Add changes in init functions

Replace #define to enum for safety reasons

Now config function takes as an arguments not only baudrate, but
flags for most significant bit and self teset mode initialization.
All parameters have a default value now

Add protection against access to MBOX with number > 31 in every
possible functions

Remove some old code

Protocol/CAN.cpp

@@ -1,4 +1,3 @@
-#include "CAN.h"
 #include "DSP2833x_Device.h"
 #include <cstddef>
 
@@ -37,10 +36,12 @@ void CAN::updateTXMessage(Uint16 boxNumber, const CANMessage& message){ // TODO
                                                                         // bit, the CAN module fails to transmit the new data and transmits the old data instead. To avoid this,
                                                                         // reset transmission in that mailbox using the TRRn bit and set the TRSn bit again. The new data is
                                                                         // then transmitted.
+    if (boxNumber > 31) return;
+
     volatile MBOX* p_MailBox(NULL);
     p_MailBox = &(p_CanMBoxes_->MBOX0) + boxNumber;
 
-    // Set change data request
+    // Set change data request (CDR bit + MBOX number)
     p_CanRegs_->CANMC.all |= (128 + boxNumber);
 
     p_MailBox->MDL.all = message.mdl.all;
@@ -53,6 +54,8 @@ void CAN::updateTXMessage(Uint16 boxNumber, const CANMessage& message){ // TODO
 
 
 void CAN::sendRemoteRequest(Uint16 boxNumber){
+    if (boxNumber > 31) return;
+
     volatile MBOX* p_MailBox(NULL);
     p_MailBox = &(p_CanMBoxes_->MBOX0) + boxNumber;
 
@@ -79,6 +82,8 @@ void CAN::sendRemoteRequest(Uint16 boxNumber){
 
 
 bool CAN::receiveMsg(Uint16 boxNumber, CANMessage& rxMessage){ // TODO faults just return -1
+    if (boxNumber > 31) { return -1; }
+
     Uint32 mboxControl(0);
     mboxControl = 1ul << boxNumber;
 
@@ -115,6 +120,8 @@ bool CAN::isNewMessage(){
 
 
 bool CAN::isNewMessage(Uint16 boxNumber){
+    if (boxNumber > 31) { return 0; }
+
     Uint32 mboxControl(0);
     mboxControl = 1ul << boxNumber;
 
@@ -123,33 +130,4 @@ bool CAN::isNewMessage(Uint16 boxNumber){
 }
 
 
-/* CANMessage CAN::receiveMsg(Uint16 boxNumber){
-    Uint32 mboxControl(0);
-    mboxControl = 1ul << boxNumber;
-
-    volatile MBOX* p_MailBox(NULL);
-    p_MailBox = &(p_CanMBoxes_->MBOX0) + boxNumber;
-    CANMessage rxMessage;
-
-    p_CanRegs_->CANRMP.all &= mboxControl;
-
-    rxMessage.MSGCTRL.all = p_MailBox->MSGCTRL.all;
-    rxMessage.MDL.all = p_MailBox->MDL.all;
-    rxMessage.MDH.all = p_MailBox->MDH.all;
-
-    bool newMessage;
-    bool lostMessage;
-
-    newMessage = p_CanRegs_->CANRMP.all & mboxControl;
-    lostMessage = p_CanRegs_->CANRML.all & mboxControl;
-
-    if(newMessage || lostMessage) {
-        counter_fault_rx++;     // TODO delete after debug
-    //  set_fault();
-    }
-
-    return rxMessage;
-} */
-
-
 }   // canSpace

Protocol/CAN.h

@@ -10,6 +10,28 @@ enum CAN_VARIANT{
     CANB
 };
 
+enum configFlags{
+    NONE = 0,
+    MSB_ENABLE = 1u << 0,
+    STM_ENABLE = 1u << 1
+};
+
+
+enum configSystemIsrFlags{
+    I0EN_ENABLE = 1ul,
+    I1EN_ENABLE = 1ul << 1,
+    GIL_ENABLE = 1ul << 2,
+    WLIM_ENABLE = 1ul << 8,
+    EPIM_ENABLE = 1ul << 9,
+    BOIM_ENABLE = 1ul << 10,
+    RMLIM_ENABLE = 1ul << 11,
+    WUIM_ENABLE = 1ul << 12,
+    WDIM_ENABLE = 1ul << 13,
+    AAIM_ENABLE = 1ul << 14,
+    TCOM_ENABLE = 1ul << 16,
+    MTOM_ENABLE = 1ul << 17
+};
+
 
