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Oleg:dev
Oleg:feature/Modbus
Oleg:feature/CAN_timeOut
Oleg:feature/baseCAN
Oleg:main
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compare: Oleg:feature/CAN_timeOut
Branches Tags
Oleg:dev
Oleg:feature/Modbus
Oleg:feature/CAN_timeOut
Oleg:feature/baseCAN
Oleg:main

22 Commits
main ... feature/CA

Author SHA1 Message Date
Oleg 8cbdce2192 Add time out feature 1 month ago
Oleg 61b34218ff Add memory map for XINTF. Change zone0 to zone6 1 month ago
Oleg a450de810f Fix some CAN interface argument capacity 
1. Change rx and tx function to process Uint64 values, not Uint32
2. Make LSB first as default
 1 month ago
Oleg cc59948011 Fix can transmitMsg() 
1. Now method takes Uint62 instead of Uint32
2. Comment TA bit checking for not potentially make processor to stand in
endless loop if there is no answer from another node
3. The method do not set data lenght now. It should be set when MBOX
configuring
 1 month ago
Oleg d864977511 First test 
1. Add an arbitrator class to control all necessary periphery
main2.cpp represents it usage.
main.cpp without periphery class.

2. Add XINTF init and DigitalIO interface
3. Change DI/O MBOX length to 2 bytes instead of 3
 1 month ago
Oleg c692668f7b Expand CAN functionality. 
1. Add new methods for update and receive. It is become possiple
to work with Uint32.
2. ADD changes in ConfigTX method. It determines data length
of a MBOX now as well
 1 month ago
Oleg dbbd22524b Merge updated branch 'feature/baseCAN' into dev 2 months ago
Oleg 07bb5edd57 Change/add methods 
1. Change receiveMsg. Now it returns int16 with error identification
2. Change CANMessage structure. Now it only has dataLenght variable
   instead of previos MsgCtrlReg union
3. Change MsgCtrlReg. Add an OPC flag in it
4. Change configRxMBox method. Overwrite protection enabling is
   added
 2 months ago
Oleg 7cd6a2ea9e Clean the code 2 months ago
Oleg b884754d93 Add mbox interrupt handling 2 months ago
Oleg 182ada3bba Fix mistakes 2 months ago
Oleg ac023187cd Overload "trasmitMsg" method 2 months ago
Oleg 714f0265cc Merge branch 'feature/baseCAN' into dev 
CAN module is added here. This is not the can protocol for communication
between CPU and COMM boards, but common CAN protocol that must be
extended in the future
 2 months ago
Oleg 0246107428 Fix compile problem 
It started not to compile at all without changing anything manually
Some libs were deleted (because they was added automatically)

Add protection agaist accessing to MBOX with number >31
in transmitMsg method

Add TPL configuration in configTX method

Clear some garbage
 2 months ago
Oleg 0efa3cb375 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
 2 months ago
Oleg de707c052a Add error control. Fix config mistakes with TRS reset 
Add function for configuring system interrupts
Add interrupt that monitors the following errors:
    EPIM - CAN module has entered “error passive” mode
    WLIM - One or both error counters (TX and RX) are >= 96
    AAIM - A transmission request was aborted
Delete some old code
 2 months ago
Oleg fd72d2833b Add remote frames 2 months ago
Oleg dfb90e3ee8 Change config methods. Tested with the second board 
Things to be added in the future:
1) Remote requests
2) Possibility to init CAN interrupts
3) Erorrs handling
 2 months ago
Oleg 4446eb970a Add RX and TX methods. Change config methods 
Must be tested without test mode
 2 months ago
Oleg 82df69c385 Split configuarion and communication. Start of RX. 2 months ago
Oleg 34fe93213f Branch starts 2 months ago
Oleg eee4c90277 Start inititilization process 2 months ago
38 changed files with 8939 additions and 0 deletions
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45
F28335/DSP2833x_ADC_cal.asm
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;; TI File $Revision: /main/1 $
;; Checkin $Date: July 30, 2007 10:29:23 $
;;###########################################################################
;;
;; FILE: ADC_cal.asm
;;
;; TITLE: 2833x Boot Rom ADC Cal routine.
;;
;; Functions:
;;
;; _ADC_cal - Copies device specific calibration data into ADCREFSEL and
;; ADCOFFTRIM registers
;; Notes:
;;
;;###########################################################################
;; $TI Release: F2833x/F2823x Header Files and Peripheral Examples V142 $
;; $Release Date: November 1, 2016 $
;; $Copyright: Copyright (C) 2007-2016 Texas Instruments Incorporated -
;; http://www.ti.com/ ALL RIGHTS RESERVED $
;;###########################################################################
.def _ADC_cal
.asg "0x711C", ADCREFSEL_LOC
;-----------------------------------------------
; _ADC_cal
;-----------------------------------------------
;-----------------------------------------------
; This is the ADC cal routine.This routine is programmed into
; reserved memory by the factory. 0xAAAA and 0xBBBB are place-
; holders for calibration data.
;The actual values programmed by TI are device specific.
;
; This function assumes that the clocks have been
; enabled to the ADC module.
;-----------------------------------------------
.sect ".adc_cal"
_ADC_cal
MOVW DP, #ADCREFSEL_LOC >> 6
MOV @28, #0xAAAA ; actual value may not be 0xAAAA
MOV @29, #0xBBBB ; actual value may not be 0xBBBB
LRETR
;eof ----------

88
F28335/DSP2833x_CodeStartBranch.asm
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;// TI File $Revision: /main/1 $
;// Checkin $Date: August 18, 2006 13:45:55 $
;//###########################################################################
;//
;// FILE: DSP2833x_CodeStartBranch.asm
;//
;// TITLE: Branch for redirecting code execution after boot.
;//
;// For these examples, code_start is the first code that is executed after
;// exiting the boot ROM code.
;//
;// The codestart section in the linker cmd file is used to physically place
;// this code at the correct memory location. This section should be placed
;// at the location the BOOT ROM will re-direct the code to. For example,
;// for boot to FLASH this code will be located at 0x3f7ff6.
;//
;// In addition, the example DSP2833x projects are setup such that the codegen
;// entry point is also set to the code_start label. This is done by linker
;// option -e in the project build options. When the debugger loads the code,
;// it will automatically set the PC to the "entry point" address indicated by
;// the -e linker option. In this case the debugger is simply assigning the PC,
;// it is not the same as a full reset of the device.
;//
;// The compiler may warn that the entry point for the project is other then
;// _c_init00. _c_init00 is the C environment setup and is run before
;// main() is entered. The code_start code will re-direct the execution
;// to _c_init00 and thus there is no worry and this warning can be ignored.
;//
;//###########################################################################
;// $TI Release: F2833x/F2823x Header Files and Peripheral Examples V142 $
;// $Release Date: November 1, 2016 $
;// $Copyright: Copyright (C) 2007-2016 Texas Instruments Incorporated -
;// http://www.ti.com/ ALL RIGHTS RESERVED $
;//###########################################################################
***********************************************************************
WD_DISABLE .set 1 ;set to 1 to disable WD, else set to 0
.ref _c_int00
.global code_start
***********************************************************************
* Function: codestart section
*
* Description: Branch to code starting point
***********************************************************************
.sect "codestart"
code_start:
.if WD_DISABLE == 1
LB wd_disable ;Branch to watchdog disable code
.else
LB _c_int00 ;Branch to start of boot.asm in RTS library
.endif
;end codestart section
***********************************************************************
* Function: wd_disable
*
* Description: Disables the watchdog timer
***********************************************************************
.if WD_DISABLE == 1
.text
wd_disable:
SETC OBJMODE ;Set OBJMODE for 28x object code
EALLOW ;Enable EALLOW protected register access
MOVZ DP, #7029h>>6 ;Set data page for WDCR register
MOV @7029h, #0068h ;Set WDDIS bit in WDCR to disable WD
EDIS ;Disable EALLOW protected register access
LB _c_int00 ;Branch to start of boot.asm in RTS library
.endif
;end wd_disable
.end
;//===========================================================================
;// End of file.
;//===========================================================================

164
F28335/DSP2833x_CpuTimers.c
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//###########################################################################
//
// FILE: DSP2833x_CpuTimers.c
//
// TITLE: CPU 32-bit Timers Initialization & Support Functions.
//
// NOTES: CpuTimer2 is reserved for use with DSP BIOS and
// other realtime operating systems.
//
// Do not use these this timer in your application if you ever plan
// on integrating DSP-BIOS or another realtime OS.
//
//###########################################################################
// $TI Release: F2833x/F2823x Header Files and Peripheral Examples V142 $
// $Release Date: November 1, 2016 $
// $Copyright: Copyright (C) 2007-2016 Texas Instruments Incorporated -
// http://www.ti.com/ ALL RIGHTS RESERVED $
//###########################################################################
//
// Included Files
//
#include "DSP2833x_Device.h" // Headerfile Include File
#include "DSP2833x_Examples.h" // Examples Include File
//
// Defines
//
struct CPUTIMER_VARS CpuTimer0;
//
// When using DSP BIOS & other RTOS, comment out CPU Timer 2 code.
//
struct CPUTIMER_VARS CpuTimer1;
struct CPUTIMER_VARS CpuTimer2;
//
// InitCpuTimers - This function initializes all three CPU timers to a known
// state.
//
void
InitCpuTimers(void)
{
//
// CPU Timer 0 - Initialize address pointers to respective timer registers
//
CpuTimer0.RegsAddr = &CpuTimer0Regs;
//
// Initialize timer period to maximum
//
CpuTimer0Regs.PRD.all = 0xFFFFFFFF;
//
// Initialize pre-scale counter to divide by 1 (SYSCLKOUT)
//
CpuTimer0Regs.TPR.all = 0;
CpuTimer0Regs.TPRH.all = 0;
//
// Make sure timer is stopped
//
CpuTimer0Regs.TCR.bit.TSS = 1;
//
// Reload all counter register with period value
//
CpuTimer0Regs.TCR.bit.TRB = 1;
//
// Reset interrupt counters
//
CpuTimer0.InterruptCount = 0;
//
// CpuTimer2 is reserved for DSP BIOS & other RTOS
// Do not use this timer if you ever plan on integrating
// DSP-BIOS or another realtime OS.
//
//
// Initialize address pointers to respective timer registers
//
CpuTimer1.RegsAddr = &CpuTimer1Regs;
CpuTimer2.RegsAddr = &CpuTimer2Regs;
//
// Initialize timer period to maximum
//
CpuTimer1Regs.PRD.all = 0xFFFFFFFF;
CpuTimer2Regs.PRD.all = 0xFFFFFFFF;
//
// Make sure timers are stopped
//
CpuTimer1Regs.TCR.bit.TSS = 1;
CpuTimer2Regs.TCR.bit.TSS = 1;
//
// Reload all counter register with period value
//
CpuTimer1Regs.TCR.bit.TRB = 1;
CpuTimer2Regs.TCR.bit.TRB = 1;
//
// Reset interrupt counters
//
CpuTimer1.InterruptCount = 0;
CpuTimer2.InterruptCount = 0;
}
//
// ConfigCpuTimer - This function initializes the selected timer to the period
// specified by the "Freq" and "Period" parameters. The "Freq" is entered as
// "MHz" and the period in "uSeconds". The timer is held in the stopped state
// after configuration.
//
void
ConfigCpuTimer(struct CPUTIMER_VARS *Timer, float Freq, float Period)
{
Uint32 temp;
//
// Initialize timer period
//
Timer->CPUFreqInMHz = Freq;
Timer->PeriodInUSec = Period;
temp = (long) (Freq * Period);
Timer->RegsAddr->PRD.all = temp;
//
// Set pre-scale counter to divide by 1 (SYSCLKOUT)
//
Timer->RegsAddr->TPR.all = 0;
Timer->RegsAddr->TPRH.all = 0;
//
// Initialize timer control register
//
//
// 1 = Stop timer, 0 = Start/Restart Timer
//
Timer->RegsAddr->TCR.bit.TSS = 1;
Timer->RegsAddr->TCR.bit.TRB = 1; // 1 = reload timer
Timer->RegsAddr->TCR.bit.SOFT = 1;
Timer->RegsAddr->TCR.bit.FREE = 1; // Timer Free Run
//
// 0 = Disable/ 1 = Enable Timer Interrupt
//
Timer->RegsAddr->TCR.bit.TIE = 1;
//
// Reset interrupt counter
//
Timer->InterruptCount = 0;
}
//
// End of File
//

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F28335/DSP2833x_DMA.c
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F28335/DSP2833x_DefaultIsr.c
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464
F28335/DSP2833x_ECan.c
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//###########################################################################
//
// FILE: DSP2833x_ECan.c
//
// TITLE: DSP2833x Enhanced CAN Initialization & Support Functions.
//
//###########################################################################
// $TI Release: F2833x/F2823x Header Files and Peripheral Examples V142 $
// $Release Date: November 1, 2016 $
// $Copyright: Copyright (C) 2007-2016 Texas Instruments Incorporated -
// http://www.ti.com/ ALL RIGHTS RESERVED $
//###########################################################################
//
// Included Files
//
#include "DSP2833x_Device.h" // DSP2833x Headerfile Include File
#include "DSP2833x_Examples.h" // DSP2833x Examples Include File
//
// InitECan - This function initializes the eCAN module to a known state.
//
void
InitECan(void)
{
InitECana();
#if DSP28_ECANB
InitECanb();
#endif // if DSP28_ECANB
}
//
// InitECana - Initialize eCAN-A module
//
void
InitECana(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
//
// Configure eCAN RX and TX pins for CAN operation using eCAN regs
//
ECanaShadow.CANTIOC.all = ECanaRegs.CANTIOC.all;
ECanaShadow.CANTIOC.bit.TXFUNC = 1;
ECanaRegs.CANTIOC.all = ECanaShadow.CANTIOC.all;
ECanaShadow.CANRIOC.all = ECanaRegs.CANRIOC.all;
ECanaShadow.CANRIOC.bit.RXFUNC = 1;
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;
//
// 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
//
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;
//
// TAn, RMPn, GIFn bits are all zero upon reset and are cleared again
// as a matter of precaution.
//
ECanaRegs.CANTA.all = 0xFFFFFFFF; // Clear all TAn bits
ECanaRegs.CANRMP.all = 0xFFFFFFFF; // Clear all RMPn bits
ECanaRegs.CANGIF0.all = 0xFFFFFFFF; // Clear all interrupt flag bits
ECanaRegs.CANGIF1.all = 0xFFFFFFFF;
//
// Configure bit timing parameters for eCANA
//
ECanaShadow.CANMC.all = ECanaRegs.CANMC.all;
ECanaShadow.CANMC.bit.CCR = 1 ; // 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 != 1 ); // Wait for CCE bit to be set
ECanaShadow.CANBTC.all = 0;
//
// CPU_FRQ_150MHz is defined in DSP2833x_Examples.h
//
#if (CPU_FRQ_150MHZ)
//
// 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;
ECanaShadow.CANBTC.bit.TSEG2REG = 2;
ECanaShadow.CANBTC.bit.TSEG1REG = 10;
#endif
//
// CPU_FRQ_100MHz is defined in DSP2833x_Examples.h
//
#if (CPU_FRQ_100MHZ)
//
// 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;
ECanaRegs.CANBTC.all = ECanaShadow.CANBTC.all;
ECanaShadow.CANMC.all = ECanaRegs.CANMC.all;
ECanaShadow.CANMC.bit.CCR = 0 ; // Set CCR = 0
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
//
// Disable all Mailboxes
//
ECanaRegs.CANME.all = 0; // Required before writing the MSGIDs
EDIS;
}
#if (DSP28_ECANB)
//
// Initialize eCAN-B module
//
void
InitECanb(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
//
// 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 - (read 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;
//
// CPU_FRQ_150MHz is defined in DSP2833x_Examples.h
//
#if (CPU_FRQ_150MHZ)
//
// 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
//
// CPU_FRQ_100MHz is defined in DSP2833x_Examples.h
//
#if (CPU_FRQ_100MHZ)
//
// 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
//
// InitECanGpio - This function initializes GPIO pins to function as eCAN pins
//
// Each GPIO pin can be configured as a GPIO pin or up to 3 different
// peripheral functional pins. By default all pins come up as GPIO
// inputs after reset.
//
// Caution:
// Only one GPIO pin should be enabled for CANTXA/B operation.
// Only one GPIO pin shoudl be enabled for CANRXA/B operation.
// Comment out other unwanted lines.
//
void
InitECanGpio(void)
{
InitECanaGpio();
#if (DSP28_ECANB)
InitECanbGpio();
#endif // if DSP28_ECANB
}
//
// InitECanaGpio - This function initializes GPIO pins to function as eCAN- A
//
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.GPIO30 = 0; // Enable pull-up for GPIO30 (CANRXA)
GpioCtrlRegs.GPAPUD.bit.GPIO18 = 0; // Enable pull-up for GPIO18 (CANRXA)
// GpioCtrlRegs.GPAPUD.bit.GPIO31 = 0; //Enable pull-up for GPIO31 (CANTXA)
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.GPIO30 = 3; // Asynch qual for GPIO30 (CANRXA)
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.GPIO30 = 1; // Configure GPIO30 for CANRXA
GpioCtrlRegs.GPAMUX2.bit.GPIO18 = 3; // Configure GPIO18 for CANRXA
// GpioCtrlRegs.GPAMUX2.bit.GPIO31 = 1; // Configure GPIO31 for CANTXA
GpioCtrlRegs.GPAMUX2.bit.GPIO19 = 3; // Configure GPIO19 for CANTXA
EDIS;
}
#if (DSP28_ECANB)
//
// InitECanbGpio - This function initializes GPIO pins to function as eCAN-B
//
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.GPIO8 = 0; //Enable pull-up for GPIO8 (CANTXB)
//GpioCtrlRegs.GPAPUD.bit.GPIO12 = 0; //Enable pull-up for GPIO12(CANTXB)
//GpioCtrlRegs.GPAPUD.bit.GPIO16 = 0; //Enable pull-up for GPIO16(CANTXB)
GpioCtrlRegs.GPAPUD.bit.GPIO20 = 0; //Enable pull-up for GPIO20(CANTXB)
// GpioCtrlRegs.GPAPUD.bit.GPIO10 = 0; // Enable pull-up for GPIO10(CANRXB)
//GpioCtrlRegs.GPAPUD.bit.GPIO13 = 0; // Enable pull-up for GPIO13(CANRXB)
//GpioCtrlRegs.GPAPUD.bit.GPIO17 = 0; // Enable pull-up for GPIO17(CANRXB)
GpioCtrlRegs.GPAPUD.bit.GPIO21 = 0; // Enable pull-up for GPIO21(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.GPAQSEL1.bit.GPIO10 = 3; // Asynch qual for GPIO10 (CANRXB)
//GpioCtrlRegs.GPAQSEL1.bit.GPIO13 = 3; // Asynch qual for GPIO13 (CANRXB)
//GpioCtrlRegs.GPAQSEL2.bit.GPIO17 = 3; // Asynch qual for GPIO17 (CANRXB)
GpioCtrlRegs.GPAQSEL2.bit.GPIO21 = 3; // Asynch qual for GPIO21 (CANRXB)
//
// Configure eCAN-B pins using GPIO regs
// This specifies which of the possible GPIO pins will be eCAN functional
// pins.
//
// GpioCtrlRegs.GPAMUX1.bit.GPIO8 = 2; // Configure GPIO8 for CANTXB
//GpioCtrlRegs.GPAMUX1.bit.GPIO12 = 2; // Configure GPIO12 for CANTXB
//GpioCtrlRegs.GPAMUX2.bit.GPIO16 = 2; // Configure GPIO16 for CANTXB
GpioCtrlRegs.GPAMUX2.bit.GPIO20 = 3; // Configure GPIO20 for CANTXB
// GpioCtrlRegs.GPAMUX1.bit.GPIO10 = 2; // Configure GPIO10 for CANRXB
//GpioCtrlRegs.GPAMUX1.bit.GPIO13 = 2; // Configure GPIO13 for CANRXB
//GpioCtrlRegs.GPAMUX2.bit.GPIO17 = 2; // Configure GPIO17 for CANRXB
GpioCtrlRegs.GPAMUX2.bit.GPIO21 = 3; // Configure GPIO21 for CANRXB
EDIS;
}
#endif // if DSP28_ECANB
//
// Note: Bit timing parameters must be chosen based on the network parameters
// such as the sampling point desired and the propagation delay of the network.
// The propagation delay is a function of length of the cable, delay introduced
// by the transceivers and opto/galvanic-isolators (if any).
//
// The parameters used in this file must be changed taking into account the
// above mentioned factors in order to arrive at the bit-timing parameters
// suitable for a network.
//
//
// End of File
//

