TM4C1294 CAN

您可以尝试使用下面的代码

e2e.ti.com/.../1280698

Hi Susan
目前我使用以下代碼測試CAN0與CAN1發送與接收測試
但是好像無法正常工作，是不是還有哪裡沒設定正確呢?


extern uint32_t g_ui32SysClock;
volatile uint8_t CAN0ErrFlag = 0;
volatile uint8_t CAN1ErrFlag = 0;
tCANMsgObject CAN0RxMsgObject,CAN0TxMsgObject; //CAN0 have32 objects
tCANMsgObject CAN1RxMsgObject,CAN1TxMsgObject; //CAN1 have32 objects
uint8_t CAN0_Obj1RxData[8],CAN0_Obj2RxData[8],CAN0_Obj3RxData[8];
uint8_t CAN1_Obj1RxData[8],CAN1_Obj2RxData[8],CAN1_Obj3RxData[8];

uint8_t CAN0_Obj1TxData[8],CAN1_Obj1TxData[8];
volatile bool CAN0TxMsgObj4Sent = 0;
volatile bool CAN1TxMsgObj4Sent = 0;

void
CAN0IntHandler(void)
{
uint32_t ui32Status;

//
// Read the CAN interrupt status to find the cause of the interrupt
//
ui32Status = CANIntStatus(CAN0_BASE, CAN_INT_STS_CAUSE);

//
// If the cause is a controller status interrupt, then get the status
//
if(ui32Status == CAN_INT_INTID_STATUS)
{
//
// 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.
//
ui32Status = CANStatusGet(CAN0_BASE, CAN_STS_CONTROL);

CAN0ErrFlag++;
}

//
// Check if the cause is message object 1.
//
else if(ui32Status == 1)
{
CANIntClear(CAN0_BASE, ui32Status);

CAN0RxMsgObject.pui8MsgData = CAN0_Obj1RxData;

CANMessageGet(CAN0_BASE, ui32Status, &CAN0RxMsgObject, 0);

CAN0ErrFlag = 0;
}

//
// Check if the cause is message object 2.
//
else if(ui32Status == 2)
{
CANIntClear(CAN0_BASE, ui32Status);

CAN0RxMsgObject.pui8MsgData = CAN0_Obj2RxData;

CANMessageGet(CAN0_BASE, ui32Status, &CAN0RxMsgObject, 0);

CAN0ErrFlag = 0;
}

//
// Check if the cause is message object 3.
//
else if(ui32Status == 3)
{
CANIntClear(CAN0_BASE, ui32Status);

CAN0RxMsgObject.pui8MsgData = CAN0_Obj3RxData;

CANMessageGet(CAN0_BASE, ui32Status, &CAN0RxMsgObject, 0);

CAN0ErrFlag = 0;
}

// Check if the cause is message object 4, which is used for sending messages.

else if(ui32Status == 4)
{

CANIntClear(CAN0_BASE, ui32Status);

CAN0TxMsgObj4Sent = 1;

CAN0ErrFlag = 0;
}
}

void
CAN1IntHandler(void)
{
uint32_t ui32Status;

//
// Read the CAN interrupt status to find the cause of the interrupt
//
ui32Status = CANIntStatus(CAN1_BASE, CAN_INT_STS_CAUSE);

//
// If the cause is a controller status interrupt, then get the status
//
if(ui32Status == CAN_INT_INTID_STATUS)
{
//
// 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.
//
ui32Status = CANStatusGet(CAN1_BASE, CAN_STS_CONTROL);

CAN1ErrFlag++;
}

//
// Check if the cause is message object 1.
//
else if(ui32Status == 1)
{
CANIntClear(CAN1_BASE, 1);

CAN1RxMsgObject.pui8MsgData = CAN1_Obj1RxData;

CANMessageGet(CAN0_BASE, ui32Status, &CAN1RxMsgObject, 0);

CAN1ErrFlag = 0;

}

//
// Check if the cause is message object 2.
//
else if(ui32Status == 2)
{
CANIntClear(CAN1_BASE, 2);

CAN1RxMsgObject.pui8MsgData = CAN1_Obj2RxData;

CANMessageGet(CAN0_BASE, ui32Status, &CAN1RxMsgObject, 0);

CAN1ErrFlag = 0;
}

//
// Check if the cause is message object 3.
//
else if(ui32Status == 3)
{
CANIntClear(CAN1_BASE, 3);

CAN1RxMsgObject.pui8MsgData = CAN1_Obj3RxData;

CANMessageGet(CAN0_BASE, ui32Status, &CAN1RxMsgObject, 0);

CAN1ErrFlag = 0;
}

// Check if the cause is message object 4, which is used for sending messages.

else if(ui32Status == 4)
{

CANIntClear(CAN1_BASE, ui32Status);

CAN1TxMsgObj4Sent = 1;

CAN1ErrFlag = 0;
}
}

void CAN0RXConfig(uint8_t ObjNum,uint32_t MsgID)
{
// Initialize a message object to receive CAN messages with ID 0x1001.
// The expected ID must be set along with the mask to indicate that all
// bits in the ID must match.
//
CAN0RxMsgObject.ui32MsgID = MsgID;
CAN0RxMsgObject.ui32MsgIDMask = 0xfffff;
CAN0RxMsgObject.ui32Flags = (MSG_OBJ_RX_INT_ENABLE | MSG_OBJ_USE_ID_FILTER |
MSG_OBJ_EXTENDED_ID);
CAN0RxMsgObject.ui32MsgLen = 8;

