Other Parts Discussed in Thread: TCAN4550, MSP430FR6989, TCAN4550EVM
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器件型号：TCAN4550EVM 主题中讨论的其他器件：TCAN4550、 MSP430FR6989、
大家好、我想将 TCAN4550连接到 CC1352R1。 是否有可用的驱动程序。
Other Parts Discussed in Thread: TCAN4550, MSP430FR6989, TCAN4550EVM
大家好、我想将 TCAN4550连接到 CC1352R1。 是否有可用的驱动程序。
主席先生，
感谢您的回答。
今天、我们能够使 TCAN4550进入正常模式。 (处于待机状态的原因是：CAN 模块的电源电压低于5V)
现在、我们无法在 CAN 总线分析仪中看到数据、速度限制为1Mbps。
在演示中，将代码 数据速度设置为2Mbps。
您能指导我们将 NBTP、DBTP 和 TDCR 设置为1Mbps。 TCAN4550EVM 模块具有40MHz 晶体。
谢谢
Joju John
尊敬的先生：
感谢您的支持。
我们尝试以500Kbps 的速率在普通 CAN 总线中进行连接。 初始化代码如下所示：
/*
* Configure the TCAN4550
*/
void Init_CAN(void)
{
uint32_t readValue;
CAN_SPI_Init();
TCAN4x5x_Device_ClearSPIERR(); // Clear any SPI ERR flags that might be set as a result of our pin mux changing during MCU startup
/* Step one attempt to clear all interrupts */
TCAN4x5x_Device_Interrupt_Enable dev_ie = {0}; // Initialize to 0 to all bits are set to 0.
TCAN4x5x_Device_ConfigureInterruptEnable(&dev_ie); // Disable all non-MCAN related interrupts for simplicity
TCAN4x5x_Device_Interrupts dev_ir = {0}; // Setup a new MCAN IR object for easy interrupt checking
TCAN4x5x_Device_ReadInterrupts(&dev_ir); // Request that the struct be updated with current DEVICE (not MCAN) interrupt values
if (dev_ir.PWRON) // If the Power On interrupt flag is set
TCAN4x5x_Device_ClearInterrupts(&dev_ir); // Clear it because if it's not cleared within ~4 minutes, it goes to sleep
/* Configure the CAN bus speeds NBTP & DBTP*/
TCAN4x5x_MCAN_Nominal_Timing_Simple TCANNomTiming = {0}; // 500k arbitration with a 40 MHz crystal ((40E6 / 2) / (32 + 8) = 500E3)
TCANNomTiming.NominalBitRatePrescaler = 2; //2, 1Mk arbitration with a 40 MHz crystal ((40E6 / 1) / (32 + 8) = 1E6)
TCANNomTiming.NominalTqBeforeSamplePoint = 32; //32
TCANNomTiming.NominalTqAfterSamplePoint = 8; //8
TCAN4x5x_MCAN_Data_Timing_Simple TCANDataTiming = {0}; // 2 Mbps CAN FD with a 40 MHz crystal (40E6 / (15 + 5) = 2E6)
TCANDataTiming.DataBitRatePrescaler = 2; // previous data 1, Now 1 Mbps CAN FD with a 40 MHz crystal ((40E6 / 2) / (15 + 5) = 1E6)
TCANDataTiming.DataTqBeforeSamplePoint = 15;
TCANDataTiming.DataTqAfterSamplePoint = 5;
/* Configure the MCAN core settings */
TCAN4x5x_MCAN_CCCR_Config cccrConfig = {0}; // Remember to initialize to 0, or you'll get random garbage!
cccrConfig.FDOE = 0; //1, CAN FD mode enable
cccrConfig.BRSE = 0; //1, CAN FD Bit rate switch enable
/* Configure the default CAN packet filtering settings */
TCAN4x5x_MCAN_Global_Filter_Configuration gfc = {0};
gfc.RRFE = 1; // Reject remote frames (TCAN4x5x doesn't support this)
gfc.RRFS = 1; // Reject remote frames (TCAN4x5x doesn't support this)
gfc.ANFE = TCAN4x5x_GFC_ACCEPT_INTO_RXFIFO0; // Default behavior if incoming message doesn't match a filter is to accept into RXFIO0 for extended ID messages (29 bit IDs)
gfc.ANFS = TCAN4x5x_GFC_ACCEPT_INTO_RXFIFO0; // Default behavior if incoming message doesn't match a filter is to accept into RXFIO0 for standard ID messages (11 bit IDs)
/* ************************************************************************
* In the next configuration block, we will set the MCAN core up to have:
* - 1 SID filter element
* - 1 XID Filter element
* - 5 RX FIFO 0 elements
* - RX FIFO 0 supports data payloads up to 64 bytes
* - RX FIFO 1 and RX Buffer will not have any elements, but we still set their data payload sizes, even though it's not required
* - No TX Event FIFOs
* - 2 Transmit buffers supporting up to 64 bytes of data payload
*/
TCAN4x5x_MRAM_Config MRAMConfiguration = {0};
MRAMConfiguration.SIDNumElements = 1; // Standard ID number of elements, you MUST have a filter written to MRAM for each element defined
MRAMConfiguration.XIDNumElements = 1; // Extended ID number of elements, you MUST have a filter written to MRAM for each element defined
MRAMConfiguration.Rx0NumElements = 5; // RX0 Number of elements
MRAMConfiguration.Rx0ElementSize = MRAM_64_Byte_Data; // RX0 data payload size
MRAMConfiguration.Rx1NumElements = 0; // RX1 number of elements
MRAMConfiguration.Rx1ElementSize = MRAM_64_Byte_Data; // RX1 data payload size
MRAMConfiguration.RxBufNumElements = 0; // RX buffer number of elements
