TMS320F280021: can邮箱数量问题

wang xinkai

Part Number: TMS320F280021
Other Parts Discussed in Thread: C2000WARE

can邮箱只能使用16个，多了运行会报错，想问一下哪个寄存器能打开全部的邮箱数，手册上写着有32个邮箱。

2 年多前

0 Ben Qin 2 年多前

TI__Mastermind 39885 points

wang xinkai 说：
想问一下哪个寄存器能打开全部的邮箱数

你好，我刚刚查看了手册，似乎是没有这样的寄存器。能否提供报错截图？

0 wang xinkai 2 年多前回复 Ben Qin

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//*****************************************************************************
//
// Error handling function to be called when an ASSERT is violated
//
//*****************************************************************************
void __error__(char *filename, uint32_t line)
{
    //
    // An ASSERT condition was evaluated as false. You can use the filename and
    // line parameters to determine what went wrong.
    //
    ESTOP0;
}
XXXXXXXXXXXXXXXXXXXXXXXXXXXXXXXXXXXXXXXXXXXXXXXXXX

//*****************************************************************************
//
// Error handling function to be called when an ASSERT is violated
//
//*****************************************************************************
void __error__(char *filename, uint32_t line)
{
    //
    // An ASSERT condition was evaluated as false. You can use the filename and
    // line parameters to determine what went wrong.
    //
    ESTOP0;
}

使用邮箱数量超过16个，程序就会跳转到此位置。

0 Ben Qin 2 年多前回复 wang xinkai

TI__Mastermind 39885 points

请问您使用的是C2000ware的例程吗？您C2000Ware的版本是什么？

0 wang xinkai 2 年多前回复 Ben Qin

你好！使用的不是例程。以下是我的程序。

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void init_eCAN_A ( u16 bitRatePrescaler, u16 timeSeg1, u16
                  timeSeg2, u16 sbg, u16 sjw, u16 sam)
{
  u32 ui32RegValue;
  u16 ui16CANCTL;
  EALLOW;
  CpuSysRegs.PCLKCR10.bit.CAN_A = 1;
  GpioCtrlRegs.GPAPUD.bit.GPIO13 = 0;  /* Enable pull-up on GPIO13 */
  GpioCtrlRegs.GPAGMUX1.bit.GPIO13 = 3;
  GpioCtrlRegs.GPAMUX1.bit.GPIO13 = 1;
  GpioCtrlRegs.GPAPUD.bit.GPIO12 = 0;  /* Enable pull-up on GPIO12 */
  GpioCtrlRegs.GPAGMUX1.bit.GPIO12 = 3;
  GpioCtrlRegs.GPAMUX1.bit.GPIO12 = 1;
  EDIS;
  ui32RegValue = (((u32)((bitRatePrescaler-1) & 0x03C0))<<10)|((timeSeg2-1)<<
    12)|((timeSeg1-1)<<8)|((sjw-1)<<6)|((bitRatePrescaler-1) & 0x3F);
//   EALLOW;
//  CanaRegs.CAN_CTL.bit.Init = 1;//CAN module ignores bus activity
//  CanaRegs.CAN_CTL.bit.PMD = 5;//Parity function disabled
XXXXXXXXXXXXXXXXXXXXXXXXXXXXXXXXXXXXXXXXXXXXXXXXXX

void init_eCAN_A ( u16 bitRatePrescaler, u16 timeSeg1, u16
                  timeSeg2, u16 sbg, u16 sjw, u16 sam)
{
  u32 ui32RegValue;
  u16 ui16CANCTL;
  EALLOW;
  CpuSysRegs.PCLKCR10.bit.CAN_A = 1;
  GpioCtrlRegs.GPAPUD.bit.GPIO13 = 0;  /* Enable pull-up on GPIO13 */
  GpioCtrlRegs.GPAGMUX1.bit.GPIO13 = 3;
  GpioCtrlRegs.GPAMUX1.bit.GPIO13 = 1;
  GpioCtrlRegs.GPAPUD.bit.GPIO12 = 0;  /* Enable pull-up on GPIO12 */
  GpioCtrlRegs.GPAGMUX1.bit.GPIO12 = 3;
  GpioCtrlRegs.GPAMUX1.bit.GPIO12 = 1;
  EDIS;
  ui32RegValue = (((u32)((bitRatePrescaler-1) & 0x03C0))<<10)|((timeSeg2-1)<<
    12)|((timeSeg1-1)<<8)|((sjw-1)<<6)|((bitRatePrescaler-1) & 0x3F);


