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器件型号：F28M35H52C Thread 中讨论的其他器件：controlSUITE
您好！
我正在使用 M3内核并使用 GPIO_PB4 (CAN0RX)和5 (CAN0TX)上的 CAN0接口。 到目前为止、这种方法效果非常好。
现在、我需要第二个 CAN 接口、只需在现有的 CAN0基础上使用 GPIO_PB0 (CAN1TX)上的 CAN1和2 (CAN1RX)上的 CAN1。
我的初始化过程基本上是从已经在工作的 CAN0复制粘贴、我认为这是从 CAN_loopback 示例中获取的。
void
can_init(void)
{
#if (CAN0_ACTIVE==1)
// Configure the GPIO pin muxing to select CAN0 functions for these pins.
// This step selects which alternate function is available for these pins.
// This is necessary if your part supports GPIO pin function muxing.
// Consult the data sheet to see which functions are allocated per pin.
GPIOPinConfigure(GPIO_PB4_CAN0RX);
GPIOPinConfigure(GPIO_PB5_CAN0TX);
// Enable the alternate function on the GPIO pins. The above step selects
// which alternate function is available. This step actually enables the
// alternate function instead of GPIO for these pins.
GPIOPinTypeCAN(GPIO_PORTB_BASE, GPIO_PIN_4 | GPIO_PIN_5);
// The GPIO port and pins have been set up for CAN. The CAN peripheral
// must be enabled.
SysCtlPeripheralEnable(SYSCTL_PERIPH_CAN0);
// Initialize the CAN controller
CANInit(CAN0_BASE);
// Setup CAN to be clocked off the M3/Master subsystem clock
CANClkSourceSelect(CAN0_BASE, CAN_CLK_M3);
// Set up the bit rate for the CAN bus. This function sets up the CAN
// bus timing for a nominal configuration. You can achieve more control
// over the CAN bus timing by using the function CANBitTimingSet() instead
// of this one, if needed.
// In this example, the CAN bus is set to 500 kHz. In the function below,
// the call to SysCtlClockGet() is used to determine the clock rate that
// is used for clocking the CAN peripheral. This can be replaced with a
// fixed value if you know the value of the system clock, saving the extra
// function call. For some parts, the CAN peripheral is clocked by a fixed
// 8 MHz regardless of the system clock in which case the call to
// SysCtlClockGet() should be replaced with 8000000. Consult the data
// sheet for more information about CAN peripheral clocking.
CANBitRateSet(CAN0_BASE, SysCtlClockGet(SYSTEM_CLOCK_SPEED), 500000);
// Enable the CAN for operation.
CANEnable(CAN0_BASE);
#endif
#if (CAN1_ACTIVE==1)
// Configure the GPIO pin muxing to select CAN0 functions for these pins.
// This step selects which alternate function is available for these pins.
// This is necessary if your part supports GPIO pin function muxing.
// Consult the data sheet to see which functions are allocated per pin.
GPIOPinConfigure(GPIO_PB2_CAN1RX);
GPIOPinConfigure(GPIO_PB0_CAN1TX);
// Enable the alternate function on the GPIO pins. The above step selects
// which alternate function is available. This step actually enables the
// alternate function instead of GPIO for these pins.
GPIOPinTypeCAN(GPIO_PORTB_BASE, GPIO_PIN_2 | GPIO_PIN_0);
// The GPIO port and pins have been set up for CAN. The CAN peripheral
// must be enabled.
SysCtlPeripheralEnable(SYSCTL_PERIPH_CAN1);
// Initialize the CAN controller
CANInit(CAN1_BASE);
// Setup CAN to be clocked off the M3/Master subsystem clock
CANClkSourceSelect(CAN1_BASE, CAN_CLK_M3);
// Set up the bit rate for the CAN bus. This function sets up the CAN
// bus timing for a nominal configuration. You can achieve more control
// over the CAN bus timing by using the function CANBitTimingSet() instead
// of this one, if needed.
