canb和cana转换注意事项

#include "can/can.h"
#include "leds/leds.h"
#include "bootloader/bootloader.h"
#include "queue/queue.h"

CanRxMsg RxMessage;
extern Uint16 upgrade_flag;

/**
 * @brief can½ÓÊÕÖжÏ
 *
 */
interrupt void can_rx_isr(void)
{

    PieCtrlRegs.PIEACK.bit.ACK9 = 1;

    Uint32 can_id = 0;
    Uint16 group;

    volatile struct MBOX *Mailbox;
    group = (ECanaRegs.CANGIF0.all) & 0x3F; // ÅжÏÊÇÄĸö½ÓÊÕÓÊÏä´¥·¢µÄÖжÏ
    Mailbox = &ECanaMboxes.MBOX0 + group;   // È¡´¥·¢ÖжÏÓÊÏäµÄµØÖ·
    if (Mailbox->MSGID.bit.IDE == 1)
    { // IDE =1 ÊÕµ½µÄÏûÏ¢ÓÐÀ©Õ¹±êʶλ
        can_id = Mailbox->MSGID.all & 0x1FFFFFFF;
    }
    else
    {
        can_id = Mailbox->MSGID.bit.STDMSGID;
    }
    switch (group)
    {
    case 0:

        if ((can_id & 0x107020A0) == 0x107020A0)
        {
            // »ñÈ¡¶ÓÁеØÖ·
            cmd_queue_t *queue = app_can_queue_get();
            // Èë¶Ó½ÓÊÕµ½µÄcanÊý¾ÝÖ¡
            queue_push(queue, (can_id >> 24) & 0xff);
            queue_push(queue, (can_id >> 16) & 0xff);
            queue_push(queue, (can_id >> 8) & 0xff);
            queue_push(queue, (can_id >> 0) & 0xff);
            queue_push(queue, Mailbox->MDL.byte.BYTE0);
            queue_push(queue, Mailbox->MDL.byte.BYTE1);
            queue_push(queue, Mailbox->MDL.byte.BYTE2);
            queue_push(queue, Mailbox->MDL.byte.BYTE3);
            queue_push(queue, Mailbox->MDH.byte.BYTE4);
            queue_push(queue, Mailbox->MDH.byte.BYTE5);
            queue_push(queue, Mailbox->MDH.byte.BYTE6);
            queue_push(queue, Mailbox->MDH.byte.BYTE7);
            //Éý¼¶±ê־λÖÃλ
            upgrade_flag = 1;
        }
        break;
    }
    ECanaRegs.CANRMP.all = 0x0000003F; // Çå³ýGIF0.GMIF룬¼´Öжϱê־λ
}
/**
 * @brief can³õʼ»¯
 *
 */
void can_init(void)
{
    struct ECAN_REGS ECanaShadow;

    // ÅäÖÃÒý½Å
    InitECanaGpio();

    // ÅäÖÃÒý½ÅÓÃÓÚCAN
    EALLOW;
    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;
    EDIS;

    EALLOW;
    ECanaShadow.CANMC.all = ECanaRegs.CANMC.all;
    ECanaShadow.CANMC.bit.STM = 0; // Í˳ö²âÊÔģʽ
    ECanaShadow.CANMC.bit.SCB = 1; // eCAN mode (reqd to access 32 mailboxes)
    ECanaRegs.CANMC.all = ECanaShadow.CANMC.all;
    EDIS;

   // ECanaMboxes.MBOX0.MSGCTRL.all = 0x00000000;
    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;

    // ²¨ÌØÂÊÉèÖÃ
    EALLOW;
    ECanaShadow.CANMC.all = ECanaRegs.CANMC.all;
    ECanaShadow.CANMC.bit.CCR = 1;
    ECanaRegs.CANMC.all = ECanaShadow.CANMC.all;
    EDIS;
    do
    {
        ECanaShadow.CANES.all = ECanaRegs.CANES.all;
    } while (ECanaShadow.CANES.bit.CCE != 1);
    ECanaShadow.CANBTC.all = 0;

    EALLOW;
    ECanaShadow.CANBTC.all = ECanaRegs.CANBTC.all;
    ECanaShadow.CANBTC.bit.BRPREG = 39;//ÉèÖò¨ÌØÂÊ125K
    ECanaShadow.CANBTC.bit.TSEG2REG = 2;
    ECanaShadow.CANBTC.bit.TSEG1REG = 10;
    ECanaShadow.CANBTC.bit.SAM = 1;
    ECanaRegs.CANBTC.all = ECanaShadow.CANBTC.all;

    ECanaShadow.CANMC.all = ECanaRegs.CANMC.all;
    ECanaShadow.CANMC.bit.CCR = 0;
    ECanaRegs.CANMC.all = ECanaShadow.CANMC.all;
    EDIS;
    do
    {
        ECanaShadow.CANES.all = ECanaRegs.CANES.all;
    } while (ECanaShadow.CANES.bit.CCE != 0);

    ECanaRegs.CANME.all = 0;

    // ÕâÀïÊÇÉèÖýÓÊÕÌض¨IDµÄ¹¦ÄÜ
    ECanaMboxes.MBOX0.MSGID.all = 0x107020A0; // ÉèÖýÓÊÕÏûÏ¢µÄÓÐЧID
    ECanaMboxes.MBOX0.MSGID.bit.AME = 1;      // AMEλΪ1ʹÄÜÑéÊÕÆÁ±Îλ
    ECanaMboxes.MBOX0.MSGID.bit.IDE = 1;
    ECanbLAMRegs.LAM0.all = 0xFFFFFFFF;
    //  ECanbLAMRegs.LAM0.all=0x000F0000;//ÓÊÏä0µÄ¾Ö²¿ÑéÊÕÆÁ±Î¼Ä´æÆ÷ÖÃλ¿É½ÓÊÕÈκÎidµÄ±¨ÎÄ(È«¾ÖÑéÊÕÆÁ±Î¼Ä´æÆ÷ÓÃÓÚsccģʽ)
    ECanbLAMRegs.LAM0.bit.LAMI = 1;

