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你好！附件是我使用寄存器配置F280049 DCAN收发的工程，但是收发失败，监控寄存器没有数据，请帮忙分析一下原因，看看配置哪里出了问题，谢谢！
#include "F28x_Project.h" #include "device.h" #include "math.h" ///////////DCan//////////////////////////// typedef struct{ Uint32 cob_id_ext:18; Uint32 cob_id:11; Uint32 rtr:1; Uint32 rsvd1:2; }CanFrameIdStr; typedef union{ Uint32 frame_id; CanFrameIdStr strct; }CanFrameId; typedef struct{ CanFrameId id; Uint8 len; Uint32 hdata; Uint32 ldata; }CanFrame; ////////////////////////////////////////////////// void InitCan(void); int CanAppTx(int no,CanFrame *tx_frame); int CanAppRx(int no,CanFrame *rx_frame); // uint16_t Save_data; uint16_t can_tx_result; uint16_t can_rx_result; CanFrame tx_data; CanFrame rx_data; void main(void) { // 初始化时钟和外设 Initialize device clock and peripherals Device_init(); // InitSysCtrl(); //本工程不能使用寄存器的InitSysCtrl();函数初始化。 /*//库函数版配置 // 初始化GPIO并设置为推挽输出 Initialize GPIO and configure the GPIO pin as a push-pull output Device_initGPIO(); */ InitGpio(); //寄存器指令配置 // InitCan(); // 初始化PIE并清空PIE寄存器，关闭CPU中断 // Initialize PIE and clear PIE registers. Disables CPU interrupts. Interrupt_initModule(); // 初始化PIE向量表 // Initialize the PIE vector table with pointers to the shell Interrupt // Service Routines (ISR). Interrupt_initVectorTable(); // Enable Global Interrupt (INTM) and realtime interrupt (DBGM) EINT; ERTM; for(;;) { // tx_data.ldata =0x1234; tx_data.hdata =0x4567; tx_data.len =8; tx_data.id.frame_id = 0x256; can_tx_result = CanAppTx(0,&tx_data); // can_rx_result = CanAppRx(0,&rx_data); } } /////////////////////////////DCan//////////////////////////// void InitCan( void ) { int i; EALLOW; //引脚配置************************************************* //CAN_B_RX //mux = 2(0010) GpioCtrlRegs.GPAGMUX1.bit.GPIO13 = 0x0;//10 GpioCtrlRegs.GPAMUX1.bit.GPIO13 = 0x2;//10 GpioCtrlRegs.GPADIR.bit.GPIO13 = 0x0; //设置为输入 GpioCtrlRegs.GPAPUD.bit.GPIO13 = 0x0; //使能上拉电阻 //CAN_B_TX //mux = 2(0010) GpioCtrlRegs.GPAGMUX1.bit.GPIO12 = 0x0;//10 GpioCtrlRegs.GPAMUX1.bit.GPIO12 = 0x2;//10 GpioCtrlRegs.GPADIR.bit.GPIO12 = 0x1; //设置为输出 GpioCtrlRegs.GPAPUD.bit.GPIO12 = 0x0; //使能上拉电阻 //初始化开始************************************************* CanbRegs.CAN_CTL.bit.Init = 1; CanbRegs.CAN_CTL.bit.CCE = 1; /*设置寄存器写方向，将arb和mctl写入消息对象*/ //CAN_IF1CMD while(CanbRegs.CAN_IF1CMD.bit.Busy) { ; } CanbRegs.CAN_IF1CMD.bit.DIR = 1; CanbRegs.CAN_IF1CMD.bit.Mask = 1; CanbRegs.CAN_IF1CMD.bit.Arb = 1; CanbRegs.CAN_IF1CMD.bit.Control = 1; CanbRegs.CAN_IF1MSK.all = 0; CanbRegs.CAN_IF1ARB.bit.MsgVal = 1; CanbRegs.CAN_IF1MCTL.bit.UMask = 1; //CAN_IF2CMD while(CanbRegs.CAN_IF2CMD.bit.Busy) { ; } CanbRegs.CAN_IF2CMD.bit.DIR = 1; CanbRegs.CAN_IF2CMD.bit.Mask = 1; CanbRegs.CAN_IF2CMD.bit.Arb = 1; CanbRegs.CAN_IF2CMD.bit.Control = 1; CanbRegs.CAN_IF2MSK.all = 0; CanbRegs.CAN_IF2ARB.bit.MsgVal = 1; CanbRegs.CAN_IF2ARB.bit.Dir = 1; CanbRegs.CAN_IF2MCTL.bit.UMask = 1; CanbRegs.CAN_IF2MCTL.bit.RmtEn = 1; /*1-16是接收，17-32是发送*/ for(i=1;i<=16;i++) { CanbRegs.CAN_IF1CMD.bit.MSG_NUM =i; while(CanbRegs.CAN_IF1CMD.bit.Busy) { ; } CanbRegs.CAN_IF2CMD.bit.MSG_NUM =i + 16; while(CanbRegs.CAN_IF2CMD.bit.Busy) { ; } } /*最后一个设置为EOB,表示fifo的末尾*/ CanbRegs.CAN_IF1MCTL.bit.EoB = 1; CanbRegs.CAN_IF2MCTL.bit.EoB = 1; CanbRegs.CAN_IF1CMD.bit.MSG_NUM =16; while(CanbRegs.CAN_IF1CMD.bit.Busy) { ; } CanbRegs.CAN_IF2CMD.bit.MSG_NUM =32; while(CanbRegs.CAN_IF2CMD.bit.Busy) { ; } /*设置寄存器读方向，清除mctl的intpnd和newdat位*/ CanbRegs.CAN_IF1CMD.bit.TXRQST = 1; CanbRegs.CAN_IF1CMD.bit.ClrIntPnd = 1; CanbRegs.CAN_IF2CMD.bit.TxRqst = 1; CanbRegs.CAN_IF2CMD.bit.ClrIntPnd = 1; for(i=1;i<=16;i++) { CanbRegs.CAN_IF1CMD.bit.MSG_NUM =i; while(CanbRegs.CAN_IF1CMD.bit.Busy) { ; } CanbRegs.CAN_IF2CMD.bit.MSG_NUM =i + 16; while(CanbRegs.CAN_IF2CMD.bit.Busy) { ; } } volatile Uint32 discardRead = CanbRegs.CAN_ES.all; //错误信息 /*波特率设置500k*/ ClkCfgRegs.CLKSRCCTL2.bit.CANBBCLKSEL = 0; //内部时钟100MHz CanbRegs.CAN_BTR.bit.BRP = 9; CanbRegs.CAN_BTR.bit.TSEG1 = 10; CanbRegs.CAN_BTR.bit.TSEG2 = 7; CanbRegs.CAN_BTR.bit.SJW =3; // CanbRegs.CAN_CTL.bit.DAR = 1; CanbRegs.CAN_CTL.bit.ABO = 1; //完成复位 CanbRegs.CAN_CTL.bit.Init = 0; CanbRegs.CAN_CTL.bit.CCE = 0; EDIS; } //*************接收数据*************************************** int CanAppTx(int no,CanFrame *tx_frame) { Uint32 regbase; Uint32 cmd_regdata=0; Uint32 