MRAMConfiguration.RxBufElementSize = MRAM_64_Byte_Data; // RX buffer data payload size
MRAMConfiguration.TxEventFIFONumElements = 0; // TX Event FIFO number of elements
MRAMConfiguration.TxBufferNumElements = 2; // TX buffer number of elements
MRAMConfiguration.TxBufferElementSize = MRAM_64_Byte_Data; // TX buffer data payload size
/* Configure the MCAN core with the settings above, the changes in this block are write protected registers, *
* so it makes the most sense to do them all at once, so we only unlock and lock once */
TCAN4x5x_MCAN_EnableProtectedRegisters(); // Start by making protected registers accessible
TCAN4x5x_MCAN_ConfigureCCCRRegister(&cccrConfig); // Enable FD mode and Bit rate switching
TCAN4x5x_MCAN_ConfigureGlobalFilter(&gfc); // Configure the global filter configuration (Default CAN message behavior)
TCAN4x5x_MCAN_ConfigureNominalTiming_Simple(&TCANNomTiming);// Setup nominal/arbitration bit timing
// TCAN4x5x_MCAN_ConfigureDataTiming_Simple(&TCANDataTiming); // Setup CAN FD timing
TCAN4x5x_MRAM_Clear(); // Clear all of MRAM (Writes 0's to all of it)
TCAN4x5x_MRAM_Configure(&MRAMConfiguration); // Set up the applicable registers related to MRAM configuration
TCAN4x5x_MCAN_DisableProtectedRegisters(); // Disable protected write and take device out of INIT mode
/* Set the interrupts we want to enable for MCAN */
TCAN4x5x_MCAN_Interrupt_Enable mcan_ie = {0}; // Remember to initialize to 0, or you'll get random garbage!
mcan_ie.RF0NE = 1; // RX FIFO 0 new message interrupt enable
TCAN4x5x_MCAN_ConfigureInterruptEnable(&mcan_ie); // Enable the appropriate registers
/* Setup filters, this filter will mark any message with ID 0x055 as a priority message */
TCAN4x5x_MCAN_SID_Filter SID_ID = {0};
SID_ID.SFT = TCAN4x5x_SID_SFT_CLASSIC; // SFT: Standard filter type. Configured as a classic filter
SID_ID.SFEC = TCAN4x5x_SID_SFEC_PRIORITYSTORERX0; // Standard filter element configuration, store it in RX fifo 0 as a priority message
SID_ID.SFID1 = 0x055; // SFID1 (Classic mode Filter)
SID_ID.SFID2 = 0x7FF; // SFID2 (Classic mode Mask)
TCAN4x5x_MCAN_WriteSIDFilter(0, &SID_ID); // Write to the MRAM
/* Store ID 0x12345678 as a priority message */
TCAN4x5x_MCAN_XID_Filter XID_ID = {0};
XID_ID.EFT = TCAN4x5x_XID_EFT_CLASSIC; // EFT
XID_ID.EFEC = TCAN4x5x_XID_EFEC_PRIORITYSTORERX0; // EFEC
XID_ID.EFID1 = 0x12345678; // EFID1 (Classic mode filter)
XID_ID.EFID2 = 0x1FFFFFFF; // EFID2 (Classic mode mask)
TCAN4x5x_MCAN_WriteXIDFilter(0, &XID_ID); // Write to the MRAM
/* Configure the TCAN4550 Non-CAN-related functions */
TCAN4x5x_DEV_CONFIG devConfig = {0}; // Remember to initialize to 0, or you'll get random garbage!
devConfig.SWE_DIS = 0; // 0, Keep Sleep Wake Error Enabled (it's a disable bit, not an enable)
devConfig.DEVICE_RESET = 0; // Not requesting a software reset
devConfig.WD_EN = 0; // Watchdog disabled
devConfig.nWKRQ_CONFIG = 0; // Mirror INH function (default)
devConfig.INH_DIS = 0; // INH enabled (default)
devConfig.GPIO1_GPO_CONFIG = TCAN4x5x_DEV_CONFIG_GPO1_MCAN_INT1; // MCAN nINT 1 (default)
devConfig.FAIL_SAFE_EN = 0; // 0, Failsafe disabled (default)
devConfig.GPIO1_CONFIG = TCAN4x5x_DEV_CONFIG_GPIO1_CONFIG_GPO; // GPIO set as GPO (Default)
devConfig.WD_ACTION = TCAN4x5x_DEV_CONFIG_WDT_ACTION_nINT; // Watchdog set an interrupt (default)
devConfig.WD_BIT_RESET = 0; // Don't reset the watchdog
devConfig.nWKRQ_VOLTAGE = 0; // Set nWKRQ to internal voltage rail (default)
devConfig.GPO2_CONFIG = TCAN4x5x_DEV_CONFIG_GPO2_NO_ACTION; // GPO2 has no behavior (default)
devConfig.CLK_REF = 1; // Input crystal is a 40 MHz crystal (default)
devConfig.WAKE_CONFIG = TCAN4x5x_DEV_CONFIG_WAKE_BOTH_EDGES;// Wake pin can be triggered by either edge (default)
TCAN4x5x_Device_Configure(&devConfig); // Configure the device with the above configuration
// while(!TCAN4x5x_Device_SetMode(TCAN4x5x_DEVICE_MODE_NORMAL));
TCAN4x5x_Device_SetMode(TCAN4x5x_DEVICE_MODE_NORMAL); // Set to normal mode, since configuration is done. This line turns on the transceiver
TCAN4x5x_MCAN_ClearInterruptsAll(); // Resets all MCAN interrupts (does NOT include any SPIERR interrupts)
/* Define the CAN message we want to send*/
TCAN4x5x_MCAN_TX_Header header = {0}; // Remember to initialize to 0, or you'll get random garbage!
