TMS320F28P650SK: CAN的配置

yao yang

Part Number: TMS320F28P650SK

以下程序是为了实现can的接收中断，并在接收中断发送数据，如果使能内环测试模式（收与发的Message Identifier一样），是可以进入实现数据收发测试，但是如果设置为外部循环测试或者取消测试模式会出现errorFlag = 1; 这是什么原因，如何解决？

void Init_cana_tr(void)

{

CAN_enableController(CANA_BASE);

CAN_enableGlobalInterrupt(CANA_BASE, CAN_GLOBAL_INT_CANINT0);

//CAN_enableTestMode(CANA_BASE, CAN_TEST_LBACK);

CAN_setupMessageObject(CANA_BASE, 1, 0x20, CAN_MSG_FRAME_STD,CAN_MSG_OBJ_TYPE_TX, 0, CAN_MSG_OBJ_NO_FLAGS,8); //

// Initialize the receive message object used for receiving CAN messages.

// Message Object Parameters:

// Message Object ID Number: 3

// Message Identifier: 0x1

// Message Frame: Standard

// Message Type: Receive

// Message ID Mask: 0x0

// Message Object Flags: Receive Interrupt

// Message Data Length: 8 Bytes (Note that DLC field is a "don't care"

// for a Receive mailbox)

CAN_setupMessageObject(CANA_BASE, 3, 0x20, CAN_MSG_FRAME_STD, CAN_MSG_OBJ_TYPE_RX, 0, CAN_MSG_OBJ_RX_INT_ENABLE,8);

//使能接收中断

*(unsigned long *)ucRXMsgData = 0;

CAN_startModule(CANA_BASE);

}

interrupt void eCANINTA_isr(void)

{

uint32_t status;

// Read the CAN interrupt status to find the cause of the interrupt

status = CAN_getInterruptCause(CANA_BASE);

// If the cause is a controller status interrupt, then get the status

if(status == CAN_INT_INT0ID_STATUS)

{ //默认语句

status = CAN_getStatus(CANA_BASE);

// Check to see if an error occurred.

if(((status & ~(CAN_STATUS_TXOK | CAN_STATUS_RXOK)) != 7) &&

((status & ~(CAN_STATUS_TXOK | CAN_STATUS_RXOK)) != 0))

{

// Set a flag to indicate some errors may have occurred.

errorFlag = 1;

}

// Check if the cause is the transmit message object 1

else if(status == 3)

{

// Getting to this point means that the TX interrupt occurred on

// message object 1, and the message TX is complete. Clear the

// message object interrupt.

CAN_readMessage(CANA_BASE, 3, ucRXMsgData);

CAN_ctr=(ucRXMsgData[0]&4)>>2;

if(CAN_ctr == 1&&ucRXMsgData[7]==0xaa)

{

//EnSystem = ucRXMsgData[0]&1;

EnDrive = (ucRXMsgData[0]&2)>>1;

// T_ctr=(ucRXMsgData[0]&8)>>3;

// //Int_tmp = ucRXMsgData[1];

// Brake_pwm=ucRXMsgData[1]*20;

// SpeedRef_krpm=(float)(ucRXMsgData[3]+ucRXMsgData[2]<<8)*0.1;

// Speed_acc_krpmps=(float)(ucRXMsgData[5]+ucRXMsgData[4]<<8)*0.001;

// T_shell_set=ucRXMsgData[6];

}

CAN_clearInterruptStatus(CANA_BASE, 3); //ID=1

CAN_sendMessage(CANA_BASE,1,8,ucTXMsgData);

// Int_tmp = T_mos * 10; // 转频

// byte_tmp = Int_tmp & 0x00FF;

// ucTXMsgData[1] = byte_tmp; //

// byte_tmp = (Int_tmp & 0xFF00) >> 8;

// ucTXMsgData[0] = byte_tmp; //

// ucTXMsgData[4] += 0x01;

// ucTXMsgData[5] += 0x01;

// ucTXMsgData[6] += 0x01;

// ucTXMsgData[7] += 0x01;

// Increment a counter to keep track of how many messages have been

// sent. In a real application this could be used to set flags to

// indicate when a message is sent.

txMsgCount++;

// Since the message was sent, clear any error flags.

errorFlag = 0;

}

// Check if the cause is the receive message object 2

// else if(status == 2) //不设置发送中断

// {

// //

// // Get the received message

// //

// CAN_readMessage(CANA_BASE, 2, ucRXMsgData);

// //

// // Getting to this point means that the RX interrupt occurred on

// // message object 2, and the message RX is complete. Clear the

// // message object interrupt.

// //

// CAN_clearInterruptStatus(CANA_BASE, 2);

// //

// // 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;

// }

// If something unexpected caused the interrupt, this would handle it.

else

{

// Spurious interrupt handling can go here.

}

// Clear the global interrupt flag for the CAN interrupt line

CAN_clearGlobalInterruptStatus(CANA_BASE, CAN_GLOBAL_INT_CANINT0);

PieCtrlRegs.PIEACK.all = PIEACK_GROUP9;

}

7 天前

0 user78960159 7 天前

Genius 5972 points

内环测试也只能是验证一下软件逻辑关系是否正确如果你要用外部测试需要把控制器挂在can总线上或者你有can总线分析仪也可以

只有一个can节点没法用外部测试是会报错的这点TRM文档里有描述

0 yao yang 7 天前回复 user78960159

Prodigy 20 points

我用的是下图所示的测试模式，这个也不能进行测试，需要CAN控制器吗？

0 Lydia 4 天前

TI__Genius 15565 points

您好，

我需要更多信息才能提供正确的响应。

内环测试模式是什么意思？内部 TX 到 RX 环回模式？

测试的最终目标是什么？可测试性意味着什么？

如果我目前的理解是正确的、客户需要将 CAN 收发器连接到 CAN_RX 和 CAN_TX 引脚、以进行外部模式测试。

有关实现 CAN 网络物理层的更多信息、请参阅下面两个文档

控制器局域网物理层要求- https://www.ti.com/lit/slla270

调试控制器局域网(CAN)物理层的基础知识- https://www.ti.com/lit/slyt529

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TMS320F28P650SK: CAN的配置