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F28335/DSP2833x_ECap.c
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//###########################################################################
//
// FILE: DSP2833x_ECap.c
//
// TITLE: DSP2833x eCAP Initialization & Support Functions.
//
//###########################################################################
// $TI Release: F2833x/F2823x Header Files and Peripheral Examples V142 $
// $Release Date: November 1, 2016 $
// $Copyright: Copyright (C) 2007-2016 Texas Instruments Incorporated -
// http://www.ti.com/ ALL RIGHTS RESERVED $
//###########################################################################
//
// Included Files
//
#include "DSP2833x_Device.h" // DSP2833x Headerfile Include File
#include "DSP2833x_Examples.h" // DSP2833x Examples Include File
//
// InitECap - This function initializes the eCAP(s) to a known state.
//
void
InitECap(void)
{
//
// Initialize eCAP1/2/3
//
}
//
// InitECapGpio - This function initializes GPIO pins to function as ECAP pins
//
// Each GPIO pin can be configured as a GPIO pin or up to 3 different
// peripheral functional pins. By default all pins come up as GPIO
// inputs after reset.
//
// Caution:
// For each eCAP peripheral
// Only one GPIO pin should be enabled for ECAP operation.
// Comment out other unwanted lines.
//
void
InitECapGpio()
{
InitECap1Gpio();
#if (DSP28_ECAP2)
InitECap2Gpio();
#endif // endif DSP28_ECAP2
#if (DSP28_ECAP3)
InitECap3Gpio();
#endif // endif DSP28_ECAP3
#if (DSP28_ECAP4)
InitECap4Gpio();
#endif // endif DSP28_ECAP4
#if (DSP28_ECAP5)
InitECap5Gpio();
#endif // endif DSP28_ECAP5
#if (DSP28_ECAP6)
InitECap6Gpio();
#endif // endif DSP28_ECAP6
}
//
// InitECap1Gpio -
//
void
InitECap1Gpio(void)
{
EALLOW;
//
// Enable internal pull-up for the selected 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.GPIO5 = 0; // Enable pull-up on GPIO5 (CAP1)
GpioCtrlRegs.GPAPUD.bit.GPIO24 = 0; // Enable pull-up on GPIO24 (CAP1)
//GpioCtrlRegs.GPBPUD.bit.GPIO34 = 0; // Enable pull-up on GPIO34 (CAP1)
//
// Inputs are synchronized to SYSCLKOUT by default.
// Comment out other unwanted lines.
//
//GpioCtrlRegs.GPAQSEL1.bit.GPIO5 = 0; //Synch to SYSCLKOUT GPIO5 (CAP1)
GpioCtrlRegs.GPAQSEL2.bit.GPIO24 = 0; //Synch to SYSCLKOUT GPIO24 (CAP1)
//GpioCtrlRegs.GPBQSEL1.bit.GPIO34 = 0; //Synch to SYSCLKOUT GPIO34 (CAP1)
//
// Configure eCAP-1 pins using GPIO regs
// This specifies which of the possible GPIO pins will be eCAP1 functional pins.
// Comment out other unwanted lines.
//
//GpioCtrlRegs.GPAMUX1.bit.GPIO5 = 3; // Configure GPIO5 as CAP1
GpioCtrlRegs.GPAMUX2.bit.GPIO24 = 1; // Configure GPIO24 as CAP1
//GpioCtrlRegs.GPBMUX1.bit.GPIO34 = 1; // Configure GPIO24 as CAP1
EDIS;
}
#if DSP28_ECAP2
//
// InitECap2Gpio -
//
void
InitECap2Gpio(void)
{
EALLOW;
//
// Enable internal pull-up for the selected 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.GPIO7 = 0; // Enable pull-up on GPIO7 (CAP2)
//GpioCtrlRegs.GPAPUD.bit.GPIO25 = 0; // Enable pull-up on GPIO25 (CAP2)
//GpioCtrlRegs.GPBPUD.bit.GPIO37 = 0; // Enable pull-up on GPIO37 (CAP2)
//
// Inputs are synchronized to SYSCLKOUT by default.
// Comment out other unwanted lines.
//
GpioCtrlRegs.GPAQSEL1.bit.GPIO7 = 0; //Synch to SYSCLKOUT GPIO7 (CAP2)
//GpioCtrlRegs.GPAQSEL2.bit.GPIO25 = 0; //Synch to SYSCLKOUT GPIO25 (CAP2)
//GpioCtrlRegs.GPBQSEL1.bit.GPIO37 = 0; //Synch to SYSCLKOUT GPIO37 (CAP2)
//
// Configure eCAP-2 pins using GPIO regs
// This specifies which of the possible GPIO pins will be eCAP2 functional
// pins. Comment out other unwanted lines.
//
GpioCtrlRegs.GPAMUX1.bit.GPIO7 = 3; // Configure GPIO7 as CAP2
//GpioCtrlRegs.GPAMUX2.bit.GPIO25 = 1; // Configure GPIO25 as CAP2
//GpioCtrlRegs.GPBMUX1.bit.GPIO37 = 3; // Configure GPIO37 as CAP2
EDIS;
}
#endif // endif DSP28_ECAP2
#if DSP28_ECAP3
//
// InitECap3Gpio -
//
void
InitECap3Gpio(void)
{
EALLOW;
/* Enable internal pull-up for the selected 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.GPIO9 = 0; // Enable pull-up on GPIO9 (CAP3)
// GpioCtrlRegs.GPAPUD.bit.GPIO26 = 0; // Enable pull-up on GPIO26 (CAP3)
// Inputs are synchronized to SYSCLKOUT by default.
// Comment out other unwanted lines.
GpioCtrlRegs.GPAQSEL1.bit.GPIO9 = 0; // Synch to SYSCLKOUT GPIO9 (CAP3)
// GpioCtrlRegs.GPAQSEL2.bit.GPIO26 = 0; // Synch to SYSCLKOUT GPIO26 (CAP3)
/* Configure eCAP-3 pins using GPIO regs*/
// This specifies which of the possible GPIO pins will be eCAP3 functional pins.
// Comment out other unwanted lines.
GpioCtrlRegs.GPAMUX1.bit.GPIO9 = 3; // Configure GPIO9 as CAP3
// GpioCtrlRegs.GPAMUX2.bit.GPIO26 = 1; // Configure GPIO26 as CAP3
EDIS;
}
#endif // endif DSP28_ECAP3
#if DSP28_ECAP4
void InitECap4Gpio(void)
{
EALLOW;
/* Enable internal pull-up for the selected 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.GPIO11 = 0; // Enable pull-up on GPIO11 (CAP4)
// GpioCtrlRegs.GPAPUD.bit.GPIO27 = 0; // Enable pull-up on GPIO27 (CAP4)
// Inputs are synchronized to SYSCLKOUT by default.
// Comment out other unwanted lines.
GpioCtrlRegs.GPAQSEL1.bit.GPIO11 = 0; // Synch to SYSCLKOUT GPIO11 (CAP4)
// GpioCtrlRegs.GPAQSEL2.bit.GPIO27 = 0; // Synch to SYSCLKOUT GPIO27 (CAP4)
/* Configure eCAP-4 pins using GPIO regs*/
// This specifies which of the possible GPIO pins will be eCAP4 functional pins.
// Comment out other unwanted lines.
GpioCtrlRegs.GPAMUX1.bit.GPIO11 = 3; // Configure GPIO11 as CAP4
// GpioCtrlRegs.GPAMUX2.bit.GPIO27 = 1; // Configure GPIO27 as CAP4
EDIS;
}
#endif // endif DSP28_ECAP4
#if DSP28_ECAP5
void InitECap5Gpio(void)
{
EALLOW;
/* Enable internal pull-up for the selected 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.GPIO3 = 0; // Enable pull-up on GPIO3 (CAP5)
// GpioCtrlRegs.GPBPUD.bit.GPIO48 = 0; // Enable pull-up on GPIO48 (CAP5)
// Inputs are synchronized to SYSCLKOUT by default.
// Comment out other unwanted lines.
GpioCtrlRegs.GPAQSEL1.bit.GPIO3 = 0; // Synch to SYSCLKOUT GPIO3 (CAP5)
// GpioCtrlRegs.GPBQSEL2.bit.GPIO48 = 0; // Synch to SYSCLKOUT GPIO48 (CAP5)
/* Configure eCAP-5 pins using GPIO regs*/
// This specifies which of the possible GPIO pins will be eCAP5 functional pins.
// Comment out other unwanted lines.
GpioCtrlRegs.GPAMUX1.bit.GPIO3 = 2; // Configure GPIO3 as CAP5
// GpioCtrlRegs.GPBMUX2.bit.GPIO48 = 1; // Configure GPIO48 as CAP5
EDIS;
}
#endif // endif DSP28_ECAP5
#if DSP28_ECAP6
void InitECap6Gpio(void)
{
EALLOW;
/* Enable internal pull-up for the selected 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.GPIO1 = 0; // Enable pull-up on GPIO1 (CAP6)
// GpioCtrlRegs.GPBPUD.bit.GPIO49 = 0; // Enable pull-up on GPIO49 (CAP6)
// Inputs are synchronized to SYSCLKOUT by default.
// Comment out other unwanted lines.
GpioCtrlRegs.GPAQSEL1.bit.GPIO1 = 0; // Synch to SYSCLKOUT GPIO1 (CAP6)
// GpioCtrlRegs.GPBQSEL2.bit.GPIO49 = 0; // Synch to SYSCLKOUT GPIO49 (CAP6)
/* Configure eCAP-5 pins using GPIO regs*/
// This specifies which of the possible GPIO pins will be eCAP6 functional pins.
// Comment out other unwanted lines.
GpioCtrlRegs.GPAMUX1.bit.GPIO1 = 2; // Configure GPIO1 as CAP6
// GpioCtrlRegs.GPBMUX2.bit.GPIO49 = 1; // Configure GPIO49 as CAP6
EDIS;
}
#endif // endif DSP28_ECAP6
//===========================================================================
// End of file.
//===========================================================================

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F28335/DSP2833x_EPwm.c
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//###########################################################################
//
// FILE: DSP2833x_EPwm.c
//
// TITLE: DSP2833x ePWM Initialization & Support Functions.
//
//###########################################################################
// $TI Release: F2833x/F2823x Header Files and Peripheral Examples V142 $
// $Release Date: November 1, 2016 $
// $Copyright: Copyright (C) 2007-2016 Texas Instruments Incorporated -
// http://www.ti.com/ ALL RIGHTS RESERVED $
//###########################################################################
//
// Included Files
//
#include "DSP2833x_Device.h" // DSP2833x Headerfile Include File
#include "DSP2833x_Examples.h" // DSP2833x Examples Include File
//
// InitEPwm - This function initializes the ePWM(s) to a known state.
//
void
InitEPwm(void)
{
//
// Initialize ePWM1/2/3/4/5/6
//
}
//
// InitEPwmGpio - This function initializes GPIO pins to function as ePWM pins
//
// Each GPIO pin can be configured as a GPIO pin or up to 3 different
// peripheral functional pins. By default all pins come up as GPIO
// inputs after reset.
//
void
InitEPwmGpio(void)
{
InitEPwm1Gpio();
InitEPwm2Gpio();
InitEPwm3Gpio();
#if DSP28_EPWM4
InitEPwm4Gpio();
#endif // endif DSP28_EPWM4
#if DSP28_EPWM5
InitEPwm5Gpio();
#endif // endif DSP28_EPWM5
#if DSP28_EPWM6
InitEPwm6Gpio();
#endif // endif DSP28_EPWM6
}
//
// InitEPwm1Gpio - This function initializes GPIO pins to function as ePWM1
//
void
InitEPwm1Gpio(void)
{
EALLOW;
//
// Enable internal pull-up for the selected 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.GPIO0 = 0; // Enable pull-up on GPIO0 (EPWM1A)
GpioCtrlRegs.GPAPUD.bit.GPIO1 = 0; // Enable pull-up on GPIO1 (EPWM1B)
//
// Configure ePWM-1 pins using GPIO regs
// This specifies which of the possible GPIO pins will be ePWM1 functional
// pins. Comment out other unwanted lines.
//
GpioCtrlRegs.GPAMUX1.bit.GPIO0 = 1; // Configure GPIO0 as EPWM1A
GpioCtrlRegs.GPAMUX1.bit.GPIO1 = 1; // Configure GPIO1 as EPWM1B
EDIS;
}
//
// InitEPwm2Gpio - This function initializes GPIO pins to function as ePWM2
//
void
InitEPwm2Gpio(void)
{
EALLOW;
//
// Enable internal pull-up for the selected 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.GPIO2 = 0; // Enable pull-up on GPIO2 (EPWM2A)
GpioCtrlRegs.GPAPUD.bit.GPIO3 = 0; // Enable pull-up on GPIO3 (EPWM3B)
//
// Configure ePWM-2 pins using GPIO regs
// This specifies which of the possible GPIO pins will be ePWM2 functional
// pins. Comment out other unwanted lines.
//
GpioCtrlRegs.GPAMUX1.bit.GPIO2 = 1; // Configure GPIO2 as EPWM2A
GpioCtrlRegs.GPAMUX1.bit.GPIO3 = 1; // Configure GPIO3 as EPWM2B
EDIS;
}
//
// InitEPwm3Gpio - This function initializes GPIO pins to function as ePWM3
//
void
InitEPwm3Gpio(void)
{
EALLOW;
//
// Enable internal pull-up for the selected 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.GPIO4 = 0; // Enable pull-up on GPIO4 (EPWM3A)
GpioCtrlRegs.GPAPUD.bit.GPIO5 = 0; // Enable pull-up on GPIO5 (EPWM3B)
//
// Configure ePWM-3 pins using GPIO regs
// This specifies which of the possible GPIO pins will be ePWM3 functional
// pins. Comment out other unwanted lines.
//
GpioCtrlRegs.GPAMUX1.bit.GPIO4 = 1; // Configure GPIO4 as EPWM3A
GpioCtrlRegs.GPAMUX1.bit.GPIO5 = 1; // Configure GPIO5 as EPWM3B
EDIS;
}
#if DSP28_EPWM4
//
// InitEPwm4Gpio - This function initializes GPIO pins to function as ePWM4
//
void
InitEPwm4Gpio(void)
{
EALLOW;
//
// Enable internal pull-up for the selected 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.GPIO6 = 0; // Enable pull-up on GPIO6 (EPWM4A)
GpioCtrlRegs.GPAPUD.bit.GPIO7 = 0; // Enable pull-up on GPIO7 (EPWM4B)
//
// Configure ePWM-4 pins using GPIO regs
// This specifies which of the possible GPIO pins will be ePWM4 functional
// pins. Comment out other unwanted lines.
//
GpioCtrlRegs.GPAMUX1.bit.GPIO6 = 1; // Configure GPIO6 as EPWM4A
GpioCtrlRegs.GPAMUX1.bit.GPIO7 = 1; // Configure GPIO7 as EPWM4B
EDIS;
}
#endif // endif DSP28_EPWM4
#if DSP28_EPWM5
//
// InitEPwm5Gpio - This function initializes GPIO pins to function as ePWM5
//
void
InitEPwm5Gpio(void)
{
EALLOW;
//
// Enable internal pull-up for the selected 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.GPIO8 = 0; // Enable pull-up on GPIO8 (EPWM5A)
GpioCtrlRegs.GPAPUD.bit.GPIO9 = 0; // Enable pull-up on GPIO9 (EPWM5B)
//
// Configure ePWM-5 pins using GPIO regs
// This specifies which of the possible GPIO pins will be ePWM5 functional
// pins. Comment out other unwanted lines.
//
GpioCtrlRegs.GPAMUX1.bit.GPIO8 = 1; // Configure GPIO8 as EPWM5A
GpioCtrlRegs.GPAMUX1.bit.GPIO9 = 1; // Configure GPIO9 as EPWM5B
EDIS;
}
#endif // endif DSP28_EPWM5
#if DSP28_EPWM6
//
// InitEPwm6Gpio - This function initializes GPIO pins to function as ePWM6
//
void
InitEPwm6Gpio(void)
{
EALLOW;
//
// Enable internal pull-up for the selected 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.GPIO10 = 0; // Enable pull-up on GPIO10 (EPWM6A)
GpioCtrlRegs.GPAPUD.bit.GPIO11 = 0; // Enable pull-up on GPIO11 (EPWM6B)
//
// Configure ePWM-6 pins using GPIO regs
// This specifies which of the possible GPIO pins will be ePWM6 functional
// pins. Comment out other unwanted lines.
//
GpioCtrlRegs.GPAMUX1.bit.GPIO10 = 1; // Configure GPIO10 as EPWM6A
GpioCtrlRegs.GPAMUX1.bit.GPIO11 = 1; // Configure GPIO11 as EPWM6B
EDIS;
}
#endif // endif DSP28_EPWM6
//
// InitEPwmSyncGpio - This function initializes GPIO pins to function as ePWM
// Synch pins
//
void
InitEPwmSyncGpio(void)
{
EALLOW;
//
// Configure EPWMSYNCI
//
//
// Enable internal pull-up for the selected 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.GPIO6 = 0; //Enable pull-up on GPIO6 (EPWMSYNCI)
//GpioCtrlRegs.GPBPUD.bit.GPIO32 = 0;//Enable pull-up on GPIO32 (EPWMSYNCI)
//
// Set qualification for selected pins to asynch only
// This will select synch to SYSCLKOUT for the selected pins.
// Comment out other unwanted lines.
//
//
// Synch to SYSCLKOUT GPIO6 (EPWMSYNCI)
//
GpioCtrlRegs.GPAQSEL1.bit.GPIO6 = 0;
//
//Synch to SYSCLKOUT GPIO32 (EPWMSYNCI)
//
//GpioCtrlRegs.GPBQSEL1.bit.GPIO32 = 0;
//
// Configure EPwmSync pins using GPIO regs
// This specifies which of the possible GPIO pins will be EPwmSync
// functional pins. Comment out other unwanted lines.
//
GpioCtrlRegs.GPAMUX1.bit.GPIO6 = 2; //Enable pull-up on GPIO6(EPWMSYNCI)
//GpioCtrlRegs.GPBMUX1.bit.GPIO32 = 2;//Enable pull-up on GPIO32(EPWMSYNCI)
//
// Configure EPWMSYNC0
//
//
// Enable internal pull-up for the selected 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.
//
//
// Enable pull-up on GPIO6 (EPWMSYNC0)
//
//GpioCtrlRegs.GPAPUD.bit.GPIO6 = 0;
//
// Enable pull-up on GPIO33 (EPWMSYNC0)
//
GpioCtrlRegs.GPBPUD.bit.GPIO33 = 0;
//
// Enable pull-up on GPIO6 (EPWMSYNC0)
//
//GpioCtrlRegs.GPAMUX1.bit.GPIO6 = 3;
//
// Enable pull-up on GPIO33 (EPWMSYNC0)
//
GpioCtrlRegs.GPBMUX1.bit.GPIO33 = 2;
}
//
// InitTzGpio - This function initializes GPIO pins to function as Trip Zone
// (TZ) pins
//
// Each GPIO pin can be configured as a GPIO pin or up to 3 different
// peripheral functional pins. By default all pins come up as GPIO
// inputs after reset.
//
void
InitTzGpio(void)
{
EALLOW;
//
// Enable internal pull-up for the selected 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.GPIO12 = 0; // Enable pull-up on GPIO12 (TZ1)
GpioCtrlRegs.GPAPUD.bit.GPIO13 = 0; // Enable pull-up on GPIO13 (TZ2)
GpioCtrlRegs.GPAPUD.bit.GPIO14 = 0; // Enable pull-up on GPIO14 (TZ3)
GpioCtrlRegs.GPAPUD.bit.GPIO15 = 0; // Enable pull-up on GPIO15 (TZ4)
GpioCtrlRegs.GPAPUD.bit.GPIO16 = 0; // Enable pull-up on GPIO16 (TZ5)
//GpioCtrlRegs.GPAPUD.bit.GPIO28 = 0; // Enable pull-up on GPIO28 (TZ5)
GpioCtrlRegs.GPAPUD.bit.GPIO17 = 0; // Enable pull-up on GPIO17 (TZ6)
//GpioCtrlRegs.GPAPUD.bit.GPIO29 = 0; // Enable pull-up on GPIO29 (TZ6)
//
// Set qualification for selected 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.GPAQSEL1.bit.GPIO12 = 3; // Asynch input GPIO12 (TZ1)
GpioCtrlRegs.GPAQSEL1.bit.GPIO13 = 3; // Asynch input GPIO13 (TZ2)
GpioCtrlRegs.GPAQSEL1.bit.GPIO14 = 3; // Asynch input GPIO14 (TZ3)
GpioCtrlRegs.GPAQSEL1.bit.GPIO15 = 3; // Asynch input GPIO15 (TZ4)
GpioCtrlRegs.GPAQSEL2.bit.GPIO16 = 3; // Asynch input GPIO16 (TZ5)
//GpioCtrlRegs.GPAQSEL2.bit.GPIO28 = 3; // Asynch input GPIO28 (TZ5)
GpioCtrlRegs.GPAQSEL2.bit.GPIO17 = 3; // Asynch input GPIO17 (TZ6)
//GpioCtrlRegs.GPAQSEL2.bit.GPIO29 = 3; // Asynch input GPIO29 (TZ6)
//
// Configure TZ pins using GPIO regs
// This specifies which of the possible GPIO pins will be TZ functional
// pins. Comment out other unwanted lines.
//
GpioCtrlRegs.GPAMUX1.bit.GPIO12 = 1; // Configure GPIO12 as TZ1
GpioCtrlRegs.GPAMUX1.bit.GPIO13 = 1; // Configure GPIO13 as TZ2
GpioCtrlRegs.GPAMUX1.bit.GPIO14 = 1; // Configure GPIO14 as TZ3
GpioCtrlRegs.GPAMUX1.bit.GPIO15 = 1; // Configure GPIO15 as TZ4
GpioCtrlRegs.GPAMUX2.bit.GPIO16 = 3; // Configure GPIO16 as TZ5
//GpioCtrlRegs.GPAMUX2.bit.GPIO28 = 3; // Configure GPIO28 as TZ5
GpioCtrlRegs.GPAMUX2.bit.GPIO17 = 3; // Configure GPIO17 as TZ6
//GpioCtrlRegs.GPAMUX2.bit.GPIO29 = 3; // Configure GPIO29 as TZ6
EDIS;
}
//
// End of file
//

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//###########################################################################
//
// FILE: DSP2833x_EQep.c
//
// TITLE: DSP2833x eQEP Initialization & Support Functions.
//
//###########################################################################
// $TI Release: F2833x/F2823x Header Files and Peripheral Examples V142 $
// $Release Date: November 1, 2016 $
// $Copyright: Copyright (C) 2007-2016 Texas Instruments Incorporated -
// http://www.ti.com/ ALL RIGHTS RESERVED $
//###########################################################################
//
// Included Files
//
#include "DSP2833x_Device.h" // DSP2833x Headerfile Include File
#include "DSP2833x_Examples.h" // DSP2833x Examples Include File
//
// InitEQep - This function initializes the eQEP(s) to a known state.
//
void
InitEQep(void)
{
//
// Initialize eQEP1/2
//
}
//
// InitEQepGpio - This function initializes GPIO pins to function as eQEP pins
//
// Each GPIO pin can be configured as a GPIO pin or up to 3 different
// peripheral functional pins. By default all pins come up as GPIO
// inputs after reset.
//
// Caution:
// For each eQEP peripheral
// Only one GPIO pin should be enabled for EQEPxA operation.
// Only one GPIO pin should be enabled for EQEPxB operation.
// Only one GPIO pin should be enabled for EQEPxS operation.
// Only one GPIO pin should be enabled for EQEPxI operation.
// Comment out other unwanted lines.
//
void
InitEQepGpio()
{
#if DSP28_EQEP1
InitEQep1Gpio();
#endif // endif DSP28_EQEP1
#if DSP28_EQEP2
InitEQep2Gpio();
#endif // endif DSP28_EQEP2
}
//
// InitEQep1Gpio - This function initializes GPIO pins to function as eQEP1
//
#if DSP28_EQEP1
void
InitEQep1Gpio(void)
{
EALLOW;
//
// Enable internal pull-up for the selected 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 = 0; // Enable pull-up on GPIO20 (EQEP1A)
GpioCtrlRegs.GPAPUD.bit.GPIO21 = 0; // Enable pull-up on GPIO21 (EQEP1B)
GpioCtrlRegs.GPAPUD.bit.GPIO22 = 0; // Enable pull-up on GPIO22 (EQEP1S)
GpioCtrlRegs.GPAPUD.bit.GPIO23 = 0; // Enable pull-up on GPIO23 (EQEP1I)
//GpioCtrlRegs.GPBPUD.bit.GPIO50 = 0; // Enable pull-up on GPIO50 (EQEP1A)
//GpioCtrlRegs.GPBPUD.bit.GPIO51 = 0; // Enable pull-up on GPIO51 (EQEP1B)
//GpioCtrlRegs.GPBPUD.bit.GPIO52 = 0; // Enable pull-up on GPIO52 (EQEP1S)
//GpioCtrlRegs.GPBPUD.bit.GPIO53 = 0; // Enable pull-up on GPIO53 (EQEP1I)
//
// Inputs are synchronized to SYSCLKOUT by default.
// Comment out other unwanted lines.
//
GpioCtrlRegs.GPAQSEL2.bit.GPIO20 = 0; // Sync to SYSCLKOUT GPIO20 (EQEP1A)
GpioCtrlRegs.GPAQSEL2.bit.GPIO21 = 0; // Sync to SYSCLKOUT GPIO21 (EQEP1B)
GpioCtrlRegs.GPAQSEL2.bit.GPIO22 = 0; // Sync to SYSCLKOUT GPIO22 (EQEP1S)
GpioCtrlRegs.GPAQSEL2.bit.GPIO23 = 0; // Sync to SYSCLKOUT GPIO23 (EQEP1I)
//GpioCtrlRegs.GPBQSEL2.bit.GPIO50 = 0; //Sync to SYSCLKOUT GPIO50(EQEP1A)
//GpioCtrlRegs.GPBQSEL2.bit.GPIO51 = 0; //Sync to SYSCLKOUT GPIO51(EQEP1B)
//GpioCtrlRegs.GPBQSEL2.bit.GPIO52 = 0; //Sync to SYSCLKOUT GPIO52(EQEP1S)
//GpioCtrlRegs.GPBQSEL2.bit.GPIO53 = 0; //Sync to SYSCLKOUT GPIO53(EQEP1I)
//
// Configure eQEP-1 pins using GPIO regs
// This specifies which of the possible GPIO pins will be eQEP1 functional
// pins. Comment out other unwanted lines.
//
GpioCtrlRegs.GPAMUX2.bit.GPIO20 = 1; // Configure GPIO20 as EQEP1A
GpioCtrlRegs.GPAMUX2.bit.GPIO21 = 1; // Configure GPIO21 as EQEP1B
GpioCtrlRegs.GPAMUX2.bit.GPIO22 = 1; // Configure GPIO22 as EQEP1S
GpioCtrlRegs.GPAMUX2.bit.GPIO23 = 1; // Configure GPIO23 as EQEP1I
//GpioCtrlRegs.GPBMUX2.bit.GPIO50 = 1; // Configure GPIO50 as EQEP1A
//GpioCtrlRegs.GPBMUX2.bit.GPIO51 = 1; // Configure GPIO51 as EQEP1B
//GpioCtrlRegs.GPBMUX2.bit.GPIO52 = 1; // Configure GPIO52 as EQEP1S
//GpioCtrlRegs.GPBMUX2.bit.GPIO53 = 1; // Configure GPIO53 as EQEP1I
EDIS;
}
#endif // if DSP28_EQEP1
//
// InitEQep2Gpio - This function initializes GPIO pins to function as eQEP2
//
#if DSP28_EQEP2
void
InitEQep2Gpio(void)
{
EALLOW;
//
// Enable internal pull-up for the selected 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.GPIO24 = 0; // Enable pull-up on GPIO24 (EQEP2A)
GpioCtrlRegs.GPAPUD.bit.GPIO25 = 0; // Enable pull-up on GPIO25 (EQEP2B)
GpioCtrlRegs.GPAPUD.bit.GPIO26 = 0; // Enable pull-up on GPIO26 (EQEP2I)
GpioCtrlRegs.GPAPUD.bit.GPIO27 = 0; // Enable pull-up on GPIO27 (EQEP2S)
//
// Inputs are synchronized to SYSCLKOUT by default.
// Comment out other unwanted lines.
//
GpioCtrlRegs.GPAQSEL2.bit.GPIO24 = 0; // Sync to SYSCLKOUT GPIO24 (EQEP2A)
GpioCtrlRegs.GPAQSEL2.bit.GPIO25 = 0; // Sync to SYSCLKOUT GPIO25 (EQEP2B)
GpioCtrlRegs.GPAQSEL2.bit.GPIO26 = 0; // Sync to SYSCLKOUT GPIO26 (EQEP2I)
GpioCtrlRegs.GPAQSEL2.bit.GPIO27 = 0; // Sync to SYSCLKOUT GPIO27 (EQEP2S)
//
// Configure eQEP-2 pins using GPIO regs
// This specifies which of the possible GPIO pins will be eQEP2 functional
// pins. Comment out other unwanted lines.
//
GpioCtrlRegs.GPAMUX2.bit.GPIO24 = 2; // Configure GPIO24 as EQEP2A
GpioCtrlRegs.GPAMUX2.bit.GPIO25 = 2; // Configure GPIO25 as EQEP2B
GpioCtrlRegs.GPAMUX2.bit.GPIO26 = 2; // Configure GPIO26 as EQEP2I
GpioCtrlRegs.GPAMUX2.bit.GPIO27 = 2; // Configure GPIO27 as EQEP2S
EDIS;
}
#endif // endif DSP28_EQEP2
//
// End of file
//

