[参考译文] TMS570LS3137：CAN 中断问题

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https://e2e.ti.com/support/microcontrollers/arm-based-microcontrollers-group/arm-based-microcontrollers/f/arm-based-microcontrollers-forum/1187718/tms570ls3137-issue-with-can-interruptions

器件型号：TMS570LS3137

您好！

我在试图使 CAN 中断工作时遇到了困难。

如果我通过 HAL 配置标准或扩展 CAN ID、中断工作正常。但是、如果我想通过代码从标准 CAN 更改为扩展 CAN、或者从扩展 CAN 更改为标准 CAN、CAN 中断将停止工作。我已经完成了两个函数、这些函数通过接收 SCI (UART)的命令帮助我从一种格式更改为另一种格式。

使用逻辑分析仪、我已经验证了帧以相应的格式发送、但是中断不会被触发。

我在下面附上两个函数的代码。

//Set standard ID for some CAN interface
void standardId(canBASE_t *canREG)
{
    /** - Initialize message 1
    *     - Wait until IF1 is ready for use
    *     - Set message mask
    *     - Set message control word
    *     - Set message arbitration
    *     - Set IF1 control byte
    *     - Set IF1 message number
    */
    /*SAFETYMCUSW 28 D MR:NA <APPROVED> "Potentially infinite loop found - Hardware Status check for execution sequence" */
    while ((canREG->IF1STAT & 0x80U) ==0x80U)
    {
    } /* Wait */


    canREG->IF1MSK  = 0xC0000000U | (uint32)((uint32)((uint32)0x00000000U & (uint32)0x000007FFU) << (uint32)18U);
    canREG->IF1ARB  = (uint32)0x80000000U | (uint32)0x00000000U | (uint32)0x20000000U | (uint32)((uint32)((uint32)1U & (uint32)0x000007FFU) << (uint32)18U);
    canREG->IF1MCTL = 0x00001000U | (uint32)0x00000000U | (uint32)0x00000000U | (uint32)0x00000000U | (uint32)8U;
    canREG->IF1CMD  = (uint8) 0xF8U;
    canREG->IF1NO   = 1U;
}

//Set extended ID for some CAN interface
void extendedId(canBASE_t *canREG)
{
    /** - Setup control register
    *     - Disable automatic wakeup on bus activity
    *     - Local power down mode disabled
    *     - Disable DMA request lines
    *     - Enable global Interrupt Line 0 and 1
    *     - Disable debug mode
    *     - Release from software reset
    *     - Enable/Disable parity or ECC
    *     - Enable/Disable auto bus on timer
    *     - Setup message completion before entering debug state
    *     - Setup normal operation mode
    *     - Request write access to the configuration registers
    *     - Setup automatic retransmission of messages
    *     - Disable error interrupts
    *     - Disable status interrupts
    *     - Enter initialization mode
    */
    canREG->CTL = (uint32)0x00000000U
              | (uint32)0x00000020U
              | (uint32)((uint32)0x00000005U << 10U)
              | 0x00020043U;

    /** - Initialize message 1
    *     - Wait until IF1 is ready for use
    *     - Set message mask
    *     - Set message control word
    *     - Set message arbitration
    *     - Set IF1 control byte
    *     - Set IF1 message number
    */
    /*SAFETYMCUSW 28 D MR:NA <APPROVED> "Potentially infinite loop found - Hardware Status check for execution sequence" */
    while ((canREG->IF1STAT & 0x80U) ==0x80U)
    {
    } /* Wait */


    canREG->IF1MSK  = 0xC0000000U | (uint32)((uint32)((uint32)0x00000000U & (uint32)0x1FFFFFFFU) << (uint32)0U);
    canREG->IF1ARB  = (uint32)0x80000000U | (uint32)0x40000000U | (uint32)0x20000000U | (uint32)((uint32)((uint32)1U & (uint32)0x1FFFFFFFU) << (uint32)0U);
    canREG->IF1MCTL = 0x00001000U | (uint32)0x00000000U | (uint32)0x00000000U | (uint32)0x00000000U | (uint32)8U;
    canREG->IF1CMD  = (uint8) 0xF8U;
    canREG->IF1NO   = 1U;

    /** - Leave configuration and initialization mode  */
    canREG->CTL &= ~(uint32)(0x00000041U);
}

