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部件号：TMS320F2.8377万D 主题中讨论的其他部件：C2000WARE
大家好，
与上一个帖子相关，我一直在尝试在CAN总线通过muxed发送到CPU2时使其正常工作。 我需要在CPU2而非CPU1中部署CAN消息。
我做了以下工作：
CPU1：
-设置mutxing和GPIOs
-将CAN_A分配给CPU2
CPU2：
—设置消息属性
—启用CAN中断
-启用Cana时钟
尽管如此，我仍然看不到收到的任何消息。 CPU1和CPU2都在运行，但当我通过CANbus发送消息时，在CPU2中看不到任何ISR触发器。 我可以看到，如果我只是在CPU1上启用相同的ISR，并仅使用该内核，这是最终用户软件规格所无法做到的。
我附加CPU1的代码(仅main()，因为我没有在此处触发ISR)：
void main(void)
{
InitSysCtrl(); // Initialize System Control (F2837xD_SysCtrl.c)
EALLOW;
// As GSxRAM is allocated to CPU2 below, GCB_cpu01 must be run before GCB_cpu02 can be loaded into target
MemCfgRegs.GSxMSEL.bit.MSEL_GS5 = 1; // allocate RAMGS5 to CPU02
MemCfgRegs.GSxMSEL.bit.MSEL_GS6 = 1; // allocate RAMGS6 to CPU02
MemCfgRegs.GSxMSEL.bit.MSEL_GS7 = 1; // allocate RAMGS7 to CPU02
MemCfgRegs.GSxMSEL.bit.MSEL_GS8 = 1; // allocate RAMGS8 to CPU02
EDIS;
// Init GPIOs
InitGpio();
// setting the GPIO for CPU2
// Setup GPIO pin mux for CAN-A TX/RX and CAN-B TX/RX
GPIO_SetupPinMux(36, GPIO_MUX_CPU2, 6); //GPIO36 - CANRXA
GPIO_SetupPinOptions(36, GPIO_INPUT, GPIO_ASYNC);
GPIO_SetupPinMux(37, GPIO_MUX_CPU2, 6); //GPIO37 - CANTXA
GPIO_SetupPinOptions(37, GPIO_OUTPUT, GPIO_PUSHPULL);
//
// Clear all interrupts and initialize PIE vector table:
// Disable CPU interrupts
//
// Clear all interrupts and initialize PIE vector table
DINT;
InitPieCtrl(); // Clear all ENPIE bit and PIEIERx PIEIFRx registers
IER = 0x0000;
IFR = 0x0000;
InitPieVectTable(); //
// Wait here until CPU02 is ready
while (IpcRegs.IPCSTS.bit.IPC17 == 0) ; // Wait for CPU02 to set IPC17
IpcRegs.IPCACK.bit.IPC17 = 1; // Acknowledge and clear IPC17
// assign CAN_A to CPU2 (CPU2 is the owner)
EALLOW;
DevCfgRegs.CPUSEL8.bit.CAN_A = 1;
EDIS;
// dummy loop to check whether CPU1 is alive
do{
dummy_int++;
DELAY_US(1000* 1000);
}while(1);
}
对于CPU2 (main()加上ISR功能和CANbus设置功能)：
void main(void)
{
// Initialize System Control
InitSysCtrl();
// Clear all interrupts and initialize PIE control registers
DINT;
InitPieCtrl();
// Disable CPU interrupts and clear all CPU interrupt flags
IER = 0x0000;
IFR = 0x0000;
// enable the clock for CANA
EALLOW;
CpuSysRegs.PCLKCR10.bit.CAN_A = 1;
EDIS;
SetCANbus(); // setup the CAN --- not messages specs yet (see beneath InitCANbus)
// Initialize the PIE vector table
InitPieVectTable();
// Map ISR functions
EALLOW;
PieVectTable.CANA0_INT = &canaISR; // mapping CANbus
EDIS;
// Enable global interrupts and higher priority real-time debug events:
IER |= M_INT9; // Enable PIE group 9 interrupt (SCIB_RX, SCIB_TX, CANBUS)
EINT; // Enable Global interrupt INTM
ERTM; // Enable Global real-time interrupt DBGM
// Let CPU1 know that CPU2 is ready
IpcRegs.IPCSET.bit.IPC17 = 1; // Set IPC17 to release CPU1
// Enable the CAN-A interrupt on the processor (PIE).