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F28335/DSP2833x_GlobalVariableDefs.c
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//###########################################################################
//
// FILE: DSP2833x_GlobalVariableDefs.c
//
// TITLE: DSP2833x Global Variables and Data Section Pragmas.
//
//###########################################################################
// $TI Release: F2833x/F2823x Header Files and Peripheral Examples V142 $
// $Release Date: November 1, 2016 $
// $Copyright: Copyright (C) 2007-2016 Texas Instruments Incorporated -
// http://www.ti.com/ ALL RIGHTS RESERVED $
//###########################################################################
//
// Included Files
//
#include "DSP2833x_Device.h" // DSP2833x Headerfile Include File
//
// Define Global Peripheral Variables
//
#ifdef __cplusplus
#pragma DATA_SECTION("AdcRegsFile")
#else
#pragma DATA_SECTION(AdcRegs,"AdcRegsFile");
#endif
volatile struct ADC_REGS AdcRegs;
#ifdef __cplusplus
#pragma DATA_SECTION("AdcMirrorFile")
#else
#pragma DATA_SECTION(AdcMirror,"AdcMirrorFile");
#endif
volatile struct ADC_RESULT_MIRROR_REGS AdcMirror;
#ifdef __cplusplus
#pragma DATA_SECTION("CpuTimer0RegsFile")
#else
#pragma DATA_SECTION(CpuTimer0Regs,"CpuTimer0RegsFile");
#endif
volatile struct CPUTIMER_REGS CpuTimer0Regs;
#ifdef __cplusplus
#pragma DATA_SECTION("CpuTimer1RegsFile")
#else
#pragma DATA_SECTION(CpuTimer1Regs,"CpuTimer1RegsFile");
#endif
volatile struct CPUTIMER_REGS CpuTimer1Regs;
#ifdef __cplusplus
#pragma DATA_SECTION("CpuTimer2RegsFile")
#else
#pragma DATA_SECTION(CpuTimer2Regs,"CpuTimer2RegsFile");
#endif
volatile struct CPUTIMER_REGS CpuTimer2Regs;
#ifdef __cplusplus
#pragma DATA_SECTION("CsmPwlFile")
#else
#pragma DATA_SECTION(CsmPwl,"CsmPwlFile");
#endif
volatile struct CSM_PWL CsmPwl;
#ifdef __cplusplus
#pragma DATA_SECTION("CsmRegsFile")
#else
#pragma DATA_SECTION(CsmRegs,"CsmRegsFile");
#endif
volatile struct CSM_REGS CsmRegs;
#ifdef __cplusplus
#pragma DATA_SECTION("DevEmuRegsFile")
#else
#pragma DATA_SECTION(DevEmuRegs,"DevEmuRegsFile");
#endif
volatile struct DEV_EMU_REGS DevEmuRegs;
#ifdef __cplusplus
#pragma DATA_SECTION("DmaRegsFile")
#else
#pragma DATA_SECTION(DmaRegs,"DmaRegsFile");
#endif
volatile struct DMA_REGS DmaRegs;
#ifdef __cplusplus
#pragma DATA_SECTION("ECanaRegsFile")
#else
#pragma DATA_SECTION(ECanaRegs,"ECanaRegsFile");
#endif
volatile struct ECAN_REGS ECanaRegs;
#ifdef __cplusplus
#pragma DATA_SECTION("ECanaMboxesFile")
#else
#pragma DATA_SECTION(ECanaMboxes,"ECanaMboxesFile");
#endif
volatile struct ECAN_MBOXES ECanaMboxes;
#ifdef __cplusplus
#pragma DATA_SECTION("ECanaLAMRegsFile")
#else
#pragma DATA_SECTION(ECanaLAMRegs,"ECanaLAMRegsFile");
#endif
volatile struct LAM_REGS ECanaLAMRegs;
#ifdef __cplusplus
#pragma DATA_SECTION("ECanaMOTSRegsFile")
#else
#pragma DATA_SECTION(ECanaMOTSRegs,"ECanaMOTSRegsFile");
#endif
volatile struct MOTS_REGS ECanaMOTSRegs;
#ifdef __cplusplus
#pragma DATA_SECTION("ECanaMOTORegsFile")
#else
#pragma DATA_SECTION(ECanaMOTORegs,"ECanaMOTORegsFile");
#endif
volatile struct MOTO_REGS ECanaMOTORegs;
#ifdef __cplusplus
#pragma DATA_SECTION("ECanbRegsFile")
#else
#pragma DATA_SECTION(ECanbRegs,"ECanbRegsFile");
#endif
volatile struct ECAN_REGS ECanbRegs;
#ifdef __cplusplus
#pragma DATA_SECTION("ECanbMboxesFile")
#else
#pragma DATA_SECTION(ECanbMboxes,"ECanbMboxesFile");
#endif
volatile struct ECAN_MBOXES ECanbMboxes;
#ifdef __cplusplus
#pragma DATA_SECTION("ECanbLAMRegsFile")
#else
#pragma DATA_SECTION(ECanbLAMRegs,"ECanbLAMRegsFile");
#endif
volatile struct LAM_REGS ECanbLAMRegs;
#ifdef __cplusplus
#pragma DATA_SECTION("ECanbMOTSRegsFile")
#else
#pragma DATA_SECTION(ECanbMOTSRegs,"ECanbMOTSRegsFile");
#endif
volatile struct MOTS_REGS ECanbMOTSRegs;
#ifdef __cplusplus
#pragma DATA_SECTION("ECanbMOTORegsFile")
#else
#pragma DATA_SECTION(ECanbMOTORegs,"ECanbMOTORegsFile");
#endif
volatile struct MOTO_REGS ECanbMOTORegs;
#ifdef __cplusplus
#pragma DATA_SECTION("EPwm1RegsFile")
#else
#pragma DATA_SECTION(EPwm1Regs,"EPwm1RegsFile");
#endif
volatile struct EPWM_REGS EPwm1Regs;
#ifdef __cplusplus
#pragma DATA_SECTION("EPwm2RegsFile")
#else
#pragma DATA_SECTION(EPwm2Regs,"EPwm2RegsFile");
#endif
volatile struct EPWM_REGS EPwm2Regs;
#ifdef __cplusplus
#pragma DATA_SECTION("EPwm3RegsFile")
#else
#pragma DATA_SECTION(EPwm3Regs,"EPwm3RegsFile");
#endif
volatile struct EPWM_REGS EPwm3Regs;
#ifdef __cplusplus
#pragma DATA_SECTION("EPwm4RegsFile")
#else
#pragma DATA_SECTION(EPwm4Regs,"EPwm4RegsFile");
#endif
volatile struct EPWM_REGS EPwm4Regs;
#ifdef __cplusplus
#pragma DATA_SECTION("EPwm5RegsFile")
#else
#pragma DATA_SECTION(EPwm5Regs,"EPwm5RegsFile");
#endif
volatile struct EPWM_REGS EPwm5Regs;
#ifdef __cplusplus
#pragma DATA_SECTION("EPwm6RegsFile")
#else
#pragma DATA_SECTION(EPwm6Regs,"EPwm6RegsFile");
#endif
volatile struct EPWM_REGS EPwm6Regs;
#ifdef __cplusplus
#pragma DATA_SECTION("ECap1RegsFile")
#else
#pragma DATA_SECTION(ECap1Regs,"ECap1RegsFile");
#endif
volatile struct ECAP_REGS ECap1Regs;
#ifdef __cplusplus
#pragma DATA_SECTION("ECap2RegsFile")
#else
#pragma DATA_SECTION(ECap2Regs,"ECap2RegsFile");
#endif
volatile struct ECAP_REGS ECap2Regs;
#ifdef __cplusplus
#pragma DATA_SECTION("ECap3RegsFile")
#else
#pragma DATA_SECTION(ECap3Regs,"ECap3RegsFile");
#endif
volatile struct ECAP_REGS ECap3Regs;
#ifdef __cplusplus
#pragma DATA_SECTION("ECap4RegsFile")
#else
#pragma DATA_SECTION(ECap4Regs,"ECap4RegsFile");
#endif
volatile struct ECAP_REGS ECap4Regs;
#ifdef __cplusplus
#pragma DATA_SECTION("ECap5RegsFile")
#else
#pragma DATA_SECTION(ECap5Regs,"ECap5RegsFile");
#endif
volatile struct ECAP_REGS ECap5Regs;
#ifdef __cplusplus
#pragma DATA_SECTION("ECap6RegsFile")
#else
#pragma DATA_SECTION(ECap6Regs,"ECap6RegsFile");
#endif
volatile struct ECAP_REGS ECap6Regs;
#ifdef __cplusplus
#pragma DATA_SECTION("EQep1RegsFile")
#else
#pragma DATA_SECTION(EQep1Regs,"EQep1RegsFile");
#endif
volatile struct EQEP_REGS EQep1Regs;
#ifdef __cplusplus
#pragma DATA_SECTION("EQep2RegsFile")
#else
#pragma DATA_SECTION(EQep2Regs,"EQep2RegsFile");
#endif
volatile struct EQEP_REGS EQep2Regs;
#ifdef __cplusplus
#pragma DATA_SECTION("GpioCtrlRegsFile")
#else
#pragma DATA_SECTION(GpioCtrlRegs,"GpioCtrlRegsFile");
#endif
volatile struct GPIO_CTRL_REGS GpioCtrlRegs;
#ifdef __cplusplus
#pragma DATA_SECTION("GpioDataRegsFile")
#else
#pragma DATA_SECTION(GpioDataRegs,"GpioDataRegsFile");
#endif
volatile struct GPIO_DATA_REGS GpioDataRegs;
#ifdef __cplusplus
#pragma DATA_SECTION("GpioIntRegsFile")
#else
#pragma DATA_SECTION(GpioIntRegs,"GpioIntRegsFile");
#endif
volatile struct GPIO_INT_REGS GpioIntRegs;
#ifdef __cplusplus
#pragma DATA_SECTION("I2caRegsFile")
#else
#pragma DATA_SECTION(I2caRegs,"I2caRegsFile");
#endif
volatile struct I2C_REGS I2caRegs;
#ifdef __cplusplus
#pragma DATA_SECTION("McbspaRegsFile")
#else
#pragma DATA_SECTION(McbspaRegs,"McbspaRegsFile");
#endif
volatile struct MCBSP_REGS McbspaRegs;
#ifdef __cplusplus
#pragma DATA_SECTION("McbspbRegsFile")
#else
#pragma DATA_SECTION(McbspbRegs,"McbspbRegsFile");
#endif
volatile struct MCBSP_REGS McbspbRegs;
#ifdef __cplusplus
#pragma DATA_SECTION("PartIdRegsFile")
#else
#pragma DATA_SECTION(PartIdRegs,"PartIdRegsFile");
#endif
volatile struct PARTID_REGS PartIdRegs;
#ifdef __cplusplus
#pragma DATA_SECTION("PieCtrlRegsFile")
#else
#pragma DATA_SECTION(PieCtrlRegs,"PieCtrlRegsFile");
#endif
volatile struct PIE_CTRL_REGS PieCtrlRegs;
#ifdef __cplusplus
#pragma DATA_SECTION("PieVectTableFile")
#else
#pragma DATA_SECTION(PieVectTable,"PieVectTableFile");
#endif
volatile struct PIE_VECT_TABLE PieVectTable;
#ifdef __cplusplus
#pragma DATA_SECTION("SciaRegsFile")
#else
#pragma DATA_SECTION(SciaRegs,"SciaRegsFile");
#endif
volatile struct SCI_REGS SciaRegs;
#ifdef __cplusplus
#pragma DATA_SECTION("ScibRegsFile")
#else
#pragma DATA_SECTION(ScibRegs,"ScibRegsFile");
#endif
volatile struct SCI_REGS ScibRegs;
#ifdef __cplusplus
#pragma DATA_SECTION("ScicRegsFile")
#else
#pragma DATA_SECTION(ScicRegs,"ScicRegsFile");
#endif
volatile struct SCI_REGS ScicRegs;
#ifdef __cplusplus
#pragma DATA_SECTION("SpiaRegsFile")
#else
#pragma DATA_SECTION(SpiaRegs,"SpiaRegsFile");
#endif
volatile struct SPI_REGS SpiaRegs;
#ifdef __cplusplus
#pragma DATA_SECTION("SysCtrlRegsFile")
#else
#pragma DATA_SECTION(SysCtrlRegs,"SysCtrlRegsFile");
#endif
volatile struct SYS_CTRL_REGS SysCtrlRegs;
#ifdef __cplusplus
#pragma DATA_SECTION("FlashRegsFile")
#else
#pragma DATA_SECTION(FlashRegs,"FlashRegsFile");
#endif
volatile struct FLASH_REGS FlashRegs;
#ifdef __cplusplus
#pragma DATA_SECTION("XIntruptRegsFile")
#else
#pragma DATA_SECTION(XIntruptRegs,"XIntruptRegsFile");
#endif
volatile struct XINTRUPT_REGS XIntruptRegs;
#ifdef __cplusplus
#pragma DATA_SECTION("XintfRegsFile")
#else
#pragma DATA_SECTION(XintfRegs,"XintfRegsFile");
#endif
volatile struct XINTF_REGS XintfRegs;
//
// End of file
//

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F28335/DSP2833x_Gpio.c
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//###########################################################################
//
// FILE: DSP2833x_Gpio.c
//
// TITLE: DSP2833x General Purpose I/O Initialization & Support Functions.
//
//###########################################################################
// $TI Release: F2833x/F2823x Header Files and Peripheral Examples V142 $
// $Release Date: November 1, 2016 $
// $Copyright: Copyright (C) 2007-2016 Texas Instruments Incorporated -
// http://www.ti.com/ ALL RIGHTS RESERVED $
//###########################################################################
//
// Included Files
//
#include "DSP2833x_Device.h" // DSP2833x Headerfile Include File
#include "DSP2833x_Examples.h" // DSP2833x Examples Include File
//
// InitGpio - This function initializes the Gpio to a known (default) state.
//
// For more details on configuring GPIO's as peripheral functions,
// refer to the individual peripheral examples and/or GPIO setup example.
//
void
InitGpio(void)
{
EALLOW;
//
// Each GPIO pin can be:
// a) a GPIO input/output
// b) peripheral function 1
// c) peripheral function 2
// d) peripheral function 3
// By default, all are GPIO Inputs
//
GpioCtrlRegs.GPAMUX1.all = 0x0000; // GPIO functionality GPIO0-GPIO15
GpioCtrlRegs.GPAMUX2.all = 0x0000; // GPIO functionality GPIO16-GPIO31
GpioCtrlRegs.GPBMUX1.all = 0x0000; // GPIO functionality GPIO32-GPIO39
GpioCtrlRegs.GPBMUX2.all = 0x0000; // GPIO functionality GPIO48-GPIO63
GpioCtrlRegs.GPCMUX1.all = 0x0000; // GPIO functionality GPIO64-GPIO79
GpioCtrlRegs.GPCMUX2.all = 0x0000; // GPIO functionality GPIO80-GPIO95
GpioCtrlRegs.GPADIR.all = 0x0000; // GPIO0-GPIO31 are inputs
GpioCtrlRegs.GPBDIR.all = 0x0000; // GPIO32-GPIO63 are inputs
GpioCtrlRegs.GPCDIR.all = 0x0000; // GPI064-GPIO95 are inputs
//
// Each input can have different qualification
// a) input synchronized to SYSCLKOUT
// b) input qualified by a sampling window
// c) input sent asynchronously (valid for peripheral inputs only)
//
GpioCtrlRegs.GPAQSEL1.all = 0x0000; // GPIO0-GPIO15 Synch to SYSCLKOUT
GpioCtrlRegs.GPAQSEL2.all = 0x0000; // GPIO16-GPIO31 Synch to SYSCLKOUT
GpioCtrlRegs.GPBQSEL1.all = 0x0000; // GPIO32-GPIO39 Synch to SYSCLKOUT
GpioCtrlRegs.GPBQSEL2.all = 0x0000; // GPIO48-GPIO63 Synch to SYSCLKOUT
//
// Pull-ups can be enabled or disabled
//
GpioCtrlRegs.GPAPUD.all = 0x0000; // Pullup's enabled GPIO0-GPIO31
GpioCtrlRegs.GPBPUD.all = 0x0000; // Pullup's enabled GPIO32-GPIO63
GpioCtrlRegs.GPCPUD.all = 0x0000; // Pullup's enabled GPIO64-GPIO79
//GpioCtrlRegs.GPAPUD.all = 0xFFFF; // Pullup's disabled GPIO0-GPIO31
//GpioCtrlRegs.GPBPUD.all = 0xFFFF; // Pullup's disabled GPIO32-GPIO34
//GpioCtrlRegs.GPCPUD.all = 0xFFFF; // Pullup's disabled GPIO64-GPIO79
EDIS;
}
//
// End of file
//

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F28335/DSP2833x_I2C.c
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//###########################################################################
//
// FILE: DSP2833x_I2C.c
//
// TITLE: DSP2833x SCI Initialization & Support Functions.
//
//###########################################################################
// $TI Release: F2833x/F2823x Header Files and Peripheral Examples V142 $
// $Release Date: November 1, 2016 $
// $Copyright: Copyright (C) 2007-2016 Texas Instruments Incorporated -
// http://www.ti.com/ ALL RIGHTS RESERVED $
//###########################################################################
//
// Included Files
//
#include "DSP2833x_Device.h" // DSP2833x Headerfile Include File
#include "DSP2833x_Examples.h" // DSP2833x Examples Include File
//
// InitI2C - This function initializes the I2C to a known state.
//
void
InitI2C(void)
{
//
// Initialize I2C-A
//
}
//
// InitI2CGpio - This function initializes GPIO pins to function as I2C pins
//
// Each GPIO pin can be configured as a GPIO pin or up to 3 different
// peripheral functional pins. By default all pins come up as GPIO
// inputs after reset.
//
// Caution:
// Only one GPIO pin should be enabled for SDAA operation.
// Only one GPIO pin shoudl be enabled for SCLA operation.
// Comment out other unwanted lines.
//
void
InitI2CGpio()
{
EALLOW;
//
// Enable internal pull-up for the selected pins
// Pull-ups can be enabled or disabled disabled by the user.
// This will enable the pullups for the specified pins.
// Comment out other unwanted lines.
//
GpioCtrlRegs.GPBPUD.bit.GPIO32 = 0; // Enable pull-up for GPIO32 (SDAA)
GpioCtrlRegs.GPBPUD.bit.GPIO33 = 0; // Enable pull-up for GPIO33 (SCLA)
//
// Set qualification for selected pins to asynch only
// This will select asynch (no qualification) for the selected pins.
// Comment out other unwanted lines.
//
GpioCtrlRegs.GPBQSEL1.bit.GPIO32 = 3; // Asynch input GPIO32 (SDAA)
GpioCtrlRegs.GPBQSEL1.bit.GPIO33 = 3; // Asynch input GPIO33 (SCLA)
//
// Configure SCI pins using GPIO regs
// This specifies which of the possible GPIO pins will be I2C functional
// pins. Comment out other unwanted lines.
//
GpioCtrlRegs.GPBMUX1.bit.GPIO32 = 1; // Configure GPIO32 to SDAA
GpioCtrlRegs.GPBMUX1.bit.GPIO33 = 1; // Configure GPIO33 to SCLA
EDIS;
}
//
// End of file
//

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F28335/DSP2833x_MemCopy.c
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//###########################################################################
//
// FILE: DSP2833x_MemCopy.c
//
// TITLE: Memory Copy Utility
//
// ASSUMPTIONS:
//
// DESCRIPTION:
//
// This function will copy the specified memory contents from
// one location to another.
//
// Uint16 *SourceAddr Pointer to the first word to be moved
// SourceAddr < SourceEndAddr
// Uint16* SourceEndAddr Pointer to the last word to be moved
// Uint16* DestAddr Pointer to the first destination word
//
// No checks are made for invalid memory locations or that the
// end address is > then the first start address.
//
//###########################################################################
// $TI Release: F2833x/F2823x Header Files and Peripheral Examples V142 $
// $Release Date: November 1, 2016 $
// $Copyright: Copyright (C) 2007-2016 Texas Instruments Incorporated -
// http://www.ti.com/ ALL RIGHTS RESERVED $
//###########################################################################
//
// Included Files
//
#include "DSP2833x_Device.h"
//
// MemCopy -
//
void
MemCopy(Uint16 *SourceAddr, Uint16* SourceEndAddr, Uint16* DestAddr)
{
while(SourceAddr < SourceEndAddr)
{
*DestAddr++ = *SourceAddr++;
}
return;
}
//
// End of file
//

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F28335/DSP2833x_PieCtrl.c
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//###########################################################################
//
// FILE: DSP2833x_PieCtrl.c
//
// TITLE: DSP2833x Device PIE Control Register Initialization Functions.
//
//###########################################################################
// $TI Release: F2833x/F2823x Header Files and Peripheral Examples V142 $
// $Release Date: November 1, 2016 $
// $Copyright: Copyright (C) 2007-2016 Texas Instruments Incorporated -
// http://www.ti.com/ ALL RIGHTS RESERVED $
//###########################################################################
//
// Included Files
//
#include "DSP2833x_Device.h" // DSP2833x Headerfile Include File
#include "DSP2833x_Examples.h" // DSP2833x Examples Include File
//
// InitPieCtrl - This function initializes the PIE control registers to a known
// state.
//
void
InitPieCtrl(void)
{
//
// Disable Interrupts at the CPU level
//
DINT;
//
// Disable the PIE
//
PieCtrlRegs.PIECTRL.bit.ENPIE = 0;
//
// Clear all PIEIER registers
//
PieCtrlRegs.PIEIER1.all = 0;
PieCtrlRegs.PIEIER2.all = 0;
PieCtrlRegs.PIEIER3.all = 0;
PieCtrlRegs.PIEIER4.all = 0;
PieCtrlRegs.PIEIER5.all = 0;
PieCtrlRegs.PIEIER6.all = 0;
PieCtrlRegs.PIEIER7.all = 0;
PieCtrlRegs.PIEIER8.all = 0;
PieCtrlRegs.PIEIER9.all = 0;
PieCtrlRegs.PIEIER10.all = 0;
PieCtrlRegs.PIEIER11.all = 0;
PieCtrlRegs.PIEIER12.all = 0;
//
// Clear all PIEIFR registers
//
PieCtrlRegs.PIEIFR1.all = 0;
PieCtrlRegs.PIEIFR2.all = 0;
PieCtrlRegs.PIEIFR3.all = 0;
PieCtrlRegs.PIEIFR4.all = 0;
PieCtrlRegs.PIEIFR5.all = 0;
PieCtrlRegs.PIEIFR6.all = 0;
PieCtrlRegs.PIEIFR7.all = 0;
PieCtrlRegs.PIEIFR8.all = 0;
PieCtrlRegs.PIEIFR9.all = 0;
PieCtrlRegs.PIEIFR10.all = 0;
PieCtrlRegs.PIEIFR11.all = 0;
PieCtrlRegs.PIEIFR12.all = 0;
}
//
// EnableInterrupts - This function enables the PIE module and CPU interrupts
//
void
EnableInterrupts()
{
//
// Enable the PIE
//
PieCtrlRegs.PIECTRL.bit.ENPIE = 1;
//
// Enables PIE to drive a pulse into the CPU
//
PieCtrlRegs.PIEACK.all = 0xFFFF;
//
// Enable Interrupts at the CPU level
//
EINT;
}
//
// End of file
//