uint8_t data[4] = {0x55, 0x66, 0x77, 0x88}; // Define the data payload
header.DLC = MCAN_DLC_4B; // Set the DLC to be equal to or less than the data payload (it is ok to pass a 64 byte data array into the WriteTXFIFO function if your DLC is 8 bytes, only the first 8 bytes will be read)
header.ID = 0x144; // Set the ID
header.FDF = 0; // CAN FD frame enabled
header.BRS = 0; // Bit rate switch enabled
header.EFC = 0;
header.MM = 0;
header.RTR = 0;
header.XTD = 0; // We are not using an extended ID in this example
header.ESI = 0; // Error state indicator
TCAN4x5x_MCAN_WriteTXBuffer(0, &header, data); // This function actually writes the header and data payload to the TCAN's MRAM in the specified TX queue number. It returns the bit necessary to write to TXBAR,
// but does not necessarily require you to use it. In this example, we won't, so that we can send the data queued up at a later point.
/* Let's make a different CAN message */
data[0] = 0x11;
data[1] = 0x22;
data[2] = 0x33;
data[3] = 0x44; // Define the data payload
header.DLC = MCAN_DLC_4B; // Set the DLC to be equal to or less than the data payload (it is ok to pass a 64 byte data array into the WriteTXFIFO function if your DLC is 8 bytes, only the first 8 bytes will be read)
header.ID = 0x123; // Set the ID
header.FDF = 0; // CAN FD frame enabled
header.BRS = 0; // Bit rate switch enabled
header.EFC = 0;
header.MM = 0;
header.RTR = 0;
header.XTD = 0; // We are not using an extended ID in this example
header.ESI = 0; // Error state indicator
TCAN4x5x_MCAN_WriteTXBuffer(1, &header, data); // This line writes the data and header to TX FIFO 1
TCAN4x5x_MCAN_TransmitBufferContents(1); // Request that TX Buffer 1 be transmitted
TCAN4x5x_MCAN_TransmitBufferContents(0); // Now we can send the TX FIFO element 0 data that we had queued up earlier but didn't send.
}
CAN 分析仪的工作方式仍然相同。
来自 CAN 分析仪的信号也如上所示。
谢谢
Joju John
/*
* main.c
* Author: Texas Instruments
* Date: 4/25/2019
*
* Description: A basic version of code to set up and receive a packet.
* - This is designed to work with the EVM the BOOSTXL-CANFD-LIN Rev 1.0 Boosterpack
* - It assumes TCAN4550 Oscillator of 40 MHz
* - Sets CAN arbitration rate at 500 kBaud
* - Sets CAN FD data phase for 2 MBaud
* - The interrupt pin is used for signal a received message, rather than polling
*
* Pressing S1 will transmit a CAN message. S1 is on the MSP430FR6989 launchpad to the left.
*
* Pinout
* - P1.4 SPI Clock / SCLK
* - P1.6 MOSI / SDI
* - P1.7 MISO / SDO
* - P2.5 SPI Chip Select / nCS
*
* - P2.3 MCAN Interrupt 1 / nINT
* - Ground wire is important
*
*
*
* Copyright (c) 2019 Texas Instruments Incorporated. All rights reserved.
* Software License Agreement
*
* Redistribution and use in source and binary forms, with or without
* modification, are permitted provided that the following conditions
* are met:
*
* Redistributions of source code must retain the above copyright
* notice, this list of conditions and the following disclaimer.
*
* Redistributions in binary form must reproduce the above copyright
* notice, this list of conditions and the following disclaimer in the
* documentation and/or other materials provided with the
* distribution.
*
* Neither the name of Texas Instruments Incorporated nor the names of
* its contributors may be used to endorse or promote products derived
* from this software without specific prior written permission.
*
* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
* "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
* LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR
* A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT
* OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL,
* SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT
* LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS OF USE,
* DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND ON ANY
* THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT
* (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE
* OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
*/
#include <driverlib.h>
#include <msp430.h>
#include "tcan4x5x/TCAN4550.h"
void Init_GPIO(void);
void Init_Clock(void);
void Init_SPI(void);
void Init_CAN(void);
volatile uint8_t TCAN_Int_Cnt = 0; // A variable used to keep track of interrupts the MCAN Interrupt pin
int
main(void)
{
/***********************************
* MSP430 Specific Initializations *
***********************************/
WDT_A_hold(__MSP430_BASEADDRESS_WDT_A__);
Init_GPIO(); // Set up GPIOs for SPI and TCAN4550 connections
Init_Clock(); // Set up the system clocks for 16 MHz (on the MSP430)
Init_SPI(); // Initialize the SPI hardware module for 2 MHz SPI
GPIO_clearInterrupt(GPIO_PORT_P1, GPIO_PIN1); // Clear any interrupts on pin 1.1 before we enable global interrupts
GPIO_clearInterrupt(GPIO_PORT_P2, GPIO_PIN3); // Clear any interrupts on pin 2.3 before we enable global interrupts
__enable_interrupt();
/*********************************************
* Everything at this point is for TCAN4550 *
*********************************************/
Init_CAN(); // Run the main MCAN configuration sequence. The bulk of the configuration is in this!
