShadow.CANMC.bit.SCB = 1; ECanaRegs.CANMC.all = ECanaShadow.CANMC.all; // TAn, RMPn, GIFn bits are all zero upon reset and are cleared again // as a matter of precaution. ECanaRegs.CANTA.all = 0xFFFFFFFFU; /* Clear all TAn bits */ ECanaRegs.CANRMP.all = 0xFFFFFFFFU; /* Clear all RMPn bits */ ECanaRegs.CANGIF0.all = 0xFFFFFFFFU; /* Clear all interrupt flag bits */ ECanaRegs.CANGIF1.all = 0xFFFFFFFFU; /* Configure bit timing parameters for eCANB*/ ECanaShadow.CANMC.all = ECanaRegs.CANMC.all; ECanaShadow.CANMC.bit.CCR = 1U; // Set CCR = 1 ECanaRegs.CANMC.all = ECanaShadow.CANMC.all; ECanaShadow.CANES.all = ECanaRegs.CANES.all; do { ECanaShadow.CANES.all = ECanaRegs.CANES.all; } while(ECanaShadow.CANES.bit.CCE != 1U); // Wait for CCE bit to be set.. ECanaShadow.CANBTC.all = 0U; // 250 [Kbps] ECanaShadow.CANBTC.bit.BRPREG = 19U; ECanaShadow.CANBTC.bit.TSEG1REG = 10U; ECanaShadow.CANBTC.bit.TSEG2REG = 2U; ECanaShadow.CANBTC.bit.SAM = 1U; ECanaShadow.CANBTC.bit.SJWREG = 2U; ECanaRegs.CANBTC.all = ECanaShadow.CANBTC.all; ECanaShadow.CANMC.all = ECanaRegs.CANMC.all; ECanaShadow.CANMC.bit.CCR = 0U; ECanaRegs.CANMC.all = ECanaShadow.CANMC.all; ECanaShadow.CANES.all = ECanaRegs.CANES.all; do { ECanaShadow.CANES.all = ECanaRegs.CANES.all; } while (ECanaShadow.CANES.bit.CCE != 0U); // Wait for CCE bit to be cleared.. /* Disable all Mailboxes */ ECanaRegs.CANME.all = 0U; // Required before writing the MSGIDs EDIS; CECanASetMbox(); } static void CECanASetMbox(void) { struct ECAN_REGS ECanShadow = {}; /* Tx Can MBox */ ECanaMboxes.MBOX0.MSGID.bit.IDE = 0U; // ID E®Aa ¿ⓒºI '0' - 11bit ID ≫c¿e ECanaMboxes.MBOX0.MSGID.bit.STDMSGID = 0x100U; ECanaMboxes.MBOX0.MSGID.bit.AME = 0U; ECanaMboxes.MBOX0.MSGCTRL.bit.DLC = 8U; ECanaMboxes.MBOX0.MSGCTRL.bit.RTR = 0U; ECanaMboxes.MBOX0.MDH.all = 0x00000000U; ECanaMboxes.MBOX0.MDL.all = 0x00000000U; ECanaMboxes.MBOX1.MSGID.bit.IDE = 0U; ECanaMboxes.MBOX1.MSGID.bit.STDMSGID = 0x101U; ECanaMboxes.MBOX1.MSGID.bit.AME = 0U; ECanaMboxes.MBOX1.MSGCTRL.bit.DLC = 8U; ECanaMboxes.MBOX1.MSGCTRL.bit.RTR = 0U; ECanaMboxes.MBOX1.MDH.all = 0x00000000U; ECanaMboxes.MBOX1.MDL.all = 0x00000000U; ECanaMboxes.MBOX2.MSGID.bit.IDE = 0U; ECanaMboxes.MBOX2.MSGID.bit.STDMSGID = 0x102U; ECanaMboxes.MBOX2.MSGID.bit.AME = 0U; ECanaMboxes.MBOX2.MSGCTRL.bit.DLC = 8U; ECanaMboxes.MBOX2.MSGCTRL.bit.RTR = 0U; ECanaMboxes.MBOX2.MDH.all = 0x00000000U; ECanaMboxes.MBOX2.MDL.all = 0x00000000U; ECanaMboxes.MBOX3.MSGID.bit.IDE = 0U; ECanaMboxes.MBOX3.MSGID.bit.STDMSGID = 0x103U; ECanaMboxes.MBOX3.MSGID.bit.AME = 0U; ECanaMboxes.MBOX3.MSGCTRL.bit.DLC = 8U; ECanaMboxes.MBOX3.MSGCTRL.bit.RTR = 0U; ECanaMboxes.MBOX3.MDH.all = 0x00000000U; ECanaMboxes.MBOX3.MDL.all = 0x00000000U; ECanaMboxes.MBOX4.MSGID.bit.IDE = 0U; ECanaMboxes.MBOX4.MSGID.bit.STDMSGID = 0x110U; ECanaMboxes.MBOX4.MSGID.bit.AME = 0U; ECanaMboxes.MBOX4.MSGCTRL.bit.DLC = 8U; ECanaMboxes.MBOX4.MSGCTRL.bit.RTR = 0U; ECanaMboxes.MBOX4.MDH.all = 0x00000000U; ECanaMboxes.MBOX4.MDL.all = 0x00000000U; ECanaMboxes.MBOX5.MSGID.bit.IDE = 0U; ECanaMboxes.MBOX5.MSGID.bit.STDMSGID = 0x120U; ECanaMboxes.MBOX5.MSGID.bit.AME = 0U; ECanaMboxes.MBOX5.MSGCTRL.bit.DLC = 8U; ECanaMboxes.MBOX5.MSGCTRL.bit.RTR = 0U; ECanaMboxes.MBOX5.MDH.all = 0x00000000U; ECanaMboxes.MBOX5.MDL.all = 0x00000000U; ECanaMboxes.MBOX6.MSGID.bit.IDE = 0U; ECanaMboxes.MBOX6.MSGID.bit.STDMSGID = 0x121U; ECanaMboxes.MBOX6.MSGID.bit.AME = 0U; ECanaMboxes.MBOX6.MSGCTRL.bit.DLC = 8U; ECanaMboxes.MBOX6.MSGCTRL.bit.RTR = 0U; ECanaMboxes.MBOX6.MDH.all = 0x00000000U; ECanaMboxes.MBOX6.MDL.all = 0x00000000U; ECanaMboxes.MBOX7.MSGID.bit.IDE = 0U; ECanaMboxes.MBOX7.MSGID.bit.STDMSGID = 0x130U; ECanaMboxes.MBOX7.MSGID.bit.AME = 0U; ECanaMboxes.MBOX7.MSGCTRL.bit.DLC = 8U; ECanaMboxes.MBOX7.MSGCTRL.bit.RTR = 0U; ECanaMboxes.MBOX7.MDH.all = 0x00000000U; ECanaMboxes.MBOX7.MDL.all = 0x00000000U; ECanaMboxes.MBOX8.MSGID.bit.IDE = 0U; ECanaMboxes.MBOX8.MSGID.bit.STDMSGID = 0x131U; ECanaMboxes.MBOX8.MSGID.bit.AME = 0U; ECanaMboxes.MBOX8.MSGCTRL.bit.DLC = 8U; ECanaMboxes.MBOX8.MSGCTRL.bit.RTR = 0U; ECanaMboxes.MBOX8.MDH.all = 0x00000000U; ECanaMboxes.MBOX8.MDL.all = 0x00000000U; ECanaMboxes.MBOX9.MSGID.bit.IDE = 0U; ECanaMboxes.MBOX9.MSGID.bit.STDMSGID = 0x132U; ECanaMboxes.MBOX9.MSGID.bit.AME = 0U; ECanaMboxes.MBOX9.MSGCTRL.bit.DLC = 8U; ECanaMboxes.MBOX9.MSGCTRL.bit.RTR = 0U; ECanaMboxes.MBOX9.MDH.all = 0x00000000U; ECanaMboxes.MBOX9.MDL.all = 0x00000000U; /* Rx Can MBox(GCU)*/ ECanaMboxes.MBOX15.MSGID.bit.IDE = 0U; ECanaMboxes.MBOX15.MSGID.bit.STDMSGID = 0x200U; ECanaMboxes.MBOX15.MSGID.bit.AME = 0U; ECanaMboxes.MBOX15.MSGCTRL.bit.DLC = 8U; ECanaMboxes.MBOX15.MSGCTRL.bit.RTR = 0U; ECanaMboxes.MBOX15.MDH.all = 0x00000000U; ECanaMboxes.MBOX15.MDL.all = 0x00000000U; ECanaMboxes.MBOX16.MSGID.bit.IDE = 0U; ECanaMboxes.MBOX16.MSGID.bit.STDMSGID = 0x201U; ECanaMboxes.MBOX16.MSGID.bit.AME = 0U; ECanaMboxes.MBOX16.MSGCTRL.bit.DLC = 8U; ECanaMboxes.MBOX16.MSGCTRL.bit.RTR = 0U; ECanaMboxes.MBOX16.MDH.all = 0x00000000U; ECanaMboxes.MBOX16.MDL.all = 0x00000000U; ECanaMboxes.MBOX17.MSGID.bit.IDE = 0U; ECanaMboxes.MBOX17.MSGID.bit.STDMSGID = 0x210U; ECanaMboxes.MBOX17.MSGID.bit.AME = 0U; ECanaMboxes.MBOX17.MSGCTRL.bit.DLC = 8U; ECanaMboxes.MBOX17.MSGCTRL.bit.RTR = 0U; ECanaMboxes.MBOX17.MDH.all = 0x00000000U; ECanaMboxes.MBOX17.MDL.all = 0x00000000U; ECanaMboxes.MBOX18.MSGID.bit.IDE = 0U; ECanaMboxes.MBOX18.MSGID.bit.STDMSGID = 0x220U; ECanaMboxes.MBOX18.MSGID.bit.AME = 0U; ECanaMboxes.MBOX18.MSGCTRL.bit.DLC = 8U; ECanaMboxes.MBOX18.MSGCTRL.bit.RTR = 0U; ECanaMboxes.MBOX18.MDH.all = 0x00000000U; ECanaMboxes.MBOX18.MDL.all = 0x00000000U; ECanaMboxes.MBOX19.MSGID.bit.IDE = 0U; ECanaMboxes.MBOX19.MSGID.bit.STDMSGID = 0x221U; ECanaMboxes.MBOX19.MSGID.bit.AME = 0U; ECanaMboxes.MBOX19.MSGCTRL.bit.DLC = 8U; ECanaMboxes.MBOX19.MSGCTRL.bit.RTR = 0U; ECanaMboxes.MBOX19.MDH.all = 0x00000000U; ECanaMboxes.MBOX19.MDL.all = 0x00000000U; /* Rx Can MBox(ECU)*/ ECanaMboxes.MBOX25.MSGID.bit.IDE = 0U; ECanaMboxes.MBOX25.MSGID.bit.STDMSGID = 0x300U; ECanaMboxes.MBOX25.MSGID.bit.AME = 0U; ECanaMboxes.MBOX25.MSGCTRL.bit.DLC = 8U; ECanaMboxes.MBOX25.MSGCTRL.bit.RTR = 0U; ECanaMboxes.MBOX25.MDH.all = 0x00000000U; ECanaMboxes.MBOX25.MDL.all = 0x00000000U; ECanaMboxes.MBOX26.MSGID.bit.IDE = 0U; ECanaMboxes.MBOX26.MSGID.bit.STDMSGID = 0x301U; ECanaMboxes.MBOX26.MSGID.bit.AME = 0U; ECanaMboxes.MBOX26.MSGCTRL.bit.DLC = 8U; ECanaMboxes.MBOX26.MSGCTRL.bit.RTR = 0U; ECanaMboxes.MBOX26.MDH.all = 0x00000000U; ECanaMboxes.MBOX26.MDL.all = 0x00000000U; ECanaMboxes.MBOX27.MSGID.bit.IDE = 0U; ECanaMboxes.MBOX27.MSGID.bit.STDMSGID = 0x310U; ECanaMboxes.MBOX27.MSGID.bit.AME = 0U; ECanaMboxes.MBOX27.MSGCTRL.bit.DLC = 8U; ECanaMboxes.MBOX27.MSGCTRL.bit.RTR = 0U; ECanaMboxes.MBOX27.MDH.all = 0x00000000U; ECanaMboxes.MBOX27.MDL.all = 0x00000000U; ECanaMboxes.MBOX28.MSGID.bit.IDE = 0U; ECanaMboxes.MBOX28.MSGID.bit.STDMSGID = 0x320U; ECanaMboxes.MBOX28.MSGID.bit.AME = 0U; ECanaMboxes.MBOX28.MSGCTRL.bit.DLC = 8U; ECanaMboxes.MBOX28.MSGCTRL.bit.RTR = 0U; ECanaMboxes.MBOX28.MDH.all = 0x00000000U; ECanaMboxes.MBOX28.MDL.all = 0x00000000U; ECanaMboxes.MBOX29.MSGID.bit.IDE = 0U; ECanaMboxes.MBOX29.MSGID.bit.STDMSGID = 0x321U; ECanaMboxes.MBOX29.MSGID.bit.AME = 0U; ECanaMboxes.MBOX29.MSGCTRL.bit.DLC = 8U; ECanaMboxes.MBOX29.MSGCTRL.bit.RTR = 0U; ECanaMboxes.MBOX29.MDH.all = 0x00000000U; ECanaMboxes.MBOX29.MDL.all = 0x00000000U; ECanaMboxes.MBOX30.MSGID.bit.IDE = 0U; ECanaMboxes.MBOX30.MSGID.bit.STDMSGID = 0x322U; ECanaMboxes.MBOX30.MSGID.bit.AME = 0U; ECanaMboxes.MBOX30.MSGCTRL.bit.DLC = 8U; ECanaMboxes.MBOX30.MSGCTRL.bit.RTR = 0U; ECanaMboxes.MBOX30.MDH.all = 0x00000000U; ECanaMboxes.MBOX30.MDL.all = 0x00000000U; // Transe, Receive °aA¤, 0 is Transe, 1 is Receive ECanShadow.CANMD.all = ECanaRegs.CANMD.all; ECanShadow.CANMD.bit.MD0 = 0U; ECanShadow.CANMD.bit.MD1 = 0U; ECanShadow.CANMD.bit.MD2 = 0U; ECanShadow.CANMD.bit.MD3 = 0U; ECanShadow.CANMD.bit.MD4 = 0U; ECanShadow.CANMD.bit.MD5 = 0U; ECanShadow.CANMD.bit.MD6 = 0U; ECanShadow.CANMD.bit.MD7 = 0U; ECanShadow.CANMD.bit.MD8 = 0U; ECanShadow.CANMD.bit.MD9 = 0U; ECanShadow.CANMD.bit.MD15 = 1U; ECanShadow.CANMD.bit.MD16 = 1U; ECanShadow.CANMD.bit.MD17 = 1U; ECanShadow.CANMD.bit.MD18 = 1U; ECanShadow.CANMD.bit.MD19 = 1U; ECanShadow.CANMD.bit.MD25 = 1U; ECanShadow.CANMD.bit.MD26 = 1U; ECanShadow.CANMD.bit.MD27 = 1U; ECanShadow.CANMD.bit.MD28 = 1U; ECanShadow.CANMD.bit.MD29 = 1U; ECanShadow.CANMD.bit.MD30 = 1U; ECanaRegs.CANMD.all = ECanShadow.CANMD.all; // MailBox