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F28335 CAN接收问题，可以正常发送但是无法接收。

user6223461
Intellectual 910 points


在我的28335程序中，CAN可以正常发送数据，通过CANtest能够收到收据，但是通过CANtest发送数据就会显示发送失败，或者显示发送了但下位机程序中对应邮箱没有接收到收据。

  • 0
    TI__Guru**** 252096 points
    请问您现在28335的CAN程序是怎样的？是否修改的TI例程？能否给出例程名称？

    我现在电脑不能安装 CAN-bus通用测试软件(CANtest)。若是可以的话，请您先给出您的代码，谢谢
  • 0 回复 Susan Yang
    Intellectual 910 points

    全屏 EV_PMSM_2833x_eCANA.c 下载 
    //###########################################################################
//
// FILE:    PMSM_281x_eCAN.c
//
// TITLE:   DSP281x eCAN Initialization Program
//
// ASSUMPTIONS:
//
//          This program requires the DSP281x V1.00 header files.  
//          As supplied, this project is configured for "boot to H0" operation.
//
//          Other then boot mode configuration, no other hardware configuration
//          is required.    
//
// DESCRIPTION:
//
//			Initializing the eCAN Module and the mailboxes.
//
//###########################################################################
//
//  Ver | dd mmm yyyy | Who  | Description of changes
// =====|=============|======|===============================================
//  1.00| 05 JUL 2008 |S.X.L | 
//      |             |      | 
//      |             |      |  
//###########################################################################

#include "DSP2833x_Device.h"     // DSP281x Headerfile Include File
#include "EV_PMSM_eCANData.h"
#include "DSP2833x_Examples.h"
/***************************************************************************/
/*-------------------------------------------------------------------------*/
/***************************************************************************/
// Prototype statements for functions found within this file.
void EcanA_init(void); 
void EcanAMboxConfig(void);

void mailbox_readA(int16 i); 

/***************************************************************************/
/*-------------------------------------------------------------------------*/
/***************************************************************************/
// Global variable for this example
Uint32  ErrorCount_A;
Uint32  TestAMbox1 = 0;
Uint32  TestAMbox2 = 0;
Uint32  TestAMbox3 = 0;
/***************************************************************************/
/*-------------------------------------------------------------------------*/
/***************************************************************************/
void EcanA_init()
{
/*-------------------------------------------------------------------------*/
// configure CAN pins using GPIO regs here
	EALLOW;
	GpioCtrlRegs.GPAMUX2.bit.GPIO30=1;
	GpioCtrlRegs.GPAMUX2.bit.GPIO31=1;

	GpioCtrlRegs.GPAPUD.bit.GPIO30 = 0;
    GpioCtrlRegs.GPAPUD.bit.GPIO31 = 0;
	EDIS;
/*-------------------------------------------------------------------------*/   
// Configure the eCAN RX and TX pins for eCAN transmissions
    EALLOW;
    ECanaRegs.CANTIOC.bit.TXFUNC = 1;
    ECanaRegs.CANRIOC.bit.RXFUNC = 1;
    EDIS;
/*-------------------------------------------------------------------------*/    
// eCAN mode (reqd to access 32 mailboxes) 
    EALLOW;
    ECanaRegs.CANMC.bit.SCB = 1;    // eCAN mode
	EDIS;
		
