//###########################################################################
//
// FILE:   F2837xD_can.c
//
// TITLE:  F2837xD CAN Support Functions.
//
//###########################################################################
// $TI Release: F2837xD Support Library v3.05.00.00 $
// $Release Date: Tue Jun 26 03:15:23 CDT 2018 $
// $Copyright:
// Copyright (C) 2013-2018 Texas Instruments Incorporated - http://www.ti.com/
//
// Redistribution and use in source and binary forms, with or without 
// modification, are permitted provided that the following conditions 
// are met:
// 
//   Redistributions of source code must retain the above copyright 
//   notice, this list of conditions and the following disclaimer.
// 
//   Redistributions in binary form must reproduce the above copyright
//   notice, this list of conditions and the following disclaimer in the 
//   documentation and/or other materials provided with the   
//   distribution.
// 
//   Neither the name of Texas Instruments Incorporated nor the names of
//   its contributors may be used to endorse or promote products derived
//   from this software without specific prior written permission.
// 
// THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS 
// "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT 
// LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR
// A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT 
// OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, 
// SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT 
// LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS OF USE,
// DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND ON ANY
// THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT 
// (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE 
// OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
// $
//###########################################################################

//
// Included Files
//
#include "F2837xD_device.h"
#include "F2837xD_Examples.h"

//
// InitCAN - Initializes the CAN-A controller after reset.
//
void InitCAN(void)
{
	int16_t iMsg;

	//
    // Place CAN controller in init state, regardless of previous state.  This
    // will put controller in idle, and allow the message object RAM to be
    // programmed.
	//
	CanaRegs.CAN_CTL.bit.Init = 1;
	CanaRegs.CAN_CTL.bit.SWR = 1;

	//
    // Wait for busy bit to clear
	//
    while(CanaRegs.CAN_IF1CMD.bit.Busy)
    {
    }

    //
    // Clear the message value bit in the arbitration register.  This indicates
    // the message is not valid and is a "safe" condition to leave the message
    // object.  The same arb reg is used to program all the message objects.
    //
    CanaRegs.CAN_IF1CMD.bit.DIR = 1;
    CanaRegs.CAN_IF1CMD.bit.Arb = 1;
    CanaRegs.CAN_IF1CMD.bit.Control = 1;

    CanaRegs.CAN_IF1ARB.all = 0;

    CanaRegs.CAN_IF1MCTL.all = 0;

    CanaRegs.CAN_IF2CMD.bit.DIR = 1;
    CanaRegs.CAN_IF2CMD.bit.Arb = 1;
    CanaRegs.CAN_IF2CMD.bit.Control = 1;

    CanaRegs.CAN_IF2ARB.all = 0;

    CanaRegs.CAN_IF2MCTL.all = 0;

    //
    // Loop through to program all 32 message objects
    //
    for(iMsg = 1; iMsg <= 32; iMsg+=2)
    {
        //
    	// Wait for busy bit to clear
    	//
        while(CanaRegs.CAN_IF1CMD.bit.Busy)
        {
        }

        //
        // Initiate programming the message object
        //
        CanaRegs.CAN_IF1CMD.bit.MSG_NUM = iMsg;

        //
        // Wait for busy bit to clear
        //
        while(CanaRegs.CAN_IF2CMD.bit.Busy)
        {
        }

        //
        // Initiate programming the message object
        //
        CanaRegs.CAN_IF2CMD.bit.MSG_NUM = iMsg + 1;
    }

    //
    // Acknowledge any pending status interrupts.
    //
    volatile uint32_t discardRead = CanaRegs.CAN_ES.all;

}

//
// End of file
//