Enable/Disable, 0 is Disable, 1 is Enable ECanShadow.CANME.all = ECanaRegs.CANME.all; ECanShadow.CANME.bit.ME0 = 1U; ECanShadow.CANME.bit.ME1 = 1U; ECanShadow.CANME.bit.ME2 = 1U; ECanShadow.CANME.bit.ME3 = 1U; ECanShadow.CANME.bit.ME4 = 1U; ECanShadow.CANME.bit.ME5 = 1U; ECanShadow.CANME.bit.ME6 = 1U; ECanShadow.CANME.bit.ME7 = 1U; ECanShadow.CANME.bit.ME8 = 1U; ECanShadow.CANME.bit.ME9 = 1U; ECanShadow.CANME.bit.ME15 = 1U; ECanShadow.CANME.bit.ME16 = 1U; ECanShadow.CANME.bit.ME17 = 1U; ECanShadow.CANME.bit.ME18 = 1U; ECanShadow.CANME.bit.ME19 = 1U; ECanShadow.CANME.bit.ME25 = 1U; ECanShadow.CANME.bit.ME26 = 1U; ECanShadow.CANME.bit.ME27 = 1U; ECanShadow.CANME.bit.ME28 = 1U; ECanShadow.CANME.bit.ME29 = 1U; ECanShadow.CANME.bit.ME30 = 1U; ECanaRegs.CANME.all = ECanShadow.CANME.all; EALLOW; ECanShadow.CANMC.all = ECanaRegs.CANMC.all; ECanShadow.CANMC.bit.STM = 0U; // '1' CAN Self-test Mode ¼³A¤ ECanShadow.CANMC.bit.ABO = 1U; // '1' CAN Auto Bus On ECanaRegs.CANMC.all = ECanShadow.CANMC.all; // Interrupt Enable(Receive Interrupt), 0 is Disable, 1 is Enable ECanShadow.CANMIM.all = ECanaRegs.CANMIM.all; ECanShadow.CANMIM.bit.MIM15 = 1U; ECanShadow.CANMIM.bit.MIM16 = 1U; ECanShadow.CANMIM.bit.MIM17 = 1U; ECanShadow.CANMIM.bit.MIM18 = 1U; ECanShadow.CANMIM.bit.MIM19 = 1U; ECanShadow.CANMIM.bit.MIM25 = 1U; ECanShadow.CANMIM.bit.MIM26 = 1U; ECanShadow.CANMIM.bit.MIM27 = 1U; ECanShadow.CANMIM.bit.MIM28 = 1U; ECanShadow.CANMIM.bit.MIM29 = 1U; ECanShadow.CANMIM.bit.MIM30 = 1U; ECanaRegs.CANMIM.all = ECanShadow.CANMIM.all; // Groble Interrupt ECanShadow.CANGIM.all = ECanaRegs.CANGIM.all; ECanShadow.CANGIM.bit.I0EN = 1U; // Line 0 Interrupt Enable ECanShadow.CANGIM.bit.GIL = 0U; // All global interrupts are mapped to the ECAN0INT interrupt line. ECanaRegs.CANGIM.all = ECanShadow.CANGIM.all; EDIS; } interrupt void CECanInterruptB(void) { Uint32 ECanRMPbit; Uint32 uiMBOXMdl = 0UL; Uint32 uiMBOXMdh = 0UL; ECanRMPbit = ECanbRegs.CANRMP.all; // --------------------------------------------------------- // MBOX15 - 200h // --------------------------------------------------------- if ((ECanRMPbit & (1UL << 15U)) != 0U) { GeneralOperValue.Conection.Gcu = 1U; uiMBOXMdl = ECanbMboxes.MBOX15.MDL.all; uiMBOXMdh = ECanbMboxes.MBOX15.MDH.all; Uint16 uiByte0 = (Uint16)((uiMBOXMdl >> 24U) & 0xFFU); Uint16 uiByte1 = (Uint16)((uiMBOXMdl >> 16U) & 0xFFU); Rx200.GcuData.HeartBit = uiByte0 | (uiByte1 << 8U); Rx200.GcuData.VersionMajor = (Uint8)((uiMBOXMdh >> 16U) & 0xFFU); // Byte 5 Rx200.GcuData.VersionMinor = (Uint8)((uiMBOXMdh >> 8U) & 0xFFU); // Byte 6 Rx200.GcuData.VersionPatch = (Uint8)((uiMBOXMdh >> 0U) & 0xFFU); // Byte 7 } // --------------------------------------------------------- // MBOX16 - 201h // --------------------------------------------------------- if ((ECanRMPbit & (1UL << 16U)) != 0U) { uiMBOXMdl = ECanbMboxes.MBOX16.MDL.all; Rx201.GcuData.PlayState = (Uint16)((uiMBOXMdl >> 24U) & 0x7U); Rx201.GcuData.AlarmOccured = (Uint16)((uiMBOXMdl >> 16U) & 0x1U); Rx201.GcuData.Shutdown = (Uint16)((uiMBOXMdl >> 17U) & 0x1U); } // --------------------------------------------------------- // MBOX17 - 210h (비트 필드 매핑 반전) // --------------------------------------------------------- if ((ECanRMPbit & (1UL << 17U)) != 0U) { uiMBOXMdl = ECanbMboxes.MBOX17.MDL.all; Rx210.GcuWarning.bit.PcbOverHeat = (Uint16)((uiMBOXMdl >> 24U) & 0x1U); Rx210.GcuWarning.bit.FetOverHeat = (Uint16)((uiMBOXMdl >> 25U) & 0x1U); Rx210.GcuWarning.bit.GenOverHeat1 = (Uint16)((uiMBOXMdl >> 26U) & 0x1U); Rx210.GcuWarning.bit.GenOverHeat2 = (Uint16)((uiMBOXMdl >> 27U) & 0x1U); Rx210.GcuFault.bit.HwTrip = (Uint16)((uiMBOXMdl >> 8U) & 0x1U); Rx210.GcuFault.bit.HwIgbt = (Uint16)((uiMBOXMdl >> 9U) & 0x1U); Rx210.GcuFault.bit.HwDc = (Uint16)((uiMBOXMdl >> 10U) & 0x1U); Rx210.GcuFault.bit.GenOverCurrentU = (Uint16)((uiMBOXMdl >> 11U) & 0x1U); Rx210.GcuFault.bit.GenOverCurrentV = (Uint16)((uiMBOXMdl >> 12U) & 0x1U); Rx210.GcuFault.bit.GenOverCurrentW = (Uint16)((uiMBOXMdl >> 13U) & 0x1U); Rx210.GcuFault.bit.DcOverVoltage = (Uint16)((uiMBOXMdl >> 14U) & 0x1U); Rx210.GcuFault.bit.DcOverCurrent = (Uint16)((uiMBOXMdl >> 15U) & 0x1U); Rx210.GcuFault.bit.CrankningOverCurrent = (Uint16)((uiMBOXMdl >> 0U) & 