// In this example, the CAN bus is set to 500 kHz. In the function below,
// the call to SysCtlClockGet() is used to determine the clock rate that
// is used for clocking the CAN peripheral. This can be replaced with a
// fixed value if you know the value of the system clock, saving the extra
// function call. For some parts, the CAN peripheral is clocked by a fixed
// 8 MHz regardless of the system clock in which case the call to
// SysCtlClockGet() should be replaced with 8000000. Consult the data
// sheet for more information about CAN peripheral clocking.
CANBitRateSet(CAN1_BASE, SysCtlClockGet(SYSTEM_CLOCK_SPEED), 500000);
// Enable the CAN for operation.
CANEnable(CAN1_BASE);
#endif
处理消息的循环部分正在任务中运行、而不使用 CAN 的任何中断、并且已经与 CAN0配合使用。
void canTask(void)
{
//Tx Messages (We send to external CAN device)
sTXCAN_1.ulMsgID = 0x1; // CAN message ID
sTXCAN_1.ulMsgIDMask = 0; // no mask needed for TX
sTXCAN_1.ulFlags = MSG_OBJ_TX_INT_ENABLE; // enable interrupt on TX
sTXCAN_1.ulMsgLen = sizeof(c28_to_m3_shadow.CAN_C28_to_M3.send_1); // size of message in byte
sTXCAN_1.pucMsgData = (unsigned char*) &c28_to_m3_shadow.CAN_C28_to_M3.send_1; // ptr to message content
sTXCAN_2.ulMsgID = 0x2; // CAN message ID
sTXCAN_2.ulMsgIDMask = 0; // no mask needed for TX
sTXCAN_2.ulFlags = MSG_OBJ_TX_INT_ENABLE; // enable interrupt on TX
sTXCAN_2.ulMsgLen = sizeof(c28_to_m3_shadow.CAN_C28_to_M3.send_2); // size of message in byte
sTXCAN_2.pucMsgData = (unsigned char*) &c28_to_m3_shadow.CAN_C28_to_M3.send_2; // ptr to message content
sTXCAN_3.ulMsgID = 0xAF; // CAN message ID
sTXCAN_3.ulMsgIDMask = 0; // no mask needed for TX
sTXCAN_3.ulFlags = MSG_OBJ_TX_INT_ENABLE; // enable interrupt on TX
sTXCAN_3.ulMsgLen = sizeof(c28_to_m3_shadow.CAN_C28_to_M3.send_3); // size of message in byte
sTXCAN_3.pucMsgData = (unsigned char*) &c28_to_m3_shadow.CAN_C28_to_M3.send_3; // ptr to message content
sTXCAN_4.ulMsgID = 0xC2; // CAN message ID
sTXCAN_4.ulMsgIDMask = 0; // no mask needed for TX
sTXCAN_4.ulFlags = MSG_OBJ_TX_INT_ENABLE; // enable interrupt on TX
sTXCAN_4.ulMsgLen = sizeof(c28_to_m3_shadow.CAN_C28_to_M3.send_4); // size of message in byte
sTXCAN_4.pucMsgData = (unsigned char*) &c28_to_m3_shadow.CAN_C28_to_M3.send_4; // ptr to message content
sTXCAN_5.ulMsgID = 0xB0; // CAN message ID
sTXCAN_5.ulMsgIDMask = 0; // no mask needed for TX
sTXCAN_5.ulFlags = MSG_OBJ_TX_INT_ENABLE; // enable interrupt on TX
sTXCAN_5.ulMsgLen = sizeof(c28_to_m3_shadow.CAN_C28_to_M3.send_5); // size of message in byte
sTXCAN_5.pucMsgData = (unsigned char*) &c28_to_m3_shadow.CAN_C28_to_M3.send_5; // ptr to message content