/* Define the CAN message we want to send*/
TCAN4x5x_MCAN_TX_Header header = {0}; // Remember to initialize to 0, or you'll get random garbage!
uint8_t data[4] = {0x55, 0x66, 0x77, 0x88}; // Define the data payload
header.DLC = MCAN_DLC_4B; // Set the DLC to be equal to or less than the data payload (it is ok to pass a 64 byte data array into the WriteTXFIFO function if your DLC is 8 bytes, only the first 8 bytes will be read)
header.ID = 0x144; // Set the ID
header.FDF = 0; // CAN FD frame enabled
header.BRS = 0; // Bit rate switch enabled
header.EFC = 0;
header.MM = 0;
header.RTR = 0;
header.XTD = 0; // We are not using an extended ID in this example
header.ESI = 0; // Error state indicator
TCAN4x5x_MCAN_WriteTXBuffer(0, &header, data); // This function actually writes the header and data payload to the TCAN's MRAM in the specified TX queue number. It returns the bit necessary to write to TXBAR,
// but does not necessarily require you to use it. In this example, we won't, so that we can send the data queued up at a later point.
/* Let's make a different CAN message */
data[0] = 0x11;
data[1] = 0x22;
data[2] = 0x33;
data[3] = 0x44; // Define the data payload
header.DLC = MCAN_DLC_4B; // Set the DLC to be equal to or less than the data payload (it is ok to pass a 64 byte data array into the WriteTXFIFO function if your DLC is 8 bytes, only the first 8 bytes will be read)
header.ID = 0x123; // Set the ID
header.FDF = 0; // CAN FD frame enabled
header.BRS = 0; // Bit rate switch enabled
header.EFC = 0;
header.MM = 0;
header.RTR = 0;
header.XTD = 0; // We are not using an extended ID in this example
header.ESI = 0; // Error state indicator
TCAN4x5x_MCAN_WriteTXBuffer(1, &header, data); // This line writes the data and header to TX FIFO 1
TCAN4x5x_MCAN_TransmitBufferContents(1); // Request that TX Buffer 1 be transmitted
TCAN4x5x_MCAN_TransmitBufferContents(0); // Now we can send the TX FIFO element 0 data that we had queued up earlier but didn't send.
while (1)
{
if (TCAN_Int_Cnt > 0 )
{
TCAN_Int_Cnt--;
TCAN4x5x_Device_Interrupts dev_ir = {0}; // Define a new Device IR object for device (non-CAN) interrupt checking
TCAN4x5x_MCAN_Interrupts mcan_ir = {0}; // Setup a new MCAN IR object for easy interrupt checking
TCAN4x5x_Device_ReadInterrupts(&dev_ir); // Read the device interrupt register
TCAN4x5x_MCAN_ReadInterrupts(&mcan_ir); // Read the interrupt register
if (dev_ir.SPIERR) // If the SPIERR flag is set
TCAN4x5x_Device_ClearSPIERR(); // Clear the SPIERR flag
if (mcan_ir.RF0N) // If a new message in RX FIFO 0
{
TCAN4x5x_MCAN_RX_Header MsgHeader = {0}; // Initialize to 0 or you'll get garbage
uint8_t numBytes = 0; // Used since the ReadNextFIFO function will return how many bytes of data were read
uint8_t dataPayload[64] = {0}; // Used to store the received data
TCAN4x5x_MCAN_ClearInterrupts(&mcan_ir); // Clear any of the interrupt bits that are set.
numBytes = TCAN4x5x_MCAN_ReadNextFIFO( RXFIFO0, &MsgHeader, dataPayload); // This will read the next element in the RX FIFO 0
// numBytes will have the number of bytes it transfered in it. Or you can decode the DLC value in MsgHeader.DLC
// The data is now in dataPayload[], and message specific information is in the MsgHeader struct.
if (MsgHeader.ID == 0x0AA) // Example of how you can do an action based off a received address
{
// Do something
}
}
}
}
}
/*
* Configure the TCAN4550
*/
void
Init_CAN(void)
{
TCAN4x5x_Device_ClearSPIERR(); // Clear any SPI ERR flags that might be set as a result of our pin mux changing during MCU startup
/* Step one attempt to clear all interrupts */
TCAN4x5x_Device_Interrupt_Enable dev_ie = {0}; // Initialize to 0 to all bits are set to 0.