0x1U); Rx210.GcuFault.bit.PcbOverHeat = (Uint16)((uiMBOXMdl >> 1U) & 0x1U); Rx210.GcuFault.bit.FetOverHeat = (Uint16)((uiMBOXMdl >> 2U) & 0x1U); Rx210.GcuFault.bit.GenTempOverHeat1 = (Uint16)((uiMBOXMdl >> 3U) & 0x1U); Rx210.GcuFault.bit.GenTempOverHeat2 = (Uint16)((uiMBOXMdl >> 4U) & 0x1U); Rx210.GcuFault.bit.GenOverSpeed = (Uint16)((uiMBOXMdl >> 5U) & 0x1U); Rx210.GcuFault.bit.ResolverIC = (Uint16)((uiMBOXMdl >> 6U) & 0x1U); Rx210.GcuFault.bit.ResolverParity = (Uint16)((uiMBOXMdl >> 7U) & 0x1U); } // --------------------------------------------------------- // MBOX18 - 220h // --------------------------------------------------------- if ((ECanRMPbit & (1UL << 18U)) != 0U) { uiMBOXMdl = ECanbMboxes.MBOX18.MDL.all; uiMBOXMdh = ECanbMboxes.MBOX18.MDH.all; // [Reverse] // Byte 0(>>24), Byte 1(>>16) Uint16 uiVoltL = (Uint16)((uiMBOXMdl >> 24U) & 0xFFU); Uint16 uiVoltH = (Uint16)((uiMBOXMdl >> 16U) & 0xFFU); Rx220.GcuData.DcVoltage = uiVoltL | (uiVoltH << 8U); // Byte 2(>>8), Byte 3(>>0) Uint16 uiCurrL = (Uint16)((uiMBOXMdl >> 8U) & 0xFFU); Uint16 uiCurrH = (Uint16)((uiMBOXMdl >> 0U) & 0xFFU); Rx220.GcuData.DcCurrent = uiCurrL | (uiCurrH << 8U); // MDH Reverse: Byte 4(>>24), Byte 5(>>16) Uint16 uiRpmL = (Uint16)((uiMBOXMdh >> 24U) & 0xFFU); Uint16 uiRpmH = (Uint16)((uiMBOXMdh >> 16U) & 0xFFU); Rx220.GcuData.Rpm = uiRpmL | (uiRpmH << 8U); } // --------------------------------------------------------- // MBOX19 - 221h // --------------------------------------------------------- if ((ECanRMPbit & (1UL << 19U)) != 0U) { uiMBOXMdl = ECanbMboxes.MBOX19.MDL.all; // [Reverse] 0(24), 1(16), 2(8), 3(0) Rx221.GcuData.PcbTemperature = (Uint16)((uiMBOXMdl >> 24U) & 0xFFU); Rx221.GcuData.FetTemperature = (Uint16)((uiMBOXMdl >> 16U) & 0xFFU); Rx221.GcuData.GenTemperature1 = (Uint16)((uiMBOXMdl >> 8U) & 0xFFU); Rx221.GcuData.GenTemperature2 = (Uint16)((uiMBOXMdl >> 0U) & 0xFFU); } // --------------------------------------------------------- // MBOX25 - 300h // --------------------------------------------------------- if ((ECanRMPbit & (1UL << 25U)) != 0U) { GeneralOperValue.Conection.Ecu = 1U; uiMBOXMdl = ECanbMboxes.MBOX25.MDL.all; // [Reverse] Rx300.EcuData.VersionMajor = (Uint8)((uiMBOXMdl >> 24U) & 0xFFU); Rx300.EcuData.VersionMinor = (Uint8)((uiMBOXMdl >> 16U) & 0xFFU); Rx300.EcuData.VersionPatch = (Uint8)((uiMBOXMdl >> 8U) & 0xFFU); } // --------------------------------------------------------- // MBOX26 - 301h // --------------------------------------------------------- if ((ECanRMPbit & (1UL << 26U)) != 0U) { uiMBOXMdl = ECanbMboxes.MBOX26.MDL.all; // [Reverse] Byte 0 -> >> 24U Rx301.OperationInfo.AlarmOccured = (Uint16)((uiMBOXMdl >> 24U) & 0x1U); Rx301.OperationInfo.PlayState = (Uint16)((uiMBOXMdl >> 25U) & 0x7U); // (24 + 1) Rx301.OperationInfo.OverrideActive = (Uint16)((uiMBOXMdl >> 28U) & 0x1U); // (24 + 4) Rx301.OperationInfo.GlowPlugActive = (Uint16)((uiMBOXMdl >> 29U) & 0x1U); Rx301.OperationInfo.HeaterActive = (Uint16)((uiMBOXMdl >> 30U) & 0x1U); Rx301.OperationInfo.OilPressureMissing = (Uint16)((uiMBOXMdl >> 31U) & 0x1U); } // --------------------------------------------------------- // MBOX27 - 310h // --------------------------------------------------------- if ((ECanRMPbit & (1UL << 27U)) != 0U) { uiMBOXMdl = ECanbMboxes.MBOX27.MDL.all; // [Reverse] Byte 0 -> >> 24 Rx310.EcuWarning.bit.EngineOverHeat = (Uint16)((uiMBOXMdl >> 24U) & 0x1U); Rx310.EcuWarning.bit.reserved = (Uint16)((uiMBOXMdl >> 25U) & 0x1U); Rx310.EcuWarning.bit.LowOilLevel = (Uint16)((uiMBOXMdl >> 26U) & 0x1U); Rx310.EcuWarning.bit.IntakeOverHeat = (Uint16)((uiMBOXMdl >> 27U) & 0x1U); Rx310.EcuWarning.bit.IntakeLoPressure = (Uint16)((uiMBOXMdl >> 28U) & 0x1U); Rx310.EcuWarning.bit.EngineLoTemperature = (Uint16)((uiMBOXMdl >> 29U) & 0x1U); Rx310.EcuWarning.bit.EngineSensor = (Uint16)((uiMBOXMdl >> 30U) & 0x1U); Rx310.EcuWarning.bit.DefaltValueActive = (Uint16)((uiMBOXMdl >> 31U) & 0x1U); // [Reverse] Byte 2 -> >> 8 Rx310.EcuFault.bit.OilPressureMissing = (Uint16)((uiMBOXMdl >> 8U) & 0x1U); Rx310.EcuFault.bit.IntakeOverHeat = (Uint16)((uiMBOXMdl >> 9U) & 0x1U); Rx310.EcuFault.bit.EngineOverHeat = (Uint16)((uiMBOXMdl >> 10U) & 0x1U); Rx310.EcuFault.bit.Actuator = (Uint16)((uiMBOXMdl >> 11U) & 