sTXCAN_6.ulMsgID = 0xA1; // CAN message ID
sTXCAN_6.ulMsgIDMask = 0; // no mask needed for TX
sTXCAN_6.ulFlags = MSG_OBJ_TX_INT_ENABLE; // enable interrupt on TX
sTXCAN_6.ulMsgLen = sizeof(c28_to_m3_shadow.CAN_C28_to_M3.send_6); // size of message in byte
sTXCAN_6.pucMsgData = (unsigned char*) &c28_to_m3_shadow.CAN_C28_to_M3.send_6; // ptr to message content
sTXCAN_7.ulMsgID = 0xA2; // CAN message ID
sTXCAN_7.ulMsgIDMask = 0; // no mask needed for TX
sTXCAN_7.ulFlags = MSG_OBJ_TX_INT_ENABLE; // enable interrupt on TX
sTXCAN_7.ulMsgLen = sizeof(c28_to_m3_shadow.CAN_C28_to_M3.send_7); // size of message in byte
sTXCAN_7.pucMsgData = (unsigned char*) &c28_to_m3_shadow.CAN_C28_to_M3.send_7; // ptr to message content
sTXCAN_8.ulMsgID = 0xA3; // CAN message ID
sTXCAN_8.ulMsgIDMask = 0; // no mask needed for TX
sTXCAN_8.ulFlags = MSG_OBJ_TX_INT_ENABLE; // enable interrupt on TX
sTXCAN_8.ulMsgLen = sizeof(c28_to_m3_shadow.CAN_C28_to_M3.send_8); // size of message in byte
sTXCAN_8.pucMsgData = (unsigned char*) &c28_to_m3_shadow.CAN_C28_to_M3.send_8; // ptr to message content
sTXCAN_9.ulMsgID = 0xA4; // CAN message ID
sTXCAN_9.ulMsgIDMask = 0; // no mask needed for TX
sTXCAN_9.ulFlags = MSG_OBJ_TX_INT_ENABLE; // enable interrupt on TX
sTXCAN_9.ulMsgLen = sizeof(c28_to_m3_shadow.CAN_C28_to_M3.send_9); // size of message in byte
sTXCAN_9.pucMsgData = (unsigned char*) &c28_to_m3_shadow.CAN_C28_to_M3.send_9; // ptr to message content
sTXCAN_10.ulMsgID = 0xA5; // CAN message ID
sTXCAN_10.ulMsgIDMask = 0; // no mask needed for TX
sTXCAN_10.ulFlags = MSG_OBJ_TX_INT_ENABLE; // enable interrupt on TX
sTXCAN_10.ulMsgLen = sizeof(c28_to_m3_shadow.CAN_C28_to_M3.send_10); // size of message in byte
sTXCAN_10.pucMsgData = (unsigned char*) &c28_to_m3_shadow.CAN_C28_to_M3.send_10; // ptr to message content
sTXCAN_11.ulMsgID = 0xA7; // CAN message ID
sTXCAN_11.ulMsgIDMask = 0; // no mask needed for TX
sTXCAN_11.ulFlags = MSG_OBJ_TX_INT_ENABLE; // enable interrupt on TX
sTXCAN_11.ulMsgLen = sizeof(c28_to_m3_shadow.CAN_C28_to_M3.send_11); // size of message in byte
sTXCAN_11.pucMsgData = (unsigned char*) &c28_to_m3_shadow.CAN_C28_to_M3.send_11; // ptr to message content
sTXCAN_12.ulMsgID = 0xB1; // CAN message ID
sTXCAN_12.ulMsgIDMask = 0; // no mask needed for TX
sTXCAN_12.ulFlags = MSG_OBJ_TX_INT_ENABLE; // enable interrupt on TX
sTXCAN_12.ulMsgLen = sizeof(c28_to_m3_shadow.CAN_C28_to_M3.send_12); // size of message in byte
sTXCAN_12.pucMsgData = (unsigned char*) &c28_to_m3_shadow.CAN_C28_to_M3.send_12; // ptr to message content