arb_regdata=0; Uint32 mctl_regdata=0; Uint32 dataA=0,dataB=0; int i,j; if(no==0) { //regbase = CANA_BASE; } else { //regbase = CANB_BASE; } //错误复位 if(CanbRegs.CAN_ES.bit.EWarn) { CanbRegs.CAN_CTL.bit.Init = 1; CanbRegs.CAN_CTL.bit.SWR = 1; CanbRegs.CAN_CTL.bit.DAR = 1; CanbRegs.CAN_CTL.bit.ABO = 1; CanbRegs.CAN_CTL.bit.Init = 0; return(0); } // while(CanbRegs.CAN_IF1CMD.bit.Busy) { ; } CanbRegs.CAN_IF1CMD.bit.Arb = 1; CanbRegs.CAN_IF1CMD.bit.Mask = 1; CanbRegs.CAN_IF1CMD.bit.Control = 1; /*从17-32中寻找可以发送的邮箱*/ for(i=17;i<=32;i++) { CanbRegs.CAN_IF1CMD.bit.MSG_NUM = i; while(CanbRegs.CAN_IF1CMD.bit.Busy) { ; } if(CanbRegs.CAN_IF1MCTL.bit.TxRqst==0) { break; } } if(i>=33) { return(-1); } /*读取当前邮箱配置信息*/ CanbRegs.CAN_IF1CMD.bit.Control = 1; CanbRegs.CAN_IF1CMD.bit.MSG_NUM = i; while(CanbRegs.CAN_IF1CMD.bit.Busy) { ; } // CanbRegs.CAN_IF1CMD.bit.DIR = 1; CanbRegs.CAN_IF1CMD.bit.Arb = 1; CanbRegs.CAN_IF1CMD.bit.Control = 1; CanbRegs.CAN_IF1CMD.bit.DATA_A =1; CanbRegs.CAN_IF1CMD.bit.DATA_B =1; if(tx_frame->id.strct.rtr==0) { CanbRegs.CAN_IF1ARB.bit.Dir =1; CanbRegs.CAN_IF1ARB.bit.MsgVal =1; CanbRegs.CAN_IF1ARB.bit.ID = tx_frame->id.frame_id; CanbRegs.CAN_IF1MCTL.bit.TxRqst =0; CanbRegs.CAN_IF1MCTL.bit.DLC = tx_frame->len; CanbRegs.CAN_IF1MCTL.bit.TxRqst =1; // for(j=0;j<4;j++) { dataA = dataA<<8; dataA |= (tx_frame->hdata>>(j<<3))&0x0FF; } for(j=0;j<4;j++) { dataB = dataB<<8; dataB |= (tx_frame->ldata>>(j<<3))&0x0FF; } } else { CanbRegs.CAN_IF1MCTL.bit.DLC = tx_frame->len; CanbRegs.CAN_IF1MCTL.bit.TxRqst = 1; } // CanbRegs.CAN_IF1CMD.bit.MSG_NUM = i; while(CanbRegs.CAN_IF1CMD.bit.Busy) { ; } } //*************接收数据******************************************* /*1---rcv ok 0---no msg -1---msg lost*/ int CanAppRx(int no,CanFrame *rx_frame) { Uint32 cmd_regdata=0; Uint32 arb_regdata=0; Uint32 mctl_regdata=0; Uint32 regbase; int i,j; //错误复位 if(CanbRegs.CAN_ES.bit.EWarn) { CanbRegs.CAN_CTL.bit.Init = 1; CanbRegs.CAN_CTL.bit.SWR = 1; CanbRegs.CAN_CTL.bit.DAR = 1; CanbRegs.CAN_CTL.bit.ABO = 1; CanbRegs.CAN_CTL.bit.Init = 0; return(0); } // while(CanbRegs.CAN_IF2CMD.bit.Busy) { ; } CanbRegs.CAN_IF2CMD.bit.Arb = 1; CanbRegs.CAN_IF2CMD.bit.Control = 1; CanbRegs.CAN_IF2CMD.bit.DATA_A = 1; CanbRegs.CAN_IF2CMD.bit.DATA_B = 1; // for(i=1;i<=32;i++) { CanbRegs.CAN_IF2CMD.bit.MSG_NUM = i; while(CanbRegs.CAN_IF2CMD.bit.Busy) { ; } if(CanbRegs.CAN_IF2MCTL.bit.NewDat !