CCS-COMM_BOARD/main.cpp

// 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"
#include "System/SystemContol.h"

#include "DSP28335/SCIB.h"
#include "DSP28335/SCIBase.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;

float test = 55;

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();
    periphery.updateVersionFPGA();
    periphery.getModbusConfiguration();
    SYSCTRL::initModbusTable(periphery);

    // 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++;

        periphery.receiveModbusParameters();
        
        periphery.modbusRTU.execute();

        periphery.receiveCpuModbusData();
        
    }//end while

}//end idle_loop()


interrupt void cpu_timer0_isr(void)
{
    periphery.processDigitalOutput();
    periphery.sendModbusDataToCPU();

    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;
}