TCAN4x5x_Device_ConfigureInterruptEnable(&dev_ie); // Disable all non-MCAN related interrupts for simplicity
TCAN4x5x_Device_Interrupts dev_ir = {0}; // Setup a new MCAN IR object for easy interrupt checking
TCAN4x5x_Device_ReadInterrupts(&dev_ir); // Request that the struct be updated with current DEVICE (not MCAN) interrupt values
if (dev_ir.PWRON) // If the Power On interrupt flag is set
TCAN4x5x_Device_ClearInterrupts(&dev_ir); // Clear it because if it's not cleared within ~4 minutes, it goes to sleep
/* Configure the CAN bus speeds */
TCAN4x5x_MCAN_Nominal_Timing_Simple TCANNomTiming = {0}; // 500k arbitration with a 40 MHz crystal ((40E6 / 2) / (32 + 8) = 500E3)
TCANNomTiming.NominalBitRatePrescaler = 2;
TCANNomTiming.NominalTqBeforeSamplePoint = 32;
TCANNomTiming.NominalTqAfterSamplePoint = 8;
TCAN4x5x_MCAN_Data_Timing_Simple TCANDataTiming = {0}; // 2 Mbps CAN FD with a 40 MHz crystal (40E6 / (15 + 5) = 2E6)
TCANDataTiming.DataBitRatePrescaler = 1;
TCANDataTiming.DataTqBeforeSamplePoint = 15;
TCANDataTiming.DataTqAfterSamplePoint = 5;
/* Configure the MCAN core settings */
TCAN4x5x_MCAN_CCCR_Config cccrConfig = {0}; // Remember to initialize to 0, or you'll get random garbage!
cccrConfig.FDOE = 0; // CAN FD mode enable
cccrConfig.BRSE = 0; // CAN FD Bit rate switch enable
/* Configure the default CAN packet filtering settings */
TCAN4x5x_MCAN_Global_Filter_Configuration gfc = {0};
gfc.RRFE = 1; // Reject remote frames (TCAN4x5x doesn't support this)
gfc.RRFS = 1; // Reject remote frames (TCAN4x5x doesn't support this)
gfc.ANFE = TCAN4x5x_GFC_ACCEPT_INTO_RXFIFO0; // Default behavior if incoming message doesn't match a filter is to accept into RXFIO0 for extended ID messages (29 bit IDs)
gfc.ANFS = TCAN4x5x_GFC_ACCEPT_INTO_RXFIFO0; // Default behavior if incoming message doesn't match a filter is to accept into RXFIO0 for standard ID messages (11 bit IDs)
/* ************************************************************************
* In the next configuration block, we will set the MCAN core up to have:
* - 1 SID filter element
* - 1 XID Filter element
* - 5 RX FIFO 0 elements
* - RX FIFO 0 supports data payloads up to 64 bytes
* - RX FIFO 1 and RX Buffer will not have any elements, but we still set their data payload sizes, even though it's not required
* - No TX Event FIFOs
* - 2 Transmit buffers supporting up to 64 bytes of data payload
*/
TCAN4x5x_MRAM_Config MRAMConfiguration = {0};
MRAMConfiguration.SIDNumElements = 1; // Standard ID number of elements, you MUST have a filter written to MRAM for each element defined
MRAMConfiguration.XIDNumElements = 1; // Extended ID number of elements, you MUST have a filter written to MRAM for each element defined
MRAMConfiguration.Rx0NumElements = 5; // RX0 Number of elements
MRAMConfiguration.Rx0ElementSize = MRAM_64_Byte_Data; // RX0 data payload size
MRAMConfiguration.Rx1NumElements = 0; // RX1 number of elements
MRAMConfiguration.Rx1ElementSize = MRAM_64_Byte_Data; // RX1 data payload size
MRAMConfiguration.RxBufNumElements = 0; // RX buffer number of elements
MRAMConfiguration.RxBufElementSize = MRAM_64_Byte_Data; // RX buffer data payload size
MRAMConfiguration.TxEventFIFONumElements = 0; // TX Event FIFO number of elements
MRAMConfiguration.TxBufferNumElements = 2; // TX buffer number of elements
MRAMConfiguration.TxBufferElementSize = MRAM_64_Byte_Data; // TX buffer data payload size
/* Configure the MCAN core with the settings above, the changes in this block are write protected registers, *
* so it makes the most sense to do them all at once, so we only unlock and lock once */
TCAN4x5x_MCAN_EnableProtectedRegisters(); // Start by making protected registers accessible
TCAN4x5x_MCAN_ConfigureCCCRRegister(&cccrConfig); // Enable FD mode and Bit rate switching
TCAN4x5x_MCAN_ConfigureGlobalFilter(&gfc); // Configure the global filter configuration (Default CAN message behavior)
TCAN4x5x_MCAN_ConfigureNominalTiming_Simple(&TCANNomTiming);// Setup nominal/arbitration bit timing
// TCAN4x5x_MCAN_ConfigureDataTiming_Simple(&TCANDataTiming); // Setup CAN FD timing
TCAN4x5x_MRAM_Clear(); // Clear all of MRAM (Writes 0's to all of it)
TCAN4x5x_MRAM_Configure(&MRAMConfiguration); // Set up the applicable registers related to MRAM configuration
TCAN4x5x_MCAN_DisableProtectedRegisters(); // Disable protected write and take device out of INIT mode
/* Set the interrupts we want to enable for MCAN */
TCAN4x5x_MCAN_Interrupt_Enable mcan_ie = {0}; // Remember to initialize to 0, or you'll get random garbage!
