can dsp 调试

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;  //can引脚除了 gpio复用那里要配 
              //置 ,can 寄存器里也要设置为can模式
    ECanbShadow.CANTIOC.bit.TXFUNC = 1;
    ECanbRegs.CANTIOC.all = ECanbShadow.CANTIOC.all;

    ECanbShadow.CANRIOC.all = ECanbRegs.CANRIOC.all;
    ECanbShadow.CANRIOC.bit.RXFUNC = 1;//配置接收引脚
    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;// 1  可以使用32个邮箱
    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
    //邮箱由消息标识符、消息控制、消息数据低和消息数据高 四个寄存器组成
// 这里把邮箱的消息控制寄存器先全部清零
    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.
    //
    //发送成功标志为 全部清零
    ECanbRegs.CANTA.all	= 0xFFFFFFFF;	// Clear all TAn bits
    //消息接收成功寄存器全部清零
    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  请求进入配置模式
    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 set
     // CCR=1  CCE=1 configure mode active

    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
    //75/((4+1)*(10+2+3))=1M
    ECanbShadow.CANBTC.bit.BRPREG = 4;  //1M   
    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;  //波形采样次数
    ECanbRegs.CANBTC.all = ECanbShadow.CANBTC.all;

    ECanbShadow.CANMC.all = ECanbRegs.CANMC.all;
    ECanbShadow.CANMC.bit.CCR = 0 ;            // Set CCR = 0   请求进入正常模式
    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 clear
     //cce =0 成功进入正常模式
    //
    // Disable all Mailboxes
    //
    ECanbRegs.CANME.all = 0;		// Required before writing the MSGIDs

    EDIS;
}

//****************************主函数中设置**********************************************
InitECan();
//  31：标识符扩展位；30：接收屏蔽使能位,没有屏蔽可以接收不同id；  29 对原创请求是否应答：正常/不应答
// 28-0 :消息标识符；
//  100  10101 0101 0101 0101 0101 0101 0101                                          
   ECanbMboxes.MBOX25.MSGID.all = 0x95555555; // Extended Identifier

/* Configure Mailbox under test as a Transmit mailbox */

   ECanbShadow.CANMD.all = ECanaRegs.CANMD.all;
   ECanbShadow.CANMD.bit.MD25 = 0;   //邮箱方向  0：配置为发送邮箱
   ECanbRegs.CANMD.all = ECanaShadow.CANMD.all;

/* Enable Mailbox under test */

   ECanbShadow.CANME.all = ECanaRegs.CANME.all;
   ECanbShadow.CANME.bit.ME25 = 1;  //使能邮箱
   ECanbRegs.CANME.all = ECanaShadow.CANME.all;

/* Write to DLC field in Master Control reg */

   ECanbMboxes.MBOX25.MSGCTRL.bit.DLC = 8;//数据长度

/* Write to the mailbox RAM field */

   ECanbMboxes.MBOX25.MDL.all = 0x55555555;//发送的数据值
   ECanbMboxes.MBOX25.MDH.all = 0x55555555;

/* Begin transmitting */

   for(i=0; i < TXCOUNT; i++)
   {
       ECanaShadow.CANTRS.all = 0;
       ECanaShadow.CANTRS.bit.TRS25 = 1;             // Set TRS for mailbox under test
       ECanaRegs.CANTRS.all = ECanaShadow.CANTRS.all;

       do
       {
      	ECanaShadow.CANTA.all = ECanaRegs.CANTA.all;
       } while(ECanaShadow.CANTA.bit.TA25 == 0 );   // Wait for TA5 bit to be set..

       ECanaShadow.CANTA.all = 0;
       ECanaShadow.CANTA.bit.TA25 = 1;     	         // Clear TA5
       ECanaRegs.CANTA.all = ECanaShadow.CANTA.all;

       loopcount ++;
    }
     __asm(" ESTOP0");  // Stop here