// Now load the message object into the CAN peripheral message object 1.
// Once loaded the CAN will receive any messages with this CAN ID into
// this message object, and an interrupt will occur.
//
CANMessageSet(CAN0_BASE, ObjNum, &CAN0RxMsgObject, MSG_OBJ_TYPE_RX);
}

void CAN1RXConfig(uint8_t ObjNum,uint32_t MsgID)
{
// Initialize a message object to receive CAN messages with ID 0x1001.
// The expected ID must be set along with the mask to indicate that all
// bits in the ID must match.
//
CAN1RxMsgObject.ui32MsgID = MsgID;
CAN1RxMsgObject.ui32MsgIDMask = 0xfffff;
CAN1RxMsgObject.ui32Flags = (MSG_OBJ_RX_INT_ENABLE | MSG_OBJ_USE_ID_FILTER |
MSG_OBJ_EXTENDED_ID);
CAN1RxMsgObject.ui32MsgLen = 8;

// Now load the message object into the CAN peripheral message object 1.
// Once loaded the CAN will receive any messages with this CAN ID into
// this message object, and an interrupt will occur.
//
CANMessageSet(CAN0_BASE, ObjNum, &CAN1RxMsgObject, MSG_OBJ_TYPE_RX);
}

void CANMultiRXConfig()
{
CAN0RXConfig(1,0x1001);
CAN0RXConfig(2,0x1002);
CAN0RXConfig(3,0x1003);

CAN1RXConfig(1,0x2001);
CAN1RXConfig(2,0x2002);
CAN1RXConfig(3,0x2003);
}

void CAN0TXSend(uint8_t ObjNum,uint32_t MsgID)
{
CAN0TxMsgObject.ui32MsgID = MsgID;
CAN0TxMsgObject.ui32MsgIDMask = 0;
CAN0TxMsgObject.ui32Flags = MSG_OBJ_TX_INT_ENABLE;
CAN0TxMsgObject.ui32MsgLen = sizeof(CAN0_Obj1TxData);

CAN0_Obj1TxData[0]++;
CAN0TxMsgObject.pui8MsgData = CAN0_Obj1TxData;

CAN0TxMsgObj4Sent=0;
CANMessageSet(CAN0_BASE, ObjNum, &CAN0TxMsgObject, MSG_OBJ_TYPE_TX);
}

void CAN1TXSend(uint8_t ObjNum,uint32_t MsgID)
{
CAN1TxMsgObject.ui32MsgID = MsgID;
CAN1TxMsgObject.ui32MsgIDMask = 0;
CAN1TxMsgObject.ui32Flags = MSG_OBJ_TX_INT_ENABLE;
CAN1TxMsgObject.ui32MsgLen = sizeof(CAN1_Obj1TxData);

CAN1_Obj1TxData[0]++;
CAN1TxMsgObject.pui8MsgData = CAN1_Obj1TxData;

CAN1TxMsgObj4Sent=0;
CANMessageSet(CAN1_BASE, ObjNum, &CAN1TxMsgObject, MSG_OBJ_TYPE_TX);
}


void CANInitial(void)
{
SysCtlPeripheralEnable(SYSCTL_PERIPH_CAN0); // The GPIO port and pins have been set up for CAN. The CAN peripheral must be enabled.

CANInit(CAN0_BASE); // Initialize the CAN controller

CANBitRateSet(CAN0_BASE, g_ui32SysClock, 1000000u); // Set up the 1M bit rate for the CAN bus.

//HWREG(CAN0_BASE+CAN_O_CTL) |= CAN_CTL_TEST;
//HWREG(CAN0_BASE+CAN_O_TST) |= CAN_TST_LBACK;

//CANIntRegister(CAN0_BASE, CAN0IntHandler); // if using dynamic vectors

CANIntEnable(CAN0_BASE, CAN_INT_MASTER | CAN_INT_ERROR | CAN_INT_STATUS);

IntEnable(INT_CAN0);// Enable the CAN interrupt on the processor (NVIC).

CANEnable(CAN0_BASE);// Enable the CAN for operation.


SysCtlPeripheralEnable(SYSCTL_PERIPH_CAN1); // The GPIO port and pins have been set up for CAN. The CAN peripheral must be enabled.

CANInit(CAN1_BASE); // Initialize the CAN controller

CANBitRateSet(CAN1_BASE, g_ui32SysClock, 1000000u); // Set up the 1M bit rate for the CAN bus.

//CANIntRegister(CAN1_BASE, CAN1IntHandler); // if using dynamic vectors

CANIntEnable(CAN1_BASE, CAN_INT_MASTER | CAN_INT_ERROR | CAN_INT_STATUS);

IntEnable(INT_CAN1);// Enable the CAN interrupt on the processor (NVIC).

CANEnable(CAN1_BASE);// Enable the CAN for operation.

CANMultiRXConfig();
}



每100ms調用TX function
CAN0TXSend(4,0x2001);
CAN1TXSend(4,0x1001);

请您之后使用高级编辑器的工具来上传代码

“目前我使用以下代碼測試CAN0與CAN1發送與接收測試
但是好像無法正常工作，是不是還有哪裡沒設定正確呢?”

请问能否详细说一下您的硬件情况吗？是否使用开发板，几块开发板？是否有接transceiver？

另外是否有测量CAN引脚的波形？

Hi Susan

目前是使用開發版TM4C1294XL Rev D

一塊開發版測試CAN0與CAN1發送與接收測試

一開始就有提到沒有接transceiver測試

無量測CAN引脚的波形