mcan_ie.RF0NE = 1; // RX FIFO 0 new message interrupt enable
TCAN4x5x_MCAN_ConfigureInterruptEnable(&mcan_ie); // Enable the appropriate registers
/* Setup filters, this filter will mark any message with ID 0x055 as a priority message */
TCAN4x5x_MCAN_SID_Filter SID_ID = {0};
SID_ID.SFT = TCAN4x5x_SID_SFT_CLASSIC; // SFT: Standard filter type. Configured as a classic filter
SID_ID.SFEC = TCAN4x5x_SID_SFEC_PRIORITYSTORERX0; // Standard filter element configuration, store it in RX fifo 0 as a priority message
SID_ID.SFID1 = 0x055; // SFID1 (Classic mode Filter)
SID_ID.SFID2 = 0x7FF; // SFID2 (Classic mode Mask)
TCAN4x5x_MCAN_WriteSIDFilter(0, &SID_ID); // Write to the MRAM
/* Store ID 0x12345678 as a priority message */
TCAN4x5x_MCAN_XID_Filter XID_ID = {0};
XID_ID.EFT = TCAN4x5x_XID_EFT_CLASSIC; // EFT
XID_ID.EFEC = TCAN4x5x_XID_EFEC_PRIORITYSTORERX0; // EFEC
XID_ID.EFID1 = 0x12345678; // EFID1 (Classic mode filter)
XID_ID.EFID2 = 0x1FFFFFFF; // EFID2 (Classic mode mask)
TCAN4x5x_MCAN_WriteXIDFilter(0, &XID_ID); // Write to the MRAM
/* Configure the TCAN4550 Non-CAN-related functions */
TCAN4x5x_DEV_CONFIG devConfig = {0}; // Remember to initialize to 0, or you'll get random garbage!
devConfig.SWE_DIS = 0; // Keep Sleep Wake Error Enabled (it's a disable bit, not an enable)
devConfig.DEVICE_RESET = 0; // Not requesting a software reset
devConfig.WD_EN = 0; // Watchdog disabled
devConfig.nWKRQ_CONFIG = 0; // Mirror INH function (default)
devConfig.INH_DIS = 0; // INH enabled (default)
devConfig.GPIO1_GPO_CONFIG = TCAN4x5x_DEV_CONFIG_GPO1_MCAN_INT1; // MCAN nINT 1 (default)
devConfig.FAIL_SAFE_EN = 0; // Failsafe disabled (default)
devConfig.GPIO1_CONFIG = TCAN4x5x_DEV_CONFIG_GPIO1_CONFIG_GPO; // GPIO set as GPO (Default)
devConfig.WD_ACTION = TCAN4x5x_DEV_CONFIG_WDT_ACTION_nINT; // Watchdog set an interrupt (default)
devConfig.WD_BIT_RESET = 0; // Don't reset the watchdog
devConfig.nWKRQ_VOLTAGE = 0; // Set nWKRQ to internal voltage rail (default)
devConfig.GPO2_CONFIG = TCAN4x5x_DEV_CONFIG_GPO2_NO_ACTION; // GPO2 has no behavior (default)
devConfig.CLK_REF = 1; // Input crystal is a 40 MHz crystal (default)
devConfig.WAKE_CONFIG = TCAN4x5x_DEV_CONFIG_WAKE_BOTH_EDGES;// Wake pin can be triggered by either edge (default)
TCAN4x5x_Device_Configure(&devConfig); // Configure the device with the above configuration
TCAN4x5x_Device_SetMode(TCAN4x5x_DEVICE_MODE_NORMAL); // Set to normal mode, since configuration is done. This line turns on the transceiver
TCAN4x5x_MCAN_ClearInterruptsAll(); // Resets all MCAN interrupts (does NOT include any SPIERR interrupts)
}
/*
* GPIO Initialization
*/
void
Init_GPIO()
{
// Set all GPIO pins to output low to prevent floating input and reduce power consumption
GPIO_setOutputLowOnPin(GPIO_PORT_P1, GPIO_PIN0|GPIO_PIN1|GPIO_PIN2|GPIO_PIN3|GPIO_PIN4|GPIO_PIN5|GPIO_PIN6|GPIO_PIN7);
GPIO_setOutputLowOnPin(GPIO_PORT_P2, GPIO_PIN0|GPIO_PIN1|GPIO_PIN2|GPIO_PIN3|GPIO_PIN4|GPIO_PIN5|GPIO_PIN6|GPIO_PIN7);