//   EALLOW;
//  CanaRegs.CAN_CTL.bit.Init = 1;//CAN module ignores bus activity
//  CanaRegs.CAN_CTL.bit.PMD = 5;//Parity function disabled
//  CanaRegs.CAN_RAM_INIT.bit.CAN_RAM_INIT = 1;
//  CanaRegs.CAN_RAM_INIT.bit.KEY3 = 1;
//  CanaRegs.CAN_RAM_INIT.bit.KEY1 = 1;
//  while(!((CanaRegs.CAN_RAM_INIT.all & 0x003FU) == 0x25)){
//  }
//  CanaRegs.CAN_CTL.bit.SWR = 1;
//  SysCtl_delay(1U);
//  CanaRegs.CAN_CTL.bit.CCE = 1;// Configuration Change Enable


  CAN_initModule(CANA_BASE);
//  ClkCfgRegs.CLKSRCCTL2.bit.CANABCLKSEL = 0;//CANA Bit-Clock Source Select PERx.SYSCLK
  CAN_selectClockSource(CANA_BASE, (CAN_ClockSource)0);

  //Set init mode
//  CanaRegs.CAN_CTL.bit.CCE = 1;// Configuration Change Enable
//  CanaRegs.CAN_CTL.bit.Init = 1;//CAN module ignores bus activity
  ui16CANCTL = HWREGH(CANA_BASE + CAN_O_CTL);
  HWREGH(CANA_BASE + CAN_O_CTL) = ui16CANCTL | CAN_CTL_INIT | CAN_CTL_CCE;

  //Set Bit Timing register
//   CanaRegs.CAN_BTR.bit.BRP = bitRatePrescaler-1;
//  CanaRegs.CAN_BTR.bit.SJW = sjw-1;
//  CanaRegs.CAN_BTR.bit.TSEG1 = timeSeg1-1;
//  CanaRegs.CAN_BTR.bit.TSEG2 = timeSeg2-1;
//  CanaRegs.CAN_BTR.bit.BRPE = 0;//Baud Rate Prescaler Extension
  HWREGH(CANA_BASE + CAN_O_BTR) = (ui32RegValue & 0xFFFFU);
  HWREGH(CANA_BASE + CAN_O_BTR + 2) = (ui32RegValue >> 16);


  // Restore the saved CAN Control register.
  //  CanaRegs.CAN_IP_MUX21 = 0;
  HWREGH(CANA_BASE + CAN_O_CTL) = ui16CANCTL;
  HWREGH(CANA_BASE + CAN_O_IP_MUX21) = 0;
  HWREGH(CANA_BASE + CAN_O_IP_MUX21 + 2) = 0;


//  HWREGH(CANA_BASE + CAN_O_IF1CMD) |= 0x20;
//  HWREGH(CANA_BASE + CAN_O_IF2CMD) |= 0x20;
//  HWREGH(CANA_BASE + CAN_O_IP_MUX21) = 0x20;

  //CanaRegs.CAN_IF1ARB.bit.MsgVal = 1;

//  CanaRegs.CAN_IF1CMD.bit.MSG_NUM = 0x20;
//  CanaRegs.CAN_IP_MUX21 = 0xFFFFFFFF;