    // ÉèÖÃÓÊÏäÊǽÓÊÕ»¹ÊÇ·¢ËÍ
    ECanaRegs.CANME.all = 0; // ÏȽûÓÃËùÓÐÓÊÏ䣬ºóÃæ»á´ò¿ªÖ¸¶¨Ê¹ÓõÄÓÊÏä
    EALLOW;
    ECanaShadow.CANMD.all = ECanaRegs.CANMD.all;
    ECanaShadow.CANMD.bit.MD0 = 1;  // Rx
    ECanaShadow.CANMD.bit.MD16 = 0; // Tx
    ECanaRegs.CANMD.all = ECanaShadow.CANMD.all;

    // ÉèÖÃÓÊÏäʹÄܺͽûÓÃ
    ECanaShadow.CANME.all = ECanaRegs.CANME.all;
    ECanaShadow.CANME.bit.ME0 = 1;
    ECanaShadow.CANME.bit.ME16 = 1;
    ECanaRegs.CANME.all = ECanaShadow.CANME.all;
    EDIS;

    DINT;
    // ÖжÏÉèÖÃ
    EALLOW;
    ECanaRegs.CANGIM.all = 0;
    ECanaRegs.CANMIM.all = 0x0001; // ʹÄÜÉÏÃæµÄ½ÓÊÕÓÊÏä(0)ÖжÏ
    ECanaRegs.CANMIL.all = 0;

    ECanaShadow.CANGIM.all = ECanaRegs.CANGIM.all;
    ECanaShadow.CANGIM.bit.I0EN = 1; // Ñ¡ÔñÖжÏÏß0
    ECanaRegs.CANGIM.all = ECanaShadow.CANGIM.all;

    PieCtrlRegs.PIECTRL.bit.ENPIE = 1;
    PieCtrlRegs.PIEIER9.bit.INTx5 = 1; // 9.5
    PieVectTable.ECAN0INTA = &can_rx_isr;
    IER |= M_INT9;
    EINT;
    EDIS;
}

/**
 * @brief can·¢Ëͺ¯Êý
 *
 * @param TxMessage Can_IdΪCAN_ID, lengthΪCANÊý¾Ý³¤¶È(µ¥Î»ÊÇ×Ö½Ú), Data_LΪµÍËÄλ×Ö½Ú£¬Data_HΪ¸ßËÄλ×Ö½Ú
 */
void can_tx_msg(CanTxMsg *TxMessage)
{
    struct ECAN_REGS ECanaShadow;

    // ÐÞ¸ÄIDÇ°Òª½ûÖ¹ÓÊÏä²ÅÄÜÍù¼Ä´æÆ÷ÀïÃæдֵ
    ECanaShadow.CANME.all = ECanaRegs.CANME.all;
    ECanaShadow.CANME.bit.ME16 = 0;
    ECanaRegs.CANME.all = ECanaShadow.CANME.all;
    /* Write to the MSGID field  */
    ECanaMboxes.MBOX16.MSGID.all = TxMessage->ExtId; // stand Identifier
    // ʹÄÜÓÊÏä
    ECanaShadow.CANME.all = ECanaRegs.CANME.all;
    ECanaShadow.CANME.bit.ME16 = 1;
    ECanaRegs.CANME.all = ECanaShadow.CANME.all;

    /* Write to DLC field in Master Control reg */
    ECanaMboxes.MBOX16.MSGCTRL.bit.DLC = 8; // 8;
    ECanaMboxes.MBOX16.MSGCTRL.bit.RTR = 0;
    /* Write to the mailbox RAM field */
    ECanaMboxes.MBOX16.MDL.byte.BYTE0 = TxMessage->data[0];
    ECanaMboxes.MBOX16.MDL.byte.BYTE1 = TxMessage->data[1];
    ECanaMboxes.MBOX16.MDL.byte.BYTE2 = TxMessage->data[2];
    ECanaMboxes.MBOX16.MDL.byte.BYTE3 = TxMessage->data[3];
    ECanaMboxes.MBOX16.MDH.byte.BYTE4 = TxMessage->data[4];
    ECanaMboxes.MBOX16.MDH.byte.BYTE5 = TxMessage->data[5];
    ECanaMboxes.MBOX16.MDH.byte.BYTE6 = TxMessage->data[6];
    ECanaMboxes.MBOX16.MDH.byte.BYTE7 = TxMessage->data[7];
    // struct ECAN_REGS ECanaShadow;
    ECanaShadow.CANTRS.all = 0;
    ECanaShadow.CANTRS.bit.TRS16 = 1; // Set TRS for mailbox under test
    ECanaRegs.CANTRS.all = ECanaShadow.CANTRS.all;
    do
    {
        ECanaShadow.CANTA.all = ECanaRegs.CANTA.all;
    } while (ECanaShadow.CANTA.bit.TA16 == 0); // Wait for TA16 bit to be set..
    ECanaShadow.CANTA.all = 0;
    ECanaShadow.CANTA.bit.TA16 = 1; // Clear TA16
    ECanaRegs.CANTA.all = ECanaShadow.CANTA.all;
}