PieCtrlRegs.PIEIER9.bit.INTx5 = 1; // first CANbus A interrupt
// init CANbus messages -- see function
initCANbus();
// dummy cycle for checking operation of CPU2
for(;;){
dummy_intCPU2++;
DELAY_US(1000* 500);
}
}
void SetCANbus(){
// Initialize the CAN controllers
CANInit(CANA_BASE); // init CANA
// Setup CAN to be clocked off the PLL output clock
CANClkSourceSelect(CANA_BASE, 0); // 500kHz CAN-Clock
// 1Mbit/s
CANBitRateSet(CANA_BASE, 200000000, 1000000);
// Enable interrupts on the CAN A peripheral.
CANIntEnable(CANA_BASE, CAN_INT_MASTER | CAN_INT_ERROR); // keep the error, NOT the status change for calling the ISR
}
void initCANbus(){
//
// Enable the CAN-B interrupt signal
//
CANGlobalIntEnable(CANA_BASE, CAN_GLB_INT_CANINT0); // enable CANA
// setting the CAN messages properties --------------------------------
sRXCANMessage.ui32MsgID = 0x226; // receive message from slave
sRXCANMessage.ui32MsgIDMask = 0;
sRXCANMessage.ui32Flags = MSG_OBJ_RX_INT_ENABLE;
sRXCANMessage.ui32MsgLen = MSG_DATA_LENGTH;
sRXCANMessage.pucMsgData = rxMsgData;
/* the following line is commented when only transmitting */
CANMessageSet(CANA_BASE, RX_MSG_OBJ_ID, &sRXCANMessage, MSG_OBJ_TYPE_RX);
//
// Start CAN module A and B operations
//
CANEnable(CANA_BASE);
// ---------------------------------------------------------------------------------
}
//
// CAN A ISR - The interrupt service routine called when a CAN interrupt is
// triggered on CAN module A.
//
__interrupt void canaISR(void)
{
trigger_receive++;
// read CAN_A status
status = CANIntStatus(CANA_BASE, CAN_INT_STS_CAUSE);
//
// If the cause is a controller status interrupt, then get the status
//
if(status == CAN_INT_INT0ID_STATUS)
{
// read CANA status and get it
status_inner = CANStatusGet(CANA_BASE, CAN_STS_CONTROL);
//
// Check to see if an error occurred.
//
if(((status_inner & ~(CAN_ES_RXOK)) != 7) &&
((status_inner & ~(CAN_ES_RXOK)) != 0))
{
//
// Set a flag to indicate some errors may have occurred.
//
errorFlag = 1;
}
}
//
// Check if the cause is the CAN-B receive message object 1
//
else if(status == RX_MSG_OBJ_ID)
{
//
// Get the received message
//
CANMessageGet(CANA_BASE, RX_MSG_OBJ_ID, &sRXCANMessage, true);
//
// Getting to this point means that the RX interrupt occurred on
// message object 1, and the message RX is complete. Clear the
// message object interrupt.
//
CANIntClear(CANA_BASE, RX_MSG_OBJ_ID);
//
// Increment a counter to keep track of how many messages have been
// received. In a real application this could be used to set flags to
// indicate when a message is received.
//
rxMsgCount++;
//
// Since the message was received, clear any error flags.
//
errorFlag = 0;
}
else
{
//
// Spurious interrupt handling can go here.
//
}
//
// Clear the global interrupt flag for the CAN interrupt line
//
CANGlobalIntClear(CANA_BASE, CAN_GLB_INT_CANINT0);
//
// Acknowledge this interrupt located in group 9
//
PieCtrlRegs.PIEACK.all = PIEACK_GROUP9;
}
请您提供帮助，或建议我是否错过了什么？
谢谢！
尼古拉