//  HWREGH(CANA_BASE + CAN_O_TXRQ_X) = CAN_TXRQ_X_TXRQSTREG2_M|CAN_TXRQ_X_TXRQSTREG1_M;
//  HWREGH(CANA_BASE + CAN_O_NDAT_X) = CAN_NDAT_X_NEWDATREG2_M|CAN_NDAT_X_NEWDATREG1_M;
//  HWREGH(CANA_BASE + CAN_O_IPEN_X) = CAN_IPEN_X_INTPNDREG2_M|CAN_IPEN_X_INTPNDREG1_M;
//  HWREGH(CANA_BASE + CAN_O_MVAL_X) = CAN_MVAL_X_MSGVALREG2_M|CAN_MVAL_X_MSGVALREG1_M;



  // Enable the CAN for operation.
    //  CanaRegs.CAN_CTL.bit.CCE = 0;// Configuration Change disEnable
  //  CanaRegs.CAN_CTL.bit.Init = 0;//CAN module processes messages normally
  CAN_enableController(CANA_BASE);

//  EDIS;
}

void MCU_CAN_Transmit_Task_Init(void)
{
  /* Start for S-Function (c280xcanxmt): '<S4>/CAN Transmit' incorporates:
   *  Constant: '<S4>/Constant1'
   */
  CAN_setupMessageObject(CANA_BASE, MCU_220_msg+1, Usercan_MCU220, CAN_MSG_FRAME_STD,
    CAN_MSG_OBJ_TYPE_TX, 0, CAN_MSG_OBJ_NO_FLAGS, 8);

  /* Start for S-Function (c280xcanxmt): '<S4>/CAN Transmit1' incorporates:
   *  Constant: '<S4>/Constant2'
   */
  CAN_setupMessageObject(CANA_BASE, MCU_221_msg+1, Usercan_MCU221, CAN_MSG_FRAME_STD,
    CAN_MSG_OBJ_TYPE_TX, 0, CAN_MSG_OBJ_NO_FLAGS, 8);

  /* Start for S-Function (c280xcanxmt): '<S4>/CAN Transmit2' incorporates:
   *  Constant: '<S4>/Constant3'
   */
  CAN_setupMessageObject(CANA_BASE, MCU_222_msg+1, Usercan_MCU222, CAN_MSG_FRAME_STD,
    CAN_MSG_OBJ_TYPE_TX, 0, CAN_MSG_OBJ_NO_FLAGS, 8);
  /* Start for S-Function (c280xcanxmt): '<S4>/CAN Transmit2' incorporates:
   *  Constant: '<S4>/Constant3'
   */
  CAN_setupMessageObject(CANA_BASE, MCU_223_msg+1, Usercan_MCU223, CAN_MSG_FRAME_STD,
    CAN_MSG_OBJ_TYPE_TX, 0, CAN_MSG_OBJ_NO_FLAGS, 8);
  /* Start for S-Function (c280xcanxmt): '<S4>/CAN Transmit2' incorporates:
   *  Constant: '<S4>/Constant3'
   */
  CAN_setupMessageObject(CANA_BASE, MCU_224_msg+1, Usercan_MCU224, CAN_MSG_FRAME_STD,
    CAN_MSG_OBJ_TYPE_TX, 0, CAN_MSG_OBJ_NO_FLAGS, 8);
  /* Start for S-Function (c280xcanxmt): '<S4>/CAN Transmit2' incorporates:
   *  Constant: '<S4>/Constant3'
   */
  CAN_setupMessageObject(CANA_BASE, MCU_519_msg+1, Usercan_MCU519, CAN_MSG_FRAME_STD,
    CAN_MSG_OBJ_TYPE_TX, 0, CAN_MSG_OBJ_NO_FLAGS, 8);
  /* Start for S-Function (c280xcanxmt): '<S4>/CAN Transmit2' incorporates:
   *  Constant: '<S4>/Constant3'
   */
  CAN_setupMessageObject(CANA_BASE, MCU_520_msg+1, Usercan_MCU520, CAN_MSG_FRAME_STD,
    CAN_MSG_OBJ_TYPE_TX, 0, CAN_MSG_OBJ_NO_FLAGS, 8);
  /* Start for S-Function (c280xcanxmt): '<S4>/CAN Transmit2' incorporates:
   *  Constant: '<S4>/Constant3'
   */
  CAN_setupMessageObject(CANA_BASE, MCU_521_msg+1, Usercan_MCU521, CAN_MSG_FRAME_STD,
    CAN_MSG_OBJ_TYPE_TX, 0, CAN_MSG_OBJ_NO_FLAGS, 8);