sTXCAN_13.ulMsgID = 0xB2; // CAN message ID
sTXCAN_13.ulMsgIDMask = 0; // no mask needed for TX
sTXCAN_13.ulFlags = MSG_OBJ_TX_INT_ENABLE; // enable interrupt on TX
sTXCAN_13.ulMsgLen = sizeof(c28_to_m3_shadow.CAN_C28_to_M3.send_13); // size of message in byte
sTXCAN_13.pucMsgData = (unsigned char*) &c28_to_m3_shadow.CAN_C28_to_M3.send_13; // ptr to message content
sTXCAN_14.ulMsgID = 0xB3; // CAN message ID
sTXCAN_14.ulMsgIDMask = 0; // no mask needed for TX
sTXCAN_14.ulFlags = MSG_OBJ_TX_INT_ENABLE; // enable interrupt on TX
sTXCAN_14.ulMsgLen = sizeof(c28_to_m3_shadow.CAN_C28_to_M3.send_14); // size of message in byte
sTXCAN_14.pucMsgData = (unsigned char*) &c28_to_m3_shadow.CAN_C28_to_M3.send_14; // ptr to message content
sTXCAN_15.ulMsgID = 0xD7; // CAN message ID
sTXCAN_15.ulMsgIDMask = 0; // no mask needed for TX
sTXCAN_15.ulFlags = MSG_OBJ_TX_INT_ENABLE; // enable interrupt on TX
sTXCAN_15.ulMsgLen = sizeof(c28_to_m3_shadow.CAN_C28_to_M3.send_15); // size of message in byte
sTXCAN_15.pucMsgData = (unsigned char*) &c28_to_m3_shadow.CAN_C28_to_M3.send_15; // ptr to message content
sTXCAN_16.ulMsgID = 0xFA; // CAN message ID
sTXCAN_16.ulMsgIDMask = 0; // no mask needed for TX
sTXCAN_16.ulFlags = MSG_OBJ_TX_INT_ENABLE; // enable interrupt on TX
sTXCAN_16.ulMsgLen = sizeof(c28_to_m3_shadow.CAN_C28_to_M3.send_16); // size of message in byte
sTXCAN_16.pucMsgData = (unsigned char*) &c28_to_m3_shadow.CAN_C28_to_M3.send_16; // ptr to message content
//Rx Messages (We get from external CAN device)
sRXCAN_1.ulMsgID = 0x3; // CAN message ID
sRXCAN_1.ulMsgIDMask = 0; // no mask needed for TX
sRXCAN_1.ulFlags = MSG_OBJ_NO_FLAGS; //
sRXCAN_1.ulMsgLen = 8; // size of message in byte
sRXCAN_1.pucMsgData = (unsigned char*) &m3_to_c28.CAN_M3_to_C28.receive_1; // ptr to message content
sRXCAN_2.ulMsgID = 0x4; // CAN message ID
sRXCAN_2.ulMsgIDMask = 0; // no mask needed for TX
sRXCAN_2.ulFlags = MSG_OBJ_NO_FLAGS; //
sRXCAN_2.ulMsgLen = 8; // size of message in byte
sRXCAN_2.pucMsgData = (unsigned char*) &m3_to_c28.CAN_M3_to_C28.receive_2; // ptr to message content
sRXCAN_3.ulMsgID = 0x5; // CAN message ID
sRXCAN_3.ulMsgIDMask = 0; // no mask needed for TX
sRXCAN_3.ulFlags = MSG_OBJ_NO_FLAGS; //
sRXCAN_3.ulMsgLen = 8; // size of message in byte
sRXCAN_3.pucMsgData = (unsigned char*) &m3_to_c28.CAN_M3_to_C28.receive_3; // ptr to message content
sRXCAN_4.ulMsgID = 0x6; // CAN message ID
sRXCAN_4.ulMsgIDMask = 0; // no mask needed for TX
sRXCAN_4.ulFlags = MSG_OBJ_NO_FLAGS; //
sRXCAN_4.ulMsgLen = 8; // size of message in byte