	ECanaRegs.CANME.all = 0x00000000;
/*-------------------------------------------------------------------------*/
/* Clear all TAn bits */      
	ECanaRegs.CANTA.all	= 0xFFFFFFFF;
/*-------------------------------------------------------------------------*/
/* Clear all RMPn bits(write 1 to clear) */      
	ECanaRegs.CANRMP.all = 0xFFFFFFFF;
/*-------------------------------------------------------------------------*/	
/* Clear all interrupt flag bits */      
	ECanaRegs.CANGIF0.all = 0xFFFFFFFF;
	ECanaRegs.CANGIF1.all = 0xFFFFFFFF;
/*-------------------------------------------------------------------------*/
/* disbale global interrupt and mailbox interrupt */  
	EALLOW;
	ECanaRegs.CANGIM.all = 0x00000000;
	ECanaRegs.CANMIM.all = 0x00000000;
	EDIS;
/*-------------------------------------------------------------------------*/
/* Configure bit timing parameters */
	EALLOW;
	ECanaRegs.CANMC.bit.CCR = 1;            // Set CCR = 1
    EDIS;
    while(ECanaRegs.CANES.bit.CCE != 1 ) {}   // Wait for CCE bit to be set..
/*-------------------------------------------------------------------------*/    
    EALLOW;
    ECanaRegs.CANBTC.bit.BRPREG = 19;   // 19 150MHz/20=7.5MHz
    ECanaRegs.CANBTC.bit.TSEG1REG = 10;   //10
    ECanaRegs.CANBTC.bit.TSEG2REG = 2;  //2 Bode rate:7.5M/(1+11+3)=500k
   // ECanbRegs.CANBTC.bit.SJWREG = 1;  //
    EDIS;
/*-------------------------------------------------------------------------*/    
    EALLOW;
    ECanaRegs.CANMC.bit.CCR = 0;            // Set CCR = 0
    EDIS;
    while(ECanaRegs.CANES.bit.CCE != 0 ) {}   // Wait for CCE bit to be cleared..
/*-------------------------------------------------------------------------*/	
/* Disable all Mailboxes  */	
 	ECanaRegs.CANME.all = 0x00000000;		// Required before writing the MSGIDs
/*-------------------------------------------------------------------------*/
	EALLOW;
	ECanaRegs.CANMC.bit.STM = 0;           // Configure CAN for normal mode
	ECanaRegs.CANMC.bit.DBO = 1;
	ECanaRegs.CANMC.bit.ABO = 1;
	ECanaRegs.CANMC.bit.PDR = 0;
	ECanaRegs.CANMC.bit.WUBA = 0;
	EDIS; 
	
	ECanaRegs.CANMC.bit.SRES = 0;
	ECanaRegs.CANMC.bit.CDR = 0;
	ECanaRegs.CANMC.bit.MBNR = 0;
/*-------------------------------------------------------------------------*/	
	EcanAMboxConfig(); 
/*-------------------------------------------------------------------------*/
}