  CAN_setupMessageObject(CANA_BASE, MCU_112_msg+1, Usercan_MCU112, CAN_MSG_FRAME_STD,
    CAN_MSG_OBJ_TYPE_TX, 0, CAN_MSG_OBJ_NO_FLAGS, 8);

  CAN_setupMessageObject(CANA_BASE, MCU_111_msg+1, Usercan_MCU111, CAN_MSG_FRAME_STD,
    CAN_MSG_OBJ_TYPE_TX, 0, CAN_MSG_OBJ_NO_FLAGS, 8);

  CAN_setupMessageObject(CANA_BASE, MCU_729_msg+1, Usercan_PhyRes729, CAN_MSG_FRAME_STD,
    CAN_MSG_OBJ_TYPE_TX, 0, CAN_MSG_OBJ_NO_FLAGS, 8);
}

void TransCanData(u16 transType)
{
    unsigned char* ucTXMsgData;
    u16 u16temp = 0;
    switch (transType)
        {
            case 0: //
                can_Tx.ID = 220U;
                can_Tx.Length = 8U;
                can_Tx.Data[0] = (u8)(mcu_Msg.MCU_220_MOT_INIT|(mcu_Msg.MCU_220_MOT_STA<<1)|(mcu_Msg.MCU_220_MOT_MODE<<3)|(mcu_Msg.MCU_220_MOT_DIR<<5)|(mcu_Msg.MCU_220_HV_CHECK_FLAG<<7));
                can_Tx.Data[1] = (u8)(0|(0<<1)|(mcu_Msg.MCU_220_LV_OFF_REQ_FLAG<<2)|(acce_mode<<3)|(Err.ErrState<<4));
                can_Tx.Data[2] = (u8)0x00;
                u16temp=(u16)(gSpdRpm+10000.0F);//mcu_Msg.MCU_MotActuSpd速度
                can_Tx.Data[4] = (u8)u16temp;
                can_Tx.Data[3] = (u8)(u16temp>>8);
                u16temp=(u16)((TroqueFbk_Y.TrqFbk+1500.0F)*2.0f);//mcu_Msg.MCU_MotActuToq转矩

