TMS320F28377S: 主从机两个DSP CAN通信问题求助

有单步调过吗？主从机的程序分别停在哪里？

没有，逆变器跑的大功率。主机的数据还在发送，通过CANTest工具可以看到，从机接收不到了。

从机接收不到主机的数据时，从机程序也没进入上面CAN通信错误中断中。会是因为我程序还有个1ms中断，把CAN接收中断影响了吗？

总结一下就是，异常发生时，主机还可以发送该帧ID的数据，从机还可以接收其它帧ID的数据。

Yanyi Xing 说：

另：从机接收不到主机数据现象发生后，通过Can工具给从机DSP发送其他帧ID数据，从机还能成功接收。

如果用Can工具给从机发送该帧ID的数据，从机能接收到吗？

Yanyi Xing 说：

会是因为我程序还有个1ms中断，把CAN接收中断影响了吗？

这个是什么中断？

(1)如果用Can工具给从机发送该帧ID的数据，从机能接收到吗？

==== 从机也接收不到。

（2）这个是什么中断？

==== 这个是定时器中断，用来处理其他任务的，1ms中断中程序的执行时间测试最长有70us。

有检查过中间的连接正常吗？

可以分享下can的配置吗？

（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

我已经咨询了相关工程师：

https://e2e.ti.com/support/microcontrollers/c2000-microcontrollers-group/c2000/f/c2000-microcontrollers-forum/1288845/tms320f28377s-can-slave-cannot-receive-the-specified-id-data

What could be happening is that the interrupts are not being serviced promptly leading to the impression that messages are being lost.

===== 什么会导致中断程序没有被及时服务呢？

If masking is not used and the message object is retaining the correct MSGID (ARBID), it will receive a transmitted message. It cannot suddenly stop receiving messages.

===== 程序中掩码没有用，MSGID (ARBID)也没有更改。

怎么去进一步定位到问题呢?

好的，我跟进过去了

麻烦再帮忙问一下：

If a message was indeed over-written (because it was not read in time by the software), this bit would be set.

===== 消息被重写丢失后，出错的消息对象会一直收不到数据吗？

The application could either configure more message objects for receive or otherwise ensure that CAN interrupts are serviced on time.

===== 我可以使用两个不同的消息对象接收同一个ID的数据吗？

谢谢！

好的

No, the fact that a message was overwritten before being read should not prevent that message object from receiving future messages.

Only if the message objects are part of a FIFO. 

===== 我现在是出问题的消息对象再也接收不到消息了。我能通过配置成FIFO接收模式解决吗？如果可以的话，麻烦给下配置成FIFO接收模式的例程。谢谢。

好的

Please have customer check the MsgLst (Receive Message Lost) bit for the suspected message object. If a message was indeed over-written (because it was not read in time by the software), this bit would be set. 

===== 我按以下方法检查MsgLst位，发现从机接收不到主机数据时，从机出错消息对象的MsgLst没有被置位。

if( (sRXCANMsgDspComm05.ui32Flags & MSG_OBJ_DATA_LOST) == 1)
{
systemFault.bit.DebugFault = 1;    // Send to the upper computer for observation
}

我还能做哪些调试？

感觉这个CAN内核只从早期F280x、F2803x改进后问题不少，我在F280025上遇到不使能Mask，MaskID全设为0的情况下都只能接收到邮箱预设ID（通过SysCfg配置）的数据帧，其他ID的数据帧无法接收到。感觉还是原来那种消息RAM直接映射的方式比较好，连上仿真器每个邮箱的设置和状态一目了然。

使能Mask后MID中 bit=1需要匹配，bit=0 don‘t care，

不使能Mask不是应该接收所有帧吗？我理解错了？？

“使能Mask后MID中 bit=1需要匹配，bit=0 don‘t care。”

===== 这个我理解是对的。

不使能Mask就要完全匹配帧ID才能接收。使能了Mask，设置的MaskID才有用。你可以试试。

OK，我试试。找到了文档里面相关部分（下图），既然UMask=0不再过滤，一般理解应该是接收所有消息才对。

这个函数的注释。

问题解决就好~也感谢分享解决方案