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F28335/DSP2833x_PieVect.c
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//###########################################################################
//
// FILE: DSP2833x_PieVect.c
//
// TITLE: DSP2833x Devices PIE Vector Table Initialization Functions.
//
//###########################################################################
// $TI Release: F2833x/F2823x Header Files and Peripheral Examples V142 $
// $Release Date: November 1, 2016 $
// $Copyright: Copyright (C) 2007-2016 Texas Instruments Incorporated -
// http://www.ti.com/ ALL RIGHTS RESERVED $
//###########################################################################
//
// Included Files
//
#include "DSP2833x_Device.h" // DSP2833x Headerfile Include File
#include "DSP2833x_Examples.h" // DSP2833x Examples Include File
const struct PIE_VECT_TABLE PieVectTableInit =
{
PIE_RESERVED, // 0 Reserved space
PIE_RESERVED, // 1 Reserved space
PIE_RESERVED, // 2 Reserved space
PIE_RESERVED, // 3 Reserved space
PIE_RESERVED, // 4 Reserved space
PIE_RESERVED, // 5 Reserved space
PIE_RESERVED, // 6 Reserved space
PIE_RESERVED, // 7 Reserved space
PIE_RESERVED, // 8 Reserved space
PIE_RESERVED, // 9 Reserved space
PIE_RESERVED, // 10 Reserved space
PIE_RESERVED, // 11 Reserved space
PIE_RESERVED, // 12 Reserved space
//
// Non-Peripheral Interrupts
//
INT13_ISR, // XINT13 or CPU-Timer 1
INT14_ISR, // CPU-Timer2
DATALOG_ISR, // Datalogging interrupt
RTOSINT_ISR, // RTOS interrupt
EMUINT_ISR, // Emulation interrupt
NMI_ISR, // Non-maskable interrupt
ILLEGAL_ISR, // Illegal operation TRAP
USER1_ISR, // User Defined trap 1
USER2_ISR, // User Defined trap 2
USER3_ISR, // User Defined trap 3
USER4_ISR, // User Defined trap 4
USER5_ISR, // User Defined trap 5
USER6_ISR, // User Defined trap 6
USER7_ISR, // User Defined trap 7
USER8_ISR, // User Defined trap 8
USER9_ISR, // User Defined trap 9
USER10_ISR, // User Defined trap 10
USER11_ISR, // User Defined trap 11
USER12_ISR, // User Defined trap 12
//
// Group 1 PIE Vectors
//
SEQ1INT_ISR, // 1.1 ADC
SEQ2INT_ISR, // 1.2 ADC
rsvd_ISR, // 1.3
XINT1_ISR, // 1.4
XINT2_ISR, // 1.5
ADCINT_ISR, // 1.6 ADC
TINT0_ISR, // 1.7 Timer 0
WAKEINT_ISR, // 1.8 WD, Low Power
//
// Group 2 PIE Vectors
//
EPWM1_TZINT_ISR, // 2.1 EPWM-1 Trip Zone
EPWM2_TZINT_ISR, // 2.2 EPWM-2 Trip Zone
EPWM3_TZINT_ISR, // 2.3 EPWM-3 Trip Zone
EPWM4_TZINT_ISR, // 2.4 EPWM-4 Trip Zone
EPWM5_TZINT_ISR, // 2.5 EPWM-5 Trip Zone
EPWM6_TZINT_ISR, // 2.6 EPWM-6 Trip Zone
rsvd_ISR, // 2.7
rsvd_ISR, // 2.8
//
// Group 3 PIE Vectors
//
EPWM1_INT_ISR, // 3.1 EPWM-1 Interrupt
EPWM2_INT_ISR, // 3.2 EPWM-2 Interrupt
EPWM3_INT_ISR, // 3.3 EPWM-3 Interrupt
EPWM4_INT_ISR, // 3.4 EPWM-4 Interrupt
EPWM5_INT_ISR, // 3.5 EPWM-5 Interrupt
EPWM6_INT_ISR, // 3.6 EPWM-6 Interrupt
rsvd_ISR, // 3.7
rsvd_ISR, // 3.8
//
// Group 4 PIE Vectors
//
ECAP1_INT_ISR, // 4.1 ECAP-1
ECAP2_INT_ISR, // 4.2 ECAP-2
ECAP3_INT_ISR, // 4.3 ECAP-3
ECAP4_INT_ISR, // 4.4 ECAP-4
ECAP5_INT_ISR, // 4.5 ECAP-5
ECAP6_INT_ISR, // 4.6 ECAP-6
rsvd_ISR, // 4.7
rsvd_ISR, // 4.8
//
// Group 5 PIE Vectors
//
EQEP1_INT_ISR, // 5.1 EQEP-1
EQEP2_INT_ISR, // 5.2 EQEP-2
rsvd_ISR, // 5.3
rsvd_ISR, // 5.4
rsvd_ISR, // 5.5
rsvd_ISR, // 5.6
rsvd_ISR, // 5.7
rsvd_ISR, // 5.8
//
// Group 6 PIE Vectors
//
SPIRXINTA_ISR, // 6.1 SPI-A
SPITXINTA_ISR, // 6.2 SPI-A
MRINTA_ISR, // 6.3 McBSP-A
MXINTA_ISR, // 6.4 McBSP-A
MRINTB_ISR, // 6.5 McBSP-B
MXINTB_ISR, // 6.6 McBSP-B
rsvd_ISR, // 6.7
rsvd_ISR, // 6.8
//
// Group 7 PIE Vectors
//
DINTCH1_ISR, // 7.1 DMA channel 1
DINTCH2_ISR, // 7.2 DMA channel 2
DINTCH3_ISR, // 7.3 DMA channel 3
DINTCH4_ISR, // 7.4 DMA channel 4
DINTCH5_ISR, // 7.5 DMA channel 5
DINTCH6_ISR, // 7.6 DMA channel 6
rsvd_ISR, // 7.7
rsvd_ISR, // 7.8
//
// Group 8 PIE Vectors
//
I2CINT1A_ISR, // 8.1 I2C
I2CINT2A_ISR, // 8.2 I2C
rsvd_ISR, // 8.3
rsvd_ISR, // 8.4
SCIRXINTC_ISR, // 8.5 SCI-C
SCITXINTC_ISR, // 8.6 SCI-C
rsvd_ISR, // 8.7
rsvd_ISR, // 8.8
//
// Group 9 PIE Vectors
//
SCIRXINTA_ISR, // 9.1 SCI-A
SCITXINTA_ISR, // 9.2 SCI-A
SCIRXINTB_ISR, // 9.3 SCI-B
SCITXINTB_ISR, // 9.4 SCI-B
ECAN0INTA_ISR, // 9.5 eCAN-A
ECAN1INTA_ISR, // 9.6 eCAN-A
ECAN0INTB_ISR, // 9.7 eCAN-B
ECAN1INTB_ISR, // 9.8 eCAN-B
//
// Group 10 PIE Vectors
//
rsvd_ISR, // 10.1
rsvd_ISR, // 10.2
rsvd_ISR, // 10.3
rsvd_ISR, // 10.4
rsvd_ISR, // 10.5
rsvd_ISR, // 10.6
rsvd_ISR, // 10.7
rsvd_ISR, // 10.8
//
// Group 11 PIE Vectors
//
rsvd_ISR, // 11.1
rsvd_ISR, // 11.2
rsvd_ISR, // 11.3
rsvd_ISR, // 11.4
rsvd_ISR, // 11.5
rsvd_ISR, // 11.6
rsvd_ISR, // 11.7
rsvd_ISR, // 11.8
//
// Group 12 PIE Vectors
//
XINT3_ISR, // 12.1
XINT4_ISR, // 12.2
XINT5_ISR, // 12.3
XINT6_ISR, // 12.4
XINT7_ISR, // 12.5
rsvd_ISR, // 12.6
LVF_ISR, // 12.7
LUF_ISR, // 12.8
};
//
// InitPieVectTable - This function initializes the PIE vector table to a known
// state. This function must be executed after boot time.
//
void
InitPieVectTable(void)
{
int16 i;
Uint32 *Source = (void *) &PieVectTableInit;
volatile Uint32 *Dest = (void *) &PieVectTable;
EALLOW;
for(i=0; i < 128; i++)
{
*Dest++ = *Source++;
}
EDIS;
//
// Enable the PIE Vector Table
//
PieCtrlRegs.PIECTRL.bit.ENPIE = 1;
}
//
// End of file
//

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F28335/DSP2833x_Sci.c
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//###########################################################################
//
// FILE: DSP2833x_Sci.c
//
// TITLE: DSP2833x SCI Initialization & Support Functions.
//
//###########################################################################
// $TI Release: F2833x/F2823x Header Files and Peripheral Examples V142 $
// $Release Date: November 1, 2016 $
// $Copyright: Copyright (C) 2007-2016 Texas Instruments Incorporated -
// http://www.ti.com/ ALL RIGHTS RESERVED $
//###########################################################################
//
// Included Files
//
#include "DSP2833x_Device.h" // DSP2833x Headerfile Include File
#include "DSP2833x_Examples.h" // DSP2833x Examples Include File
//
// InitSci - This function initializes the SCI(s) to a known state.
//
void
InitSci(void)
{
//
// Initialize SCI-A
//
//
// Initialize SCI-B
//
//
// Initialize SCI-C
//
}
//
// InitSciGpio - This function initializes GPIO to function as SCI-A, SCI-B, or
// SCI-C
//
// Each GPIO pin can be configured as a GPIO pin or up to 3 different
// peripheral functional pins. By default all pins come up as GPIO
// inputs after reset.
//
// Caution:
// Only one GPIO pin should be enabled for SCITXDA/B operation.
// Only one GPIO pin shoudl be enabled for SCIRXDA/B operation.
// Comment out other unwanted lines.
//
void
InitSciGpio()
{
InitSciaGpio();
#if DSP28_SCIB
InitScibGpio();
#endif // if DSP28_SCIB
#if DSP28_SCIC
InitScicGpio();
#endif // if DSP28_SCIC
}
//
// InitSciaGpio - This function initializes GPIO pins to function as SCI-A pins
//
void
InitSciaGpio()
{
EALLOW;
//
// Enable internal pull-up for the selected pins
// Pull-ups can be enabled or disabled disabled by the user.
// This will enable the pullups for the specified pins.
//
GpioCtrlRegs.GPAPUD.bit.GPIO28 = 0; // Enable pull-up for GPIO28 (SCIRXDA)
GpioCtrlRegs.GPAPUD.bit.GPIO29 = 0; // Enable pull-up for GPIO29 (SCITXDA)
//
// Set qualification for selected pins to asynch only
// Inputs are synchronized to SYSCLKOUT by default.
// This will select asynch (no qualification) for the selected pins.
//
GpioCtrlRegs.GPAQSEL2.bit.GPIO28 = 3; // Asynch input GPIO28 (SCIRXDA)
//
// Configure SCI-A pins using GPIO regs
// This specifies which of the possible GPIO pins will be SCI functional
// pins.
//
GpioCtrlRegs.GPAMUX2.bit.GPIO28 = 1; // Configure GPIO28 to SCIRXDA
GpioCtrlRegs.GPAMUX2.bit.GPIO29 = 1; // Configure GPIO29 to SCITXDA
EDIS;
}
#if DSP28_SCIB
//
// InitScibGpio - This function initializes GPIO pins to function as SCI-B pins
//
void
InitScibGpio()
{
EALLOW;
//
// Enable internal pull-up for the selected pins
// Pull-ups can be enabled or disabled disabled by the user.
// This will enable the pullups for the specified pins.
// Comment out other unwanted lines.
//
//GpioCtrlRegs.GPAPUD.bit.GPIO9 = 0; //Enable pull-up for GPIO9 (SCITXDB)
//GpioCtrlRegs.GPAPUD.bit.GPIO14 = 0; //Enable pull-up for GPIO14 (SCITXDB)
GpioCtrlRegs.GPAPUD.bit.GPIO18 = 0; //Enable pull-up for GPIO18 (SCITXDB)
//GpioCtrlRegs.GPAPUD.bit.GPIO22 = 0; //Enable pull-up for GPIO22 (SCITXDB)
//GpioCtrlRegs.GPAPUD.bit.GPIO11 = 0; //Enable pull-up for GPIO11 (SCIRXDB)
//GpioCtrlRegs.GPAPUD.bit.GPIO15 = 0; //Enable pull-up for GPIO15 (SCIRXDB)
GpioCtrlRegs.GPAPUD.bit.GPIO19 = 0; //Enable pull-up for GPIO19 (SCIRXDB)
//GpioCtrlRegs.GPAPUD.bit.GPIO23 = 0; //Enable pull-up for GPIO23 (SCIRXDB)
//
// Set qualification for selected pins to asynch only
// This will select asynch (no qualification) for the selected pins.
// Comment out other unwanted lines.
//
//GpioCtrlRegs.GPAQSEL1.bit.GPIO11 = 3; // Asynch input GPIO11 (SCIRXDB)
//GpioCtrlRegs.GPAQSEL1.bit.GPIO15 = 3; // Asynch input GPIO15 (SCIRXDB)
GpioCtrlRegs.GPAQSEL2.bit.GPIO19 = 3; // Asynch input GPIO19 (SCIRXDB)
//GpioCtrlRegs.GPAQSEL2.bit.GPIO23 = 3; // Asynch input GPIO23 (SCIRXDB)
//
// Configure SCI-B pins using GPIO regs
// This specifies which of the possible GPIO pins will be SCI functional
// pins.
// Comment out other unwanted lines.
//
//GpioCtrlRegs.GPAMUX1.bit.GPIO9 = 2; //Configure GPIO9 to SCITXDB
//GpioCtrlRegs.GPAMUX1.bit.GPIO14 = 2; //Configure GPIO14 to SCITXDB
GpioCtrlRegs.GPAMUX2.bit.GPIO18 = 2; //Configure GPIO18 to SCITXDB
//GpioCtrlRegs.GPAMUX2.bit.GPIO22 = 3; //Configure GPIO22 to SCITXDB
//GpioCtrlRegs.GPAMUX1.bit.GPIO11 = 2; //Configure GPIO11 for SCIRXDB
//GpioCtrlRegs.GPAMUX1.bit.GPIO15 = 2; //Configure GPIO15 for SCIRXDB
GpioCtrlRegs.GPAMUX2.bit.GPIO19 = 2; //Configure GPIO19 for SCIRXDB
//GpioCtrlRegs.GPAMUX2.bit.GPIO23 = 3; //Configure GPIO23 for SCIRXDB
EDIS;
}
#endif // if DSP28_SCIB
#if DSP28_SCIC
//
// InitScicGpio - This function initializes GPIO pins to function as SCI-C pins
//
void
InitScicGpio()
{
EALLOW;
//
// Enable internal pull-up for the selected pins
// Pull-ups can be enabled or disabled disabled by the user.
// This will enable the pullups for the specified pins.
//
GpioCtrlRegs.GPBPUD.bit.GPIO62 = 0; // Enable pull-up for GPIO62 (SCIRXDC)
GpioCtrlRegs.GPBPUD.bit.GPIO63 = 0; // Enable pull-up for GPIO63 (SCITXDC)
//
// Set qualification for selected pins to asynch only
// Inputs are synchronized to SYSCLKOUT by default.
// This will select asynch (no qualification) for the selected pins.
//
GpioCtrlRegs.GPBQSEL2.bit.GPIO62 = 3; // Asynch input GPIO62 (SCIRXDC)
//
// Configure SCI-C pins using GPIO regs
// This specifies which of the possible GPIO pins will be SCI functional
// pins.
//
GpioCtrlRegs.GPBMUX2.bit.GPIO62 = 1; // Configure GPIO62 to SCIRXDC
GpioCtrlRegs.GPBMUX2.bit.GPIO63 = 1; // Configure GPIO63 to SCITXDC
EDIS;
}
#endif // if DSP28_SCIC
//
// End of file
//

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F28335/DSP2833x_Spi.c
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//###########################################################################
//
// FILE: DSP2833x_Spi.c
//
// TITLE: DSP2833x SPI Initialization & Support Functions.
//
//###########################################################################
// $TI Release: F2833x/F2823x Header Files and Peripheral Examples V142 $
// $Release Date: November 1, 2016 $
// $Copyright: Copyright (C) 2007-2016 Texas Instruments Incorporated -
// http://www.ti.com/ ALL RIGHTS RESERVED $
//###########################################################################
//
// Included Files
//
#include "DSP2833x_Device.h" // DSP2833x Headerfile Include File
#include "DSP2833x_Examples.h" // DSP2833x Examples Include File
//
// InitSPI - This function initializes the SPI(s) to a known state.
//
void
InitSpi(void)
{
//
// Initialize SPI-A/B/C/D
//
}
//
// InitSpiGpio - This function initializes GPIO pins to function as SPI pins
//
// Each GPIO pin can be configured as a GPIO pin or up to 3 different
// peripheral functional pins. By default all pins come up as GPIO
// inputs after reset.
//
// Caution:
// For each SPI peripheral
// Only one GPIO pin should be enabled for SPISOMO operation.
// Only one GPIO pin should be enabled for SPISOMI operation.
// Only one GPIO pin should be enabled for SPICLKA operation.
// Only one GPIO pin should be enabled for SPISTEA operation.
// Comment out other unwanted lines.
//
void
InitSpiGpio()
{
InitSpiaGpio();
}
//
// InitSpiaGpio - This function initializes GPIO poins to function as SPI pins
//
void
InitSpiaGpio()
{
EALLOW;
//
// Enable internal pull-up for the selected 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 on GPIO16 (SPISIMOA)
GpioCtrlRegs.GPAPUD.bit.GPIO17 = 0; //Enable pull-up on GPIO17 (SPISOMIA)
GpioCtrlRegs.GPAPUD.bit.GPIO18 = 0; //Enable pull-up on GPIO18 (SPICLKA)
GpioCtrlRegs.GPAPUD.bit.GPIO19 = 0; //Enable pull-up on GPIO19 (SPISTEA)
//GpioCtrlRegs.GPBPUD.bit.GPIO54 = 0; //Enable pull-up on GPIO54 (SPISIMOA)
//GpioCtrlRegs.GPBPUD.bit.GPIO55 = 0; //Enable pull-up on GPIO55 (SPISOMIA)
//GpioCtrlRegs.GPBPUD.bit.GPIO56 = 0; //Enable pull-up on GPIO56 (SPICLKA)
//GpioCtrlRegs.GPBPUD.bit.GPIO57 = 0; //Enable pull-up on GPIO57 (SPISTEA)
//
// Set qualification for selected pins to asynch only
// This will select asynch (no qualification) for the selected pins.
// Comment out other unwanted lines.
//
GpioCtrlRegs.GPAQSEL2.bit.GPIO16 = 3; // Asynch input GPIO16 (SPISIMOA)
GpioCtrlRegs.GPAQSEL2.bit.GPIO17 = 3; // Asynch input GPIO17 (SPISOMIA)
GpioCtrlRegs.GPAQSEL2.bit.GPIO18 = 3; // Asynch input GPIO18 (SPICLKA)
GpioCtrlRegs.GPAQSEL2.bit.GPIO19 = 3; // Asynch input GPIO19 (SPISTEA)
//GpioCtrlRegs.GPBQSEL2.bit.GPIO54 = 3; // Asynch input GPIO16 (SPISIMOA)
//GpioCtrlRegs.GPBQSEL2.bit.GPIO55 = 3; // Asynch input GPIO17 (SPISOMIA)
//GpioCtrlRegs.GPBQSEL2.bit.GPIO56 = 3; // Asynch input GPIO18 (SPICLKA)
//GpioCtrlRegs.GPBQSEL2.bit.GPIO57 = 3; // Asynch input GPIO19 (SPISTEA)
//
// Configure SPI-A pins using GPIO regs
// This specifies which of the possible GPIO pins will be SPI
// functional pins.
// Comment out other unwanted lines.
//
GpioCtrlRegs.GPAMUX2.bit.GPIO16 = 1; // Configure GPIO16 as SPISIMOA
GpioCtrlRegs.GPAMUX2.bit.GPIO17 = 1; // Configure GPIO17 as SPISOMIA
GpioCtrlRegs.GPAMUX2.bit.GPIO18 = 1; // Configure GPIO18 as SPICLKA
GpioCtrlRegs.GPAMUX2.bit.GPIO19 = 1; // Configure GPIO19 as SPISTEA
//GpioCtrlRegs.GPBMUX2.bit.GPIO54 = 1; // Configure GPIO54 as SPISIMOA
//GpioCtrlRegs.GPBMUX2.bit.GPIO55 = 1; // Configure GPIO55 as SPISOMIA
//GpioCtrlRegs.GPBMUX2.bit.GPIO56 = 1; // Configure GPIO56 as SPICLKA
//GpioCtrlRegs.GPBMUX2.bit.GPIO57 = 1; // Configure GPIO57 as SPISTEA
EDIS;
}
//
// End of file
//