/***************************************************************************/
/*-------------------------------------------------------------------------*/
/***************************************************************************/
void EcanAMboxConfig()
{
    ECanaRegs.CANME.all = 0x00000000;
    ECanaRegs.CANTRR.all = 0xFFFFFFFF;
/*-------------------------------------------------------------------------*/    
// configure control fields of mailboxes     
    ECanaMboxes.MBOX0.MSGCTRL.all = 0x00000000;
    ECanaMboxes.MBOX1.MSGCTRL.all = 0x00000000;
    ECanaMboxes.MBOX2.MSGCTRL.all = 0x00000000;
    ECanaMboxes.MBOX3.MSGCTRL.all = 0x00000000;
    ECanaMboxes.MBOX4.MSGCTRL.all = 0x00000000;
    ECanaMboxes.MBOX5.MSGCTRL.all = 0x00000000;
    ECanaMboxes.MBOX6.MSGCTRL.all = 0x00000000;
    ECanaMboxes.MBOX7.MSGCTRL.all = 0x00000000;
    ECanaMboxes.MBOX8.MSGCTRL.all = 0x00000000;
    ECanaMboxes.MBOX9.MSGCTRL.all = 0x00000000;
    ECanaMboxes.MBOX10.MSGCTRL.all = 0x00000000;
    ECanaMboxes.MBOX11.MSGCTRL.all = 0x00000000;
    ECanaMboxes.MBOX12.MSGCTRL.all = 0x00000000;
    ECanaMboxes.MBOX13.MSGCTRL.all = 0x00000000;
    ECanaMboxes.MBOX14.MSGCTRL.all = 0x00000000;
    ECanaMboxes.MBOX15.MSGCTRL.all = 0x00000000;
    ECanaMboxes.MBOX16.MSGCTRL.all = 0x00000000;
    ECanaMboxes.MBOX17.MSGCTRL.all = 0x00000000;
    ECanaMboxes.MBOX18.MSGCTRL.all = 0x00000000;
    ECanaMboxes.MBOX19.MSGCTRL.all = 0x00000000;
    ECanaMboxes.MBOX20.MSGCTRL.all = 0x00000000;
    ECanaMboxes.MBOX21.MSGCTRL.all = 0x00000000;
    ECanaMboxes.MBOX22.MSGCTRL.all = 0x00000000;
    ECanaMboxes.MBOX23.MSGCTRL.all = 0x00000000;
    ECanaMboxes.MBOX24.MSGCTRL.all = 0x00000000;
    ECanaMboxes.MBOX25.MSGCTRL.all = 0x00000000;
    ECanaMboxes.MBOX26.MSGCTRL.all = 0x00000000;
    ECanaMboxes.MBOX27.MSGCTRL.all = 0x00000000;
    ECanaMboxes.MBOX28.MSGCTRL.all = 0x00000000;
    ECanaMboxes.MBOX29.MSGCTRL.all = 0x00000000;
    ECanaMboxes.MBOX30.MSGCTRL.all = 0x00000000;
    ECanaMboxes.MBOX31.MSGCTRL.all = 0x00000000;
/*-------------------------------------------------------------------------*/    
// configure ID fields of mailboxes     
    ECanaMboxes.MBOX0.MSGID.all = CANMBOX0ID;
    ECanaMboxes.MBOX1.MSGID.all = 0x1CFF0727;//CANMBOX1ID;
    ECanaMboxes.MBOX2.MSGID.all = 0x8CFE08EF;
    ECanaMboxes.MBOX3.MSGID.all = 0x8CFE0008;
    ECanaMboxes.MBOX4.MSGID.all = CANMBOX4ID;
    ECanaMboxes.MBOX5.MSGID.all = 0x1CFF28EF;//CANMBOX5ID;
    ECanaMboxes.MBOX6.MSGID.all = CANMBOX6ID;
    ECanaMboxes.MBOX7.MSGID.all = CANMBOX7ID;
    ECanaMboxes.MBOX8.MSGID.all = 0x8CFE0108;
    ECanaMboxes.MBOX9.MSGID.all = 0x8CFE0208;
    ECanaMboxes.MBOX10.MSGID.all = 0x8CFE0308;
    ECanaMboxes.MBOX11.MSGID.all = CANMBOX11ID;
    ECanaMboxes.MBOX12.MSGID.all = CANMBOX12ID;
    ECanaMboxes.MBOX13.MSGID.all = CANMBOX13ID;
    ECanaMboxes.MBOX14.MSGID.all = CANMBOX14ID;
    ECanaMboxes.MBOX15.MSGID.all = CANMBOX15ID;
    ECanaMboxes.MBOX16.MSGID.all = CANMBOX16ID;
    ECanaMboxes.MBOX17.MSGID.all = CANMBOX17ID;
    ECanaMboxes.MBOX18.MSGID.all = CANMBOX18ID;
    ECanaMboxes.MBOX19.MSGID.all = CANMBOX19ID;
    ECanaMboxes.MBOX20.MSGID.all = CANMBOX20ID;
    ECanaMboxes.MBOX21.MSGID.all = CANMBOX21ID;
    ECanaMboxes.MBOX22.MSGID.all = CANMBOX22ID;
    ECanaMboxes.MBOX23.MSGID.all = CANMBOX23ID;
    ECanaMboxes.MBOX24.MSGID.all = CANMBOX24ID;
    ECanaMboxes.MBOX25.MSGID.all = CANMBOX25ID;
    ECanaMboxes.MBOX26.MSGID.all = CANMBOX26ID;
    ECanaMboxes.MBOX27.MSGID.all = CANMBOX27ID;
    ECanaMboxes.MBOX28.MSGID.all = CANMBOX28ID;
    ECanaMboxes.MBOX29.MSGID.all = CANMBOX29ID;
    ECanaMboxes.MBOX30.MSGID.all = CANMBOX30ID;
    ECanaMboxes.MBOX31.MSGID.all = CANMBOX31ID;
/*-------------------------------------------------------------------------*/    
// configure mask fields of mailboxes    
    ECanaRegs.CANGAM.bit.AMI = 0;
    
    ECanaLAMRegs.LAM0.all = 0x80000000;
    ECanaLAMRegs.LAM1.all = 0x80000000;
    ECanaLAMRegs.LAM2.all = 0x80000000;
    ECanaLAMRegs.LAM3.all = 0x80000000;
    ECanaLAMRegs.LAM4.all = 0x80000000;
    ECanaLAMRegs.LAM5.all = 0x80000000;
    ECanaLAMRegs.LAM6.all = 0x80000000;
    ECanaLAMRegs.LAM7.all = 0x80000000;

