TMS320F28377S: 主从机两个DSP CAN通信问题求助

（1）有检查过中间的连接正常吗？

==== 中间连接是正常的。

（2）can的相关配置如下：

// ====================================================================
// === 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