sRXCAN_4.pucMsgData = (unsigned char*) &m3_to_c28.CAN_M3_to_C28.receive_4; // ptr to message content
sRXCAN_5.ulMsgID = 0x7; // CAN message ID
sRXCAN_5.ulMsgIDMask = 0; // no mask needed for TX
sRXCAN_5.ulFlags = MSG_OBJ_NO_FLAGS; //
sRXCAN_5.ulMsgLen = 8; // size of message in byte
sRXCAN_5.pucMsgData = (unsigned char*) &m3_to_c28.CAN_M3_to_C28.receive_5; // ptr to message content
sRXCAN_6.ulMsgID = 0x9; // CAN message ID
sRXCAN_6.ulMsgIDMask = 0; // no mask needed for TX
sRXCAN_6.ulFlags = MSG_OBJ_NO_FLAGS; //
sRXCAN_6.ulMsgLen = 8; // size of message in byte
sRXCAN_6.pucMsgData = (unsigned char*) &m3_to_c28.CAN_M3_to_C28.receive_6; // ptr to message content
sRXCAN_7.ulMsgID = 0x10; // CAN message ID
sRXCAN_7.ulMsgIDMask = 0; // no mask needed for TX
sRXCAN_7.ulFlags = MSG_OBJ_NO_FLAGS; //
sRXCAN_7.ulMsgLen = 8; // size of message in byte
sRXCAN_7.pucMsgData = (unsigned char*) &m3_to_c28.CAN_M3_to_C28.receive_7; // ptr to message content
sRXCAN_8.ulMsgID = 0x11; // CAN message ID
sRXCAN_8.ulMsgIDMask = 0; // no mask needed for TX
sRXCAN_8.ulFlags = MSG_OBJ_NO_FLAGS; //
sRXCAN_8.ulMsgLen = 8; // size of message in byte
sRXCAN_8.pucMsgData = (unsigned char*) &m3_to_c28.CAN_M3_to_C28.receive_8; // ptr to message content
sRXCAN_9.ulMsgID = 0x12; // CAN message ID
sRXCAN_9.ulMsgIDMask = 0; // no mask needed for TX
sRXCAN_9.ulFlags = MSG_OBJ_NO_FLAGS; //
sRXCAN_9.ulMsgLen = 8; // size of message in byte
sRXCAN_9.pucMsgData = (unsigned char*) &m3_to_c28.CAN_M3_to_C28.receive_9; // ptr to message content
sRXCAN_10.ulMsgID = 0x13; // CAN message ID
sRXCAN_10.ulMsgIDMask = 0; // no mask needed for TX
sRXCAN_10.ulFlags = MSG_OBJ_NO_FLAGS; //
sRXCAN_10.ulMsgLen = 8; // size of message in byte
sRXCAN_10.pucMsgData = (unsigned char*) &m3_to_c28.CAN_M3_to_C28.receive_10; // ptr to message content
sRXCAN_11.ulMsgID = 0x14; // CAN message ID
sRXCAN_11.ulMsgIDMask = 0; // no mask needed for TX
sRXCAN_11.ulFlags = MSG_OBJ_NO_FLAGS; //
sRXCAN_11.ulMsgLen = 8; // size of message in byte
sRXCAN_11.pucMsgData = (unsigned char*) &m3_to_c28.CAN_M3_to_C28.receive_11; // ptr to message content
sRXCAN_12.ulMsgID = 0x15; // CAN message ID
sRXCAN_12.ulMsgIDMask = 0; // no mask needed for TX
sRXCAN_12.ulFlags = MSG_OBJ_NO_FLAGS; //
sRXCAN_12.ulMsgLen = 8; // size of message in byte
sRXCAN_12.pucMsgData = (unsigned char*) &m3_to_c28.CAN_M3_to_C28.receive_12; // ptr to message content
sRXCAN_13.ulMsgID = 0x16; // CAN message ID
sRXCAN_13.ulMsgIDMask = 0; // no mask needed for TX
sRXCAN_13.ulFlags = MSG_OBJ_NO_FLAGS; //
sRXCAN_13.ulMsgLen = 8; // size of message in byte
