TMS320F28335的CAN通信例程

以下是TMS320F28335的CAN通信例程：

#include "F2837xD_device.h"
#include "F2837xD_CpuTimers.h"
#include "F2837xD_Examples.h"
#include "F2837xD_Gpio.h"
#include "F2837xD_Ipc_drivers.h"
#include "F2837xD_Ipc.h"
#include "F2837xD_PieCtrl.h"
#include "F2837xD_PieVect.h"
#include "F2837xD_SysCtrl.h"
#include "F2837xD_can.h"

//定义CAN消息对象
struct ECAN_REGS ECanaShadow;

void InitECana(void){
    //使能ECAN模块
    EALLOW;
    CpuSysRegs.PCLKCR10.bit.ECAN_A = 1;
    EDIS;
    
    //配置GPIO管脚为CAN引脚
    EALLOW;
    GpioCtrlRegs.GPAPUD.bit.GPIO30 = 0;
    GpioCtrlRegs.GPAQSEL2.bit.GPIO30 = 3;
    GpioCtrlRegs.GPAMUX2.bit.GPIO30 = 1;
    GpioCtrlRegs.GPAPUD.bit.GPIO31 = 0;
    GpioCtrlRegs.GPAQSEL2.bit.GPIO31 = 3;
    GpioCtrlRegs.GPAMUX2.bit.GPIO31 = 1;
    EDIS;
    
    //复位ECAN模块
    ECanaShadow.CANMC.all = ECanaRegs.CANMC.all;
    ECanaShadow.CANMC.bit.RESET = 1;
    ECanaRegs.CANMC.all = ECanaShadow.CANMC.all;
    while (ECanaRegs.CANES.bit.CCE != 1) {}
    ECanaShadow.CANES.all = ECanaRegs.CANES.all;
    ECanaShadow.CANES.bit.CAN_ESP = 1;
    ECanaRegs.CANES.all = ECanaShadow.CANES.all;
    while (ECanaRegs.CANES.bit.CAN_ESP != 1) {}
    
    //配置ECAN模块
    ECanaShadow.CANMC.all = ECanaRegs.CANMC.all;
    ECanaShadow.CANMC.bit.SCB = 1;
    ECanaShadow.CANMC.bit.DBO = 1;
    ECanaRegs.CANMC.all = ECanaShadow.CANMC.all;
    ECanaShadow.CANBTC.all = 0;
    ECanaShadow.CANBTC.bit.TSEG1REG = 11;
    ECanaShadow.CANBTC.bit.TSEG2REG = 2;
    ECanaShadow.CANBTC.bit.BRPREG = 4;
    ECanaRegs.CANBTC.all = ECanaShadow.CANBTC.all;
    ECanaShadow.CANMC.all = ECanaRegs.CANMC.all;
    ECanaShadow.CANMC.bit.CCR = 1;
    ECanaRegs.CANMC.all = ECanaShadow.CANMC.all;
    while(ECanaRegs.CANES.bit.CCE != 0) {}
    
    //配置ECAN接收器
    ECanaShadow.CANMC.all = ECanaRegs.CANMC.all;
    ECanaShadow.CANMC.bit.CCR = 1;
    ECanaRegs.CANMC.all = ECanaShadow.CANMC.all;
    while(ECanaRegs.CANES.bit.CCE != 0) {}
    ECanaShadow.CANMD.all = ECanaRegs.CANMD.all;
    ECanaShadow.CANMD.bit.RMD = 0;
    ECanaRegs.CANMD.all = ECanaShadow.CANMD.all;
    ECanaShadow.CANMC.all = ECanaRegs.CANMC.all;
    ECanaShadow.CANMC.bit.CCR = 0;
    ECanaRegs.CANMC.all = ECanaShadow.CANMC.all;
    while(ECanaRegs.CANES.bit.CCE != 0) {}
}

void ConfigECanaMessage(uint32_t MsgID, uint32_t MsgMask, uint32_t MsgFlags){
    ECanaRegs.CANME.all = 0;
    ECanaShadow.CANME.all = ECanaRegs.CANME.all;
    ECanaShadow.CANME.bit.ME0 = 1;
    ECanaRegs.CANME.all = ECanaShadow.CANME.all;
    ECanaShadow.CANMAM.all = 0x1FFFFFFF;
    ECanaRegs.CANMAM.all = ECanaShadow.CANMAM.all;
    ECanaRegs.CANMIM.all = 0;
    ECanaShadow.CANMIM.all = ECanaRegs.CANMIM.all;
    ECanaShadow.CANMIM.bit.MIM0 = 1;
    ECanaRegs.CANMIM.all = ECanaShadow.CANMIM.all;
    ECanaShadow.CANMSGCTRL.all = 0;
    ECanaRegs.CANMSGCTRL.all = ECanaShadow.CANMSGCTRL.all;
    ECanaShadow.CANMSGID.all = MsgID;
    ECanaRegs.CANMSGID.all = ECanaShadow.CANMSGID.all;
    ECanaShadow.CANMSGID.bit.AAM = 1;
    ECanaShadow.CANMSGID.bit.AME = 0;
    ECanaRegs.CANMSGID.all = ECanaShadow.CANMSGID.all;
    ECanaShadow.CANMSGID.all = MsgMask;
    ECanaRegs.CANMSK.all = ECanaShadow.CANMSGID.all;
    ECanaShadow.CANMSGCTRL.all = MsgFlags;
    ECanaRegs.CANMSGCTRL.all = ECanaShadow.CANMSGCTRL.all;
}

void SendECanaMessage(void){
    ECanaShadow.CANMC.all = ECanaRegs.CANMC.all;
    ECanaShadow.CANMC.bit.CCR = 1;
    ECanaRegs.CANMC.all = ECanaShadow.CANMC.all;
    while(ECanaRegs.CANES.bit.CCE != 0) {}
    ECanaRegs.CANTRS.all = 0x0001;
    EALLOW;
    PieVectTable.ECAN0INTA = &ECana_isr;
    EDIS;
    PieCtrlRegs.PIEIER9.bit.INTx5 = 1;
    IER |= M_INT9;
    ECanaShadow.CANMC.all = ECanaRegs.CANMC.all;
    ECanaShadow.CANMC.bit.CCR = 0;
    ECanaRegs.CANMC.all = ECanaShadow.CANMC.all;
    while(ECanaRegs.CANES.bit.CCE != 0) {}
}

interrupt void ECana_isr(void){
    uint32_t ulStatus;
    ulStatus = ECanaRegs.CANGIF0.all;
    ECanaRegs.CANGIF0.all = ulStatus;
    PieCtrlRegs.PIEACK.all = PIEACK_GROUP9;
}

以上是一个简单的CAN通信例程，其中包括了CAN模块的初始化、CAN消息对象的配置和发送CAN消息等。请注意，这只是一个示例代码，具体实现还需要根据实际情况进行调整。