GPIO_setOutputLowOnPin(GPIO_PORT_P3, GPIO_PIN0|GPIO_PIN1|GPIO_PIN2|GPIO_PIN3|GPIO_PIN4|GPIO_PIN5|GPIO_PIN6|GPIO_PIN7);
GPIO_setOutputLowOnPin(GPIO_PORT_P4, GPIO_PIN0|GPIO_PIN1|GPIO_PIN2|GPIO_PIN3|GPIO_PIN4|GPIO_PIN5|GPIO_PIN6|GPIO_PIN7);
GPIO_setOutputLowOnPin(GPIO_PORT_P5, GPIO_PIN0|GPIO_PIN1|GPIO_PIN2|GPIO_PIN3|GPIO_PIN4|GPIO_PIN5|GPIO_PIN6|GPIO_PIN7);
GPIO_setOutputLowOnPin(GPIO_PORT_P6, GPIO_PIN0|GPIO_PIN1|GPIO_PIN2|GPIO_PIN3|GPIO_PIN4|GPIO_PIN5|GPIO_PIN6|GPIO_PIN7);
GPIO_setOutputLowOnPin(GPIO_PORT_P7, GPIO_PIN0|GPIO_PIN1|GPIO_PIN2|GPIO_PIN3|GPIO_PIN4|GPIO_PIN5|GPIO_PIN6|GPIO_PIN7);
GPIO_setOutputLowOnPin(GPIO_PORT_P8, GPIO_PIN0|GPIO_PIN1|GPIO_PIN2|GPIO_PIN3|GPIO_PIN4|GPIO_PIN5|GPIO_PIN6|GPIO_PIN7);
GPIO_setOutputLowOnPin(GPIO_PORT_P9, GPIO_PIN0|GPIO_PIN1|GPIO_PIN2|GPIO_PIN3|GPIO_PIN4|GPIO_PIN5|GPIO_PIN6|GPIO_PIN7);
GPIO_setAsOutputPin(GPIO_PORT_P1, GPIO_PIN0|GPIO_PIN1|GPIO_PIN2|GPIO_PIN3|GPIO_PIN4|GPIO_PIN5|GPIO_PIN6|GPIO_PIN7);
GPIO_setAsOutputPin(GPIO_PORT_P2, GPIO_PIN0|GPIO_PIN1|GPIO_PIN2|GPIO_PIN3|GPIO_PIN4|GPIO_PIN5|GPIO_PIN6|GPIO_PIN7);
GPIO_setAsOutputPin(GPIO_PORT_P3, GPIO_PIN0|GPIO_PIN1|GPIO_PIN2|GPIO_PIN3|GPIO_PIN4|GPIO_PIN5|GPIO_PIN6|GPIO_PIN7);
GPIO_setAsOutputPin(GPIO_PORT_P4, GPIO_PIN0|GPIO_PIN1|GPIO_PIN2|GPIO_PIN3|GPIO_PIN4|GPIO_PIN5|GPIO_PIN6|GPIO_PIN7);
GPIO_setAsOutputPin(GPIO_PORT_P5, GPIO_PIN0|GPIO_PIN1|GPIO_PIN2|GPIO_PIN3|GPIO_PIN4|GPIO_PIN5|GPIO_PIN6|GPIO_PIN7);
GPIO_setAsOutputPin(GPIO_PORT_P6, GPIO_PIN0|GPIO_PIN1|GPIO_PIN2|GPIO_PIN3|GPIO_PIN4|GPIO_PIN5|GPIO_PIN6|GPIO_PIN7);
GPIO_setAsOutputPin(GPIO_PORT_P7, GPIO_PIN0|GPIO_PIN1|GPIO_PIN2|GPIO_PIN3|GPIO_PIN4|GPIO_PIN5|GPIO_PIN6|GPIO_PIN7);
GPIO_setAsOutputPin(GPIO_PORT_P8, GPIO_PIN0|GPIO_PIN1|GPIO_PIN2|GPIO_PIN3|GPIO_PIN4|GPIO_PIN5|GPIO_PIN6|GPIO_PIN7);
GPIO_setAsOutputPin(GPIO_PORT_P9, GPIO_PIN0|GPIO_PIN1|GPIO_PIN2|GPIO_PIN3|GPIO_PIN4|GPIO_PIN5|GPIO_PIN6|GPIO_PIN7);
// Set P3.2 as input with weak pull up since this is GPIO1
GPIO_setAsInputPinWithPullUpResistor(GPIO_PORT_P3, GPIO_PIN2);
// Set P3.1 as input for GPO2
GPIO_setAsInputPinWithPullUpResistor(GPIO_PORT_P3, GPIO_PIN1);
// Set P2.1 as input with weak pull up since this is GPO2
GPIO_setAsInputPinWithPullUpResistor(GPIO_PORT_P2, GPIO_PIN1);
// Configure P1.1 interrupt for S1 (left button on launchpad)
GPIO_setAsInputPinWithPullUpResistor(GPIO_PORT_P1, GPIO_PIN1);
GPIO_selectInterruptEdge(GPIO_PORT_P1, GPIO_PIN1, GPIO_HIGH_TO_LOW_TRANSITION);
GPIO_clearInterrupt(GPIO_PORT_P1, GPIO_PIN1);
GPIO_enableInterrupt(GPIO_PORT_P1, GPIO_PIN1);
// Configure P2.3 interrupt for MCAN Interrupt 1
GPIO_setAsInputPinWithPullUpResistor(GPIO_PORT_P2, GPIO_PIN3);
GPIO_selectInterruptEdge(GPIO_PORT_P2, GPIO_PIN3, GPIO_HIGH_TO_LOW_TRANSITION);
GPIO_clearInterrupt(GPIO_PORT_P2, GPIO_PIN3);
GPIO_enableInterrupt(GPIO_PORT_P2, GPIO_PIN3);
// Set P4.1 and P4.2 as Secondary Module Function Input, LFXT.
