#include "DSP281x_Device.h"
 
//Ïîñëåäîâàòåëüíîñòü Shutdown è Swichon ïåðåâîäèò EPOS â ðåæèì óïðàâëåíèÿ
void Transmit1 (Uint32 ID, Uint16 DLC, Uint32 DATALow, Uint32 DATAHi)
{
	struct ECAN_REGS ECanaShadow;

	ECanaShadow.CANTRR.all=ECanaRegs.CANTRR.all; 
	ECanaShadow.CANTRR.bit.TRR1 = 1;
	ECanaRegs.CANTRR.all=ECanaShadow.CANTRR.all;
	do
	{
		ECanaShadow.CANTRS.all=ECanaRegs.CANTRS.all;
	}
	while(ECanaShadow.CANTRS.bit.TRS1 == 1);  			// æä¸ì ñáðîñà
	 
	ECanaShadow.CANME.all=ECanaRegs.CANME.all; 
	ECanaShadow.CANME.bit.ME1 = 0; 
	ECanaRegs.CANME.all=ECanaShadow.CANME.all;
	 // ÏÎÑÛËÊÀ PDO1
	ECanaMboxes.MBOX1.MSGID.bit.IDE = 0;
	ECanaMboxes.MBOX1.MSGID.bit.AAM = 0;
	ECanaMboxes.MBOX1.MSGID.bit.AME = 0;
	ECanaMboxes.MBOX1.MSGCTRL.bit.DLC = DLC;
	ECanaMboxes.MBOX1.MSGCTRL.bit.RTR = 0;
	ECanaMboxes.MBOX1.MSGID.bit.STDMSGID = ID;			

	ECanaShadow.CANMD.all=ECanaRegs.CANMD.all;							
	ECanaShadow.CANMD.bit.MD1=0;
	ECanaRegs.CANMD.all=ECanaShadow.CANMD.all;

	ECanaShadow.CANME.all=ECanaRegs.CANME.all;
	ECanaShadow.CANME.bit.ME1 =1 ;
	ECanaRegs.CANME.all=ECanaShadow.CANME.all;
	//==============transmit=================

	ECanaMboxes.MBOX1.MDL.all = DATALow;			
	ECanaMboxes.MBOX1.MDH.all = DATAHi;

	ECanaShadow.CANTRR.all=ECanaRegs.CANTRR.all; 
	ECanaShadow.CANTRR.bit.TRR1 = 0;
	ECanaRegs.CANTRR.all=ECanaShadow.CANTRR.all;

	ECanaShadow.CANTRS.all=ECanaRegs.CANTRS.all;  
	ECanaShadow.CANTRS.bit.TRS1 = 1;      
	ECanaRegs.CANTRS.all = ECanaShadow.CANTRS.all;
	do
	{
		ECanaShadow.CANTA.all=ECanaRegs.CANTA.all;
	}      
	while(ECanaShadow.CANTA.bit.TA1 == 0 );   			// Wait for TA1 bit to be set..

	ECanaShadow.CANTA.all=ECanaRegs.CANTA.all;
	ECanaShadow.CANTA.bit.TA1 = 0;
	ECanaShadow.CANTA.bit.TA1 = 1;     	 				// Clear TA1       
	ECanaRegs.CANTA.all = ECanaShadow.CANTA.all; 
}

void Transmit2 (Uint32 ID, Uint16 DLC, Uint32 DATALow, Uint32 DATAHi)
{
	struct ECAN_REGS ECanaShadow;

	ECanaShadow.CANTRR.all=ECanaRegs.CANTRR.all; 
	ECanaShadow.CANTRR.bit.TRR2 = 1;
	ECanaRegs.CANTRR.all=ECanaShadow.CANTRR.all;
	do
	{
		ECanaShadow.CANTRS.all=ECanaRegs.CANTRS.all;
	}
	while(ECanaShadow.CANTRS.bit.TRS2 == 1);  			// æä¸ì ñáðîñà
	 
	ECanaShadow.CANME.all=ECanaRegs.CANME.all; 
	ECanaShadow.CANME.bit.ME2 = 0; 
	ECanaRegs.CANME.all=ECanaShadow.CANME.all;
	 // ÏÎÑÛËÊÀ PDO1
	ECanaMboxes.MBOX2.MSGID.bit.IDE = 0;
	ECanaMboxes.MBOX2.MSGID.bit.AAM = 0;
	ECanaMboxes.MBOX2.MSGID.bit.AME = 0;
	ECanaMboxes.MBOX2.MSGCTRL.bit.DLC = DLC;
	ECanaMboxes.MBOX2.MSGCTRL.bit.RTR = 0;
	ECanaMboxes.MBOX2.MSGID.bit.STDMSGID = ID;			

	ECanaShadow.CANMD.all=ECanaRegs.CANMD.all;							
	ECanaShadow.CANMD.bit.MD2=0;
	ECanaRegs.CANMD.all=ECanaShadow.CANMD.all;

	ECanaShadow.CANME.all=ECanaRegs.CANME.all;
	ECanaShadow.CANME.bit.ME2 =1 ;
	ECanaRegs.CANME.all=ECanaShadow.CANME.all;
	//==============transmit=================

	ECanaMboxes.MBOX2.MDL.all = DATALow;			
	ECanaMboxes.MBOX2.MDH.all = DATAHi;

	ECanaShadow.CANTRR.all=ECanaRegs.CANTRR.all; 
	ECanaShadow.CANTRR.bit.TRR2 = 0;
	ECanaRegs.CANTRR.all=ECanaShadow.CANTRR.all;

	ECanaShadow.CANTRS.all=ECanaRegs.CANTRS.all;  
	ECanaShadow.CANTRS.bit.TRS2 = 1;      
	ECanaRegs.CANTRS.all = ECanaShadow.CANTRS.all;
	do
	{
		ECanaShadow.CANTA.all=ECanaRegs.CANTA.all;
	}      
	while(ECanaShadow.CANTA.bit.TA2 == 0 );   			// Wait for TA1 bit to be set..