 // eCAN Message Control Register (MSGCTRL) bit definitions
 struct MsgCtrlBits {     // bits  description
@@ -81,7 +103,7 @@ public:
     CAN(CAN_VARIANT canVariant);
 
     void initGpio();
-    void config(Uint16 baudrate);
+    void config(Uint16 baudrate = 1000, Uint16 flags = 0);
     void configTxMBox(Uint16 boxNumber, const MsgID& configID, const MsgCtrlReg& configCtrlReg);
     void configRxMBox(Uint16 boxNumber, const MsgID& configID, const MsgCtrlReg& configCtrlReg);
     void configSystemIsr(Uint32 flags);
@@ -104,22 +126,3 @@ private:
 
 
 }   // canSpace
-
-
-#define I0EN_ENABLE 1ul
-#define I1EN_ENABLE 1ul << 1
-#define GIL_ENABLE 1ul << 2
-#define WLIM_ENABLE 1ul << 8
-#define EPIM_ENABLE 1ul << 9
-#define BOIM_ENABLE 1ul << 10
-#define RMLIM_ENABLE 1ul << 11
-#define WUIM_ENABLE 1ul << 12
-#define WDIM_ENABLE 1ul << 13
-#define AAIM_ENABLE 1ul << 14
-#define TCOM_ENABLE 1ul << 16
-#define MTOM_ENABLE 1ul << 17
-
-#define SYSTEM_INTERRUPTS (\
-            I0EN_ENABLE |\
-            AAIM_ENABLE  \
-)

Protocol/CANConfig.cpp

@@ -1,4 +1,3 @@
-#include "CAN.h"
 #include "DSP2833x_Device.h"
 #include "DSP2833x_ECan.h"
 #include <cstddef>
@@ -9,12 +8,13 @@ CAN::CAN(CAN_VARIANT canVariant) :
     canPort(canVariant)
 {}
 
+
 void CAN::initGpio(){
     if(canPort == CANA) InitECanaGpio();
     else if (canPort == CANB) InitECanbGpio();
 }
 
-void CAN::config(Uint16 baudrate){  // TODO add isr disable here
+void CAN::config(Uint16 baudrate, Uint16 flags){
     if (canPort == CANA){
 		EALLOW;
 		SysCtrlRegs.PCLKCR0.bit.ECANAENCLK = 1;
@@ -31,16 +31,13 @@ void CAN::config(Uint16 baudrate){  // TODO add isr disable here
 	}
 	else { return; }
 
-    //
+    // Create a shadow register structure for the CAN control registers. This   // TODO add this into description
-    // 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 ECanShadow;
 
-    EALLOW;		// EALLOW enables access to protected bits
+    EALLOW;
 
     // Configure eCAN RX and TX pins for CAN operation using eCAN regs
     CanShadow_.CANTIOC.all = p_CanRegs_->CANTIOC.all;
@@ -98,31 +95,33 @@ void CAN::config(Uint16 baudrate){  // TODO add isr disable here
 
     // TAn, RMPn, GIFn bits are all zero upon reset and are cleared again
     // as a matter of precaution.
-    p_CanRegs_->CANTA.all	= 0xFFFFFFFF;       // Clear all TAn bits
+    p_CanRegs_->CANTA.all	= 0xFFFFFFFF;
-
+    p_CanRegs_->CANRMP.all = 0xFFFFFFFF;
-    p_CanRegs_->CANRMP.all = 0xFFFFFFFF;      // Clear all RMPn bits
+    p_CanRegs_->CANGIF0.all = 0xFFFFFFFF;
-
-    p_CanRegs_->CANGIF0.all = 0xFFFFFFFF;     // Clear all interrupt flag bits
     p_CanRegs_->CANGIF1.all = 0xFFFFFFFF;
 