    ECanaLAMRegs.LAM8.all = 0x00000000;
    ECanaLAMRegs.LAM9.all = 0x00000000;
    ECanaLAMRegs.LAM10.all = 0x00000000;
    ECanaLAMRegs.LAM11.all = 0x00000000;
    ECanaLAMRegs.LAM12.all = 0x00000000;
    ECanaLAMRegs.LAM13.all = 0x00000000;
    ECanaLAMRegs.LAM14.all = 0x00000000;
    ECanaLAMRegs.LAM15.all = 0x00000000;
    ECanaLAMRegs.LAM16.all = 0x00000000;
    ECanaLAMRegs.LAM17.all = 0x00000000;
    ECanaLAMRegs.LAM18.all = 0x00000000;
    ECanaLAMRegs.LAM19.all = 0x00000000;
    ECanaLAMRegs.LAM20.all = 0x00000000;
    ECanaLAMRegs.LAM21.all = 0x00000000;
    ECanaLAMRegs.LAM22.all = 0x00000000;
    ECanaLAMRegs.LAM23.all = 0x00000000;
    ECanaLAMRegs.LAM24.all = 0x00000000;
    ECanaLAMRegs.LAM25.all = 0x00000000;
    ECanaLAMRegs.LAM26.all = 0x00000000;
    ECanaLAMRegs.LAM27.all = 0x00000000;
    ECanaLAMRegs.LAM28.all = 0x00000000;
    ECanaLAMRegs.LAM29.all = 0x00000000;
    ECanaLAMRegs.LAM30.all = 0x00000000;
    ECanaLAMRegs.LAM31.all = 0x00000000;
/*-------------------------------------------------------------------------*/    
//	ECanaMboxes.MBOX7.MDL.word.LOW_WORD = 0;
//	ECanaMboxes.MBOX7.MDL.word.HI_WORD  = 0x0010;
//	ECanaMboxes.MBOX7.MDH.word.LOW_WORD = 0;
//	ECanaMboxes.MBOX7.MDH.word.HI_WORD  = 0;

//	ECanbMboxes.MBOX3.MDL.word.LOW_WORD = 0x0010;//20180308
//	ECanbMboxes.MBOX3.MDL.word.HI_WORD  = 0;
//	ECanbMboxes.MBOX3.MDH.word.LOW_WORD = 0;
//	ECanbMboxes.MBOX3.MDH.word.HI_WORD  = 0;

	ECanaMboxes.MBOX2.MDL.word.LOW_WORD = 0;
	ECanaMboxes.MBOX2.MDL.word.HI_WORD = 0;
	ECanaMboxes.MBOX2.MDH.word.LOW_WORD = 0;
	ECanaMboxes.MBOX2.MDH.word.HI_WORD = 0;

	ECanaMboxes.MBOX6.MDL.word.LOW_WORD = 0;
	ECanaMboxes.MBOX6.MDL.word.HI_WORD  = 0;
	ECanaMboxes.MBOX6.MDH.word.LOW_WORD = 0;
	ECanaMboxes.MBOX6.MDH.word.HI_WORD  = 0;

	ECanaMboxes.MBOX2.MDH.word.LOW_WORD=5000;
/*-------------------------------------------------------------------------*/    
// configure TX and RX mailboxes        
    ECanaRegs.CANMD.all = 0x0000000D7;//2 receive zhengche,1 6 7 receive shangweiji  4 5 NOTUSED, 3 8 9 10 send TO zhengche,11 12 tiaoshi,13-17shangweiji
    //1 shou 0 fa
//    ECanbRegs.CANMD.all = 0x000000004;

//    ECanbRegs.CANME.all = 0x00003FFFF;  //0-17������ʹ��
      ECanaRegs.CANME.all = 0x00003FFFF;  //0-17������ʹ��
/*----- --------------------------------------------------------------------*/
}

/***************************************************************************/
/*-------------------------------------------------------------------------*/
/***************************************************************************/
// This function reads out the contents of the indicated 
// by the Mailbox number (MBXnbr).
void mailbox_readA(int16 MBXnbr)
{
   volatile struct MBOX *Mailbox;
   Mailbox = &ECanaMboxes.MBOX0 + MBXnbr;
   TestAMbox1 = Mailbox->MDL.all; // = 0x9555AAAn (n is the MBX number)
   TestAMbox2 = Mailbox->MDH.all; // = 0x89ABCDEF (a constant)
   TestAMbox3 = Mailbox->MSGID.all;// = 0x9555AAAn (n is the MBX number)

} // MSGID of a rcv MBX is transmitted as the MDL data.