0x1U); Rx310.EcuFault.bit.RpmSignal = (Uint16)((uiMBOXMdl >> 12U) & 0x1U); Rx310.EcuFault.bit.EngineStartFail = (Uint16)((uiMBOXMdl >> 13U) & 0x1U); } // --------------------------------------------------------- // MBOX28 - 320h // --------------------------------------------------------- if ((ECanRMPbit & (1UL << 28U)) != 0U) { uiMBOXMdl = ECanbMboxes.MBOX28.MDL.all; uiMBOXMdh = ECanbMboxes.MBOX28.MDH.all; // [Reverse] Byte 0(>>24), 1(>>16) Uint16 uiActRpmL = (Uint16)((uiMBOXMdl >> 24U) & 0xFFU); Uint16 uiActRpmH = (Uint16)((uiMBOXMdl >> 16U) & 0xFFU); Rx320.EcuData.ActualRpm = uiActRpmL | (uiActRpmH << 8U); // [Reverse] Byte 2(>>8), 3(>>0) Uint16 uiSetRpmL = (Uint16)((uiMBOXMdl >> 8U) & 0xFFU); Uint16 uiSetRpmH = (Uint16)((uiMBOXMdl >> 0U) & 0xFFU); Rx320.EcuData.SetRpm = uiSetRpmL | (uiSetRpmH << 8U); // [Reverse] Byte 4(>>24), 5(>>16) (MDH) Rx320.EcuData.ActualTorque = (Uint16)((uiMBOXMdh >> 24U) & 0xFFU); Rx320.EcuData.SetTorque = (Uint16)((uiMBOXMdh >> 16U) & 0xFFU); // [Reverse] Byte 6(>>8), 7(>>0) Uint16 uiSysVoltL = (Uint16)((uiMBOXMdh >> 8U) & 0xFFU); Uint16 uiSysVoltH = (Uint16)((uiMBOXMdh >> 0U) & 0xFFU); Rx320.EcuData.SystemVoltage = uiSysVoltL | (uiSysVoltH << 8U); } // --------------------------------------------------------- // MBOX29 - 321h // --------------------------------------------------------- if ((ECanRMPbit & (1UL << 29U)) != 0U) { uiMBOXMdl = ECanbMboxes.MBOX29.MDL.all; uiMBOXMdh = ECanbMboxes.MBOX29.MDH.all; // [Reverse] Rx321.EcuData.CoolantTemperature = (Uint16)((uiMBOXMdl >> 24U) & 0xFFU); Rx321.EcuData.Fan1Speed = (Uint16)((uiMBOXMdl >> 16U) & 0xFFU); Rx321.EcuData.Fan2Speed = (Uint16)((uiMBOXMdl >> 8U) & 0xFFU); Rx321.EcuData.CoolantPumpSpeed = (Uint16)((uiMBOXMdl >> 0U) & 0xFFU); // Byte 4(>>24), 5(>>16) Uint16 uiBarL = (Uint16)((uiMBOXMdh >> 24U) & 0xFFU); Uint16 uiBarH = (Uint16)((uiMBOXMdh >> 16U) & 0xFFU); Rx321.EcuData.BarometicPressure = uiBarL | (uiBarH << 8U); } // --------------------------------------------------------- // MBOX30 - 322h // --------------------------------------------------------- if ((ECanRMPbit & (1UL << 30U)) != 0U) { uiMBOXMdl = ECanbMboxes.MBOX30.MDL.all; // [Reverse] Byte 0(>>24), 1(>>16) -> TimeL Uint16 uiTimeLL = (Uint16)((uiMBOXMdl >> 24U) & 0xFFU); Uint16 uiTimeLH = (Uint16)((uiMBOXMdl >> 16U) & 0xFFU); Rx322.EcuData.TotalOperTimeL = uiTimeLL | (uiTimeLH << 8U); // [Reverse] Byte 2(>>8), 3(>>0) -> TimeH Uint16 uiTimeHL = (Uint16)((uiMBOXMdl >> 8U) & 0xFFU); Uint16 uiTimeHH = (Uint16)((uiMBOXMdl >> 0U) & 0xFFU); Rx322.EcuData.TotalOperTimeH = uiTimeHL | (uiTimeHH << 8U); GeneralOperValue.ulTotalOperationHour = ((Uint32)Rx322.EcuData.TotalOperTimeL) | ((Uint32)Rx322.EcuData.TotalOperTimeH << 16U); GeneralOperValue.ulTotalOperationHour = (GeneralOperValue.ulTotalOperationHour > 1000000UL) ? 1000000UL : GeneralOperValue.ulTotalOperationHour; } ECanbRegs.CANRMP.all = ECanRMPbit; PieCtrlRegs.PIEACK.all = PIEACK_GROUP9; } void CSendECanDataB(void) { struct ECAN_REGS ECanShadow; static Uint16 uiSendPer100ms = 0U; // 10ms ECanbMboxes.MBOX0.MDL.byte.BYTE0 = 0x1; ECanbMboxes.MBOX0.MDL.byte.BYTE1 = 0x2; ECanbMboxes.MBOX0.MDL.byte.BYTE2 = 0x3; ECanbMboxes.MBOX0.MDL.byte.BYTE3 = 0x4; ECanbMboxes.MBOX0.MDH.byte.BYTE4 = 0x5; ECanbMboxes.MBOX0.MDH.byte.BYTE5 = 0x6; ECanbMboxes.MBOX0.MDH.byte.BYTE6 = 0x7; ECanbMboxes.MBOX0.MDH.byte.BYTE7 = 0x8; ECanShadow.CANTRS.all = ECanbRegs.CANTRS.all; ECanShadow.CANTRS.bit.TRS1 = 1U; // 101h ECanShadow.CANTRS.bit.TRS2 = 1U; // 102h ECanShadow.CANTRS.bit.TRS3 = 1U; // 103h ECanbRegs.CANTRS.all = ECanShadow.CANTRS.all; ECanShadow.CANTA.all = ECanbRegs.CANTA.all; ECanShadow.CANTA.bit.TA1 = 1U; // 101h ECanShadow.CANTA.bit.TA2 = 1U; // 102h ECanShadow.CANTA.bit.TA3 = 1U; // 103h ECanbRegs.CANTA.all = ECanShadow.CANTA.all; // 100ms if(uiSendPer100ms == 0U) { ECanShadow.CANTRS.all = ECanbRegs.CANTRS.all; ECanShadow.CANTRS.bit.TRS0 = 1U; // 100h ECanShadow.CANTRS.bit.TRS4 = 1U; // 110h ECanShadow.CANTRS.bit.TRS5 = 1U; // 120h ECanShadow.CANTRS.bit.TRS6 = 1U; // 121h ECanShadow.CANTRS.bit.TRS7 = 1U; // 130h ECanShadow.CANTRS.bit.TRS8 = 1U; // 131h ECanShadow.CANTRS.bit.TRS9 = 1U; // 132h ECanbRegs.CANTRS.all = ECanShadow.CANTRS.all; ECanShadow.CANTA.all = ECanbRegs.CANTA.all; ECanShadow.CANTA.bit.TA0 = 1U; // 100h ECanShadow.CANTA.bit.TA4 = 1U; // 110h ECanShadow.CANTA.bit.TA5 = 1U; // 120h ECanShadow.CANTA.bit.TA6 = 1U; // 121h ECanShadow.CANTA.bit.TA7 = 1U; // 130h ECanShadow.CANTA.bit.TA8 = 1U; // 131h ECanShadow.CANTA.bit.TA9 = 1U; // 132h ECanbRegs.CANTA.all = ECanShadow.CANTA.all; } uiSendPer100ms = (uiSendPer100ms + 1U) % 10U; } static void CInitECanB(void) { /* 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 /* 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.GPIO20 = 0x00U; // Enable pull-up CANTXB GpioCtrlRegs.GPAPUD.bit.GPIO21 = 0x00U; // Enable pull-up 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. GpioCtrlRegs.GPAQSEL2.bit.GPIO21 = 0x03U; // Asynch qual for CANRXB /* Configure eCAN-A pins using GPIO regs*/ // This specifies which of the possible GPIO pins will be eCAN functional pins. GpioCtrlRegs.GPAMUX2.bit.GPIO20 = 0x03U; // Configure CANTXB operation GpioCtrlRegs.GPAMUX2.bit.GPIO21 = 0x03U; // Configure CANRXB operation /* Configure eCAN RX and TX pins for CAN operation using eCAN regs*/ ECanbShadow.CANTIOC.all = ECanbRegs.CANTIOC.all; ECanbShadow.CANTIOC.bit.TXFUNC = 1U; ECanbRegs.CANTIOC.all = ECanbShadow.CANTIOC.all; ECanbShadow.CANRIOC.all = ECanbRegs.CANRIOC.all; ECanbShadow.CANRIOC.bit.RXFUNC = 1U; ECanbRegs.CANRIOC.all = ECanbShadow.CANRIOC.all; /* Configure eCAN for HECC mode - (reqd to access mailboxes 16 thru 31) */ // HECC mode also enables time-stamping feature ECanbShadow.CANMC.all = ECanbRegs.CANMC.all; ECanbShadow.CANMC.bit.SCB = 1; ECanbRegs.CANMC.all = ECanbShadow.CANMC.all; // TAn, RMPn, GIFn bits are all zero upon reset and are cleared again // as a matter of precaution. ECanbRegs.CANTA.all = 0xFFFFFFFFU; /* Clear all TAn bits */ ECanbRegs.CANRMP.all = 0xFFFFFFFFU; /* Clear all RMPn bits */ ECanbRegs.CANGIF0.all = 0xFFFFFFFFU; /* Clear all interrupt flag bits */ ECanbRegs.CANGIF1.all = 0xFFFFFFFFU; /* Configure bit timing parameters for eCANB*/ ECanbShadow.CANMC.all = ECanbRegs.CANMC.all; ECanbShadow.CANMC.bit.CCR = 1U; // 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 != 1U); // Wait for CCE bit to be set.. ECanbShadow.CANBTC.all = 0U; // 250 [kbps] ECanbShadow.CANBTC.bit.BRPREG = 19U; ECanbShadow.CANBTC.bit.TSEG1REG = 10U; ECanbShadow.CANBTC.bit.TSEG2REG = 2U; ECanbShadow.CANBTC.bit.SAM = 1U; ECanbShadow.CANBTC.bit.SJWREG = 2U; ECanbRegs.CANBTC.all = ECanbShadow.CANBTC.all; ECanbShadow.CANMC.all = ECanbRegs.CANMC.all; ECanbShadow.CANMC.bit.CCR = 0U; ECanbRegs.CANMC.all = ECanbShadow.CANMC.all; ECanbShadow.CANES.all = ECanbRegs.CANES.all; do { ECanbShadow.CANES.all = ECanbRegs.CANES.all; } while (ECanbShadow.CANES.bit.CCE != 0U); // Wait for CCE bit to be cleared.. /* Disable all Mailboxes */ ECanbRegs.CANME.all = 0U; // Required before writing the MSGIDs EDIS; CECanBSetMbox(); } static void CECanBSetMbox(void) { struct ECAN_REGS ECanShadow = {}; /* Tx Can MBox */ ECanbMboxes.MBOX0.MSGID.bit.IDE = 0U; // ID E®Aa ¿ⓒºI '0' - 11bit ID ≫c¿e ECanbMboxes.MBOX0.MSGID.bit.STDMSGID = 0x100U; ECanbMboxes.MBOX0.MSGID.bit.AME = 0U; ECanbMboxes.MBOX0.MSGCTRL.bit.DLC = 8U; ECanbMboxes.MBOX0.MSGCTRL.bit.RTR = 0U; ECanbMboxes.MBOX0.MDH.all = 0x00000000U; ECanbMboxes.MBOX0.MDL.all = 0x00000000U; ECanbMboxes.MBOX1.MSGID.bit.IDE = 0U; ECanbMboxes.MBOX1.MSGID.bit.STDMSGID = 0x101U; ECanbMboxes.MBOX1.MSGID.bit.AME = 0U; ECanbMboxes.MBOX1.MSGCTRL.bit.DLC = 8U; ECanbMboxes.MBOX1.MSGCTRL.bit.RTR = 0U; ECanbMboxes.MBOX1.MDH.all = 0x00000000U; ECanbMboxes.MBOX1.MDL.all = 0x00000000U; ECanbMboxes.MBOX2.MSGID.bit.IDE = 0U; ECanbMboxes.MBOX2.MSGID.bit.STDMSGID = 0x102U; ECanbMboxes.MBOX2.MSGID.bit.AME = 0U; ECanbMboxes.MBOX2.MSGCTRL.bit.DLC = 8U; ECanbMboxes.MBOX2.MSGCTRL.bit.RTR = 0U; ECanbMboxes.MBOX2.MDH.all = 0x00000000U; ECanbMboxes.MBOX2.MDL.all = 0x00000000U; ECanbMboxes.MBOX3.MSGID.bit.IDE = 0U; ECanbMboxes.MBOX3.MSGID.bit.STDMSGID = 0x103U; ECanbMboxes.MBOX3.MSGID.bit.AME = 0U; ECanbMboxes.MBOX3.MSGCTRL.bit.DLC = 8U; ECanbMboxes.MBOX3.MSGCTRL.bit.RTR = 0U; ECanbMboxes.MBOX3.MDH.all = 0x00000000U; ECanbMboxes.MBOX3.MDL.all = 0x00000000U; ECanbMboxes.MBOX4.MSGID.bit.IDE = 0U; ECanbMboxes.MBOX4.MSGID.bit.STDMSGID = 0x110U; ECanbMboxes.MBOX4.MSGID.bit.AME = 0U; ECanbMboxes.MBOX4.MSGCTRL.bit.DLC = 8U; ECanbMboxes.MBOX4.MSGCTRL.bit.RTR = 0U; ECanbMboxes.MBOX4.MDH.all = 0x00000000U; ECanbMboxes.MBOX4.MDL.all = 0x00000000U; ECanbMboxes.MBOX5.MSGID.bit.IDE = 0U; ECanbMboxes.MBOX5.MSGID.bit.STDMSGID = 0x120U; ECanbMboxes.MBOX5.MSGID.bit.AME = 0U; ECanbMboxes.MBOX5.MSGCTRL.bit.DLC = 8U; ECanbMboxes.MBOX5.MSGCTRL.bit.RTR = 0U; ECanbMboxes.MBOX5.MDH.all = 0x00000000U; ECanbMboxes.MBOX5.MDL.all = 0x00000000U; ECanbMboxes.MBOX6.MSGID.bit.IDE = 0U; ECanbMboxes.MBOX6.MSGID.bit.STDMSGID = 0x121U; ECanbMboxes.MBOX6.MSGID.bit.AME = 0U; ECanbMboxes.MBOX6.MSGCTRL.bit.DLC = 8U; ECanbMboxes.MBOX6.MSGCTRL.bit.RTR = 0U; ECanbMboxes.MBOX6.MDH.all = 0x00000000U; ECanbMboxes.MBOX6.MDL.all = 0x00000000U; ECanbMboxes.MBOX7.MSGID.bit.IDE = 0U; ECanbMboxes.MBOX7.MSGID.bit.STDMSGID = 0x130U; ECanbMboxes.MBOX7.MSGID.bit.AME = 0U; ECanbMboxes.MBOX7.MSGCTRL.bit.DLC = 8U; ECanbMboxes.MBOX7.MSGCTRL.bit.RTR = 0U; ECanbMboxes.MBOX7.MDH.all = 0x00000000U; ECanbMboxes.MBOX7.MDL.all = 0x00000000U; ECanbMboxes.MBOX8.MSGID.bit.IDE = 0U; ECanbMboxes.MBOX8.MSGID.bit.STDMSGID = 0x131U; ECanbMboxes.MBOX8.MSGID.bit.AME = 0U; ECanbMboxes.MBOX8.MSGCTRL.bit.DLC = 8U; ECanbMboxes.MBOX8.MSGCTRL.bit.RTR = 0U; ECanbMboxes.MBOX8.MDH.all = 0x00000000U; ECanbMboxes.MBOX8.MDL.all = 0x00000000U; ECanbMboxes.MBOX9.MSGID.bit.IDE = 0U; ECanbMboxes.MBOX9.MSGID.bit.STDMSGID = 0x132U; ECanbMboxes.MBOX9.MSGID.bit.AME = 0U; ECanbMboxes.MBOX9.MSGCTRL.bit.DLC = 8U; ECanbMboxes.MBOX9.MSGCTRL.bit.RTR = 0U; ECanbMboxes.MBOX9.MDH.all = 0x00000000U; ECanbMboxes.MBOX9.MDL.all = 0x00000000U; /* Rx Can MBox(GCU)*/ ECanbMboxes.MBOX15.MSGID.bit.IDE = 0U; ECanbMboxes.MBOX15.MSGID.bit.STDMSGID = 0x200U; ECanbMboxes.MBOX15.MSGID.bit.AME = 0U; ECanbMboxes.MBOX15.MSGCTRL.bit.DLC = 8U; ECanbMboxes.MBOX15.MSGCTRL.bit.RTR = 0U; ECanbMboxes.MBOX15.MDH.all = 0x00000000U; ECanbMboxes.MBOX15.MDL.all = 0x00000000U; ECanbMboxes.MBOX16.MSGID.bit.IDE = 0U; ECanbMboxes.MBOX16.MSGID.bit.STDMSGID = 0x201U; ECanbMboxes.MBOX16.MSGID.bit.AME = 0U; ECanbMboxes.MBOX16.MSGCTRL.bit.DLC = 8U; ECanbMboxes.MBOX16.MSGCTRL.bit.RTR = 0U; ECanbMboxes.MBOX16.MDH.all = 0x00000000U; ECanbMboxes.MBOX16.MDL.all = 0x00000000U; ECanbMboxes.MBOX17.MSGID.bit.IDE = 0U; ECanbMboxes.MBOX17.MSGID.bit.STDMSGID = 0x210U; ECanbMboxes.MBOX17.MSGID.bit.AME = 0U; ECanbMboxes.MBOX17.MSGCTRL.bit.DLC = 8U; ECanbMboxes.MBOX17.MSGCTRL.bit.RTR = 0U; ECanbMboxes.MBOX17.MDH.all = 0x00000000U; ECanbMboxes.MBOX17.MDL.all = 0x00000000U; ECanbMboxes.MBOX18.MSGID.bit.IDE = 0U; ECanbMboxes.MBOX18.MSGID.bit.STDMSGID = 0x220U; ECanbMboxes.MBOX18.MSGID.bit.AME = 0U; ECanbMboxes.MBOX18.MSGCTRL.bit.DLC = 8U; ECanbMboxes.MBOX18.MSGCTRL.bit.RTR = 0U; ECanbMboxes.MBOX18.MDH.all = 0x00000000U; ECanbMboxes.MBOX18.MDL.all = 0x00000000U; ECanbMboxes.MBOX19.MSGID.bit.IDE = 0U; ECanbMboxes.MBOX19.MSGID.bit.STDMSGID = 0x221U; ECanbMboxes.MBOX19.MSGID.bit.AME = 0U; ECanbMboxes.MBOX19.MSGCTRL.bit.DLC = 8U; ECanbMboxes.MBOX19.MSGCTRL.bit.RTR = 0U; ECanbMboxes.MBOX19.MDH.all = 0x00000000U; ECanbMboxes.MBOX19.MDL.all = 0x00000000U; /* Rx Can MBox(ECU)*/ ECanbMboxes.MBOX25.MSGID.bit.IDE = 0U; ECanbMboxes.MBOX25.MSGID.bit.STDMSGID = 0x300U; ECanbMboxes.MBOX25.MSGID.bit.AME = 0U; ECanbMboxes.MBOX25.MSGCTRL.bit.DLC = 8U; ECanbMboxes.MBOX25.MSGCTRL.bit.RTR = 0U; ECanbMboxes.MBOX25.MDH.all = 0x00000000U; ECanbMboxes.MBOX25.MDL.all = 0x00000000U; ECanbMboxes.MBOX26.MSGID.bit.IDE = 0U; ECanbMboxes.MBOX26.MSGID.bit.STDMSGID = 0x301U; ECanbMboxes.MBOX26.MSGID.bit.AME = 0U; ECanbMboxes.MBOX26.MSGCTRL.bit.DLC = 8U; ECanbMboxes.MBOX26.MSGCTRL.bit.RTR = 0U; ECanbMboxes.MBOX26.MDH.all = 0x00000000U; ECanbMboxes.MBOX26.MDL.all = 0x00000000U; ECanbMboxes.MBOX27.MSGID.bit.IDE = 0U; ECanbMboxes.MBOX27.MSGID.bit.STDMSGID = 0x310U; ECanbMboxes.MBOX27.MSGID.bit.AME = 0U; ECanbMboxes.MBOX27.MSGCTRL.bit.DLC = 8U; ECanbMboxes.MBOX27.MSGCTRL.bit.RTR = 0U; ECanbMboxes.MBOX27.MDH.all = 0x00000000U; ECanbMboxes.MBOX27.MDL.all = 0x00000000U; ECanbMboxes.MBOX28.MSGID.bit.IDE = 0U; ECanbMboxes.MBOX28.MSGID.bit.STDMSGID = 0x320U; ECanbMboxes.MBOX28.MSGID.bit.AME = 0U; ECanbMboxes.MBOX28.MSGCTRL.bit.DLC = 8U; ECanbMboxes.MBOX28.MSGCTRL.bit.RTR = 0U; ECanbMboxes.MBOX28.MDH.all = 0x00000000U; ECanbMboxes.MBOX28.MDL.all = 