                can_Tx.Data[6] = (u8)u16temp;
                can_Tx.Data[5] = (u8)(u16temp>>8);
                can_Tx.Data[7] = (u8)(0|(0<<1)|(0<<2)|(0<<3)|(mcu_Msg.MCU_220_MCUready<<4)|(mcu_Msg.MCU_220_EvSpd_Validity<<5)|(mcu_Msg.MCU_220_Activedischarge_STA<<6)|(0<<7));
                ucTXMsgData = (unsigned char*)can_Tx.Data;
                CAN_sendMessage(CANA_BASE, MCU_220_msg+1, can_Tx.Length, (u16*)ucTXMsgData);
                break;
            case 1: //
                /* S-Function (scan_Tx): '<S3>/CAN Pack2' */
                can_Tx.ID = 221U;
                can_Tx.Length = 8U;
               /* if (mcu_Msg.MCU_DirecEn == 0)      u16temp = 3; // 1 rev 2 Neu 3 Dri  4 Spo 5 Park
                else if (mcu_Msg.MCU_DirecEn == 1) u16temp = 1;
                else                               u16temp = 2;*/
                can_Tx.Data[0] = (u8)0x00;
                u16temp=(u16)((f32)gMeas.Udc); //母线电压
                can_Tx.Data[2] = (u8)u16temp;
                can_Tx.Data[1] = (u8)(u16temp>>8);
                u16temp=(u16)((TseRefCtrl.fIdcFbk+1000.0f)*10.0f);//母线电流
                can_Tx.Data[4] = (u8)u16temp;
                can_Tx.Data[3] = (u8)(u16temp>>8);
                u16temp=(u16)(((f32)gMeas.I_mag*100.0f)); //相电流
                can_Tx.Data[6] = (u8)u16temp;
                can_Tx.Data[5] = (u8)(u16temp>>8);
                can_Tx.Data[7] = (u8)0x00;
                //can_Tx.Data[6] = (u8)0x00;
                //can_Tx.Data[7] = (u8)0x00;
                ucTXMsgData = (unsigned char*)can_Tx.Data;
                CAN_sendMessage(CANA_BASE, MCU_221_msg+1, can_Tx.Length, (u16*)ucTXMsgData);
                break;
            case 2: //
                /* S-Function (scan_Tx): '<S3>/CAN Pack2' */
                can_Tx.ID = 222U;
                can_Tx.Length = 8U;
                can_Tx.Data[0] = (u8)0x00;
                u16temp=(u16)((f32)(mcu_Msg.MCU_222_DRIVE_TOR_MAX+1500.0f) * 2.0f); //驱动电机最大驱动转矩
                can_Tx.Data[2] = (u8)u16temp;
                can_Tx.Data[1] = (u8)(u16temp>>8);
                u16temp=(u16)((mcu_Msg.MCU_222_BRAKE_TOR_MAX+1500.0f)*2.0f);//驱动电机最大制动转矩
                can_Tx.Data[4] = (u8)u16temp;
                can_Tx.Data[3] = (u8)(u16temp>>8);
                u16temp=(u16)((f32)(mcu_Msg.MCU_222_OutputPower+1000)*2.0f); //驱动电机输出功率
                can_Tx.Data[6] = (u8)u16temp;
                can_Tx.Data[5] = (u8)(u16temp>>8);
                mcu_Msg.MCU_222_RollingCounter=((++mcu_Msg.MCU_222_RollingCounter)%16);
                u16temp=(u16)(mcu_Msg.MCU_222_RollingCounter|(mcu_Msg.MCU_222_St_PowerReduceOperation<<4));
                can_Tx.Data[7] = (u8)u16temp;
                ucTXMsgData = (unsigned char*)can_Tx.Data;
                CAN_sendMessage(CANA_BASE, MCU_222_msg+1, can_Tx.Length, (u16*)ucTXMsgData);
                break;
            case 3: //
                /* S-Function (scan_Tx): '<S3>/CAN Pack2' */
                can_Tx.ID = 223U;
                can_Tx.Length = 8U;

                can_Tx.Data[0] = 0;
                can_Tx.Data[1] = (u8)(mcu_Msg.MCU_223_IGBT_TEMP+40);

                can_Tx.Data[2] = (u8)(mcu_Msg.MCU_223_MOT_TEMP+40);
                //can_Tx.Data[2] = (u8)(APPCfg.pad1[127]+40);

                can_Tx.Data[3] = 0;

                can_Tx.Data[4] = 0;
                can_Tx.Data[5] = 0;