非常感谢、此致、

莱安德罗

2 年多前

0 admin 2 年多前

TI__Guru**** 2560390 points

请注意，本文内容源自机器翻译，可能存在语法或其它翻译错误，仅供参考。如需获取准确内容，请参阅链接中的英语原文或自行翻译。

standardID()函数不启用 CAN 中断，CAN 模块仍处于初始化模式。

0 admin 2 年多前

TI__Guru**** 2560390 points

请注意，本文内容源自机器翻译，可能存在语法或其它翻译错误，仅供参考。如需获取准确内容，请参阅链接中的英语原文或自行翻译。

请发布您的 main()函数。

0 admin 2 年多前

TI__Guru**** 2560390 points

请注意，本文内容源自机器翻译，可能存在语法或其它翻译错误，仅供参考。如需获取准确内容，请参阅链接中的英语原文或自行翻译。

您好 QJ、

我意识到我的错误是使用错误的注册表。现在它可以正常工作(至少现在)。无论如何，我将离开 main 和一个名为 sysinit()的函数，用于初始化接口。谢谢你。

main()函数：

int main(void)
{
/* USER CODE BEGIN (3) */
    sysInit();  //System initialization.
    osInit();   //Operative System initialization.

    /* Run forever */
    while(1);

/* USER CODE END */

    return 0;
}

sysinit()函数：

/********************
 * sysInit function *
 ********************/
void sysInit()
{
    uint8_t generic = 0;
    sciInit();                                      //SCI initialization.
    canInit();                                      //CAN initialization.
    spiInit();                                      //SPI initialization.

    //Enable interrupts:
    _enable_interrupt_();                           //General interrupt flag.
    //Enable SCI interrupt:
    sciEnableNotification(scilinREG,SCI_RX_INT);    //Enable SCI interrupt by Rx.
    //Enable CAN interrupt:
    canEnableErrorNotification(canREG2);            //Enable canREG2 interrupt.
    canEnableErrorNotification(canREG3);            //Enable canREG3 interrupt.

    sciReceive(scilinREG,1, (unsigned char *)&generic);

    sciSend(scilinREG, 37, (unsigned char *)"Initializing system. Please wait...\r\n");
    gioInit();                                      //GIO module initialization.
    gioSetDirection(hetPORT1, 1 << 15);             //Enable N2HET1[15] as output. This is the output signal to the external watch-dog.
    gioSetDirection(spiPORT3, 0x11);                //to set the SPI3NCS[0] to output direction. The SPI3NCS[0] is the bit0 of SPIPC1 register.
                                                    //to set the SPI3NCS[4] to output direction. The SPI3NCS[4] is the bit4 of SPIPC1 register.
    gioSetDirection(mibspiPORT5, 0 <<9);
    gioSetDirection(mibspiPORT1, 0 <<1);
    gioSetBit(spiPORT3, 0, 1);                      //Disable External memories SPI communication
    gioSetBit(spiPORT3, 4, 1);                      //Disable External memories SPI communication

    sExtMem(0);                                     //Set external memory U22 in low power mode.
    sExtMem(4);                                     //Set external memory U23 in low power mode.

    sciSend(scilinREG, 27, (unsigned char *)"\t************************\r\n");
    sciSend(scilinREG, 27, (unsigned char *)"\tLabOSat-02 [OBC] OS V1.0\r\n");
    sciSend(scilinREG, 27, (unsigned char *)"\t************************\r\n");
    sciSend(scilinREG, 1, (unsigned char *)"\n");
    sciSend(scilinREG, 14, (unsigned char *)"Developers: \r\n");
    sciSend(scilinREG, 30, (unsigned char *)"\t Gagliardi Leandro Luciano \r\n");
    sciSend(scilinREG, 22, (unsigned char *)"\t Di Nardo Federico \r\n");
    sciSend(scilinREG, 1, (unsigned char *)"\n");
}

我将这两个函数合并为一个名为 sizeId()的函数。现在还不错:)。

void sizeId(canBASE_t *canREG, bool size)
{
    /** - Setup control register
    *     - Disable automatic wakeup on bus activity
    *     - Local power down mode disabled
    *     - Disable DMA request lines
    *     - Enable global Interrupt Line 0 and 1
    *     - Disable debug mode
    *     - Release from software reset
    *     - Enable/Disable parity or ECC
    *     - Enable/Disable auto bus on timer
    *     - Setup message completion before entering debug state
    *     - Setup normal operation mode
    *     - Request write access to the configuration registers
    *     - Setup automatic retransmission of messages
    *     - Disable error interrupts
    *     - Disable status interrupts
    *     - Enter initialization mode
    */
    canREG->CTL = (uint32)0x00000000U
              | (uint32)0x00000020U
              | (uint32)((uint32)0x00000005U << 10U)
              | 0x00020043U;