sRXCAN_13.pucMsgData = (unsigned char*) &m3_to_c28.CAN_M3_to_C28.receive_13; // ptr to message content
sRXCAN_14.ulMsgID = 0x17; // CAN message ID
sRXCAN_14.ulMsgIDMask = 0; // no mask needed for TX
sRXCAN_14.ulFlags = MSG_OBJ_NO_FLAGS; //
sRXCAN_14.ulMsgLen = 8; // size of message in byte
sRXCAN_14.pucMsgData = (unsigned char*) &m3_to_c28.CAN_M3_to_C28.receive_14; // ptr to message content
sRXCAN_15.ulMsgID = 0x18; // CAN message ID
sRXCAN_15.ulMsgIDMask = 0; // no mask needed for TX
sRXCAN_15.ulFlags = MSG_OBJ_NO_FLAGS; //
sRXCAN_15.ulMsgLen = 8; // size of message in byte
sRXCAN_15.pucMsgData = (unsigned char*) &m3_to_c28.CAN_M3_to_C28.receive_15; // ptr to message content
sRXCAN_16.ulMsgID = 0x19; // CAN message ID
sRXCAN_16.ulMsgIDMask = 0; // no mask needed for TX
sRXCAN_16.ulFlags = MSG_OBJ_NO_FLAGS; //
sRXCAN_16.ulMsgLen = 8; // size of message in byte
sRXCAN_16.pucMsgData = (unsigned char*) &m3_to_c28.CAN_M3_to_C28.receive_16; // ptr to message content
while(1)
{
gCANSendCnt1++;
gCANSendCnt2++;
// Setup the message object being used to receive messages
CANMessageSet(CAN1_BASE, 1, &sRXCAN_1, MSG_OBJ_TYPE_RX);
CANMessageSet(CAN1_BASE, 2, &sRXCAN_2, MSG_OBJ_TYPE_RX);
CANMessageSet(CAN1_BASE, 3, &sRXCAN_3, MSG_OBJ_TYPE_RX);
CANMessageSet(CAN1_BASE, 4, &sRXCAN_4, MSG_OBJ_TYPE_RX);
CANMessageSet(CAN1_BASE, 5, &sRXCAN_5, MSG_OBJ_TYPE_RX);
CANMessageSet(CAN1_BASE, 6, &sRXCAN_6, MSG_OBJ_TYPE_RX);
CANMessageSet(CAN1_BASE, 7, &sRXCAN_7, MSG_OBJ_TYPE_RX);
CANMessageSet(CAN1_BASE, 8, &sRXCAN_8, MSG_OBJ_TYPE_RX);
CANMessageSet(CAN1_BASE, 9, &sRXCAN_9, MSG_OBJ_TYPE_RX);
CANMessageSet(CAN1_BASE, 10, &sRXCAN_10, MSG_OBJ_TYPE_RX);
CANMessageSet(CAN1_BASE, 11, &sRXCAN_11, MSG_OBJ_TYPE_RX);
CANMessageSet(CAN1_BASE, 12, &sRXCAN_12, MSG_OBJ_TYPE_RX);
CANMessageSet(CAN1_BASE, 13, &sRXCAN_13, MSG_OBJ_TYPE_RX);
CANMessageSet(CAN1_BASE, 14, &sRXCAN_14, MSG_OBJ_TYPE_RX);
CANMessageSet(CAN1_BASE, 15, &sRXCAN_15, MSG_OBJ_TYPE_RX);
CANMessageSet(CAN1_BASE, 16, &sRXCAN_16, MSG_OBJ_TYPE_RX);
// wait until the next message cycle is triggered by c28
Semaphore_pend(semaphore_CAN, BIOS_WAIT_FOREVER);
/* CAN SEND MSG WITH CAN_SEND1_INTERVAL */
// Update TX Messages 1 every x ms
if (gCANSendCnt1 % CAN_SEND_INTERVAL_1 == 0) {
gCANSendCnt1 = 0;
static Uint64 CAN_Send1_alive_cnt = 0;
CAN_Send1_alive_cnt++;
c28_to_m3_shadow.CAN_C28_to_M3.send_16 = CAN_Send1_alive_cnt;
// Send the CAN message using object number 1 (not the same thing as
// CAN ID). There are 32 objects (1-32) available. This function will cause
// the message to be transmitted right away.
CANMessageSet(CAN1_BASE, 17, &sTXCAN_1, MSG_OBJ_TYPE_TX);
CANMessageSet(CAN1_BASE, 18, &sTXCAN_2, MSG_OBJ_TYPE_TX);
CANMessageSet(CAN1_BASE, 19, &sTXCAN_3, MSG_OBJ_TYPE_TX);
CANMessageSet(CAN1_BASE, 20, &sTXCAN_4, MSG_OBJ_TYPE_TX);
CANMessageSet(CAN1_BASE, 21, &sTXCAN_5, MSG_OBJ_TYPE_TX);
CANMessageSet(CAN1_BASE, 22, &sTXCAN_6, MSG_OBJ_TYPE_TX);
CANMessageSet(CAN1_BASE, 23, &sTXCAN_7, MSG_OBJ_TYPE_TX);
CANMessageSet(CAN1_BASE, 24, &sTXCAN_8, MSG_OBJ_TYPE_TX);
CANMessageSet(CAN1_BASE, 25, &sTXCAN_9, MSG_OBJ_TYPE_TX);
CANMessageSet(CAN1_BASE, 26, &sTXCAN_10, MSG_OBJ_TYPE_TX);
CANMessageSet(CAN1_BASE, 27, &sTXCAN_11, MSG_OBJ_TYPE_TX);
CANMessageSet(CAN1_BASE, 28, &sTXCAN_12, MSG_OBJ_TYPE_TX);
CANMessageSet(CAN1_BASE, 29, &sTXCAN_13, MSG_OBJ_TYPE_TX);
CANMessageSet(CAN1_BASE, 30, &sTXCAN_14, MSG_OBJ_TYPE_TX);
// CANMessageSet(CAN1_BASE, 31, &sTXCAN_15, MSG_OBJ_TYPE_TX);
CANMessageSet(CAN1_BASE, 32, &sTXCAN_16, MSG_OBJ_TYPE_TX);
}
/* CAN SEND MSG WITH CAN_SEND2_INTERVAL */
// Update TX Messages 2 every x ms
if (gCANSendCnt2 % CAN_SEND_INTERVAL_2 == 0) {
gCANSendCnt2 = 0;
static Uint64 CAN_Send2_alive_cnt = 0;
CAN_Send2_alive_cnt++;
c28_to_m3_shadow.CAN_C28_to_M3.send_15 = CAN_Send2_alive_cnt;
// Send the CAN message using object number 1 (not the same thing as
// CAN ID). There are 32 objects (1-32) available. This function will cause
// the message to be transmitted right away.