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F28335/DSP2833x_SysCtrl.c
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//###########################################################################
//
// FILE: DSP2833x_SysCtrl.c
//
// TITLE: DSP2833x Device System Control Initialization & Support Functions.
//
// DESCRIPTION: Example initialization of system resources.
//
//###########################################################################
// $TI Release: F2833x/F2823x Header Files and Peripheral Examples V142 $
// $Release Date: November 1, 2016 $
// $Copyright: Copyright (C) 2007-2016 Texas Instruments Incorporated -
// http://www.ti.com/ ALL RIGHTS RESERVED $
//###########################################################################
//
// Included Files
//
#include "DSP2833x_Device.h" // Headerfile Include File
#include "DSP2833x_Examples.h" // Examples Include File
//
// Functions that will be run from RAM need to be assigned to
// a different section. This section will then be mapped to a load and
// run address using the linker cmd file.
//
#pragma CODE_SECTION(InitFlash, "ramfuncs");
//
// InitSysCtrl - This function initializes the System Control registers to a
// known state.
// - Disables the watchdog
// - Set the PLLCR for proper SYSCLKOUT frequency
// - Set the pre-scaler for the high and low frequency peripheral clocks
// - Enable the clocks to the peripherals
//
void
InitSysCtrl(void)
{
//
// Disable the watchdog
//
DisableDog();
//
// Initialize the PLL control: PLLCR and DIVSEL
// DSP28_PLLCR and DSP28_DIVSEL are defined in DSP2833x_Examples.h
//
InitPll(DSP28_PLLCR,DSP28_DIVSEL);
//
// Initialize the peripheral clocks
//
InitPeripheralClocks();
}
//
// InitFlash - This function initializes the Flash Control registers
// CAUTION
// This function MUST be executed out of RAM. Executing it
// out of OTP/Flash will yield unpredictable results
//
void
InitFlash(void)
{
EALLOW;
//
// Enable Flash Pipeline mode to improve performance
// of code executed from Flash.
//
FlashRegs.FOPT.bit.ENPIPE = 1;
//
// CAUTION
// Minimum waitstates required for the flash operating
// at a given CPU rate must be characterized by TI.
// Refer to the datasheet for the latest information.
//
#if CPU_FRQ_150MHZ
//
// Set the Paged Waitstate for the Flash
//
FlashRegs.FBANKWAIT.bit.PAGEWAIT = 5;
//
// Set the Random Waitstate for the Flash
//
FlashRegs.FBANKWAIT.bit.RANDWAIT = 5;
//
// Set the Waitstate for the OTP
//
FlashRegs.FOTPWAIT.bit.OTPWAIT = 8;
#endif
#if CPU_FRQ_100MHZ
//
// Set the Paged Waitstate for the Flash
//
FlashRegs.FBANKWAIT.bit.PAGEWAIT = 3;
//
// Set the Random Waitstate for the Flash
//
FlashRegs.FBANKWAIT.bit.RANDWAIT = 3;
//
// Set the Waitstate for the OTP
//
FlashRegs.FOTPWAIT.bit.OTPWAIT = 5;
#endif
//
// CAUTION
// ONLY THE DEFAULT VALUE FOR THESE 2 REGISTERS SHOULD BE USED
//
FlashRegs.FSTDBYWAIT.bit.STDBYWAIT = 0x01FF;
FlashRegs.FACTIVEWAIT.bit.ACTIVEWAIT = 0x01FF;
EDIS;
//
// Force a pipeline flush to ensure that the write to
// the last register configured occurs before returning.
//
asm(" RPT #7 || NOP");
}
//
// ServiceDog - This function resets the watchdog timer.
// Enable this function for using ServiceDog in the application
//
void
ServiceDog(void)
{
EALLOW;
SysCtrlRegs.WDKEY = 0x0055;
SysCtrlRegs.WDKEY = 0x00AA;
EDIS;
}
//
// DisableDog - This function disables the watchdog timer.
//
void
DisableDog(void)
{
EALLOW;
SysCtrlRegs.WDCR= 0x0068;
EDIS;
}
//
// InitPll - This function initializes the PLLCR register.
//
void
InitPll(Uint16 val, Uint16 divsel)
{
//
// Make sure the PLL is not running in limp mode
//
if (SysCtrlRegs.PLLSTS.bit.MCLKSTS != 0)
{
//
// Missing external clock has been detected
// Replace this line with a call to an appropriate
// SystemShutdown(); function.
//
asm(" ESTOP0");
}
//
// DIVSEL MUST be 0 before PLLCR can be changed from
// 0x0000. It is set to 0 by an external reset XRSn
// This puts us in 1/4
//
if (SysCtrlRegs.PLLSTS.bit.DIVSEL != 0)
{
EALLOW;
SysCtrlRegs.PLLSTS.bit.DIVSEL = 0;
EDIS;
}
//
// Change the PLLCR
//
if (SysCtrlRegs.PLLCR.bit.DIV != val)
{
EALLOW;
//
// Before setting PLLCR turn off missing clock detect logic
//
SysCtrlRegs.PLLSTS.bit.MCLKOFF = 1;
SysCtrlRegs.PLLCR.bit.DIV = val;
EDIS;
//
// Optional: Wait for PLL to lock.
// During this time the CPU will switch to OSCCLK/2 until
// the PLL is stable. Once the PLL is stable the CPU will
// switch to the new PLL value.
//
// This time-to-lock is monitored by a PLL lock counter.
//
// Code is not required to sit and wait for the PLL to lock.
// However, if the code does anything that is timing critical,
// and requires the correct clock be locked, then it is best to
// wait until this switching has completed.
//
//
// Wait for the PLL lock bit to be set.
//
//
// The watchdog should be disabled before this loop, or fed within
// the loop via ServiceDog().
//
//
// Uncomment to disable the watchdog
//
DisableDog();
while(SysCtrlRegs.PLLSTS.bit.PLLLOCKS != 1)
{
//
// Uncomment to service the watchdog
//
//ServiceDog();
}
EALLOW;
SysCtrlRegs.PLLSTS.bit.MCLKOFF = 0;
EDIS;
}
//
// If switching to 1/2
//
if((divsel == 1)||(divsel == 2))
{
EALLOW;
SysCtrlRegs.PLLSTS.bit.DIVSEL = divsel;
EDIS;
}
//
// NOTE: ONLY USE THIS SETTING IF PLL IS BYPASSED (I.E. PLLCR = 0) OR OFF
// If switching to 1/1
// * First go to 1/2 and let the power settle
// The time required will depend on the system, this is only an example
// * Then switch to 1/1
//
if(divsel == 3)
{
EALLOW;
SysCtrlRegs.PLLSTS.bit.DIVSEL = 2;
DELAY_US(50L);
SysCtrlRegs.PLLSTS.bit.DIVSEL = 3;
EDIS;
}
}
//
// InitPeripheralClocks - This function initializes the clocks to the
// peripheral modules. First the high and low clock prescalers are set
// Second the clocks are enabled to each peripheral. To reduce power, leave
// clocks to unused peripherals disabled
//
// Note: If a peripherals clock is not enabled then you cannot
// read or write to the registers for that peripheral
//
void
InitPeripheralClocks(void)
{
EALLOW;
//
// HISPCP/LOSPCP prescale register settings, normally it will be set to
// default values
//
SysCtrlRegs.HISPCP.all = 0x0001;
SysCtrlRegs.LOSPCP.all = 0x0002;
//
// XCLKOUT to SYSCLKOUT ratio. By default XCLKOUT = 1/4 SYSCLKOUT
// XTIMCLK = SYSCLKOUT/2
//
XintfRegs.XINTCNF2.bit.XTIMCLK = 1;
//
// XCLKOUT = XTIMCLK/2
//
XintfRegs.XINTCNF2.bit.CLKMODE = 1;
//
// Enable XCLKOUT
//
XintfRegs.XINTCNF2.bit.CLKOFF = 0;
//
// Peripheral clock enables set for the selected peripherals.
// If you are not using a peripheral leave the clock off
// to save on power.
//
// Note: not all peripherals are available on all 2833x derivates.
// Refer to the datasheet for your particular device.
//
// This function is not written to be an example of efficient code.
//
SysCtrlRegs.PCLKCR0.bit.ADCENCLK = 1; // ADC
//
// *IMPORTANT*
// The ADC_cal function, which copies the ADC calibration values from TI
// reserved OTP into the ADCREFSEL and ADCOFFTRIM registers, occurs
// automatically in the Boot ROM. If the boot ROM code is bypassed during
// the debug process, the following function MUST be called for the ADC to
// function according to specification. The clocks to the ADC MUST be
// enabled before calling this function.
// See the device data manual and/or the ADC Reference
// Manual for more information.
//
ADC_cal();
SysCtrlRegs.PCLKCR0.bit.I2CAENCLK = 1; // I2C
SysCtrlRegs.PCLKCR0.bit.SCIAENCLK = 1; // SCI-A
SysCtrlRegs.PCLKCR0.bit.SCIBENCLK = 1; // SCI-B
SysCtrlRegs.PCLKCR0.bit.SCICENCLK = 1; // SCI-C
SysCtrlRegs.PCLKCR0.bit.SPIAENCLK = 1; // SPI-A
SysCtrlRegs.PCLKCR0.bit.MCBSPAENCLK = 1; // McBSP-A
SysCtrlRegs.PCLKCR0.bit.MCBSPBENCLK = 1; // McBSP-B
SysCtrlRegs.PCLKCR0.bit.ECANAENCLK=1; // eCAN-A
SysCtrlRegs.PCLKCR0.bit.ECANBENCLK=1; // eCAN-B
SysCtrlRegs.PCLKCR0.bit.TBCLKSYNC = 0; // Disable TBCLK within the ePWM
SysCtrlRegs.PCLKCR1.bit.EPWM1ENCLK = 1; // ePWM1
SysCtrlRegs.PCLKCR1.bit.EPWM2ENCLK = 1; // ePWM2
SysCtrlRegs.PCLKCR1.bit.EPWM3ENCLK = 1; // ePWM3
SysCtrlRegs.PCLKCR1.bit.EPWM4ENCLK = 1; // ePWM4
SysCtrlRegs.PCLKCR1.bit.EPWM5ENCLK = 1; // ePWM5
SysCtrlRegs.PCLKCR1.bit.EPWM6ENCLK = 1; // ePWM6
SysCtrlRegs.PCLKCR0.bit.TBCLKSYNC = 1; // Enable TBCLK within the ePWM
SysCtrlRegs.PCLKCR1.bit.ECAP3ENCLK = 1; // eCAP3
SysCtrlRegs.PCLKCR1.bit.ECAP4ENCLK = 1; // eCAP4
SysCtrlRegs.PCLKCR1.bit.ECAP5ENCLK = 1; // eCAP5
SysCtrlRegs.PCLKCR1.bit.ECAP6ENCLK = 1; // eCAP6
SysCtrlRegs.PCLKCR1.bit.ECAP1ENCLK = 1; // eCAP1
SysCtrlRegs.PCLKCR1.bit.ECAP2ENCLK = 1; // eCAP2
SysCtrlRegs.PCLKCR1.bit.EQEP1ENCLK = 1; // eQEP1
SysCtrlRegs.PCLKCR1.bit.EQEP2ENCLK = 1; // eQEP2
SysCtrlRegs.PCLKCR3.bit.CPUTIMER0ENCLK = 1; // CPU Timer 0
SysCtrlRegs.PCLKCR3.bit.CPUTIMER1ENCLK = 1; // CPU Timer 1
SysCtrlRegs.PCLKCR3.bit.CPUTIMER2ENCLK = 1; // CPU Timer 2
SysCtrlRegs.PCLKCR3.bit.DMAENCLK = 1; // DMA Clock
SysCtrlRegs.PCLKCR3.bit.XINTFENCLK = 1; // XTIMCLK
SysCtrlRegs.PCLKCR3.bit.GPIOINENCLK = 1; // GPIO input clock
EDIS;
}
//
// CsmUnlock - This function unlocks the CSM. User must replace 0xFFFF's with
// current password for the DSP. Returns 1 if unlock is successful.
//
#define STATUS_FAIL 0
#define STATUS_SUCCESS 1
Uint16
CsmUnlock()
{
volatile Uint16 temp;
//
// Load the key registers with the current password. The 0xFFFF's are dummy
// passwords. User should replace them with the correct password for the
// DSP.
//
EALLOW;
CsmRegs.KEY0 = 0xFFFF;
CsmRegs.KEY1 = 0xFFFF;
CsmRegs.KEY2 = 0xFFFF;
CsmRegs.KEY3 = 0xFFFF;
CsmRegs.KEY4 = 0xFFFF;
CsmRegs.KEY5 = 0xFFFF;
CsmRegs.KEY6 = 0xFFFF;
CsmRegs.KEY7 = 0xFFFF;
EDIS;
//
// Perform a dummy read of the password locations if they match the key
// values, the CSM will unlock
//
temp = CsmPwl.PSWD0;
temp = CsmPwl.PSWD1;
temp = CsmPwl.PSWD2;
temp = CsmPwl.PSWD3;
temp = CsmPwl.PSWD4;
temp = CsmPwl.PSWD5;
temp = CsmPwl.PSWD6;
temp = CsmPwl.PSWD7;
//
// If the CSM unlocked, return succes, otherwise return failure.
//
if (CsmRegs.CSMSCR.bit.SECURE == 0)
{
return STATUS_SUCCESS;
}
else
{
return STATUS_FAIL;
}
}
//
// End of file
//

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F28335/DSP2833x_Xintf.c
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//###########################################################################
//
// FILE: DSP2833x_Xintf.c
//
// TITLE: DSP2833x Device External Interface Init & Support Functions.
//
// DESCRIPTION:
//
// Example initialization function for the external interface (XINTF).
// This example configures the XINTF to its default state. For an
// example of how this function being used refer to the
// examples/run_from_xintf project.
//
//###########################################################################
// $TI Release: F2833x/F2823x Header Files and Peripheral Examples V142 $
// $Release Date: November 1, 2016 $
// $Copyright: Copyright (C) 2007-2016 Texas Instruments Incorporated -
// http://www.ti.com/ ALL RIGHTS RESERVED $
//###########################################################################
//
// Included Files
//
#include "DSP2833x_Device.h" // DSP2833x Headerfile Include File
#include "DSP2833x_Examples.h" // DSP2833x Examples Include File
//
// InitXINTF - This function initializes the External Interface the default
// reset state.
//
// Do not modify the timings of the XINTF while running from the XINTF. Doing
// so can yield unpredictable results
//
void
InitXintf(void)
{
//
// This shows how to write to the XINTF registers. The
// values used here are the default state after reset.
// Different hardware will require a different configuration.
//
//
// For an example of an XINTF configuration used with the
// F28335 eZdsp, refer to the examples/run_from_xintf project.
//
//
// Any changes to XINTF timing should only be made by code
// running outside of the XINTF.
//
//
// All Zones
// Timing for all zones based on XTIMCLK = 1/2 SYSCLKOUT
//
EALLOW;
XintfRegs.XINTCNF2.bit.XTIMCLK = 1;
//
// No write buffering
//
XintfRegs.XINTCNF2.bit.WRBUFF = 0;
//
// XCLKOUT is enabled
//
XintfRegs.XINTCNF2.bit.CLKOFF = 0;
//
// XCLKOUT = XTIMCLK/2
//
XintfRegs.XINTCNF2.bit.CLKMODE = 1;
//
// Zone 0
// When using ready, ACTIVE must be 1 or greater
// Lead must always be 1 or greater
// Zone write timing
//
XintfRegs.XTIMING0.bit.XWRLEAD = 3;
XintfRegs.XTIMING0.bit.XWRACTIVE = 5;
XintfRegs.XTIMING0.bit.XWRTRAIL = 1;
//
// Zone read timing
//
XintfRegs.XTIMING0.bit.XRDLEAD = 3;
XintfRegs.XTIMING0.bit.XRDACTIVE = 5;
XintfRegs.XTIMING0.bit.XRDTRAIL = 1;
//
// double all Zone read/write lead/active/trail timing
//
XintfRegs.XTIMING0.bit.X2TIMING = 1;
//
// Zone will sample XREADY signal
//
XintfRegs.XTIMING0.bit.USEREADY = 1;
XintfRegs.XTIMING0.bit.READYMODE = 1; // sample asynchronous
//
// Size must be either:
// 0,1 = x32 or
// 1,1 = x16 other values are reserved
//
XintfRegs.XTIMING0.bit.XSIZE = 3;
//
// Zone 6
// When using ready, ACTIVE must be 1 or greater
// Lead must always be 1 or greater
// Zone write timing
//
XintfRegs.XTIMING6.bit.XWRLEAD = 3;
XintfRegs.XTIMING6.bit.XWRACTIVE = 5;
XintfRegs.XTIMING6.bit.XWRTRAIL = 1;
//
// Zone read timing
//
XintfRegs.XTIMING6.bit.XRDLEAD = 3;
XintfRegs.XTIMING6.bit.XRDACTIVE = 5;
XintfRegs.XTIMING6.bit.XRDTRAIL = 1;
//
// double all Zone read/write lead/active/trail timing
//
XintfRegs.XTIMING6.bit.X2TIMING = 1;
//
// Zone will sample XREADY signal
//
XintfRegs.XTIMING6.bit.USEREADY = 0;
XintfRegs.XTIMING6.bit.READYMODE = 0; // sample asynchronous
//
// Size must be either:
// 0,1 = x32 or
// 1,1 = x16 other values are reserved
//
XintfRegs.XTIMING6.bit.XSIZE = 3;
//
// Zone 7
// When using ready, ACTIVE must be 1 or greater
// Lead must always be 1 or greater
// Zone write timing
//
XintfRegs.XTIMING7.bit.XWRLEAD = 3;
XintfRegs.XTIMING7.bit.XWRACTIVE = 7;
XintfRegs.XTIMING7.bit.XWRTRAIL = 3;
//
// Zone read timing
//
XintfRegs.XTIMING7.bit.XRDLEAD = 3;
XintfRegs.XTIMING7.bit.XRDACTIVE = 7;
XintfRegs.XTIMING7.bit.XRDTRAIL = 3;
//
// double all Zone read/write lead/active/trail timing
//
XintfRegs.XTIMING7.bit.X2TIMING = 1;
//
// Zone will sample XREADY signal
//
XintfRegs.XTIMING7.bit.USEREADY = 1;
XintfRegs.XTIMING7.bit.READYMODE = 1; // sample asynchronous
//
// Size must be either:
// 0,1 = x32 or
// 1,1 = x16 other values are reserved
//
XintfRegs.XTIMING7.bit.XSIZE = 3;
//
// Bank switching
// Assume Zone 7 is slow, so add additional BCYC cycles
// when ever switching from Zone 7 to another Zone.
// This will help avoid bus contention.
//
XintfRegs.XBANK.bit.BANK = 7;
XintfRegs.XBANK.bit.BCYC = 7;
EDIS;
//
// Force a pipeline flush to ensure that the write to the last register
// configured occurs before returning.
//
InitXintf16Gpio();
//InitXintf32Gpio();
asm(" RPT #7 || NOP");
}
//
// InitXintf32Gpio -
//
void
InitXintf32Gpio()
{
EALLOW;
GpioCtrlRegs.GPBMUX2.bit.GPIO48 = 3; // XD31
GpioCtrlRegs.GPBMUX2.bit.GPIO49 = 3; // XD30
GpioCtrlRegs.GPBMUX2.bit.GPIO50 = 3; // XD29
GpioCtrlRegs.GPBMUX2.bit.GPIO51 = 3; // XD28
GpioCtrlRegs.GPBMUX2.bit.GPIO52 = 3; // XD27
GpioCtrlRegs.GPBMUX2.bit.GPIO53 = 3; // XD26
GpioCtrlRegs.GPBMUX2.bit.GPIO54 = 3; // XD25
GpioCtrlRegs.GPBMUX2.bit.GPIO55 = 3; // XD24
GpioCtrlRegs.GPBMUX2.bit.GPIO56 = 3; // XD23
GpioCtrlRegs.GPBMUX2.bit.GPIO57 = 3; // XD22
GpioCtrlRegs.GPBMUX2.bit.GPIO58 = 3; // XD21
GpioCtrlRegs.GPBMUX2.bit.GPIO59 = 3; // XD20
GpioCtrlRegs.GPBMUX2.bit.GPIO60 = 3; // XD19
GpioCtrlRegs.GPBMUX2.bit.GPIO61 = 3; // XD18
GpioCtrlRegs.GPBMUX2.bit.GPIO62 = 3; // XD17
GpioCtrlRegs.GPBMUX2.bit.GPIO63 = 3; // XD16
GpioCtrlRegs.GPBQSEL2.bit.GPIO48 = 3; // XD31 asynchronous input
GpioCtrlRegs.GPBQSEL2.bit.GPIO49 = 3; // XD30 asynchronous input
GpioCtrlRegs.GPBQSEL2.bit.GPIO50 = 3; // XD29 asynchronous input
GpioCtrlRegs.GPBQSEL2.bit.GPIO51 = 3; // XD28 asynchronous input
GpioCtrlRegs.GPBQSEL2.bit.GPIO52 = 3; // XD27 asynchronous input
GpioCtrlRegs.GPBQSEL2.bit.GPIO53 = 3; // XD26 asynchronous input
GpioCtrlRegs.GPBQSEL2.bit.GPIO54 = 3; // XD25 asynchronous input
GpioCtrlRegs.GPBQSEL2.bit.GPIO55 = 3; // XD24 asynchronous input
GpioCtrlRegs.GPBQSEL2.bit.GPIO56 = 3; // XD23 asynchronous input
GpioCtrlRegs.GPBQSEL2.bit.GPIO57 = 3; // XD22 asynchronous input
GpioCtrlRegs.GPBQSEL2.bit.GPIO58 = 3; // XD21 asynchronous input
GpioCtrlRegs.GPBQSEL2.bit.GPIO59 = 3; // XD20 asynchronous input
GpioCtrlRegs.GPBQSEL2.bit.GPIO60 = 3; // XD19 asynchronous input
GpioCtrlRegs.GPBQSEL2.bit.GPIO61 = 3; // XD18 asynchronous input
GpioCtrlRegs.GPBQSEL2.bit.GPIO62 = 3; // XD17 asynchronous input
GpioCtrlRegs.GPBQSEL2.bit.GPIO63 = 3; // XD16 asynchronous input
InitXintf16Gpio();
}
//
// InitXintf16Gpio -
//
void
InitXintf16Gpio()
{
EALLOW;
GpioCtrlRegs.GPCMUX1.bit.GPIO64 = 3; // XD15
GpioCtrlRegs.GPCMUX1.bit.GPIO65 = 3; // XD14
GpioCtrlRegs.GPCMUX1.bit.GPIO66 = 3; // XD13
GpioCtrlRegs.GPCMUX1.bit.GPIO67 = 3; // XD12
GpioCtrlRegs.GPCMUX1.bit.GPIO68 = 3; // XD11
GpioCtrlRegs.GPCMUX1.bit.GPIO69 = 3; // XD10
GpioCtrlRegs.GPCMUX1.bit.GPIO70 = 3; // XD19
GpioCtrlRegs.GPCMUX1.bit.GPIO71 = 3; // XD8
GpioCtrlRegs.GPCMUX1.bit.GPIO72 = 3; // XD7
GpioCtrlRegs.GPCMUX1.bit.GPIO73 = 3; // XD6
GpioCtrlRegs.GPCMUX1.bit.GPIO74 = 3; // XD5
GpioCtrlRegs.GPCMUX1.bit.GPIO75 = 3; // XD4
GpioCtrlRegs.GPCMUX1.bit.GPIO76 = 3; // XD3
GpioCtrlRegs.GPCMUX1.bit.GPIO77 = 3; // XD2
GpioCtrlRegs.GPCMUX1.bit.GPIO78 = 3; // XD1
GpioCtrlRegs.GPCMUX1.bit.GPIO79 = 3; // XD0
GpioCtrlRegs.GPBMUX1.bit.GPIO40 = 3; // XA0/XWE1n
GpioCtrlRegs.GPBMUX1.bit.GPIO41 = 3; // XA1
GpioCtrlRegs.GPBMUX1.bit.GPIO42 = 3; // XA2
GpioCtrlRegs.GPBMUX1.bit.GPIO43 = 3; // XA3
GpioCtrlRegs.GPBMUX1.bit.GPIO44 = 3; // XA4
GpioCtrlRegs.GPBMUX1.bit.GPIO45 = 3; // XA5
GpioCtrlRegs.GPBMUX1.bit.GPIO46 = 3; // XA6
GpioCtrlRegs.GPBMUX1.bit.GPIO47 = 3; // XA7
GpioCtrlRegs.GPCMUX2.bit.GPIO80 = 3; // XA8
GpioCtrlRegs.GPCMUX2.bit.GPIO81 = 3; // XA9
GpioCtrlRegs.GPCMUX2.bit.GPIO82 = 3; // XA10
GpioCtrlRegs.GPCMUX2.bit.GPIO83 = 3; // XA11
GpioCtrlRegs.GPCMUX2.bit.GPIO84 = 3; // XA12
GpioCtrlRegs.GPCMUX2.bit.GPIO85 = 3; // XA13
GpioCtrlRegs.GPCMUX2.bit.GPIO86 = 3; // XA14
GpioCtrlRegs.GPCMUX2.bit.GPIO87 = 3; // XA15
GpioCtrlRegs.GPBMUX1.bit.GPIO39 = 3; // XA16
GpioCtrlRegs.GPAMUX2.bit.GPIO31 = 3; // XA17
GpioCtrlRegs.GPAMUX2.bit.GPIO30 = 3; // XA18
GpioCtrlRegs.GPAMUX2.bit.GPIO29 = 3; // XA19
GpioCtrlRegs.GPBMUX1.bit.GPIO34 = 3; // XREADY
GpioCtrlRegs.GPBMUX1.bit.GPIO35 = 3; // XRNW
GpioCtrlRegs.GPBMUX1.bit.GPIO38 = 3; // XWE0
GpioCtrlRegs.GPBMUX1.bit.GPIO36 = 3; // XZCS0
GpioCtrlRegs.GPBMUX1.bit.GPIO37 = 3; // XZCS7
GpioCtrlRegs.GPAMUX2.bit.GPIO28 = 3; // XZCS6
EDIS;
}
//
// End of File
//

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F28335/DSP2833x_usDelay.asm
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;// TI File $Revision: /main/4 $
;// Checkin $Date: July 30, 2007 10:28:57 $
;//###########################################################################
;//
;// FILE: DSP2833x_usDelay.asm
;//
;// TITLE: Simple delay function
;//
;// DESCRIPTION:
;//
;// This is a simple delay function that can be used to insert a specified
;// delay into code.
;//
;// This function is only accurate if executed from internal zero-waitstate
;// SARAM. If it is executed from waitstate memory then the delay will be
;// longer then specified.
;//
;// To use this function:
;//
;// 1 - update the CPU clock speed in the DSP2833x_Examples.h
;// file. For example:
;// #define CPU_RATE 6.667L // for a 150MHz CPU clock speed
;// or #define CPU_RATE 10.000L // for a 100MHz CPU clock speed
;//
;// 2 - Call this function by using the DELAY_US(A) macro
;// that is defined in the DSP2833x_Examples.h file. This macro
;// will convert the number of microseconds specified
;// into a loop count for use with this function.
;// This count will be based on the CPU frequency you specify.
;//
;// 3 - For the most accurate delay
;// - Execute this function in 0 waitstate RAM.
;// - Disable interrupts before calling the function
;// If you do not disable interrupts, then think of
;// this as an "at least" delay function as the actual
;// delay may be longer.
;//
;// The C assembly call from the DELAY_US(time) macro will
;// look as follows:
;//
;// extern void Delay(long LoopCount);
;//
;// MOV AL,#LowLoopCount
;// MOV AH,#HighLoopCount
;// LCR _Delay
;//
;// Or as follows (if count is less then 16-bits):
;//
;// MOV ACC,#LoopCount
;// LCR _Delay
;//
;//
;//###########################################################################
;// $TI Release: F2833x/F2823x Header Files and Peripheral Examples V142 $
;// $Release Date: November 1, 2016 $
;// $Copyright: Copyright (C) 2007-2016 Texas Instruments Incorporated -
;// http://www.ti.com/ ALL RIGHTS RESERVED $
;//###########################################################################
.def _DSP28x_usDelay
.sect "ramfuncs"
.global __DSP28x_usDelay
_DSP28x_usDelay:
SUB ACC,#1
BF _DSP28x_usDelay,GEQ ;; Loop if ACC >= 0
LRETR
;There is a 9/10 cycle overhead and each loop
;takes five cycles. The LoopCount is given by
;the following formula:
; DELAY_CPU_CYCLES = 9 + 5*LoopCount
; LoopCount = (DELAY_CPU_CYCLES - 9) / 5
; The macro DELAY_US(A) performs this calculation for you
;
;//===========================================================================
;// End of file.
;//===========================================================================