    /** - Initialize message 1
    *     - Wait until IF1 is ready for use
    *     - Set message mask
    *     - Set message control word
    *     - Set message arbitration
    *     - Set IF1 control byte
    *     - Set IF1 message number
    */
    /*SAFETYMCUSW 28 D MR:NA <APPROVED> "Potentially infinite loop found - Hardware Status check for execution sequence" */
    while ((canREG->IF1STAT & 0x80U) ==0x80U)
    {
    } /* Wait */

    switch (size)
    {
    case false:
        if(canREG == canREG2)
        {
            canREG2->IF2MSK  = 0xC0000000U | (uint32)((uint32)((uint32)0x00000000U & (uint32)0x000007FFU) << (uint32)18U);
            canREG2->IF2ARB  = (uint32)0x80000000U | (uint32)0x00000000U | (uint32)0x00000000U | (uint32)((uint32)((uint32)2U & (uint32)0x000007FFU) << (uint32)18U);
            canREG2->IF2MCTL = 0x00001000U | (uint32)0x00000400U | (uint32)0x00000000U | (uint32)0x00000000U | (uint32)8U;
            canREG2->IF2CMD  = (uint8) 0xF8U;
            canREG2->IF2NO   = 2U;
        }else if (canREG == canREG3)
        {
            canREG3->IF1MSK  = 0xC0000000U | (uint32)((uint32)((uint32)0x00000000U & (uint32)0x000007FFU) << (uint32)18U);
            canREG3->IF1ARB  = (uint32)0x80000000U | (uint32)0x00000000U | (uint32)0x20000000U | (uint32)((uint32)((uint32)1U & (uint32)0x000007FFU) << (uint32)18U);
            canREG3->IF1MCTL = 0x00001000U | (uint32)0x00000000U | (uint32)0x00000000U | (uint32)0x00000000U | (uint32)8U;
            canREG3->IF1CMD  = (uint8) 0xF8U;
            canREG3->IF1NO   = 1U;
        }
        break;
    case true:
        if(canREG == canREG2)
        {
            canREG2->IF2MSK  = 0xC0000000U | (uint32)((uint32)((uint32)0x00000000U & (uint32)0x1FFFFFFFU) << (uint32)0U);
            canREG2->IF2ARB  = (uint32)0x80000000U | (uint32)0x40000000U | (uint32)0x00000000U | (uint32)((uint32)((uint32)2U & (uint32)0x1FFFFFFFU) << (uint32)0U);
            canREG2->IF2MCTL = 0x00001000U | (uint32)0x00000400U | (uint32)0x00000000U | (uint32)0x00000000U | (uint32)8U;
            canREG2->IF2CMD  = (uint8) 0xF8U;
            canREG2->IF2NO   = 2U;
        }else if (canREG == canREG3)
        {
            canREG3->IF1MSK  = 0xC0000000U | (uint32)((uint32)((uint32)0x00000000U & (uint32)0x1FFFFFFFU) << (uint32)0U);
            canREG3->IF1ARB  = (uint32)0x80000000U | (uint32)0x40000000U | (uint32)0x20000000U | (uint32)((uint32)((uint32)1U & (uint32)0x1FFFFFFFU) << (uint32)0U);
            canREG3->IF1MCTL = 0x00001000U | (uint32)0x00000000U | (uint32)0x00000000U | (uint32)0x00000000U | (uint32)8U;
            canREG3->IF1CMD  = (uint8) 0xF8U;
            canREG3->IF1NO   = 1U;
        }

        break;
    default:
        break;
    }
    /** - Leave configuration and initialization mode  */
    canREG->CTL &= ~(uint32)(0x00000041U);

    canEnableErrorNotification(canREG2);            //Enable canREG2 interrupt.
    canEnableErrorNotification(canREG3);            //Enable canREG3 interrupt.
}

此致、

莱安德罗

0 admin 2 年多前

TI__Guru**** 2560390 points

请注意，本文内容源自机器翻译，可能存在语法或其它翻译错误，仅供参考。如需获取准确内容，请参阅链接中的英语原文或自行翻译。

您好、Leandro、

[引用 userid="430073" URL"~/support/microcontrollers/arm-based-microcontrollers-group/arm-based-microcontrollers/f/arm-based-microcontrollers-forum/1187718/tms570ls3137-issue-with-can-interruptions/4474804 #4474804"]我意识到我的错误是使用错误的注册表。

很高兴听到您的代码正在工作。

谢谢、此致、

Jagadish。

基于 Arm 的微控制器（参考译文帖）

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[参考译文] TMS570LS3137：CAN 中断问题