 
     // Configure bit timing parameters for eCANA
     CanShadow_.CANMC.all = p_CanRegs_->CANMC.all;
-    CanShadow_.CANMC.bit.CCR = 1 ;            // Set CCR = 1
+    CanShadow_.CANMC.bit.CCR = 1 ;
     p_CanRegs_->CANMC.all = CanShadow_.CANMC.all;
 
     do { CanShadow_.CANES.all = p_CanRegs_->CANES.all; }
-    while(CanShadow_.CANES.bit.CCE != 1 );  	// Wait for CCE bit to be set
+    while(CanShadow_.CANES.bit.CCE != 1 );
 
-    // CanShadow_.CANMC.all = p_CanRegs_->CANMC.all;    //TODO delete
+    // LSB - 0; MSB - 1
-    // CanShadow_.CANMC.bit.DBO = 1 ;            // Set DBO = 1
+    CanShadow_.CANMC.all = p_CanRegs_->CANMC.all;
-    // p_CanRegs_->CANMC.all = CanShadow_.CANMC.all;
+    if (flags & MSB_ENABLE){
+        CanShadow_.CANMC.bit.DBO = 1;
+    }
+    else
+    { CanShadow_.CANMC.bit.DBO = 0; }
+    p_CanRegs_->CANMC.all = CanShadow_.CANMC.all;
 
     CanShadow_.CANBTC.all = 0;
 
     // The following block for all 150 MHz SYSCLKOUT 
     // (75 MHz CAN clock) - default. Bit rate = 1 Mbps / 500 kbps / 250 kbps / 100 kbps
-    
     switch (baudrate) {
         case 1000:
             CanShadow_.CANBTC.bit.BRPREG = 4;
@@ -162,21 +161,29 @@ void CAN::config(Uint16 baudrate){  // TODO add isr disable here
     while(CanShadow_.CANES.bit.CCE != 0 ); // Wait for CCE bit to be  cleared
 
     // Disable all Mailboxes
-    p_CanRegs_->CANME.all = 0;		// Required before writing the MSGIDs
+    p_CanRegs_->CANME.all = 0;
+
+    // Disable all interrupts
+    p_CanRegs_->CANGIM.all = 0;
+    p_CanRegs_->CANMIM.all = 0;
 
     //
     // Debug feature
     // Configure the eCAN for self test mode.
-    //
+    CanShadow_.CANMC.all = p_CanRegs_->CANMC.all;
-    // CanShadow_.CANMC.all = p_CanRegs_->CANMC.all;
+    if (flags & STM_ENABLE){
-    // CanShadow_.CANMC.bit.STM = 1;      // Configure CAN for self-test mode
+        CanShadow_.CANMC.bit.STM = 1;
-    // p_CanRegs_->CANMC.all = CanShadow_.CANMC.all;
+    }
+    else
+    { CanShadow_.CANMC.bit.STM = 0; }
+    p_CanRegs_->CANMC.all = CanShadow_.CANMC.all;
 
     EDIS;
 }
 
 
 void CAN::configTxMBox(Uint16 boxNumber, const MsgID& configID, const MsgCtrlReg& configCtrlReg){
+    if (boxNumber > 31) return;
 
     volatile MBOX* p_MailBox(NULL);
     p_MailBox = &(p_CanMBoxes_->MBOX0) + boxNumber;
@@ -220,6 +227,7 @@ void CAN::configTxMBox(Uint16 boxNumber, const MsgID& configID, const MsgCtrlReg
 
 
 void CAN::configRxMBox(Uint16 boxNumber, const MsgID& configID, const MsgCtrlReg& configCtrlReg){
+    if (boxNumber > 31) return;
 
     volatile MBOX* p_MailBox(NULL);
     p_MailBox = &(p_CanMBoxes_->MBOX0) + boxNumber;

main.cpp

@@ -66,7 +66,7 @@ void main()
     canTest.configRxMBox(2, canSpace::MsgID(0x111), canSpace::MsgCtrlReg(0x13));
     // canTest.configTxMBox(30, canSpace::MsgID(0x111, false, true), canSpace::MsgCtrlReg(0x3));    // for remote answer
 
-    canTest.configSystemIsr(I0EN_ENABLE | EPIM_ENABLE | WLIM_ENABLE | AAIM_ENABLE);
+    canTest.configSystemIsr(canSpace::I0EN_ENABLE | canSpace::EPIM_ENABLE | canSpace::WLIM_ENABLE | canSpace::AAIM_ENABLE);
 
     //
     // Enable global Interrupts and higher priority real-time debug events: