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器件型号：TMS320F28377S 主题中讨论的其他器件：C2000WARE
主设备和从属设备：F28377S
波特率： 500kHz
主器件每1ms 向从器件发送一帧数据、长度为5字节。
从机使用中断 方式从主机处接收数据。 起初、从器件正常接收。 经过一段时间后、从机无法从主机接收数据(仅指定的 ID)。 时间间隔不是固定的、从器件有时会正常工作很长时间。
主器件和从器件之间的连接正常。
发生错误后、使用 CAN 工具将其他帧 ID 的数据发送到从机、从机可以正常接收。
它还可以检测主器件使用这个指定的帧 ID 发送的数据是否输出。
使用 CAN 工具发送具有这个指定 ID 的数据、而从器件无法接收该 ID。
// ====================================================================
// === 1. 主函数初始化部分 ============================================
// ====================================================================
void main(void)
{
//
// Initialize the CAN controllers
//
CANInit(CANA_BASE);
//
// Setup CAN to be clocked off the PLL output clock
//
CANClkSourceSelect(CANA_BASE, 0);
//
// Set up the CAN bus bit rate to 500kHz for each module
// 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.
// Additionally, consult the device data sheet for more information about
// the CAN module clocking.
//
CANBitRateSet(CANA_BASE, 200000000, 500000);
// CANBitRateSet(CANA_BASE, 200000000, 1000000);
//
// Enable interrupts on the CAN A peripheral.
//
// CANIntEnable(CANA_BASE, CAN_INT_MASTER | CAN_INT_ERROR | CAN_INT_STATUS);
CANIntEnable(CANA_BASE, CAN_INT_MASTER | CAN_INT_ERROR);
// Enable AutoBusOn
CAN_enableAutoBusOn(CANA_BASE);
CAN_setAutoBusOnTime(CANA_BASE, 100000);
CAN_disableRetry(CANA_BASE);
//
// Enable the CAN-A interrupt signal
//
CANGlobalIntEnable(CANA_BASE, CAN_GLB_INT_CANINT0);
CanObjInit();
//
// Start CAN module A operations
//
CANEnable(CANA_BASE);
}
// ====================================================================
// === 2. 主机DSP CanObjInit()初始化配置邮箱，及发送程序 =============
// ====================================================================
void CanObjInit()
{
// 两DSP CAN通信，发送
sTXCANMsgDspComm01.ui32MsgID = 0x0C100201;
sTXCANMsgDspComm01.ui32MsgIDMask = 0;
sTXCANMsgDspComm01.ui32Flags = 0;
sTXCANMsgDspComm01.ui32MsgLen = 5;
sTXCANMsgDspComm01.pucMsgData = TxMsgDspCommData01;
}
// ====== 发送部分程序，1ms发送1次 =====================================
// 发送给从机电流设定值
TxMsgDspCommData01[0] = ((int)(onGridCloseLoopIdref * 100) & 0x00FF);
TxMsgDspCommData01[1] = ((int)(onGridCloseLoopIdref * 100) & 0xFF00) >> 8;
TxMsgDspCommData01[2] = ((int)(onGridCloseLoopIqref * 100) & 0x00FF);
TxMsgDspCommData01[3] = ((int)(onGridCloseLoopIqref * 100) & 0xFF00) >> 8;
TxMsgDspCommData01[4] = 0;
CANMessageSet(CANA_BASE, 4, &sTXCANMsgDspComm01, MSG_OBJ_TYPE_TX);
// ====================================================================
// === 3. 从机DSP CanObjInit()初始化配置邮箱，及接收程序 =============
// ====================================================================
void CanObjInit()
{
// 两DSP CAN通信，接收
sRXCANMsgDspComm01.ui32MsgID = 0x0C100201;
sRXCANMsgDspComm01.ui32MsgIDMask = 0;
sRXCANMsgDspComm01.ui32Flags = MSG_OBJ_RX_INT_ENABLE;
sRXCANMsgDspComm01.ui32MsgLen = 5;
sRXCANMsgDspComm01.pucMsgData = RxMsgDspCommData01;
CANMessageSet(CANA_BASE, 15, &sRXCANMsgDspComm01, MSG_OBJ_TYPE_RX);
}
// ======== 在中断中接收主机发送过来的数据（status = 15时接收该帧 ） ============================
#if (G9_5PL != 0)
__interrupt void CANA0_ISR(void) // CAN-A
{
// Set interrupt priority:
volatile Uint16 TempPIEIER = PieCtrlRegs.PIEIER9.all;
IER |= M_INT9;
IER &= MINT9; // Set "global" priority
PieCtrlRegs.PIEIER9.all &= MG9_5; // Set "group" priority
PieCtrlRegs.PIEACK.all = 0xFFFF; // Enable PIE interrupts
__asm(" NOP");
EINT;
uint32_t status;
//
// Read the CAN-A interrupt status to find the cause of the interrupt
//
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)
{
// DSP_OUT1_TOGGLE;
//
// Read the controller status. This will return a field of status
// error bits that can indicate various errors. Error processing
// is not done in this example for simplicity. Refer to the
// API documentation for details about the error status bits.
// The act of reading this status will clear the interrupt.
//
status = CANStatusGet(CANA_BASE, CAN_STS_CONTROL);
//
// Check to see if an error occurred.
//
// if(((status & ~(CAN_ES_RXOK)) != 7) &&
// ((status & ~(CAN_ES_RXOK)) != 0))
// if(((status & ~(CAN_ES_RXOK | CAN_ES_TXOK | CAN_ES_BOFF)) != 7) &&
// ((status & ~(CAN_ES_RXOK | CAN_ES_TXOK | CAN_ES_BOFF)) != 0))
if(((status & ~(CAN_ES_RXOK | CAN_ES_TXOK)) != 7) &&
((status & ~(CAN_ES_RXOK | CAN_ES_TXOK)) != 0))
{
//
// Set a flag to indicate some errors may have occurred.
//
errorFlag = 1; // 调试
CanConfigInit();
// DSP_OUT1_TOGGLE; // 调试
}
}
else if(status == 15)
{
DSP_OUT1_TOGGLE;
errorFlag = 0;
CanReceiveDsp01();
CANIntClear(CANA_BASE, 15);
}
else if(status == 16)
{
CanReceiveDsp02();
CANIntClear(CANA_BASE, 16);
}
else if(status == 17)
{
// DSP_OUT1_TOGGLE; // 调试
CanReceiveDsp03();
CANIntClear(CANA_BASE, 17);
}
//
// Check if the cause is the CAN-A receive message object 1
//
else if(status == 25)
{
//
// Get the received message
//
// CANMessageGet(CANA_BASE, 2, &sRXCANMsgChkInfo, true);
CanReceiveSrhInfo();
//
// 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, 25);
//
// 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 if(status == 26)
{
CanReceiveRdSet();
CANIntClear(CANA_BASE, 26);
}
else if(status == 27)
{
CanReceiveCtlSet();
CANIntClear(CANA_BASE, 27);
}
else if(status == 28)
{
CanReceiveParaSet();
CANIntClear(CANA_BASE, 28);
}
//
// If something unexpected caused the interrupt, this would handle it.
//
else
{
//
// Spurious interrupt handling can go here.
//
// errorFlag = 2; // 调试
}
//
// Clear the global interrupt flag for the CAN interrupt line
//
CANGlobalIntClear(CANA_BASE, CAN_GLB_INT_CANINT0);
//
// Restore registers saved:
//
DINT;
PieCtrlRegs.PIEIER9.all = TempPIEIER;
}
#endif
--
谢谢、此致