=0) { break; } } // if(i>=17) { return(0); } if(CanbRegs.CAN_IF2MCTL.bit.MsgLst!=0) { return(-1); } // CanbRegs.CAN_IF2CMD.bit.Arb = 1; CanbRegs.CAN_IF2CMD.bit.Mask = 1; CanbRegs.CAN_IF2CMD.bit.Control = 1; CanbRegs.CAN_IF2CMD.bit.DATA_A = 1; CanbRegs.CAN_IF2CMD.bit.DATA_B = 1; CanbRegs.CAN_IF2CMD.bit.MSG_NUM = i; while(CanbRegs.CAN_IF2CMD.bit.Busy) { ; } // rx_frame->id.frame_id = 0; if(((CanbRegs.CAN_IF2ARB.bit.Dir)&&(!(CanbRegs.CAN_IF2MCTL.bit.TxRqst)))|| ((!(CanbRegs.CAN_IF2ARB.bit.Dir))&&(CanbRegs.CAN_IF2MCTL.bit.TxRqst))) { rx_frame->id.strct.rtr = 1; } // rx_frame->id.frame_id |= CanbRegs.CAN_IF2ARB.bit.ID; //获取报文ID rx_frame->len = CanbRegs.CAN_IF2MCTL.bit.DLC; //获取报文长度 //获取数据 if(rx_frame->id.strct.rtr==0) { for(j=0;j<4;j++) { rx_frame->hdata = CanbRegs.CAN_IF2DATB.all; } for(j=0;j<4;j++) { rx_frame->ldata = CanbRegs.CAN_IF2DATA.all;; } } else { rx_frame->hdata = 0; rx_frame->ldata = 0; } // CanbRegs.CAN_IF2CMD.bit.TxRqst = 1; CanbRegs.CAN_IF2CMD.bit.MSG_NUM = i; while(CanbRegs.CAN_IF2CMD.bit.Busy) { ; } return(1); }
8204.F280049C_Template.zip附件是整个工程，盼望回复，谢谢！
你好，具体是transmit还是receive的寄存器没有反应？
一般这款芯片都是基于driverlib编写的，看寄存器的话得花点时间，你有大概的方向说明一下吗？
你好！收发寄存都没有数据。我是想参照库函数版本完成DCAN数据的收发功能，用1-16号邮箱作为接收，17-32号邮箱作为发送。其中发送时要先查询邮箱是否可用，不需要等待发送，譬如：当前是想用17号邮箱发送先看看17号邮箱是否空闲如果空闲就直接发送，如果17号邮箱正忙就自加到18号邮箱以此类推。谢谢！
7701.F280049C_Template.zip我对照手册发现了几个问题，并更新了代码，但是还是没能实现DCAN报文的发送和接收功能，请帮忙看看分析一下原因，谢谢！
你好，因为没经手过这款芯片的DCAN寄存器方式编程，我将你的工程的关键代码发送到英文E2E论坛咨询了一下，但是对方也没给出具体的问题所在，但是给出了2点建议，你可以参考一下：
https://e2e.ti.com/support/microcontrollers/c2000-microcontrollers-group/c2000/f/c2000-microcontrollers-forum/1026132/tms320f280049-configure-can-module-in-register-mode
好的，感谢。其实，硬件是没有问题的，通过库函数配置已经验证过没有问题，现在就是想通过寄存器来配置，可以跟英文E2E论坛人员沟通一下c200ware的demod都是库函数配置，能否把C200WARE里面的这些DEMO出个寄存器版本的，谢谢！
其实有些模块是有寄存器版本的，比如SCI，寄l存器版本的例程可以在这个路径找到：C:\ti\c2000\C2000Ware_3_04_00_00\device_support\f28004x\examples
但是例程不多，而且没有CAN模块的，不知道后续会不会更新。