0x00000000U; ECanbMboxes.MBOX29.MSGID.bit.IDE = 0U; ECanbMboxes.MBOX29.MSGID.bit.STDMSGID = 0x321U; ECanbMboxes.MBOX29.MSGID.bit.AME = 0U; ECanbMboxes.MBOX29.MSGCTRL.bit.DLC = 8U; ECanbMboxes.MBOX29.MSGCTRL.bit.RTR = 0U; ECanbMboxes.MBOX29.MDH.all = 0x00000000U; ECanbMboxes.MBOX29.MDL.all = 0x00000000U; ECanbMboxes.MBOX30.MSGID.bit.IDE = 0U; ECanbMboxes.MBOX30.MSGID.bit.STDMSGID = 0x322U; ECanbMboxes.MBOX30.MSGID.bit.AME = 0U; ECanbMboxes.MBOX30.MSGCTRL.bit.DLC = 8U; ECanbMboxes.MBOX30.MSGCTRL.bit.RTR = 0U; ECanbMboxes.MBOX30.MDH.all = 0x00000000U; ECanbMboxes.MBOX30.MDL.all = 0x00000000U; // Transe, Receive °aA¤, 0 is Transe, 1 is Receive ECanShadow.CANMD.all = ECanbRegs.CANMD.all; ECanShadow.CANMD.bit.MD0 = 0U; ECanShadow.CANMD.bit.MD1 = 0U; ECanShadow.CANMD.bit.MD2 = 0U; ECanShadow.CANMD.bit.MD3 = 0U; ECanShadow.CANMD.bit.MD4 = 0U; ECanShadow.CANMD.bit.MD5 = 0U; ECanShadow.CANMD.bit.MD6 = 0U; ECanShadow.CANMD.bit.MD7 = 0U; ECanShadow.CANMD.bit.MD8 = 0U; ECanShadow.CANMD.bit.MD9 = 0U; ECanShadow.CANMD.bit.MD15 = 1U; ECanShadow.CANMD.bit.MD16 = 1U; ECanShadow.CANMD.bit.MD17 = 1U; ECanShadow.CANMD.bit.MD18 = 1U; ECanShadow.CANMD.bit.MD19 = 1U; ECanShadow.CANMD.bit.MD25 = 1U; ECanShadow.CANMD.bit.MD26 = 1U; ECanShadow.CANMD.bit.MD27 = 1U; ECanShadow.CANMD.bit.MD28 = 1U; ECanShadow.CANMD.bit.MD29 = 1U; ECanShadow.CANMD.bit.MD30 = 1U; ECanbRegs.CANMD.all = ECanShadow.CANMD.all; // MailBox Enable/Disable, 0 is Disable, 1 is Enable ECanShadow.CANME.all = ECanbRegs.CANME.all; ECanShadow.CANME.bit.ME0 = 1U; ECanShadow.CANME.bit.ME1 = 1U; ECanShadow.CANME.bit.ME2 = 1U; ECanShadow.CANME.bit.ME3 = 1U; ECanShadow.CANME.bit.ME4 = 1U; ECanShadow.CANME.bit.ME5 = 1U; ECanShadow.CANME.bit.ME6 = 1U; ECanShadow.CANME.bit.ME7 = 1U; ECanShadow.CANME.bit.ME8 = 1U; ECanShadow.CANME.bit.ME9 = 1U; ECanShadow.CANME.bit.ME15 = 1U; ECanShadow.CANME.bit.ME16 = 1U; ECanShadow.CANME.bit.ME17 = 1U; ECanShadow.CANME.bit.ME18 = 1U; ECanShadow.CANME.bit.ME19 = 1U; ECanShadow.CANME.bit.ME25 = 1U; ECanShadow.CANME.bit.ME26 = 1U; ECanShadow.CANME.bit.ME27 = 1U; ECanShadow.CANME.bit.ME28 = 1U; ECanShadow.CANME.bit.ME29 = 1U; ECanShadow.CANME.bit.ME30 = 1U; ECanbRegs.CANME.all = ECanShadow.CANME.all; EALLOW; ECanShadow.CANMC.all = ECanbRegs.CANMC.all; ECanShadow.CANMC.bit.STM = 0U; // '1' CAN Self-test Mode ¼³A¤ ECanShadow.CANMC.bit.ABO = 1U; // '1' CAN Auto Bus On ECanbRegs.CANMC.all = ECanShadow.CANMC.all; // Interrupt Enable(Receive Interrupt), 0 is Disable, 1 is Enable ECanShadow.CANMIM.all = ECanbRegs.CANMIM.all; ECanShadow.CANMIM.bit.MIM15 = 1U; ECanShadow.CANMIM.bit.MIM16 = 1U; ECanShadow.CANMIM.bit.MIM17 = 1U; ECanShadow.CANMIM.bit.MIM18 = 1U; ECanShadow.CANMIM.bit.MIM19 = 1U; ECanShadow.CANMIM.bit.MIM25 = 1U; ECanShadow.CANMIM.bit.MIM26 = 1U; ECanShadow.CANMIM.bit.MIM27 = 1U; ECanShadow.CANMIM.bit.MIM28 = 1U; ECanShadow.CANMIM.bit.MIM29 = 1U; ECanShadow.CANMIM.bit.MIM30 = 1U; ECanbRegs.CANMIM.all = ECanShadow.CANMIM.all; // Groble Interrupt ECanShadow.CANGIM.all = ECanbRegs.CANGIM.all; ECanShadow.CANGIM.bit.I0EN = 1U; // Line 0 Interrupt Enable ECanShadow.CANGIM.bit.GIL = 0U; // All global interrupts are mapped to the ECAN0INT interrupt line. ECanbRegs.CANGIM.all = ECanShadow.CANGIM.all; EDIS; } void CInitEcan(void) { CInitECanA(); CInitECanB(); CInitECanStructure(); } static void CInitECanStructure(void) { // Tx (void) memset(&Tx100, 0, sizeof(CTx100)); (void) memset(&Tx101, 0, sizeof(CTx101)); (void) memset(&Tx102, 0, sizeof(CTx102)); (void) memset(&Tx103, 0, sizeof(CTx103)); (void) memset(&Tx110, 0, sizeof(CTx110)); (void) memset(&Tx120, 0, sizeof(CTx120)); (void) memset(&Tx121, 0, sizeof(CTx121)); (void) memset(&Tx130, 0, sizeof(CTx130)); (void) memset(&Tx131, 0, sizeof(CTx131)); (void) memset(&Tx132, 0, sizeof(CTx132)); // Rx - GCU (void) memset(&Rx200, 0, sizeof(CRx200)); (void) memset(&Rx201, 0, sizeof(CRx201)); (void) memset(&Rx210, 0, sizeof(CRx210)); (void) memset(&Rx220, 0, sizeof(CRx220)); (void) memset(&Rx221, 0, sizeof(CRx221)); // Rx - ECU (void) memset(&Rx300, 0, sizeof(CRx300)); (void) memset(&Rx301, 0, sizeof(CRx301)); (void) memset(&Rx310, 0, sizeof(CRx310)); (void) memset(&Rx320, 0, sizeof(CRx320)); (void) memset(&Rx321, 0, sizeof(CRx321)); (void) memset(&Rx322, 0, sizeof(CRx322)); }