                can_Tx.Data[6] = 0;
                mcu_Msg.MCU_223_RollingCounter=((++mcu_Msg.MCU_223_RollingCounter)%16);
                //mcu_Msg.MCU_631_CheckSum = calCrc(can_Tx.Data,7);
                u16temp=(u8)(mcu_Msg.MCU_223_RollingCounter<<4);
                can_Tx.Data[7] = (u8)u16temp;
                ucTXMsgData = (unsigned char*)can_Tx.Data;
                CAN_sendMessage(CANA_BASE, MCU_223_msg+1, can_Tx.Length, (u16*)ucTXMsgData);
                break;
            case 4: //
                /* S-Function (scan_Tx): '<S3>/CAN Pack2' */
                can_Tx.ID = 224U;
                can_Tx.Length = 8U;
                can_Tx.Data[0] = 0;
                can_Tx.Data[1] = 0;
                can_Tx.Data[2] = 0;
                can_Tx.Data[3] = 0;
                can_Tx.Data[4] = 0;
                u16temp=(u16)((TseRefCtrl.fIdcFbk+1000)*10.0f); //直流母线电流实际测量值
                can_Tx.Data[5] = (u8)(u16temp>>8);
                can_Tx.Data[6] = (u8)u16temp;
                can_Tx.Data[7] = 0;
                ucTXMsgData = (unsigned char*)can_Tx.Data;
                CAN_sendMessage(CANA_BASE, MCU_224_msg+1, can_Tx.Length, (u16*)ucTXMsgData);
                break;
            case 5: //
                /* S-Function (scan_Tx): '<S3>/CAN Pack2' */
                can_Tx.ID = 519U;
                can_Tx.Length = 8U;
                can_Tx.Data[0] = (u8)(0|(0<<1)|(0<<2)|(0<<3)|(0<<4)|(Err.OverCurrent<<5)|(0<<6)|(0<<7));
                can_Tx.Data[1] = (u8)(0|(0<<1)|(0<<2)|(0<<3)|(0<<4)|(0<<5)|(0<<6)|(0<<7));
                can_Tx.Data[2] = (u8)(0|(0<<1)|(0<<2)|(0<<3)|(0<<4)|(0<<5)|(0<<6)|(0<<7));
                can_Tx.Data[3] = (u8)(0|(0<<1)|(0<<2)|(0<<3)|(0<<4)|(0<<5)|(Err.OverSpd<<6)|(0<<7));
                can_Tx.Data[4] = (u8)(0|(0<<1)|(0<<2)|(Err.OverVoltage<<3)|(0<<4)|(0<<5)|(0<<6)|(0<<7));
                can_Tx.Data[5] = (u8)(0|(0<<1)|(Err.IGBTOverHeat<<2)|(0<<3)|(0<<4)|(0<<5)|(0<<6)|(0<<7));
                can_Tx.Data[6] = (u8)(0|(0<<1)|(Err.RDC_Err<<2)|(0<<3)|(0<<4)|(0<<5)|(0<<6)|(0<<7));
                can_Tx.Data[7] = (u8)(u16temp>>8);
                if (Err.ErrState != 0 && EepromCtrl.FlashErr == 0)
                    EepromCtrl.FlashErr = 1;
                ucTXMsgData = (unsigned char*)can_Tx.Data;
                CAN_sendMessage(CANA_BASE, MCU_519_msg+1, can_Tx.Length, (u16*)ucTXMsgData);
                break;
            case 6: //
                /* S-Function (scan_Tx): '<S3>/CAN Pack2' */
                can_Tx.ID = 520U;
                can_Tx.Length = 8U;
                can_Tx.Data[0] = (u8)(Err.FO|(0<<1)|(0<<2)|(0<<3)|(0<<4)|(0<<5)|(0<<6)|(0<<7));
                can_Tx.Data[1] = (u8)(0|(0<<1)|(0<<2)|(0<<3)|(0<<4)|(0<<5)|(0<<6)|(0<<7));
                can_Tx.Data[2] = (u8)(Err.OverVoltage|(Err.OverVoltageWarning<<1)|(0<<2)|(Err.LowVoltage<<3)|(Err.LowVoltageWarning<<4)|(Err.IGBTTempSensorError<<5)|(0<<6)|(Err.IGBTOverHeat<<7));
                can_Tx.Data[3] = (u8)(0|(Err.MotorTempSensorError<<1)|(0<<2)|(Err.MotorOverHeat<<3)|(Err.RDC_Err<<4)|(0<<5)|(mcu_Msg.MCU_520_RF_F_OVERSPEED<<6)|(mcu_Msg.MCU_520_LIF_R_OVERSPEED<<7));
                can_Tx.Data[4] = (u8)(0|(0<<1)|(0<<2)|(Err.MotorOverHeatWarning<<3)|(0<<4)|(Err.IGBTOverHeatWarning<<5)|(0<<6)|(0<<7));
                can_Tx.Data[5] = (u8)(0|(0<<1)|(Err.EepromFault<<2)|(Err.MotorStock<<3)|(Err.DisChargeFail<<4)|(0<<5)|(0<<6)|(0<<7));
                can_Tx.Data[6] = (u8)(0|(0<<1)|(0<<2)|(mcu_Msg.MCU_520_LIF_F_OVERSPEED<<3)|(0<<4)|(0<<5)|(0<<6)|(0<<7));
                can_Tx.Data[7] = (u8)(0|(0<<1)|(0<<2)|(0<<3)|(0<<4)|(0<<5)|(0<<6)|(0<<7));
                ucTXMsgData = (unsigned char*)can_Tx.Data;
                CAN_sendMessage(CANA_BASE, MCU_520_msg+1, can_Tx.Length, (u16*)ucTXMsgData);
                break;
            case 7:
                /* S-Function (scan_Tx): '<S3>/CAN Pack2' */
                can_Tx.ID = 521U;
                can_Tx.Length = 8U;
                can_Tx.Data[0] = (u8)0;
                can_Tx.Data[1] = (u8)0;

