Other Parts Discussed in Thread: TCAN4550, TCAN4550EVM
I am using the TCAN4550-Q1 with the Adafruit Feather ESP32-S2 TFT to control the chip. I have successfully been able to read registers over SPI, as well as write to them using the ESP32.
I'm now trying to communicate over CAN, and I'm having trouble getting this to work. I'm quite new to this so its very possible that I've made a trivial error in my setup. I have been referring to the data sheet as well as the TCAN45xx Software User's Guide.
So far, I have configured the CAN timing and MRAM, and read back the TXFQS register to get the put index. I then wrote to the put index, but when reading register 0x1050, the flag for a FIFO message stays as zero.
Here is the code that I am using thus far:
#include <SPI.h>
#define CAN1SPI_CS 6
#define CAN2SPI_CS 5
#define CANSPI_CLK 4000000
SPISettings TCAN4550_SPI_settings(CANSPI_CLK, MSBFIRST, SPI_MODE0);
byte receivedDat[4];
byte writeData[4];
byte setupReg[] = {0b11001000, 0, 0b00000110, 0b10101010};
byte canTimer[] = {2, 3, 6, 1}; // sync jump, prescaler, tq before sample point, tq after sample point - values will be intepreted as val + 1 (i.e. 3,4,7,2)
byte canCONTROL[] = {0,0,0,0b00001011};
byte SIDFC[] = {0,0x02,0, 0};
byte XIDFC[] = {0,0x01,0,0x08};
byte RXF0C[] = {0x02,0x04,0,0x10};
byte RXF1C[] = {0x03,0x05,0,0xF0};
byte RXBC[] = {0,0,0,0};
byte RXESC[] = {0,0,0,0x76};
byte TXEFC[] = {0x02, 0x03, 0x02, 0x58};
byte TXBC[] = {0x0A,0,0x02,0x70};
byte TXESC[] = {0,0,0,0x07};
byte TXbuffer1[] = {0x52, 0x34, 0x56, 0x78};
byte TXbuffer2[] = {0x01, 0x87, 0, 0}; //changed configuration from example to have CAN FD and bit rate switching disabled
byte TXbuffer3[] = {0x44, 0x33, 0x22, 0x11}; //dummy data
byte TXbuffer4[] = {0x00, 0x77, 0x66, 0x55}; //dummy data
byte TXBAR[] = {0, 0, 0, 0b00000001};
void setup() {
// put your setup code here, to run once:
Serial.begin(921600);
pinMode(CAN1SPI_CS, OUTPUT);
pinMode(CAN2SPI_CS, OUTPUT);
digitalWrite(CAN1SPI_CS, HIGH);
digitalWrite(CAN2SPI_CS, HIGH);
SPI.begin();
// set modes and pin config register
setRegister(0x0800, setupReg, 4);
//set CAN bit timing
changeState("standby");
// In standby set CAN timing /////////////////////////////////////////////////////////////////////////////
setRegister(0x101C, canTimer, 4);
setRegister(0x1018, canCONTROL, 4);
// SET MRAM
setRegister(0x1084, SIDFC, 4);
setRegister(0x1088, XIDFC, 4);
setRegister(0x10A0, RXF0C, 4);
setRegister(0x10B0, RXF1C, 4);
setRegister(0x10AC, RXBC, 4);
setRegister(0x10BC, RXESC, 4);
setRegister(0x10F0, TXEFC, 4);
setRegister(0x10C0, TXBC, 4);
setRegister(0x10C8, TXESC, 4);
// Change state back to normal, should be ready for CAN communication
changeState("normal");
delay(50);
}
void loop() {
readRegister(0x0800, "BIN");
//Read interrupt register
// read0820();
//try to reset register interrupt register
// setRegister(0x0820, reset0820, 4);
// Read TXFQS register bits 20:16 to get "put" register (currently reading back 1 at 16th bit)
readRegister(0x10C4, "HEX");
//Try writing to TX Buffer
setRegister(0x82B8, TXbuffer1, 4); //Put index was 0x01, start of TX buffer section is 0x8270 so write to 0x8270 + 0x48*0x01 (element size)
setRegister(0x82BC, TXbuffer2, 4);
setRegister(0x82B0, TXbuffer3, 4);
setRegister(0x82B4, TXbuffer4, 4);
setRegister(0x10D0, TXBAR, 4);
readRegister(0x1050, "BIN");
}
Read register, set register and change state are functions that I wrote that I have verified are working as intended.
When I read register 0x1050, its giving me "0x00300800".
Thanks in advance!
