[DSP] 关于DSP28335CAN通讯远程帧调试求助！

void main(void)

{

    Uint16  j;

   struct ECAN_REGS ECanaShadow; 

   InitSysCtrl();

   InitECanGpio();

   DINT;

   InitPieCtrl();

   IER = 0x0000;

   IFR = 0x0000;



   InitPieVectTable();

   

    MessageReceivedCount = 0;

    ErrorCount = 0;

    PassCount = 0;

   

    // Configure the eCAN RX and TX pins for eCAN transmissions

    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;

     

    // Disable all Mailboxes

    // Since this write is to the entire register (instead of a bit

    // field) a shadow register is not required.

    ECanaRegs.CANME.all = 0;



    // Mailboxs can be written to 16-bits or 32-bits at a time

    // Write to the MSGID field of TRANSMIT mailboxes MBOX0 - 15 

    ECanaMboxes.MBOX0.MSGID.all = 0xB5550093;

    ECanaMboxes.MBOX1.MSGID.all = 0x95550094;

    ECanaMboxes.MBOX2.MSGID.all = 0x95550122;

    //中间代码略

    ECanaMboxes.MBOX15.MSGID.all = 0x9555AAAF; 

    

    // Write to the MSGID field of RECEIVE mailboxes MBOX16 - 31

    ECanaMboxes.MBOX16.MSGID.all = 0xD5550093;

    ECanaMboxes.MBOX17.MSGID.all = 0x95550094;

    ECanaMboxes.MBOX18.MSGID.all = 0x95550122;

    ECanaMboxes.MBOX19.MSGID.all = 0xD5550125;

    //中间代码略

    ECanaMboxes.MBOX31.MSGID.all = 0x9555AAAF; 



    // Configure Mailboxes 0-15 as Tx, 16-31 as Rx 

    // Since this write is to the entire register (instead of a bit

    // field) a shadow register is not required.

    ECanaRegs.CANMD.all = 0xFFFF0000; 

    

    // Enable all Mailboxes */

    // Since this write is to the entire register (instead of a bit

    // field) a shadow register is not required.

    ECanaRegs.CANME.all = 0xFFFFFFFF;



    // Specify that 8 bits will be sent/received

    ECanaMboxes.MBOX0.MSGCTRL.bit.DLC = 8;

    ECanaMboxes.MBOX1.MSGCTRL.bit.DLC = 8;

    //中间代码略

    ECanaMboxes.MBOX15.MSGCTRL.bit.DLC = 8;

    

    // No remote frame is requested

    // Since RTR bit is undefined upon reset,

    // it must be initialized to the proper value 

    ECanaMboxes.MBOX0.MSGCTRL.bit.RTR = 1;

    ECanaMboxes.MBOX1.MSGCTRL.bit.RTR = 0;  

    //中间代码略

    ECanaMboxes.MBOX15.MSGCTRL.bit.RTR = 0;

    ECanaMboxes.MBOX16.MSGCTRL.bit.RTR = 1;//发起远程帧



    // Write to the mailbox RAM field of MBOX0 - 15

    ECanaMboxes.MBOX0.MDL.all = 0x00;

    ECanaMboxes.MBOX0.MDH.all = 0x00;



    ECanaMboxes.MBOX1.MDL.all = 0x1111;

    ECanaMboxes.MBOX1.MDH.all = 0x1111;

    //中间代码略

    ECanaMboxes.MBOX15.MDL.all = 0x9555AAAF;

    ECanaMboxes.MBOX15.MDH.all = 0x89ABCDEF;



    EALLOW;

    ECanaRegs.CANMIM.all = 0xFFFFFFFF;



    // Request permission to change the configuration registers

    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 );  

    

    // Configure the eCAN timing

    EALLOW;

    ECanaShadow.CANBTC.all = ECanaRegs.CANBTC.all;

    ECanaShadow.CANBTC.bit.BRPREG = 9;    // (BRPREG + 1) = 10 feeds a 15 MHz CAN clock

    ECanaShadow.CANBTC.bit.TSEG2REG = 5 ; // to the CAN module. (150 / 10 = 15)

    ECanaShadow.CANBTC.bit.TSEG1REG = 7;  // Bit time = 15

    ECanaRegs.CANBTC.all = ECanaShadow.CANBTC.all;

    

    ECanaShadow.CANMC.all = ECanaRegs.CANMC.all;

    ECanaShadow.CANMC.bit.CCR = 0;            

    ECanaRegs.CANMC.all = ECanaShadow.CANMC.all;

    EDIS;



    // Wait until the CPU no longer has permission to change the

    // configuration registers

    do

    {

      ECanaShadow.CANES.all = ECanaRegs.CANES.all;

    } while(ECanaShadow.CANES.bit.CCE != 0 ); 



    // Configure the eCAN for self test mode 

    // Enable the enhanced features of the eCAN.

    EALLOW;

    ECanaShadow.CANMC.all = ECanaRegs.CANMC.all;

    ECanaShadow.CANMC.bit.STM = 1;    // Configure CAN for ACK mode

    ECanaShadow.CANMC.bit.SCB = 1;    // eCAN mode (reqd to access 32 mailboxes)

    ECanaRegs.CANMC.all = ECanaShadow.CANMC.all;

    EDIS;

    

    // Begin transmitting 

    for(;;)                                

    {  

       ECanaRegs.CANTRS.all = 0x0000FFFF;  // Set TRS for all transmit mailboxes

       //ECanaRegs.CANTRS.bit.TRS3=0;

       while(ECanaRegs.CANTA.all != 0x0000FFFF ) {}  // Wait for all TAn bits to be set..

       ECanaRegs.CANTA.all = 0x0000FFFF;   // Clear all TAn

       MessageReceivedCount++;



       ECanaRegs.CANTRS.all = 0x0000FFFF;  // Set TRS for all transmit mailboxes

       ECanaRegs.CANTRS.bit.TRS16=1;

       while(ECanaRegs.CANTA.bit.TA16 != 1 ) {}  // 卡在了这一步过不去

       ECanaRegs.CANTA.bit.TA16 = 1;   // Clear all TAn

       ErrorCount++;

    }

}