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#include "DSP2833x_Device.h"
#include "DSP28x_Project.h"
#include "Protocol/CAN.h"
#include "Protocol/CAN_data.h"
#include "Protocol/DigitalIO.h"
#include "Protocol/MemoryMap.h"
#include "Periphery.h"
Periphery::Periphery() :
_canb(canSpace::CANA),
_digitalIO(),
_zone6_ptr(reinterpret_cast<Uint16*>(0x100000)),
_modbusSettingsMsg(),
_modbusInit(false)
{
_softVersion.DSP = 202;
_softVersion.CPLD = 0;
}
void Periphery::config(){
//--------------------------------------Init CAN interface----------------------------------------------------------
_canb.initGpio();
_canb.config();
// Data Frame MBOX
_canb.configRxMBox(canSpace::MODBUS_SETTINGS_MBOX, canSpace::MsgID(0x0), canSpace::MsgCtrlReg(0x6)); // Modbus settings
// _canb.configTxMBox(canSpace::MODBUS_DATA_COMM_TO_CPU_MBOX, canSpace::MsgID(0x29), canSpace::MsgCtrlReg(0x26)); // Send Modbus data to CPU
// _canb.configRxMBox(canSpace::MODBUS_DATA_CPU_TO_COMM_MBOX, canSpace::MsgID(0x28), canSpace::MsgCtrlReg(0x6)); // Receive Modbus data from CPU
_canb.configTxMBox(canSpace::DIGITAL_INPUT_MBOX, canSpace::MsgID(0x30), canSpace::MsgCtrlReg(0x2)); // Receive DI
_canb.configRxMBox(canSpace::DIGITAL_OUTPUT_MBOX, canSpace::MsgID(0x31), canSpace::MsgCtrlReg(0x2)); // Send DO
// Remote frame MBOX
_canb.configTxMBox(canSpace::COMM_VERSION_MBOX, canSpace::MsgID(0x1, false, true), canSpace::MsgCtrlReg(0));
// Interrupts
_canb.configSystemIsr(canSpace::I0EN_ENABLE |
canSpace::EPIM_ENABLE | canSpace::WLIM_ENABLE | canSpace::AAIM_ENABLE);
//--------------------------------------Init XINTF interface----------------------------------------------------------
InitXintf();
//---------------------------------------Init DIO interface----------------------------------------------------------
_digitalIO.setup(_zone6_ptr);
_digitalIO.setMemoryOffset(interface::DISCRETE_DATA_OFFSET);
}
Uint16 Periphery::getVersionFPGA(){
Uint16 data;
data = *_zone6_ptr + interface::SOFT_VERSION_OFFSET;
return data;
}
void Periphery::updateVersionFPGA(){
_softVersion.CPLD = getVersionFPGA() & 0x3FF; // no more than 1023 (9.9.9) should be limit
_message.mdl.word.LOW_WORD = _softVersion.DSP;
_message.mdl.word.HI_WORD = _softVersion.CPLD;
_canb.updateTXMessage(canSpace::COMM_VERSION_MBOX, _message);
}
void Periphery::processDigitalInput(){
Uint16 data = 0;
_digitalIO.readDigitalIO(data);
_canb.transmitMsg(canSpace::DIGITAL_INPUT_MBOX, (data));
}
void Periphery::processDigitalOutput(){
if(_canb.isNewMessage(canSpace::DIGITAL_OUTPUT_MBOX)){
_canb.receiveMsg(canSpace::DIGITAL_OUTPUT_MBOX, _message);
Uint16 data = _message.mdl.word.LOW_WORD;
_digitalIO.writeDigitalIO(data);
}
}
void Periphery::initExternalModbus(){
if (!_modbusInit && (_canb.isNewMessage(canSpace::MODBUS_SETTINGS_MBOX))) {
_canb.receiveMsg(canSpace::MODBUS_SETTINGS_MBOX, _modbusSettingsMsg);
_modbusInit = true; // TODO modbus init function must be here
}
}

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#pragma once
#include "DSP28x_Project.h"
#include "DSP2833x_Device.h"
#include "Protocol/CAN.h"
#include "Protocol/CAN_data.h"
#include "Protocol/DigitalIO.h"
#include "Protocol/MemoryMap.h"
struct SoftwareVersion{
Uint16 DSP;
Uint16 CPLD;
};
class Periphery{
public:
Periphery();
void config();
Uint16 getVersionFPGA();
void updateVersionFPGA();
void processDigitalInput();
void processDigitalOutput();
void initExternalModbus();
void processExternalModbus(); // TODO
void processCPUModbus(); // TODO
private:
canSpace::CAN _canb;
interface::DigitalIO _digitalIO;
Uint16* _zone6_ptr;
SoftwareVersion _softVersion;
canSpace::CANMessage _modbusSettingsMsg;
canSpace::CANMessage _message;
bool _modbusInit;
Uint16 tempIn;
Uint16 tempOut;
};

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#include "CAN.h"
#include "DSP2833x_Device.h"
#include "DSP2833x_ECan.h"
namespace canSpace {
void CAN::transmitMsg(Uint16 boxNumber, const CANMessage& message){
if (boxNumber > 31) return;
Uint32 mboxControl(0);
mboxControl = 1ul << boxNumber;
volatile MBOX* p_MailBox(0);
p_MailBox = &(p_CanMBoxes_->MBOX0) + boxNumber;
p_MailBox->MDH.all = 0x0;
p_MailBox->MDL.all = 0x0;
// p_MailBox->MSGCTRL.bit.DLC = message.dataLength;
p_MailBox->MDH.all = message.mdh.all;
p_MailBox->MDL.all = message.mdl.all;
// Set TRS for mailbox
CanShadow_.CANTRS.all = 0;
CanShadow_.CANTRS.all |= mboxControl;
p_CanRegs_->CANTRS.all = CanShadow_.CANTRS.all;
// Wait for TA bit to be set
// do { CanShadow_.CANTA.all = p_CanRegs_->CANTA.all; }
// while((CanShadow_.CANTA.all & mboxControl) == 0 );
// // Clear TA (transmit acknowledge bit)
// CanShadow_.CANTA.all = 0;
// CanShadow_.CANTA.all |= mboxControl;
// p_CanRegs_->CANTA.all = CanShadow_.CANTA.all;
}
void CAN::transmitMsg(Uint16 boxNumber, const Uint64& message){
if (boxNumber > 31) return;
Uint32 mboxControl(0);
mboxControl = 1ul << boxNumber;
volatile MBOX* p_MailBox(0);
p_MailBox = &(p_CanMBoxes_->MBOX0) + boxNumber;
p_MailBox->MDH.all = 0x0;
p_MailBox->MDL.all = 0x0;
p_MailBox->MDH.all = message >> 32;
p_MailBox->MDL.all = message;
// Set TRS for mailbox
CanShadow_.CANTRS.all = 0;
CanShadow_.CANTRS.all |= mboxControl;
p_CanRegs_->CANTRS.all = CanShadow_.CANTRS.all;
// Wait for TA bit to be set
// do { CanShadow_.CANTA.all = p_CanRegs_->CANTA.all; }
// while((CanShadow_.CANTA.all & mboxControl) == 0 );
// Clear TA (transmit acknowledge bit)
// CanShadow_.CANTA.all = 0;
// CanShadow_.CANTA.all |= mboxControl;
// p_CanRegs_->CANTA.all = CanShadow_.CANTA.all;
}
void CAN::transmitMsg(Uint16 boxNumber, const Uint64& message, const Uint16 dlc){
if (boxNumber > 31) return;
Uint32 mboxControl(0);
mboxControl = 1ul << boxNumber;
volatile MBOX* p_MailBox(0);
p_MailBox = &(p_CanMBoxes_->MBOX0) + boxNumber;
p_MailBox->MDH.all = 0x0;
p_MailBox->MDL.all = 0x0;
p_MailBox->MSGCTRL.bit.DLC = dlc;
p_MailBox->MDH.all = message >> 32;
p_MailBox->MDL.all = message;
// Set TRS for mailbox
CanShadow_.CANTRS.all = 0;
CanShadow_.CANTRS.all |= mboxControl;
p_CanRegs_->CANTRS.all = CanShadow_.CANTRS.all;
// Wait for TA bit to be set
// do { CanShadow_.CANTA.all = p_CanRegs_->CANTA.all; }
// while((CanShadow_.CANTA.all & mboxControl) == 0 );
// Clear TA (transmit acknowledge bit)
// CanShadow_.CANTA.all = 0;
// CanShadow_.CANTA.all |= mboxControl;
// p_CanRegs_->CANTA.all = CanShadow_.CANTA.all;
}
void CAN::updateTXMessage(Uint16 boxNumber, const CANMessage& message){ // TODO check trs bit and set it at the end if it was here. Once the TRS bit is set for a mailbox and then data is changed in the mailbox using the CDR
// 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(0);
p_MailBox = &(p_CanMBoxes_->MBOX0) + boxNumber;
// Set change data request (CDR bit + MBOX number)
p_CanRegs_->CANMC.all |= (128 + boxNumber);
// TODO Add lenght changing?
p_MailBox->MDL.all = message.mdl.all;
p_MailBox->MDH.all = message.mdh.all;
CanShadow_.CANMC.all = p_CanRegs_->CANMC.all;
CanShadow_.CANMC.bit.CDR = 0;
p_CanRegs_->CANMC.all = CanShadow_.CANMC.all;
}
void CAN::updateTXMessage(Uint16 boxNumber, const Uint64& message){ // TODO check trs bit and set it at the end if it was here. Once the TRS bit is set for a mailbox and then data is changed in the mailbox using the CDR
// 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(0);
p_MailBox = &(p_CanMBoxes_->MBOX0) + boxNumber;
// Set change data request (CDR bit + MBOX number)
p_CanRegs_->CANMC.all |= (128 + boxNumber);
// TODO Add lenght changing?
p_MailBox->MDL.all = message;
p_MailBox->MDH.all = message >> 32;
CanShadow_.CANMC.all = p_CanRegs_->CANMC.all;
CanShadow_.CANMC.bit.CDR = 0;
p_CanRegs_->CANMC.all = CanShadow_.CANMC.all;
}
void CAN::sendRemoteRequest(Uint16 boxNumber){
if (boxNumber > 31) return;
volatile MBOX* p_MailBox(0);
p_MailBox = &(p_CanMBoxes_->MBOX0) + boxNumber;
Uint32 mboxControl(0);
mboxControl = 1ul << boxNumber;
// Mailbox disable
CanShadow_.CANME.all = p_CanRegs_->CANME.all;
CanShadow_.CANME.all &= ~(mboxControl);
p_CanRegs_->CANME.all = CanShadow_.CANME.all;
p_MailBox->MSGCTRL.bit.RTR = 1;
// Mailbox enable
CanShadow_.CANME.all = p_CanRegs_->CANME.all;
CanShadow_.CANME.all |= mboxControl;
p_CanRegs_->CANME.all = CanShadow_.CANME.all;
// Set TRS for mailbox
CanShadow_.CANTRS.all = 0;
CanShadow_.CANTRS.all |= mboxControl;
p_CanRegs_->CANTRS.all = CanShadow_.CANTRS.all;
}
int16 CAN::receiveMsg(Uint16 boxNumber, CANMessage& rxMessage){ // TODO faults just return -1
if (boxNumber > 31) { return -1; }
Uint32 mboxControl(0);
mboxControl = 1ul << boxNumber;
volatile MBOX* p_MailBox(0);
p_MailBox = &(p_CanMBoxes_->MBOX0) + boxNumber;
bool isNewMessageInBox = p_CanRegs_->CANRMP.all & mboxControl;
if(!isNewMessageInBox) return -2;
p_CanRegs_->CANRMP.all &= mboxControl;
rxMessage.dataLength = 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) {
return -3;
}
return 0;
}
int16 CAN::receiveMsg(Uint16 boxNumber, Uint64& rxMessage){ // TODO faults just return -1
if (boxNumber > 31) { return -1; }
Uint32 mboxControl(0);
mboxControl = 1ul << boxNumber;
volatile MBOX* p_MailBox(0);
p_MailBox = &(p_CanMBoxes_->MBOX0) + boxNumber;
bool isNewMessageInBox = p_CanRegs_->CANRMP.all & mboxControl;
if(!isNewMessageInBox) return -2;
p_CanRegs_->CANRMP.all &= mboxControl;
rxMessage = p_MailBox->MDH.all;
rxMessage = rxMessage << 32;
rxMessage = p_MailBox->MDL.all;
bool newMessage;
bool lostMessage;
newMessage = p_CanRegs_->CANRMP.all & mboxControl;
lostMessage = p_CanRegs_->CANRML.all & mboxControl;
if(newMessage || lostMessage) {
return -3;
}
return 0;
}
bool CAN::isNewMessage(){
return static_cast<bool>(p_CanRegs_->CANRMP.all);
}
bool CAN::isNewMessage(Uint16 boxNumber){
if (boxNumber > 31) { return 0; }
Uint32 mboxControl(0);
mboxControl = 1ul << boxNumber;
bool isNewMessageInBox = p_CanRegs_->CANRMP.all & mboxControl;
return isNewMessageInBox;
}
void CAN::resetTimeStampCounter(){
EALLOW;
ECanbRegs.CANTSC = 0;
EDIS;
}
void CAN::setTimeOutValue(Uint16 boxNumber, Uint32 canBitsNumber){
if (boxNumber > 31) { return; }
volatile Uint32* p_MailBox(0);
p_MailBox = &(p_CanMotoRegs_->MOTO0) + boxNumber;
*p_MailBox = canBitsNumber;
}
bool CAN::isTimeOut(Uint16 boxNumber){
bool mBOXTimeOut = false;
mBOXTimeOut = p_CanRegs_->CANTOS.all & (1ul << boxNumber);
return mBOXTimeOut;
}
void CAN::clearTimeOutFlag(Uint16 boxNumber){
Uint32 clearFlag = 0;
clearFlag = 1ul << boxNumber;
p_CanRegs_->CANTOS.all = clearFlag;
}
} // canSpace

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#pragma once
#include "F28335/DSP28x_Project.h"
#include "F28335/DSP2833x_Device.h"
namespace canSpace {
enum CAN_VARIANT{
CANA,
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
Uint16 DLC:4; // 0:3
Uint16 RTR:1; // 4
Uint16 OPC:1; // 1
Uint16 rsvd1:2; // 7:6 reserved
Uint16 TPL:5; // 12:8
Uint16 rsvd2:3; // 15:13 reserved
};
union MsgCtrlReg {
Uint16 all;
struct MsgCtrlBits bit;
MsgCtrlReg(Uint16 configData = 0){
all = configData;
}
};
struct MsgID_Bits { // bits description
Uint16 EXTMSGID_L:16; // 0:15
Uint16 EXTMSGID_H:2; // 16:17
Uint16 STDMSGID:11; // 18:28
Uint16 AAM:1; // 29
Uint16 AME:1; // 30
Uint16 IDE:1; // 31
};
// Allow access to the bit fields or entire register
union MsgID {
Uint32 all;
struct MsgID_Bits bit;
MsgID(Uint32 boxID = 0xAAA, bool isExtendedID = false, bool isAAM = false, bool isAME = false) {
if(!isExtendedID){
bit.STDMSGID = boxID;
bit.EXTMSGID_H = 0;
bit.EXTMSGID_L = 0;
}
else{ all = boxID; }
bit.IDE = isExtendedID;
bit.AAM = isAAM;
bit.AME = isAME;
}
MsgID(const MsgID& init) {
all = init.all;
}
};
struct CANMessage {
Uint16 dataLength;
union CANMDL_REG mdl;
union CANMDH_REG mdh;
CANMessage(){
mdl.all = 0;
mdh.all = 0;
}
};
class CAN{
public:
CAN(CAN_VARIANT canVariant);
void initGpio();
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);
void configMBoxIsr(Uint16 boxNumber);
bool isNewMessage();
bool isNewMessage(Uint16 boxNumber);
void transmitMsg(Uint16 boxNumber, const CANMessage& message);
void transmitMsg(Uint16 boxNumber, const Uint64& message);
void transmitMsg(Uint16 boxNumber, const Uint64& message, const Uint16 dlc);
void updateTXMessage(Uint16 boxNumber, const CANMessage& message);
void updateTXMessage(Uint16 boxNumber, const Uint64& message);
void sendRemoteRequest(Uint16 boxNumber);
int16 receiveMsg(Uint16 boxNumber, CANMessage& rxMessage);
int16 receiveMsg(Uint16 boxNumber, Uint64& rxMessage);
void enableTimeOutControl(Uint16 boxNumber);
void disableTimeOutControl(Uint16 boxNumber);
void resetTimeStampCounter();
void setTimeOutValue(Uint16 boxNumber, Uint32 canBitsNumber);
bool isTimeOut(Uint16 boxNumber);
void clearTimeOutFlag(Uint16 boxNumber);
private:
CAN_VARIANT canPort;
volatile ECAN_REGS* p_CanRegs_;
ECAN_REGS CanShadow_;
volatile ECAN_MBOXES* p_CanMBoxes_;
volatile MOTO_REGS* p_CanMotoRegs_;
volatile MOTS_REGS* p_CanMotsRegs_;
};
} // canSpace

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#include "CAN.h"
#include "DSP2833x_ECan.h"
namespace canSpace {
CAN::CAN(CAN_VARIANT canVariant) :
canPort(canVariant),
p_CanRegs_(0),
p_CanMBoxes_(0),
p_CanMotoRegs_(0),
p_CanMotsRegs_(0)
{}
void CAN::initGpio(){
if(canPort == CANA) InitECanaGpio();
else if (canPort == CANB) InitECanbGpio();
}
void CAN::config(Uint16 baudrate, Uint16 flags){
if (canPort == CANA){
EALLOW;
SysCtrlRegs.PCLKCR0.bit.ECANAENCLK = 1;
EDIS;
p_CanRegs_ = &ECanaRegs;
p_CanMBoxes_ = &ECanaMboxes;
p_CanMotoRegs_ = &ECanaMOTORegs;
p_CanMotsRegs_ = &ECanaMOTSRegs;
}
else if (canPort == CANB){
EALLOW;
SysCtrlRegs.PCLKCR0.bit.ECANBENCLK = 1;
EDIS;
p_CanRegs_ = &ECanbRegs;
p_CanMBoxes_ = &ECanbMboxes;
p_CanMotoRegs_ = &ECanbMOTORegs;
p_CanMotsRegs_ = &ECanbMOTSRegs;
}
else { return; }
// Create a shadow register structure for the CAN control registers. This // TODO add this into description
// 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
EALLOW;
// Configure eCAN RX and TX pins for CAN operation using eCAN regs
CanShadow_.CANTIOC.all = p_CanRegs_->CANTIOC.all;
CanShadow_.CANTIOC.bit.TXFUNC = 1;
p_CanRegs_->CANTIOC.all = CanShadow_.CANTIOC.all;
CanShadow_.CANRIOC.all = p_CanRegs_->CANRIOC.all;
CanShadow_.CANRIOC.bit.RXFUNC = 1;
p_CanRegs_->CANRIOC.all = CanShadow_.CANRIOC.all;
// Configure eCAN for HECC mode - (reqd to access mailboxes 16 thru 31)
// HECC mode also enables time-stamping feature
CanShadow_.CANMC.all = p_CanRegs_->CANMC.all;
CanShadow_.CANMC.bit.SCB = 1;
p_CanRegs_->CANMC.all = CanShadow_.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
p_CanMBoxes_->MBOX0.MSGCTRL.all = 0x00000000;
p_CanMBoxes_->MBOX1.MSGCTRL.all = 0x00000000;
p_CanMBoxes_->MBOX2.MSGCTRL.all = 0x00000000;
p_CanMBoxes_->MBOX3.MSGCTRL.all = 0x00000000;
p_CanMBoxes_->MBOX4.MSGCTRL.all = 0x00000000;
p_CanMBoxes_->MBOX5.MSGCTRL.all = 0x00000000;
p_CanMBoxes_->MBOX6.MSGCTRL.all = 0x00000000;
p_CanMBoxes_->MBOX7.MSGCTRL.all = 0x00000000;
p_CanMBoxes_->MBOX8.MSGCTRL.all = 0x00000000;
p_CanMBoxes_->MBOX9.MSGCTRL.all = 0x00000000;
p_CanMBoxes_->MBOX10.MSGCTRL.all = 0x00000000;
p_CanMBoxes_->MBOX11.MSGCTRL.all = 0x00000000;
p_CanMBoxes_->MBOX12.MSGCTRL.all = 0x00000000;
p_CanMBoxes_->MBOX13.MSGCTRL.all = 0x00000000;
p_CanMBoxes_->MBOX14.MSGCTRL.all = 0x00000000;
p_CanMBoxes_->MBOX15.MSGCTRL.all = 0x00000000;
p_CanMBoxes_->MBOX16.MSGCTRL.all = 0x00000000;
p_CanMBoxes_->MBOX17.MSGCTRL.all = 0x00000000;
p_CanMBoxes_->MBOX18.MSGCTRL.all = 0x00000000;
p_CanMBoxes_->MBOX19.MSGCTRL.all = 0x00000000;
p_CanMBoxes_->MBOX20.MSGCTRL.all = 0x00000000;
p_CanMBoxes_->MBOX21.MSGCTRL.all = 0x00000000;
p_CanMBoxes_->MBOX22.MSGCTRL.all = 0x00000000;
p_CanMBoxes_->MBOX23.MSGCTRL.all = 0x00000000;
p_CanMBoxes_->MBOX24.MSGCTRL.all = 0x00000000;
p_CanMBoxes_->MBOX25.MSGCTRL.all = 0x00000000;
p_CanMBoxes_->MBOX26.MSGCTRL.all = 0x00000000;
p_CanMBoxes_->MBOX27.MSGCTRL.all = 0x00000000;
p_CanMBoxes_->MBOX28.MSGCTRL.all = 0x00000000;
p_CanMBoxes_->MBOX29.MSGCTRL.all = 0x00000000;
p_CanMBoxes_->MBOX30.MSGCTRL.all = 0x00000000;
p_CanMBoxes_->MBOX31.MSGCTRL.all = 0x00000000;
// TAn, RMPn, GIFn bits are all zero upon reset and are cleared again
// as a matter of precaution.
p_CanRegs_->CANTA.all = 0xFFFFFFFF;
p_CanRegs_->CANRMP.all = 0xFFFFFFFF;
p_CanRegs_->CANGIF0.all = 0xFFFFFFFF;
p_CanRegs_->CANGIF1.all = 0xFFFFFFFF;
// Configure bit timing parameters for eCANA
CanShadow_.CANMC.all = p_CanRegs_->CANMC.all;
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 );
// MSB - 0; LSB - 1
CanShadow_.CANMC.all = p_CanRegs_->CANMC.all;
if (flags & MSB_ENABLE){
CanShadow_.CANMC.bit.DBO = 0;
}
else
{ CanShadow_.CANMC.bit.DBO = 1; }
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;
CanShadow_.CANBTC.bit.TSEG2REG = 3;
CanShadow_.CANBTC.bit.TSEG1REG = 9;
break;
case 500:
CanShadow_.CANBTC.bit.BRPREG = 9;
CanShadow_.CANBTC.bit.TSEG2REG = 3;
CanShadow_.CANBTC.bit.TSEG1REG = 9;
break;
case 250:
CanShadow_.CANBTC.bit.BRPREG = 19;
CanShadow_.CANBTC.bit.TSEG2REG = 3;
CanShadow_.CANBTC.bit.TSEG1REG = 9;
break;
case 100:
CanShadow_.CANBTC.bit.BRPREG = 49;
CanShadow_.CANBTC.bit.TSEG2REG = 3;
CanShadow_.CANBTC.bit.TSEG1REG = 9;
break;
default: return;
}
CanShadow_.CANBTC.bit.SAM = 1;
p_CanRegs_->CANBTC.all = CanShadow_.CANBTC.all;
CanShadow_.CANMC.all = p_CanRegs_->CANMC.all;
CanShadow_.CANMC.bit.CCR = 0 ;
p_CanRegs_->CANMC.all = CanShadow_.CANMC.all;
do { CanShadow_.CANES.all = p_CanRegs_->CANES.all; }
while(CanShadow_.CANES.bit.CCE != 0 ); // Wait for CCE bit to be cleared
// Disable all Mailboxes
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;
if (flags & STM_ENABLE){
CanShadow_.CANMC.bit.STM = 1;
}
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(0);
p_MailBox = &(p_CanMBoxes_->MBOX0) + boxNumber;
Uint32 mboxControl(0);
mboxControl = 1ul << boxNumber;
// Reset transmittion
if (CanShadow_.CANTRS.all &= mboxControl)
{
CanShadow_.CANTRR.all = p_CanRegs_->CANTRR.all;
CanShadow_.CANTRR.all |= mboxControl;
p_CanRegs_->CANTRR.all = CanShadow_.CANTRR.all;
do {CanShadow_.CANTRS.all = p_CanRegs_->CANTRS.all;}
while((CanShadow_.CANTRS.all & mboxControl) != 0); // Wait for TRS bit to be cleared
}
// Mailbox disable
CanShadow_.CANME.all = p_CanRegs_->CANME.all;
CanShadow_.CANME.all &= ~(mboxControl);
p_CanRegs_->CANME.all = CanShadow_.CANME.all;
// Write to the MSGID field
p_MailBox->MSGID.all = configID.all;
// Mailbox direction - transmit
CanShadow_.CANMD.all = p_CanRegs_->CANMD.all;
CanShadow_.CANMD.all &= ~(mboxControl);
p_CanRegs_->CANMD.all = CanShadow_.CANMD.all;
// Config MBOX control reg
p_MailBox->MSGCTRL.all = configCtrlReg.all;
// Mailbox enable
CanShadow_.CANME.all = p_CanRegs_->CANME.all;
CanShadow_.CANME.all |= mboxControl;
p_CanRegs_->CANME.all = CanShadow_.CANME.all;
}
void CAN::configRxMBox(Uint16 boxNumber, const MsgID& configID, const MsgCtrlReg& configCtrlReg){
if (boxNumber > 31) return;
volatile MBOX* p_MailBox(0);
p_MailBox = &(p_CanMBoxes_->MBOX0) + boxNumber;
Uint32 mboxControl(0);
mboxControl = 1ul << boxNumber;
// Mailbox disable
CanShadow_.CANME.all = p_CanRegs_->CANME.all;
CanShadow_.CANME.all &= ~(mboxControl);
p_CanRegs_->CANME.all = CanShadow_.CANME.all;
// Write to the MSGID field
p_MailBox->MSGID.all = 0x0;
p_MailBox->MSGID.all = configID.all;
// Write to DLC and RTR field in control reg
p_MailBox->MSGCTRL.bit.DLC = configCtrlReg.bit.DLC;
p_MailBox->MSGCTRL.bit.RTR = configCtrlReg.bit.RTR;
// Configure Mailbox under test as a Receive mailbox
CanShadow_.CANMD.all = p_CanRegs_->CANMD.all;
CanShadow_.CANMD.all |= mboxControl;
p_CanRegs_->CANMD.all = CanShadow_.CANMD.all;
// Overwrite protection
// If "ON" make sure that an additional mailbox is configured to store ’overflow’ messages.
if(configCtrlReg.bit.OPC){
CanShadow_.CANOPC.all = p_CanRegs_->CANOPC.all;
CanShadow_.CANOPC.all |= mboxControl;
p_CanRegs_->CANOPC.all = CanShadow_.CANOPC.all;
}
// Enable Mailbox
CanShadow_.CANME.all = p_CanRegs_->CANME.all;
CanShadow_.CANME.all |= mboxControl;
p_CanRegs_->CANME.all = CanShadow_.CANME.all;
}
void CAN::configSystemIsr(Uint32 flags){
EALLOW;
p_CanRegs_->CANGIM.all = flags;
EDIS;
}
void CAN::configMBoxIsr(Uint16 boxNumber){
if (boxNumber > 31) return;
Uint32 mboxControl(0);
mboxControl = 1ul << boxNumber;
EALLOW;
p_CanRegs_->CANMIL.all |= mboxControl;
p_CanRegs_->CANMIM.all |= mboxControl;
EDIS;
}
void CAN::enableTimeOutControl(Uint16 boxNumber){
if (boxNumber > 31) return;
Uint32 mboxControl(0);
mboxControl = p_CanRegs_->CANTOC.all;
mboxControl |= 1ul << boxNumber;
p_CanRegs_->CANTOC.all = mboxControl;
}
void CAN::disableTimeOutControl(Uint16 boxNumber){
if (boxNumber > 31) return;
Uint32 mboxControl(0);
mboxControl = p_CanRegs_->CANTOC.all;
mboxControl &= ~(1ul << boxNumber);
p_CanRegs_->CANTOC.all = mboxControl;
}
} //canSpace