// CANMessageSet(CAN1_BASE, 17, &sTXCAN_1, MSG_OBJ_TYPE_TX);
// CANMessageSet(CAN1_BASE, 18, &sTXCAN_2, MSG_OBJ_TYPE_TX);
// CANMessageSet(CAN1_BASE, 19, &sTXCAN_3, MSG_OBJ_TYPE_TX);
// CANMessageSet(CAN1_BASE, 20, &sTXCAN_4, MSG_OBJ_TYPE_TX);
// CANMessageSet(CAN1_BASE, 21, &sTXCAN_5, MSG_OBJ_TYPE_TX);
// CANMessageSet(CAN1_BASE, 22, &sTXCAN_6, MSG_OBJ_TYPE_TX);
// CANMessageSet(CAN1_BASE, 23, &sTXCAN_7, MSG_OBJ_TYPE_TX);
// CANMessageSet(CAN1_BASE, 24, &sTXCAN_8, MSG_OBJ_TYPE_TX);
// CANMessageSet(CAN1_BASE, 25, &sTXCAN_9, MSG_OBJ_TYPE_TX);
// CANMessageSet(CAN1_BASE, 26, &sTXCAN_10, MSG_OBJ_TYPE_TX);
// CANMessageSet(CAN1_BASE, 27, &sTXCAN_11, MSG_OBJ_TYPE_TX);
// CANMessageSet(CAN1_BASE, 28, &sTXCAN_12, MSG_OBJ_TYPE_TX);
// CANMessageSet(CAN1_BASE, 29, &sTXCAN_13, MSG_OBJ_TYPE_TX);
// CANMessageSet(CAN1_BASE, 30, &sTXCAN_14, MSG_OBJ_TYPE_TX);
CANMessageSet(CAN1_BASE, 31, &sTXCAN_15, MSG_OBJ_TYPE_TX);
// CANMessageSet(CAN1_BASE, 32, &sTXCAN_16, MSG_OBJ_TYPE_TX);
}
//alive counter
alive_ctr = alive_ctr + 1;
if(alive_ctr >= 100)
alive_ctr = 1;
CANMessageGet(CAN1_BASE, 1, &sRXCAN_1, true);
CANMessageGet(CAN1_BASE, 2, &sRXCAN_2, true);
CANMessageGet(CAN1_BASE, 3, &sRXCAN_3, true);
CANMessageGet(CAN1_BASE, 4, &sRXCAN_4, true);
CANMessageGet(CAN1_BASE, 5, &sRXCAN_5, true);
CANMessageGet(CAN1_BASE, 6, &sRXCAN_6, true);
CANMessageGet(CAN1_BASE, 7, &sRXCAN_7, true);
CANMessageGet(CAN1_BASE, 8, &sRXCAN_8, true);
CANMessageGet(CAN1_BASE, 9, &sRXCAN_9, true);
CANMessageGet(CAN1_BASE, 10, &sRXCAN_10, true);
CANMessageGet(CAN1_BASE, 11, &sRXCAN_11, true);
CANMessageGet(CAN1_BASE, 12, &sRXCAN_12, true);
CANMessageGet(CAN1_BASE, 13, &sRXCAN_13, true);
CANMessageGet(CAN1_BASE, 14, &sRXCAN_14, true);
CANMessageGet(CAN1_BASE, 15, &sRXCAN_15, true);
CANMessageGet(CAN1_BASE, 16, &sRXCAN_16, true);
IPCMtoCFlagSet(IPC_FLAG6); // benachrichtige c28 -> neue Daten
}
}
现在、我只是尝试发送和接收所有通过 CAN0处理的消息、现在使用 CAN1、正如上面的代码所示、但 CAN1TX 引脚上的信号对我来说似乎非常奇怪。
首先是 CAN0TX 线路的图片、当所有这些消息都通过 CAN0 (蓝色信号)发送时：
然后、当我通过 CAN1发送所有这些消息时、我假设该信号看起来与之前通过 CAN0发送的信号相同、但它看起来是这样的(红色信号、示波器上的偏移负5V)：
在我看来、这看起来不像 CAN 消息、更像是完美的16kHz PWM 信号。
有人能解释一下这个巴维霍尔吗？ 初始化过程是否有问题？
我已经检查了 CAN1管脚是否由 M3内核控制、而不是由 C28控制。
我还检查了 PB0和 PB2引脚是否在代码中的其他位置被初始化、没有发现任何内容。
我清理了项目并重建了它。
我真的不知道如何继续。 有人提出了好的建议吗？
这是非常多的
Michael