/***************************************************/
/* Bit configuration parameters for 150 MHz SYSCLKOUT*/ 
/***************************************************/
/*

	The table below shows how BRP field must be changed to achieve different bit
	rates with a BT of 15, for a 80% SP:
	---------------------------------------------------
	BT = 15, TSEG1 = 10, TSEG2 = 2, Sampling Point = 80% 
	---------------------------------------------------
	1   Mbps : BRP+1 = 10 	: CAN clock = 15 MHz
	500 kbps : BRP+1 = 20 	: CAN clock = 7.5 MHz 
	250 kbps : BRP+1 = 40 	: CAN clock = 3.75 MHz 
	125 kbps : BRP+1 = 80 	: CAN clock = 1.875 MHz 
	100 kbps : BRP+1 = 100 	: CAN clock = 1.5 MHz
	50  kbps : BRP+1 = 200 	: CAN clock = 0.75 MHz

	The table below shows how to achieve different sampling points with a BT of 25:
	-------------------------------------------------------------
	Achieving desired SP by changing TSEG1 & TSEG2 with BT = 25  
	-------------------------------------------------------------

	TSEG1 = 18, TSEG2 = 4, SP = 80% 
	TSEG1 = 17, TSEG2 = 5, SP = 76% 
	TSEG1 = 16, TSEG2 = 6, SP = 72% 
	TSEG1 = 15, TSEG2 = 7, SP = 68% 
	TSEG1 = 14, TSEG2 = 8, SP = 64% 

	The table below shows how BRP field must be changed to achieve different bit
	rates with a BT of 25, for the sampling points shown above: 

	1   Mbps : BRP+1 = 6 
	500 kbps : BRP+1 = 12 
	250 kbps : BRP+1 = 24 
	125 kbps : BRP+1 = 48 
	100 kbps : BRP+1 = 60
	50  kbps : BRP+1 = 120

*/

//===========================================================================
// No more.
//===========================================================================

  • 0 回复 Susan Yang
    Intellectual 910 points
    您好，这是我的CAN配置文件，用的邮箱1接收，邮箱5发送，现在我在主循环中写了这样一段程序
    ECanaMboxes.MBOX5.MSGCTRL.bit.DLC = 8;
    ECanaMboxes.MBOX5.MDL.word.LOW_WORD=can_adrress_temp1;
    ECanaMboxes.MBOX5.MDL.word.HI_WORD=can_adrress_temp2;
    ECanaMboxes.MBOX5.MDH.word.LOW_WORD=can_adrress_temp3;
    ECanaMboxes.MBOX5.MDH.word.HI_WORD=X5323_receive[can_adrress_temp3-3968];

    ECanaRegs.CANTRS.bit.TRS5 = 1; // Set TRS for all ftransmit mailboxes

    ECanaRegs.CANTA.bit.TA5 = 1; // Clear all TAn
    通过CANtest能收到发送的数据，但是使用CANtest发送数据会显示发送失败。
  • 0 回复 user6223461
    TI__Guru**** 252096 points
    若是您使用另外的28335来烧写该程序，并使用邮箱1接收，是否可以成功？

    我明天拿2块板子来测试一下您的程序（若是可以的话，请您私信一下工程，谢谢）
  • 0 回复 Susan Yang
    Intellectual 910 points
    我这里只有一块28335的板子，所以没办法测试，我给您发送私信了，麻烦您了
  • 0 回复 user6223461
    TI__Guru**** 252096 points
    我导入了您私信的工程，非常多错误

    请您先参考一下下面链接给出的代码 0412.CANConfiguration.c，并按照 Hareesh Janakiram 的建议来检查一下您的代码

    e2e.ti.com/.../606971
  • 0 回复 Susan Yang
    Intellectual 910 points
    您好，已经解决了，谢谢您，感谢
  • 0 回复 user6223461
    TI__Guru**** 252096 points
    很高兴您能解决问题