17
Protocol/CAN_data.h
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#pragma once
namespace canSpace {
enum MBOX_NUMBERS {
MODBUS_SETTINGS_MBOX = 0,
COMM_VERSION_MBOX = 1,
MODBUS_DATA_COMM_TO_CPU_RSV2_MBOX = 26,
MODBUS_DATA_COMM_TO_CPU_RSV1_MBOX = 27,
MODBUS_DATA_CPU_TO_COMM_MBOX = 28,
MODBUS_DATA_COMM_TO_CPU_MBOX = 29,
DIGITAL_INPUT_MBOX = 30,
DIGITAL_OUTPUT_MBOX = 31
};
}

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Protocol/DigitalIO.cpp
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#include "DigitalIO.h"
namespace interface{
DigitalIO::DigitalIO():
m_pointer(0)
{}
void DigitalIO::setup(Uint16 *memzone){
m_pointer = memzone;// + OFFSET_DATA_DISCRETE_IO;
}
void DigitalIO::setMemoryOffset(Uint16 offset){
m_pointer += offset;
}
void DigitalIO::readDigitalIO(Uint16& data){
asm(" NOP");
asm(" NOP");
asm(" NOP");
data = *m_pointer;
asm(" NOP");
asm(" NOP");
asm(" NOP");
}
void DigitalIO::writeDigitalIO(Uint16& data) const{
asm(" NOP");
asm(" NOP");
asm(" NOP");
*m_pointer = data;
asm(" NOP");
asm(" NOP");
asm(" NOP");
}
} // interface

63
Protocol/DigitalIO.h
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#pragma once
#include "DSP28x_Project.h"
namespace interface
{
struct DigitalIODataBitField
{
Uint16 b00: 1;
Uint16 b01: 1;
Uint16 b02: 1;
Uint16 b03: 1;
Uint16 b04: 1;
Uint16 b05: 1;
Uint16 b06: 1;
Uint16 b07: 1;
Uint16 b08: 1;
Uint16 b09: 1;
Uint16 b10: 1;
Uint16 b11: 1;
Uint16 b12: 1;
Uint16 b13: 1;
Uint16 b14: 1;
Uint16 b15: 1;
};
union DigitalIODataRegister
{
Uint16 all;
DigitalIODataBitField bit;
DigitalIODataRegister():
all(0)
{}
};
struct DigitalIOData
{
DigitalIODataRegister input;
DigitalIODataRegister output;
DigitalIOData():
input(),
output()
{}
};
class DigitalIO {
public:
DigitalIO();
void setup(Uint16 *memzone);
void setMemoryOffset(Uint16 offset);
void readDigitalIO(Uint16& data);
void writeDigitalIO(Uint16& data) const;
private:
Uint16 *m_pointer;
};
} // interface

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Protocol/MemoryMap.h
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#pragma once
namespace interface {
enum MemoryOffset {
SOFT_VERSION_OFFSET = static_cast<Uint16>(0x0),
DISCRETE_DATA_OFFSET = static_cast<Uint16>(0xA),
PROFIBUS_OFFSET = static_cast<Uint16>(0x14)
};
}

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cmd/28335_RAM_lnk.cmd
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/*
//###########################################################################
//
// FILE: 28335_RAM_lnk.cmd
//
// TITLE: Linker Command File For 28335 examples that run out of RAM
//
// This ONLY includes all SARAM blocks on the 28335 device.
// This does not include flash or OTP.
//
// Keep in mind that L0 and L1 are protected by the code
// security module.
//
// What this means is in most cases you will want to move to
// another memory map file which has more memory defined.
//
//###########################################################################
// $TI Release: F2833x/F2823x Header Files and Peripheral Examples V142 $
// $Release Date: November 1, 2016 $
// $Copyright: Copyright (C) 2007-2016 Texas Instruments Incorporated -
// http://www.ti.com/ ALL RIGHTS RESERVED $
//###########################################################################
*/
/* ======================================================
// For Code Composer Studio V2.2 and later
// ---------------------------------------
// In addition to this memory linker command file,
// add the header linker command file directly to the project.
// The header linker command file is required to link the
// peripheral structures to the proper locations within
// the memory map.
//
// The header linker files are found in <base>\DSP2833x_Headers\cmd
//
// For BIOS applications add: DSP2833x_Headers_BIOS.cmd
// For nonBIOS applications add: DSP2833x_Headers_nonBIOS.cmd
========================================================= */
/* ======================================================
// For Code Composer Studio prior to V2.2
// --------------------------------------
// 1) Use one of the following -l statements to include the
// header linker command file in the project. The header linker
// file is required to link the peripheral structures to the proper
// locations within the memory map */
/* Uncomment this line to include file only for non-BIOS applications */
/* -l DSP2833x_Headers_nonBIOS.cmd */
/* Uncomment this line to include file only for BIOS applications */
/* -l DSP2833x_Headers_BIOS.cmd */
/* 2) In your project add the path to <base>\DSP2833x_headers\cmd to the
library search path under project->build options, linker tab,
library search path (-i).
/*========================================================= */
/* Define the memory block start/length for the F28335
PAGE 0 will be used to organize program sections
PAGE 1 will be used to organize data sections
Notes:
Memory blocks on F28335 are uniform (ie same
physical memory) in both PAGE 0 and PAGE 1.
That is the same memory region should not be
defined for both PAGE 0 and PAGE 1.
Doing so will result in corruption of program
and/or data.
L0/L1/L2 and L3 memory blocks are mirrored - that is
they can be accessed in high memory or low memory.
For simplicity only one instance is used in this
linker file.
Contiguous SARAM memory blocks can be combined
if required to create a larger memory block.
*/
MEMORY
{
PAGE 0 :
/* BEGIN is used for the "boot to SARAM" bootloader mode */
BEGIN : origin = 0x000000, length = 0x000002 /* Boot to M0 will go here */
RAMM0 : origin = 0x000050, length = 0x0003B0
RAML0 : origin = 0x008000, length = 0x001000
RAML1 : origin = 0x009000, length = 0x001000
RAML2 : origin = 0x00A000, length = 0x001000
RAML3 : origin = 0x00B000, length = 0x001000
ZONE7A : origin = 0x200000, length = 0x00FC00 /* XINTF zone 7 - program space */
CSM_RSVD : origin = 0x33FF80, length = 0x000076 /* Part of FLASHA. Program with all 0x0000 when CSM is in use. */
CSM_PWL : origin = 0x33FFF8, length = 0x000008 /* Part of FLASHA. CSM password locations in FLASHA */
ADC_CAL : origin = 0x380080, length = 0x000009
RESET : origin = 0x3FFFC0, length = 0x000002
IQTABLES : origin = 0x3FE000, length = 0x000b50
IQTABLES2 : origin = 0x3FEB50, length = 0x00008c
FPUTABLES : origin = 0x3FEBDC, length = 0x0006A0
BOOTROM : origin = 0x3FF27C, length = 0x000D44
PAGE 1 :
/* BOOT_RSVD is used by the boot ROM for stack. */
/* This section is only reserved to keep the BOOT ROM from */
/* corrupting this area during the debug process */
BOOT_RSVD : origin = 0x000002, length = 0x00004E /* Part of M0, BOOT rom will use this for stack */
RAMM1 : origin = 0x000400, length = 0x000400 /* on-chip RAM block M1 */
RAML4 : origin = 0x00C000, length = 0x001000
RAML5 : origin = 0x00D000, length = 0x001000
RAML6 : origin = 0x00E000, length = 0x001000
RAML7 : origin = 0x00F000, length = 0x001000
ZONE7B : origin = 0x20FC00, length = 0x000400 /* XINTF zone 7 - data space */
}
SECTIONS
{
/* Setup for "boot to SARAM" mode:
The codestart section (found in DSP28_CodeStartBranch.asm)
re-directs execution to the start of user code. */
codestart : > BEGIN, PAGE = 0
ramfuncs : > RAML0, PAGE = 0
.text : > RAML1, PAGE = 0
.InitBoot : > RAML1, PAGE = 0
.cinit : > RAML0, PAGE = 0
.pinit : > RAML0, PAGE = 0
.switch : > RAML0, PAGE = 0
.stack : > RAMM1, PAGE = 1
.ebss : > RAML4, PAGE = 1
.econst : > RAML5, PAGE = 1
.esysmem : > RAMM1, PAGE = 1
IQmath : > RAML1, PAGE = 0
IQmathTables : > IQTABLES, PAGE = 0, TYPE = NOLOAD
/* Uncomment the section below if calling the IQNexp() or IQexp()
functions from the IQMath.lib library in order to utilize the
relevant IQ Math table in Boot ROM (This saves space and Boot ROM
is 1 wait-state). If this section is not uncommented, IQmathTables2
will be loaded into other memory (SARAM, Flash, etc.) and will take
up space, but 0 wait-state is possible.
*/
/*
IQmathTables2 : > IQTABLES2, PAGE = 0, TYPE = NOLOAD
{
IQmath.lib<IQNexpTable.obj> (IQmathTablesRam)
}
*/
FPUmathTables : > FPUTABLES, PAGE = 0, TYPE = NOLOAD
DMARAML4 : > RAML4, PAGE = 1
DMARAML5 : > RAML5, PAGE = 1
DMARAML6 : > RAML6, PAGE = 1
DMARAML7 : > RAML7, PAGE = 1
ZONE7DATA : > ZONE7B, PAGE = 1
.reset : > RESET, PAGE = 0, TYPE = DSECT /* not used */
csm_rsvd : > CSM_RSVD PAGE = 0, TYPE = DSECT /* not used for SARAM examples */
csmpasswds : > CSM_PWL PAGE = 0, TYPE = DSECT /* not used for SARAM examples */
/* Allocate ADC_cal function (pre-programmed by factory into TI reserved memory) */
.adc_cal : load = ADC_CAL, PAGE = 0, TYPE = NOLOAD
}
/*
//===========================================================================
// End of file.
//===========================================================================
*/

183
cmd/DSP2833x_Headers_nonBIOS.cmd
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/*
//###########################################################################
//
// FILE: DSP2833x_Headers_nonBIOS.cmd
//
// TITLE: DSP2833x Peripheral registers linker command file
//
// DESCRIPTION:
//
// This file is for use in Non-BIOS applications.
//
// Linker command file to place the peripheral structures
// used within the DSP2833x headerfiles into the correct memory
// mapped locations.
//
// This version of the file includes the PieVectorTable structure.
// For BIOS applications, please use the DSP2833x_Headers_BIOS.cmd file
// which does not include the PieVectorTable structure.
//
//###########################################################################
// $TI Release: F2833x/F2823x Header Files and Peripheral Examples V142 $
// $Release Date: November 1, 2016 $
// $Copyright: Copyright (C) 2007-2016 Texas Instruments Incorporated -
// http://www.ti.com/ ALL RIGHTS RESERVED $
//###########################################################################
*/
MEMORY
{
PAGE 0: /* Program Memory */
PAGE 1: /* Data Memory */
DEV_EMU : origin = 0x000880, length = 0x000180 /* device emulation registers */
FLASH_REGS : origin = 0x000A80, length = 0x000060 /* FLASH registers */
CSM : origin = 0x000AE0, length = 0x000010 /* code security module registers */
ADC_MIRROR : origin = 0x000B00, length = 0x000010 /* ADC Results register mirror */
XINTF : origin = 0x000B20, length = 0x000020 /* external interface registers */
CPU_TIMER0 : origin = 0x000C00, length = 0x000008 /* CPU Timer0 registers */
CPU_TIMER1 : origin = 0x000C08, length = 0x000008 /* CPU Timer0 registers (CPU Timer1 & Timer2 reserved TI use)*/
CPU_TIMER2 : origin = 0x000C10, length = 0x000008 /* CPU Timer0 registers (CPU Timer1 & Timer2 reserved TI use)*/
PIE_CTRL : origin = 0x000CE0, length = 0x000020 /* PIE control registers */
PIE_VECT : origin = 0x000D00, length = 0x000100 /* PIE Vector Table */
DMA : origin = 0x001000, length = 0x000200 /* DMA registers */
MCBSPA : origin = 0x005000, length = 0x000040 /* McBSP-A registers */
MCBSPB : origin = 0x005040, length = 0x000040 /* McBSP-B registers */
ECANA : origin = 0x006000, length = 0x000040 /* eCAN-A control and status registers */
ECANA_LAM : origin = 0x006040, length = 0x000040 /* eCAN-A local acceptance masks */
ECANA_MOTS : origin = 0x006080, length = 0x000040 /* eCAN-A message object time stamps */
ECANA_MOTO : origin = 0x0060C0, length = 0x000040 /* eCAN-A object time-out registers */
ECANA_MBOX : origin = 0x006100, length = 0x000100 /* eCAN-A mailboxes */
ECANB : origin = 0x006200, length = 0x000040 /* eCAN-B control and status registers */
ECANB_LAM : origin = 0x006240, length = 0x000040 /* eCAN-B local acceptance masks */
ECANB_MOTS : origin = 0x006280, length = 0x000040 /* eCAN-B message object time stamps */
ECANB_MOTO : origin = 0x0062C0, length = 0x000040 /* eCAN-B object time-out registers */
ECANB_MBOX : origin = 0x006300, length = 0x000100 /* eCAN-B mailboxes */
EPWM1 : origin = 0x006800, length = 0x000022 /* Enhanced PWM 1 registers */
EPWM2 : origin = 0x006840, length = 0x000022 /* Enhanced PWM 2 registers */
EPWM3 : origin = 0x006880, length = 0x000022 /* Enhanced PWM 3 registers */
EPWM4 : origin = 0x0068C0, length = 0x000022 /* Enhanced PWM 4 registers */
EPWM5 : origin = 0x006900, length = 0x000022 /* Enhanced PWM 5 registers */
EPWM6 : origin = 0x006940, length = 0x000022 /* Enhanced PWM 6 registers */
ECAP1 : origin = 0x006A00, length = 0x000020 /* Enhanced Capture 1 registers */
ECAP2 : origin = 0x006A20, length = 0x000020 /* Enhanced Capture 2 registers */
ECAP3 : origin = 0x006A40, length = 0x000020 /* Enhanced Capture 3 registers */
ECAP4 : origin = 0x006A60, length = 0x000020 /* Enhanced Capture 4 registers */
ECAP5 : origin = 0x006A80, length = 0x000020 /* Enhanced Capture 5 registers */
ECAP6 : origin = 0x006AA0, length = 0x000020 /* Enhanced Capture 6 registers */
EQEP1 : origin = 0x006B00, length = 0x000040 /* Enhanced QEP 1 registers */
EQEP2 : origin = 0x006B40, length = 0x000040 /* Enhanced QEP 2 registers */
GPIOCTRL : origin = 0x006F80, length = 0x000040 /* GPIO control registers */
GPIODAT : origin = 0x006FC0, length = 0x000020 /* GPIO data registers */
GPIOINT : origin = 0x006FE0, length = 0x000020 /* GPIO interrupt/LPM registers */
SYSTEM : origin = 0x007010, length = 0x000020 /* System control registers */
SPIA : origin = 0x007040, length = 0x000010 /* SPI-A registers */
SCIA : origin = 0x007050, length = 0x000010 /* SCI-A registers */
XINTRUPT : origin = 0x007070, length = 0x000010 /* external interrupt registers */
ADC : origin = 0x007100, length = 0x000020 /* ADC registers */
SCIB : origin = 0x007750, length = 0x000010 /* SCI-B registers */
SCIC : origin = 0x007770, length = 0x000010 /* SCI-C registers */
I2CA : origin = 0x007900, length = 0x000040 /* I2C-A registers */
CSM_PWL : origin = 0x33FFF8, length = 0x000008 /* Part of FLASHA. CSM password locations. */
PARTID : origin = 0x380090, length = 0x000001 /* Part ID register location */
}
SECTIONS
{
PieVectTableFile : > PIE_VECT, PAGE = 1
/*** Peripheral Frame 0 Register Structures ***/
DevEmuRegsFile : > DEV_EMU, PAGE = 1
FlashRegsFile : > FLASH_REGS, PAGE = 1
CsmRegsFile : > CSM, PAGE = 1
AdcMirrorFile : > ADC_MIRROR, PAGE = 1
XintfRegsFile : > XINTF, PAGE = 1
CpuTimer0RegsFile : > CPU_TIMER0, PAGE = 1
CpuTimer1RegsFile : > CPU_TIMER1, PAGE = 1
CpuTimer2RegsFile : > CPU_TIMER2, PAGE = 1
PieCtrlRegsFile : > PIE_CTRL, PAGE = 1
DmaRegsFile : > DMA, PAGE = 1
/*** Peripheral Frame 3 Register Structures ***/
McbspaRegsFile : > MCBSPA, PAGE = 1
McbspbRegsFile : > MCBSPB, PAGE = 1
/*** Peripheral Frame 1 Register Structures ***/
ECanaRegsFile : > ECANA, PAGE = 1
ECanaLAMRegsFile : > ECANA_LAM PAGE = 1
ECanaMboxesFile : > ECANA_MBOX PAGE = 1
ECanaMOTSRegsFile : > ECANA_MOTS PAGE = 1
ECanaMOTORegsFile : > ECANA_MOTO PAGE = 1
ECanbRegsFile : > ECANB, PAGE = 1
ECanbLAMRegsFile : > ECANB_LAM PAGE = 1
ECanbMboxesFile : > ECANB_MBOX PAGE = 1
ECanbMOTSRegsFile : > ECANB_MOTS PAGE = 1
ECanbMOTORegsFile : > ECANB_MOTO PAGE = 1
EPwm1RegsFile : > EPWM1 PAGE = 1
EPwm2RegsFile : > EPWM2 PAGE = 1
EPwm3RegsFile : > EPWM3 PAGE = 1
EPwm4RegsFile : > EPWM4 PAGE = 1
EPwm5RegsFile : > EPWM5 PAGE = 1
EPwm6RegsFile : > EPWM6 PAGE = 1
ECap1RegsFile : > ECAP1 PAGE = 1
ECap2RegsFile : > ECAP2 PAGE = 1
ECap3RegsFile : > ECAP3 PAGE = 1
ECap4RegsFile : > ECAP4 PAGE = 1
ECap5RegsFile : > ECAP5 PAGE = 1
ECap6RegsFile : > ECAP6 PAGE = 1
EQep1RegsFile : > EQEP1 PAGE = 1
EQep2RegsFile : > EQEP2 PAGE = 1
GpioCtrlRegsFile : > GPIOCTRL PAGE = 1
GpioDataRegsFile : > GPIODAT PAGE = 1
GpioIntRegsFile : > GPIOINT PAGE = 1
/*** Peripheral Frame 2 Register Structures ***/
SysCtrlRegsFile : > SYSTEM, PAGE = 1
SpiaRegsFile : > SPIA, PAGE = 1
SciaRegsFile : > SCIA, PAGE = 1
XIntruptRegsFile : > XINTRUPT, PAGE = 1
AdcRegsFile : > ADC, PAGE = 1
ScibRegsFile : > SCIB, PAGE = 1
ScicRegsFile : > SCIC, PAGE = 1
I2caRegsFile : > I2CA, PAGE = 1
/*** Code Security Module Register Structures ***/
CsmPwlFile : > CSM_PWL, PAGE = 1
/*** Device Part ID Register Structures ***/
PartIdRegsFile : > PARTID, PAGE = 1
}
/*
//===========================================================================
// End of file.
//===========================================================================
*/