GPIO_setAsPeripheralModuleFunctionInputPin(
GPIO_PORT_PJ,
GPIO_PIN4 + GPIO_PIN5,
GPIO_PRIMARY_MODULE_FUNCTION
);
/*********************************************************
* SPI Interface Pins
*********************************************************/
//P1.4(SPI CLK on UCB0CLK)
GPIO_setAsPeripheralModuleFunctionOutputPin(
GPIO_PORT_P1,
GPIO_PIN4,
GPIO_PRIMARY_MODULE_FUNCTION
);
//P1.6(MOSI on UCB0SIMO)
GPIO_setAsPeripheralModuleFunctionOutputPin(
GPIO_PORT_P1,
GPIO_PIN6,
GPIO_PRIMARY_MODULE_FUNCTION
);
//P1.7(MISO on UCB0SOMI)
GPIO_setAsPeripheralModuleFunctionInputPin(
GPIO_PORT_P1,
GPIO_PIN7,
GPIO_PRIMARY_MODULE_FUNCTION
);
//set P2.5 as SPI CS, already set to output above
GPIO_setOutputLowOnPin(GPIO_PORT_P2, GPIO_PIN5);
GPIO_setOutputHighOnPin(GPIO_PORT_P2, GPIO_PIN5);
// Disable the GPIO power-on default high-impedance mode
// to activate previously configured port settings
PMM_unlockLPM5();
}
/*
* Clock System Initialization
*/
void Init_Clock()
{
// Set DCO frequency to default 8MHz
CS_setDCOFreq(CS_DCORSEL_0, CS_DCOFSEL_6);
// Configure MCLK and SMCLK to 8MHz
CS_initClockSignal(CS_MCLK, CS_DCOCLK_SELECT, CS_CLOCK_DIVIDER_1);
CS_initClockSignal(CS_SMCLK, CS_DCOCLK_SELECT, CS_CLOCK_DIVIDER_1);
// Initializes the XT1 crystal oscillator
CS_turnOnLFXT(CS_LFXT_DRIVE_3);
}
/*
* Initialize the EUSCI B SPI
*/
void Init_SPI()
{
struct EUSCI_B_SPI_initMasterParam SPIParam = {0};
SPIParam.selectClockSource=EUSCI_B_SPI_CLOCKSOURCE_SMCLK;
SPIParam.clockSourceFrequency=8000000;
SPIParam.desiredSpiClock=2000000;
SPIParam.msbFirst=EUSCI_B_SPI_MSB_FIRST;
SPIParam.clockPhase=EUSCI_B_SPI_PHASE_DATA_CAPTURED_ONFIRST_CHANGED_ON_NEXT;
SPIParam.clockPolarity=EUSCI_B_SPI_CLOCKPOLARITY_INACTIVITY_LOW;
SPIParam.spiMode=EUSCI_B_SPI_4PIN_UCxSTE_ACTIVE_HIGH;
EUSCI_B_SPI_initMaster(EUSCI_B0_BASE, &SPIParam);
EUSCI_B_SPI_select4PinFunctionality(EUSCI_B0_BASE,0x00);
EUSCI_B_SPI_enable(EUSCI_B0_BASE);
}
/*
* PORT1 Interrupt Service Routine
* Handles Interrupt from the TCAN4550 on P2.3
*/
#pragma vector = PORT1_VECTOR
__interrupt void PORT1_ISR(void)
{
switch(__even_in_range(P1IV, P1IV_P1IFG7))
{
case P1IV_NONE : break;
case P1IV_P1IFG0 : break;
case P1IV_P1IFG1 :
TCAN4x5x_MCAN_TransmitBufferContents(0); // Transmits the contents of TX queue index 0 when S1 (P1.1) is pressed
break;
case P1IV_P1IFG2 : break;
case P1IV_P1IFG3 : break;
case P1IV_P1IFG4 : break;
case P1IV_P1IFG5 : break;
case P1IV_P1IFG6 : break;
case P1IV_P1IFG7 : break;
}
}
/*
* PORT2 Interrupt Service Routine
* Handles Interrupt from the TCAN4550 on P2.3
*/
#pragma vector = PORT2_VECTOR
__interrupt void PORT2_ISR(void)
{
switch(__even_in_range(P2IV, P2IV_P2IFG7))
{
case P2IV_NONE : break;
case P2IV_P2IFG0 : break;
case P2IV_P2IFG1 : break;
case P2IV_P2IFG2 : break;
case P2IV_P2IFG3 : TCAN_Int_Cnt++; break;
case P2IV_P2IFG4 : break;
case P2IV_P2IFG5 : break;
case P2IV_P2IFG6 : break;
case P2IV_P2IFG7 : break;
}
}
尊敬的先生：
感谢您的支持。
我们现在将 TCAN4550与 MSP430FR6989搭配使用。 此处使用 TI 的演示代码。
我们的 CAN 分析器支持直至1Mbps 的速率和正常 CAN。 我们实施了以下更改
cccrConfig.FDOE = 0；
cccrConfig.BRSE = 0；
除此之外、对于这两个 ID、FDF 和 BRS 位也设置为0
header.FDF = 0；
header.BRS = 0；
现在、我们能够以500kbps 的速率接收数据
但是、我们无法接收任何数据。 Ninh 引脚永远不会变为高电平、而 RFON 位也永远不会变为1。
在接收正常 CAN 数据时、我们是否需要对代码进行任何更改？
下面是我们以500ms 的间隔发送的数据。
Id=0x0AA、Type=D、Length =4、Data=01020304、CycleTime=500、IDFormat=hex
Id=0x055、Type=D、Length =4、Data=01020304、CycleTime=500、IDFormat=hex
谢谢
Joju John