	ECanaShadow.CANTA.all=ECanaRegs.CANTA.all;
	ECanaShadow.CANTA.bit.TA2 = 0;
	ECanaShadow.CANTA.bit.TA2 = 1;     	 				// Clear TA1       
	ECanaRegs.CANTA.all = ECanaShadow.CANTA.all; 
} 

// óäàë¸ííûé çàïðîñ äàííûõ c ÝÏÎÑ1
void ReqData1 (Uint32 ID)
{
	struct ECAN_REGS ECanaShadow;
	ECanaShadow.CANME.all=ECanaRegs.CANME.all; 
	ECanaShadow.CANME.bit.ME10 = 0; 
	ECanaRegs.CANME.all=ECanaShadow.CANME.all;

	ECanaMboxes.MBOX10.MSGID.bit.IDE = 0;
	ECanaMboxes.MBOX10.MSGID.bit.AAM = 0;
	ECanaMboxes.MBOX10.MSGID.bit.AME = 0;
	ECanaMboxes.MBOX10.MSGCTRL.bit.DLC = 2;
	ECanaMboxes.MBOX10.MSGCTRL.bit.RTR = 1; 
	ECanaMboxes.MBOX10.MSGID.bit.STDMSGID = ID;  

	ECanaShadow.CANMD.all=ECanaRegs.CANMD.all; 							
	ECanaShadow.CANMD.bit.MD10 = 1;
	ECanaRegs.CANMD.all=ECanaShadow.CANMD.all; 

	ECanaShadow.CANME.all=ECanaRegs.CANME.all; 
	ECanaShadow.CANME.bit.ME10 = 1; 
	ECanaRegs.CANME.all = ECanaShadow.CANME.all |= 0x400; 

	ECanaShadow.CANTRS.all=ECanaRegs.CANTRS.all;  
	ECanaShadow.CANTRS.bit.TRS10 = 1;      
	ECanaRegs.CANTRS.all = ECanaShadow.CANTRS.all;
	do
	{
		ECanaShadow.CANRMP.bit.RMP10 = ECanaRegs.CANRMP.bit.RMP10;
	}
	while (ECanaRegs.CANRMP.bit.RMP10 == 0);
	ECanaShadow.CANRMP.bit.RMP10 = ECanaRegs.CANRMP.bit.RMP10;
	ECanaShadow.CANRMP.bit.RMP10 = 1;						//÷èñòèì RMP10
	ECanaRegs.CANRMP.bit.RMP10 = ECanaShadow.CANRMP.bit.RMP10;
}

// óäàë¸ííûé çàïðîñ äàííûõ c ÝÏÎÑ2
void ReqData2 (Uint32 ID)
{
	struct ECAN_REGS ECanaShadow;
	ECanaShadow.CANME.all=ECanaRegs.CANME.all; 
	ECanaShadow.CANME.bit.ME11 = 0; 
	ECanaRegs.CANME.all=ECanaShadow.CANME.all;

	ECanaMboxes.MBOX11.MSGID.bit.IDE = 0;
	ECanaMboxes.MBOX11.MSGID.bit.AAM = 0;
	ECanaMboxes.MBOX11.MSGID.bit.AME = 0;
	ECanaMboxes.MBOX11.MSGCTRL.bit.DLC = 2;
	ECanaMboxes.MBOX11.MSGCTRL.bit.RTR = 1; 
	ECanaMboxes.MBOX11.MSGID.bit.STDMSGID = ID;  

	ECanaShadow.CANMD.all=ECanaRegs.CANMD.all; 							
	ECanaShadow.CANMD.bit.MD11 = 1;
	ECanaRegs.CANMD.all=ECanaShadow.CANMD.all; 

	ECanaShadow.CANME.all=ECanaRegs.CANME.all; 
	ECanaShadow.CANME.bit.ME11 = 1; 
	ECanaRegs.CANME.all = ECanaShadow.CANME.all |= 0x800; 

	ECanaShadow.CANTRS.all=ECanaRegs.CANTRS.all;  
	ECanaShadow.CANTRS.bit.TRS11 = 1;      
	ECanaRegs.CANTRS.all = ECanaShadow.CANTRS.all;
	do
	{
		ECanaShadow.CANRMP.bit.RMP11 = ECanaRegs.CANRMP.bit.RMP11;
	}
	while (ECanaRegs.CANRMP.bit.RMP11 == 0);
	ECanaShadow.CANRMP.bit.RMP11 = ECanaRegs.CANRMP.bit.RMP11;
	ECanaShadow.CANRMP.bit.RMP11 = 1;						//÷èñòèì RMP11
	ECanaRegs.CANRMP.bit.RMP11 = ECanaShadow.CANRMP.bit.RMP11;
}