                can_Tx.Data[2] = (u8)0;
                can_Tx.Data[3] = (u8)0;

                can_Tx.Data[4] = (u8)0;
                can_Tx.Data[5] = (u8)(MCU_521_MCU_PLM_Num|(MCU_521_Motor_PLM_Num<<4));

                can_Tx.Data[6] = (u8)(Year|(Month<<4));

                can_Tx.Data[7] = (u8)Date;
                ucTXMsgData = (unsigned char*)can_Tx.Data;
                CAN_sendMessage(CANA_BASE, MCU_521_msg+1, can_Tx.Length, (u16*)ucTXMsgData);
                break;
            case 8:
                /* S-Function (scan_Tx): '<S3>/CAN Pack2' */
                can_Tx.ID = 112U;
                can_Tx.Length = 8U;
                can_Tx.Data[0] = (u8)i++;
                can_Tx.Data[1] = (u8)i++;

                u16temp=(u16)(gResolver.DCoffsetCOS+10000);
                can_Tx.Data[3] = (u8)u16temp;
                can_Tx.Data[2] = (u8)(u16temp>>8);
                u16temp=(u16)(gResolver.DCoffsetSIN+10000);
                can_Tx.Data[5] = (u8)u16temp;
                can_Tx.Data[4] = (u8)(u16temp>>8);
                u16temp=(u16)(gResolver.DCoffsetEXC+10000);
                can_Tx.Data[7] = (u8)u16temp;
                can_Tx.Data[6] = (u8)(u16temp>>8);
                ucTXMsgData = (unsigned char*)can_Tx.Data;
                CAN_sendMessage(CANA_BASE, MCU_112_msg+1, can_Tx.Length, (u16*)ucTXMsgData);
                break;
            case 9:
                /* S-Function (scan_Tx): '<S3>/CAN Pack2' */
                can_Tx.ID = 111U;
                can_Tx.Length = 8U;
                can_Tx.Data[0] = (u8)1;
                can_Tx.Data[1] = (u8)2;
                can_Tx.Data[2] = (u8)3;
                can_Tx.Data[3] = (u8)4;
                can_Tx.Data[4] = (u8)5;
                can_Tx.Data[5] = (u8)6;
                can_Tx.Data[6] = (u8)7;
                can_Tx.Data[7] = (u8)8;
                ucTXMsgData = (unsigned char*)can_Tx.Data;
                CAN_sendMessage(CANA_BASE, MCU_111_msg+1, can_Tx.Length, (u16*)ucTXMsgData);
                break;

            default:
                ;
                break;
         }
}

0 Ben Qin 2 年多前回复 wang xinkai

TI__Mastermind 39885 points

我推测应该是您库的问题。

extern void __error__(char *filename, uint32_t line);该函数曾经导致一些问题，extern void __error__(const char *filename, uint32_t line);这个是最新版本的函数，关于从char *更改为const char *的问题，此更改已经在C2000Ware v4.01.00中推出。已对 debug.h 和 device.h 文件中的所有 Gen3器件进行了更改。