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/*
//###########################################################################
//
// FILE: F28335.cmd
//
// TITLE: Linker Command File For F28335 Device
//
//###########################################################################
// $TI Release: F2833x/F2823x Header Files and Peripheral Examples V142 $
// $Release Date: November 1, 2016 $
// $Copyright: Copyright (C) 2007-2016 Texas Instruments Incorporated -
// http://www.ti.com/ ALL RIGHTS RESERVED $
//###########################################################################
*/
/* ======================================================
// For Code Composer Studio V2.2 and later
// ---------------------------------------
// In addition to this memory linker command file,
// add the header linker command file directly to the project.
// The header linker command file is required to link the
// peripheral structures to the proper locations within
// the memory map.
//
// The header linker files are found in <base>\DSP2833x_Headers\cmd
//
// For BIOS applications add: DSP2833x_Headers_BIOS.cmd
// For nonBIOS applications add: DSP2833x_Headers_nonBIOS.cmd
========================================================= */
/* ======================================================
// For Code Composer Studio prior to V2.2
// --------------------------------------
// 1) Use one of the following -l statements to include the
// header linker command file in the project. The header linker
// file is required to link the peripheral structures to the proper
// locations within the memory map */
/* Uncomment this line to include file only for non-BIOS applications */
/* -l DSP2833x_Headers_nonBIOS.cmd */
/* Uncomment this line to include file only for BIOS applications */
/* -l DSP2833x_Headers_BIOS.cmd */
/* 2) In your project add the path to <base>\DSP2833x_headers\cmd to the
library search path under project->build options, linker tab,
library search path (-i).
/*========================================================= */
/* Define the memory block start/length for the F28335
PAGE 0 will be used to organize program sections
PAGE 1 will be used to organize data sections
Notes:
Memory blocks on F28335 are uniform (ie same
physical memory) in both PAGE 0 and PAGE 1.
That is the same memory region should not be
defined for both PAGE 0 and PAGE 1.
Doing so will result in corruption of program
and/or data.
L0/L1/L2 and L3 memory blocks are mirrored - that is
they can be accessed in high memory or low memory.
For simplicity only one instance is used in this
linker file.
Contiguous SARAM memory blocks can be combined
if required to create a larger memory block.
*/
MEMORY
{
PAGE 0: /* Program Memory */
/* Memory (RAM/FLASH/OTP) blocks can be moved to PAGE1 for data allocation */
ZONE0 : origin = 0x004000, length = 0x001000 /* XINTF zone 0 */
RAML0 : origin = 0x008000, length = 0x001000 /* on-chip RAM block L0 */
RAML1 : origin = 0x009000, length = 0x001000 /* on-chip RAM block L1 */
RAML2 : origin = 0x00A000, length = 0x001000 /* on-chip RAM block L2 */
RAML3 : origin = 0x00B000, length = 0x001000 /* on-chip RAM block L3 */
ZONE6 : origin = 0x0100000, length = 0x100000 /* XINTF zone 6 */
ZONE7A : origin = 0x0200000, length = 0x00FC00 /* XINTF zone 7 - program space */
FLASHH : origin = 0x300000, length = 0x008000 /* on-chip FLASH */
FLASHG : origin = 0x308000, length = 0x008000 /* on-chip FLASH */
FLASHF : origin = 0x310000, length = 0x008000 /* on-chip FLASH */
FLASHE : origin = 0x318000, length = 0x008000 /* on-chip FLASH */
FLASHD : origin = 0x320000, length = 0x008000 /* on-chip FLASH */
FLASHC : origin = 0x328000, length = 0x008000 /* on-chip FLASH */
FLASHA : origin = 0x338000, length = 0x007F80 /* on-chip FLASH */
CSM_RSVD : origin = 0x33FF80, length = 0x000076 /* Part of FLASHA. Program with all 0x0000 when CSM is in use. */
BEGIN : origin = 0x33FFF6, length = 0x000002 /* Part of FLASHA. Used for "boot to Flash" bootloader mode. */
CSM_PWL : origin = 0x33FFF8, length = 0x000008 /* Part of FLASHA. CSM password locations in FLASHA */
OTP : origin = 0x380400, length = 0x000400 /* on-chip OTP */
ADC_CAL : origin = 0x380080, length = 0x000009 /* ADC_cal function in Reserved memory */
IQTABLES : origin = 0x3FE000, length = 0x000b50 /* IQ Math Tables in Boot ROM */
IQTABLES2 : origin = 0x3FEB50, length = 0x00008c /* IQ Math Tables in Boot ROM */
FPUTABLES : origin = 0x3FEBDC, length = 0x0006A0 /* FPU Tables in Boot ROM */
ROM : origin = 0x3FF27C, length = 0x000D44 /* Boot ROM */
RESET : origin = 0x3FFFC0, length = 0x000002 /* part of boot ROM */
VECTORS : origin = 0x3FFFC2, length = 0x00003E /* part of boot ROM */
PAGE 1 : /* Data Memory */
/* Memory (RAM/FLASH/OTP) blocks can be moved to PAGE0 for program allocation */
/* Registers remain on PAGE1 */
BOOT_RSVD : origin = 0x000000, length = 0x000050 /* Part of M0, BOOT rom will use this for stack */
RAMM0 : origin = 0x000050, length = 0x0003B0 /* on-chip RAM block M0 */
RAMM1 : origin = 0x000400, length = 0x000400 /* on-chip RAM block M1 */
RAML4 : origin = 0x00C000, length = 0x001000 /* on-chip RAM block L1 */
RAML5 : origin = 0x00D000, length = 0x001000 /* on-chip RAM block L1 */
RAML6 : origin = 0x00E000, length = 0x001000 /* on-chip RAM block L1 */
RAML7 : origin = 0x00F000, length = 0x001000 /* on-chip RAM block L1 */
ZONE7B : origin = 0x20FC00, length = 0x000400 /* XINTF zone 7 - data space */
FLASHB : origin = 0x330000, length = 0x008000 /* on-chip FLASH */
}
/* Allocate sections to memory blocks.
Note:
codestart user defined section in DSP28_CodeStartBranch.asm used to redirect code
execution when booting to flash
ramfuncs user defined section to store functions that will be copied from Flash into RAM
*/
SECTIONS
{
/* Allocate program areas: */
.cinit : > FLASHA PAGE = 0
.pinit : > FLASHA, PAGE = 0
.text : > FLASHA PAGE = 0
codestart : > BEGIN PAGE = 0
ramfuncs : LOAD = FLASHD,
RUN = RAML0,
LOAD_START(_RamfuncsLoadStart),
LOAD_END(_RamfuncsLoadEnd),
RUN_START(_RamfuncsRunStart),
LOAD_SIZE(_RamfuncsLoadSize),
PAGE = 0
csmpasswds : > CSM_PWL PAGE = 0
csm_rsvd : > CSM_RSVD PAGE = 0
/* Allocate uninitalized data sections: */
.stack : > RAML7 PAGE = 1 // CHANGES RAMM1 was here. Also 0x400 was added in linker general options (in -heap) and 0x300 at stack was changed to 0x400
.ebss : > RAML4 PAGE = 1
.esysmem : > RAMM1 PAGE = 1
/* Initalized sections go in Flash */
/* For SDFlash to program these, they must be allocated to page 0 */
.econst : > FLASHA PAGE = 0
.switch : > FLASHA PAGE = 0
/* Allocate IQ math areas: */
IQmath : > FLASHC PAGE = 0 /* Math Code */
IQmathTables : > IQTABLES, PAGE = 0, TYPE = NOLOAD
/* Uncomment the section below if calling the IQNexp() or IQexp()
functions from the IQMath.lib library in order to utilize the
relevant IQ Math table in Boot ROM (This saves space and Boot ROM
is 1 wait-state). If this section is not uncommented, IQmathTables2
will be loaded into other memory (SARAM, Flash, etc.) and will take
up space, but 0 wait-state is possible.
*/
/*
IQmathTables2 : > IQTABLES2, PAGE = 0, TYPE = NOLOAD
{
IQmath.lib<IQNexpTable.obj> (IQmathTablesRam)
}
*/
FPUmathTables : > FPUTABLES, PAGE = 0, TYPE = NOLOAD
/* Allocate DMA-accessible RAM sections: */
DMARAML4 : > RAML4, PAGE = 1
DMARAML5 : > RAML5, PAGE = 1
DMARAML6 : > RAML6, PAGE = 1
DMARAML7 : > RAML7, PAGE = 1
/* Allocate 0x400 of XINTF Zone 7 to storing data */
ZONE7DATA : > ZONE7B, PAGE = 1
/* .reset is a standard section used by the compiler. It contains the */
/* the address of the start of _c_int00 for C Code. /*
/* When using the boot ROM this section and the CPU vector */
/* table is not needed. Thus the default type is set here to */
/* DSECT */
.reset : > RESET, PAGE = 0, TYPE = DSECT
vectors : > VECTORS PAGE = 0, TYPE = DSECT
/* Allocate ADC_cal function (pre-programmed by factory into TI reserved memory) */
.adc_cal : load = ADC_CAL, PAGE = 0, TYPE = NOLOAD
}
/*
//===========================================================================
// End of file.
//===========================================================================
*/

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main.cpp
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// Some comments about author
#include <stdint.h>
#include <stdio.h>
#include <stdlib.h>
#include <string.h>
#include "DSP2833x_Device.h"
#include "DSP28x_Project.h" // Device Headerfile and Examples Include File
#include "DSP2833x_Examples.h"
#include "Protocol/CAN.h"
#include "Protocol/CAN_data.h"
#include "Protocol/DigitalIO.h"
//Functions declarations
void idle_loop(void);
interrupt void cpu_timer0_isr(void);
interrupt void cpu_timer1_isr(void);
interrupt void canb_isr(void);
interrupt void canb_box_isr(void);
canSpace::CAN canTest(canSpace::CANB);
interface::DigitalIO digitalIO;
interface::DigitalIODataRegister digitalInputReg;
interface::DigitalIODataRegister digitalOutputReg;
// RX
canSpace::CANMessage DOMessage;
canSpace::CANMessage messageSettings;
canSpace::CANMessage MODBUS_CPU_COMM_Message;
// TX
canSpace::CANMessage DIMessage;
canSpace::CANMessage MODBUS_COMM_CPU_Message;
canSpace::CANMessage SoftVersionMessage;
Uint32 array[25] = {0};
struct SoftwareVersion{
Uint16 DSP;
Uint16 CPLD;
};
SoftwareVersion softVersion = { .DSP = 101, .CPLD = 202 };
volatile Uint16 infCounter = 0;
volatile Uint16 canISRcounter = 0;
volatile Uint16 canBoxISRcounter = 0;
volatile Uint16 testCounter = 0;
volatile bool init = true;
volatile bool startTX = false;
volatile bool update = false;
volatile bool sendRemote = false;
Uint16 modbusInit = 0;
int32 testVar = 0;
void main()
{
ServiceDog();
DisableDog();
InitSysCtrl();
DINT;
InitPieCtrl();
IER = 0x0000;
IFR = 0x0000;
InitPieVectTable();
EALLOW;
PieVectTable.TINT0 = &cpu_timer0_isr;
PieVectTable.XINT13 = &cpu_timer1_isr;
PieVectTable.ECAN0INTB = &canb_isr;
PieVectTable.ECAN1INTB = &canb_box_isr;
EDIS;
InitCpuTimers();
ConfigCpuTimer(&CpuTimer0, 150, 1000); // 1ms
ConfigCpuTimer(&CpuTimer1, 150, 5000); // 5ms
IER |= M_INT1; // Enable CPU Interrupt 1
IER |= M_INT9; // Enable CPU Interrupt 9
IER |= M_INT13; // Enable CPU Interrupt 13
PieCtrlRegs.PIEIER1.bit.INTx7 = 1;
PieCtrlRegs.PIEIER9.bit.INTx7 = 1; // from 5 to 8
PieCtrlRegs.PIEIER9.bit.INTx8 = 1;
canTest.initGpio();
canTest.config();
canTest.configTxMBox(canSpace::DIGITAL_INPUT_MBOX, canSpace::MsgID(0x30), canSpace::MsgCtrlReg(0x3));
DIMessage.dataLength = 3;
DIMessage.mdl.byte.BYTE0 = 0x11;
DIMessage.mdl.byte.BYTE1 = 0x22;
DIMessage.mdl.byte.BYTE2 = 0x33;
MODBUS_COMM_CPU_Message.dataLength = 6;
MODBUS_COMM_CPU_Message.mdl.byte.BYTE0 = 0xA;
MODBUS_COMM_CPU_Message.mdl.byte.BYTE1 = 0xB;
MODBUS_COMM_CPU_Message.mdl.byte.BYTE2 = 0xC;
MODBUS_COMM_CPU_Message.mdl.byte.BYTE3 = 0xD;
MODBUS_COMM_CPU_Message.mdh.byte.BYTE4 = 0xE;
MODBUS_COMM_CPU_Message.mdh.byte.BYTE5 = 0xF;
SoftVersionMessage.dataLength = 2;
SoftVersionMessage.mdl.byte.BYTE0 = softVersion.DSP;
SoftVersionMessage.mdl.byte.BYTE0 = softVersion.CPLD;
digitalIO.setup((Uint16*)0x4000);
// Enable global Interrupts and higher priority real-time debug events:
EINT; // Enable Global interrupt INTM
ERTM; // Enable Global realtime interrupt DBGM
CpuTimer0.RegsAddr->TCR.bit.TSS = 0;
CpuTimer1.RegsAddr->TCR.bit.TSS = 0;
idle_loop();
//
}//end main()
//
//
void idle_loop()
{
while (true)
{
infCounter++;
// ожидать получения данных при remote frame
// get cpld version with xintf here
// if (init){
// init = false;
// // в main положить
// canTest.updateTXMessage(canSpace::COMM_VERSION_MBOX, SoftVersionMessage);
// }
// if (canTest.isNewMessage(canSpace::MODBUS_SETTINGS_MBOX)){
// canTest.receiveMsg(canSpace::MODBUS_SETTINGS_MBOX, messageSettings);
// modbusInit++;
// }
}//end while
}//end idle_loop()
interrupt void cpu_timer0_isr(void)
{
CpuTimer0.InterruptCount++;
// if(canTest.isNewMessage()){
// canTest.receiveMsg(canSpace::DIGITAL_OUTPUT_MBOX, DOMessage);
// canTest.receiveMsg(canSpace::MODBUS_DATA_CPU_TO_COMM_MBOX, MODBUS_CPU_COMM_Message);
// testCounter++;
// }
// digitalOutputReg.all = digitalOutputReg.all;
// digitalIO.writeDigitalIO(digitalOutputReg.all);
PieCtrlRegs.PIEACK.all |= PIEACK_GROUP1;
}//end
interrupt void cpu_timer1_isr(){
CpuTimer1.InterruptCount++;
// digitalIO.readDigitalIO(DIMessage.mdl.all);
// digitalIO.readDigitalIO(digitalInputReg.all);
// DIMessage.mdl.all = digitalInputReg.all;
canTest.transmitMsg(canSpace::DIGITAL_INPUT_MBOX, DIMessage);
}
interrupt void canb_isr(void){
canISRcounter++;
CANGIF0_REG CANGIF0_SHADOW;
volatile Uint32 resetBit;
CANGIF0_SHADOW.all = ECanbRegs.CANGIF0.all;
if (CANGIF0_SHADOW.bit.WLIF0){
resetBit = 256;
ECanbRegs.CANGIF0.all = 256ul;
}
if (CANGIF0_SHADOW.bit.EPIF0){
ECanbRegs.CANGIF0.all = 528ul;
}
PieCtrlRegs.PIEACK.all |= PIEACK_GROUP9;
}
interrupt void canb_box_isr(void){
canBoxISRcounter++;
// Just example
//
// volatile Uint32 boxNumberIsr;
// boxNumberIsr = ECanbRegs.CANGIF1.bit.MIV1;
// CANRMP_REG temp;
// temp.all = 0;
// temp.all = 1ul << 27;
// ECanbRegs.CANRMP.all = temp.all;
// MODBUS_COMM_CPU_Message27.mdh.all = ECanbMboxes.MBOX27.MDH.all;
// MODBUS_COMM_CPU_Message27.mdl.all = ECanbMboxes.MBOX27.MDL.all;
// temp.all = ECanbRegs.CANRMP.all;
// if (temp.bit.RMP25){
// temp.all = 1ul << 25;
// ECanbRegs.CANRMP.all = temp.all;
// MODBUS_COMM_CPU_Message25.mdh.all = ECanbMboxes.MBOX25.MDH.all;
// MODBUS_COMM_CPU_Message25.mdl.all = ECanbMboxes.MBOX25.MDL.all;
// }
PieCtrlRegs.PIEACK.all |= PIEACK_GROUP9;
}

166
main2.cpp
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// Some comments about author
#include <stdint.h>
#include <stdio.h>
#include <stdlib.h>
#include <string.h>
#include "DSP2833x_Device.h"
#include "DSP28x_Project.h" // Device Headerfile and Examples Include File
#include "DSP2833x_Examples.h"
#include "Protocol/CAN.h"
#include "Protocol/CAN_data.h"
#include "Protocol/DigitalIO.h"
#include "Periphery.h"
//Functions declarations
void idle_loop(void);
interrupt void cpu_timer0_isr(void);
interrupt void cpu_timer1_isr(void);
interrupt void canb_isr(void);
interrupt void canb_box_isr(void);
Periphery periphery;
volatile Uint16 infCounter = 0;
volatile Uint16 canISRcounter = 0;
volatile Uint16 canBoxISRcounter = 0;
volatile Uint16 testCounter = 0;
volatile bool init = true;
volatile bool startTX = false;
volatile bool update = false;
volatile bool sendRemote = false;
Uint16 modbusInit = 0;
int32 testVar = 0;
void main()
{
ServiceDog();
DisableDog();
InitSysCtrl();
DINT;
InitPieCtrl();
IER = 0x0000;
IFR = 0x0000;
InitPieVectTable();
EALLOW;
PieVectTable.TINT0 = &cpu_timer0_isr;
PieVectTable.XINT13 = &cpu_timer1_isr;
PieVectTable.ECAN0INTB = &canb_isr;
PieVectTable.ECAN1INTB = &canb_box_isr;
EDIS;
InitCpuTimers();
ConfigCpuTimer(&CpuTimer0, 150, 1000); // 1ms
ConfigCpuTimer(&CpuTimer1, 150, 5000); // 5ms
IER |= M_INT1; // Enable CPU Interrupt 1
IER |= M_INT9; // Enable CPU Interrupt 9
IER |= M_INT13; // Enable CPU Interrupt 13
PieCtrlRegs.PIEIER1.bit.INTx7 = 1;
PieCtrlRegs.PIEIER9.bit.INTx7 = 1; // from 5 to 8
PieCtrlRegs.PIEIER9.bit.INTx8 = 1;
periphery.config();
// Enable global Interrupts and higher priority real-time debug events:
EINT; // Enable Global interrupt INTM
ERTM; // Enable Global realtime interrupt DBGM
periphery.updateVersionFPGA();
CpuTimer0.RegsAddr->TCR.bit.TSS = 0;
CpuTimer1.RegsAddr->TCR.bit.TSS = 0;
idle_loop();
//
}//end main()
//
//
void idle_loop()
{
while (true)
{
infCounter++;
periphery.initExternalModbus();
}//end while
}//end idle_loop()
interrupt void cpu_timer0_isr(void)
{
periphery.processDigitalOutput();
PieCtrlRegs.PIEACK.all |= PIEACK_GROUP1;
}//end
interrupt void cpu_timer1_isr(){
CpuTimer1.InterruptCount++;
periphery.processDigitalInput();
}
interrupt void canb_isr(void){
canISRcounter++;
CANGIF0_REG CANGIF0_SHADOW;
volatile Uint32 resetBit;
CANGIF0_SHADOW.all = ECanbRegs.CANGIF0.all;
if (CANGIF0_SHADOW.bit.WLIF0){
resetBit = 256;
ECanbRegs.CANGIF0.all = 256ul;
}
if (CANGIF0_SHADOW.bit.EPIF0){
ECanbRegs.CANGIF0.all = 528ul;
}
PieCtrlRegs.PIEACK.all |= PIEACK_GROUP9;
}
interrupt void canb_box_isr(void){
canBoxISRcounter++;
// Just example
//
// volatile Uint32 boxNumberIsr;
// boxNumberIsr = ECanbRegs.CANGIF1.bit.MIV1;
// CANRMP_REG temp;
// temp.all = 0;
// temp.all = 1ul << 27;
// ECanbRegs.CANRMP.all = temp.all;
// MODBUS_COMM_CPU_Message27.mdh.all = ECanbMboxes.MBOX27.MDH.all;
// MODBUS_COMM_CPU_Message27.mdl.all = ECanbMboxes.MBOX27.MDL.all;
// temp.all = ECanbRegs.CANRMP.all;
// if (temp.bit.RMP25){
// temp.all = 1ul << 25;
// ECanbRegs.CANRMP.all = temp.all;
// MODBUS_COMM_CPU_Message25.mdh.all = ECanbMboxes.MBOX25.MDH.all;
// MODBUS_COMM_CPU_Message25.mdl.all = ECanbMboxes.MBOX25.MDL.all;
// }
PieCtrlRegs.PIEACK.all |= PIEACK_GROUP9;
}

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targetConfigs/MASTER_RED.ccxml
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<?xml version="1.0" encoding="UTF-8" standalone="no"?>
<configurations XML_version="1.2" id="configurations_0">
<configuration XML_version="1.2" id="Texas Instruments XDS100v3 USB Debug Probe_0">
<instance XML_version="1.2" desc="Texas Instruments XDS100v3 USB Debug Probe_0" href="connections/TIXDS100v3_Dot7_Connection.xml" id="Texas Instruments XDS100v3 USB Debug Probe_0" xml="TIXDS100v3_Dot7_Connection.xml" xmlpath="connections"/>
<connection XML_version="1.2" id="Texas Instruments XDS100v3 USB Debug Probe_0">
<instance XML_version="1.2" href="drivers/tixds100v2c28x.xml" id="drivers" xml="tixds100v2c28x.xml" xmlpath="drivers"/>
<property Type="choicelist" Value="1" id="Emulator Selection">
<choice Name="Select by serial number" value="0">
<property Type="stringfield" Value="FT57N1L8" id="-- Enter the serial number"/>
</choice>
</property>
<platform XML_version="1.2" id="platform_0">
<instance XML_version="1.2" desc="TMS320F28335_0" href="devices/f28335.xml" id="TMS320F28335_0" xml="f28335.xml" xmlpath="devices"/>
</platform>
</connection>
</configuration>
</configurations>

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targetConfigs/SLAVE_BLACK.ccxml
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<?xml version="1.0" encoding="UTF-8" standalone="no"?>
<configurations XML_version="1.2" id="configurations_0">
<configuration XML_version="1.2" id="Texas Instruments XDS100v3 USB Debug Probe_0">
<instance XML_version="1.2" desc="Texas Instruments XDS100v3 USB Debug Probe_0" href="connections/TIXDS100v3_Dot7_Connection.xml" id="Texas Instruments XDS100v3 USB Debug Probe_0" xml="TIXDS100v3_Dot7_Connection.xml" xmlpath="connections"/>
<connection XML_version="1.2" id="Texas Instruments XDS100v3 USB Debug Probe_0">
<instance XML_version="1.2" href="drivers/tixds100v2c28x.xml" id="drivers" xml="tixds100v2c28x.xml" xmlpath="drivers"/>
<property Type="choicelist" Value="1" id="Emulator Selection">
<choice Name="Select by serial number" value="0">
<property Type="stringfield" Value="TI7EZCHI" id="-- Enter the serial number"/>
</choice>
</property>
<platform XML_version="1.2" id="platform_0">
<instance XML_version="1.2" desc="TMS320F28335_0" href="devices/f28335.xml" id="TMS320F28335_0" xml="f28335.xml" xmlpath="devices"/>
</platform>
</connection>
</configuration>
</configurations>

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targetConfigs/TMS320F28335.ccxml
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<?xml version="1.0" encoding="UTF-8" standalone="no"?>
<configurations XML_version="1.2" id="configurations_0">
<configuration XML_version="1.2" id="configuration_0">
<instance XML_version="1.2" desc="Texas Instruments XDS100v3 USB Debug Probe" href="connections/TIXDS100v3_Dot7_Connection.xml" id="Texas Instruments XDS100v3 USB Debug Probe" xml="TIXDS100v3_Dot7_Connection.xml" xmlpath="connections"/>
<connection XML_version="1.2" id="Texas Instruments XDS100v3 USB Debug Probe">
<instance XML_version="1.2" href="drivers/tixds100v2c28x.xml" id="drivers" xml="tixds100v2c28x.xml" xmlpath="drivers"/>
<platform XML_version="1.2" id="platform_0">
<instance XML_version="1.2" desc="TMS320F28335" href="devices/f28335.xml" id="TMS320F28335" xml="f28335.xml" xmlpath="devices"/>
</platform>
</connection>
</configuration>
</configurations>

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targetConfigs/readme.txt
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The 'targetConfigs' folder contains target-configuration (.ccxml) files, automatically generated based
on the device and connection settings specified in your project on the Properties > General page.
Please note that in automatic target-configuration management, changes to the project's device and/or
connection settings will either modify an existing or generate a new target-configuration file. Thus,
if you manually edit these auto-generated files, you may need to re-apply your changes. Alternatively,
you may create your own target-configuration file for this project and manage it manually. You can
always switch back to automatic target-configuration management by checking the "Manage the project's
target-configuration automatically" checkbox on the project's Properties > General page.
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