TMS570LS3137: Issue with CAN interruptions

The standardID() function doesn't enable the CAN interrupt and the CAN module is still in initialization mode.

Hello QJ,

I realized that my mistake was working with the wrong registry. Now it works correctly (at least for now). Anyway I leave the main and a function called sysInit() that initializes the interfaces. Thank you.

main() function:

int main(void)
{
/* USER CODE BEGIN (3) */
    sysInit();  //System initialization.
    osInit();   //Operative System initialization.

    /* Run forever */
    while(1);

/* USER CODE END */

    return 0;
}

sysInit() function:

/********************
 * sysInit function *
 ********************/
void sysInit()
{
    uint8_t generic = 0;
    sciInit();                                      //SCI initialization.
    canInit();                                      //CAN initialization.
    spiInit();                                      //SPI initialization.

    //Enable interrupts:
    _enable_interrupt_();                           //General interrupt flag.
    //Enable SCI interrupt:
    sciEnableNotification(scilinREG,SCI_RX_INT);    //Enable SCI interrupt by Rx.
    //Enable CAN interrupt:
    canEnableErrorNotification(canREG2);            //Enable canREG2 interrupt.
    canEnableErrorNotification(canREG3);            //Enable canREG3 interrupt.

    sciReceive(scilinREG,1, (unsigned char *)&generic);

    sciSend(scilinREG, 37, (unsigned char *)"Initializing system. Please wait...\r\n");
    gioInit();                                      //GIO module initialization.
    gioSetDirection(hetPORT1, 1 << 15);             //Enable N2HET1[15] as output. This is the output signal to the external watch-dog.
    gioSetDirection(spiPORT3, 0x11);                //to set the SPI3NCS[0] to output direction. The SPI3NCS[0] is the bit0 of SPIPC1 register.
                                                    //to set the SPI3NCS[4] to output direction. The SPI3NCS[4] is the bit4 of SPIPC1 register.
    gioSetDirection(mibspiPORT5, 0 <<9);
    gioSetDirection(mibspiPORT1, 0 <<1);
    gioSetBit(spiPORT3, 0, 1);                      //Disable External memories SPI communication
    gioSetBit(spiPORT3, 4, 1);                      //Disable External memories SPI communication

    sExtMem(0);                                     //Set external memory U22 in low power mode.
    sExtMem(4);                                     //Set external memory U23 in low power mode.

    sciSend(scilinREG, 27, (unsigned char *)"\t************************\r\n");
    sciSend(scilinREG, 27, (unsigned char *)"\tLabOSat-02 [OBC] OS V1.0\r\n");
    sciSend(scilinREG, 27, (unsigned char *)"\t************************\r\n");
    sciSend(scilinREG, 1, (unsigned char *)"\n");
    sciSend(scilinREG, 14, (unsigned char *)"Developers: \r\n");
    sciSend(scilinREG, 30, (unsigned char *)"\t Gagliardi Leandro Luciano \r\n");
    sciSend(scilinREG, 22, (unsigned char *)"\t Di Nardo Federico \r\n");
    sciSend(scilinREG, 1, (unsigned char *)"\n");
}

I merged both function in only one called sizeId(). It works fine for now :).

void sizeId(canBASE_t *canREG, bool size)
{
    /** - Setup control register
    *     - Disable automatic wakeup on bus activity
    *     - Local power down mode disabled
    *     - Disable DMA request lines
    *     - Enable global Interrupt Line 0 and 1
    *     - Disable debug mode
    *     - Release from software reset
    *     - Enable/Disable parity or ECC
    *     - Enable/Disable auto bus on timer
    *     - Setup message completion before entering debug state
    *     - Setup normal operation mode
    *     - Request write access to the configuration registers
    *     - Setup automatic retransmission of messages
    *     - Disable error interrupts
    *     - Disable status interrupts
    *     - Enter initialization mode
    */
    canREG->CTL = (uint32)0x00000000U
              | (uint32)0x00000020U
              | (uint32)((uint32)0x00000005U << 10U)
              | 0x00020043U;

    /** - Initialize message 1
    *     - Wait until IF1 is ready for use
    *     - Set message mask
    *     - Set message control word
    *     - Set message arbitration
    *     - Set IF1 control byte
    *     - Set IF1 message number
    */
    /*SAFETYMCUSW 28 D MR:NA <APPROVED> "Potentially infinite loop found - Hardware Status check for execution sequence" */
    while ((canREG->IF1STAT & 0x80U) ==0x80U)
    {
    } /* Wait */

    switch (size)
    {
    case false:
        if(canREG == canREG2)
        {
            canREG2->IF2MSK  = 0xC0000000U | (uint32)((uint32)((uint32)0x00000000U & (uint32)0x000007FFU) << (uint32)18U);
            canREG2->IF2ARB  = (uint32)0x80000000U | (uint32)0x00000000U | (uint32)0x00000000U | (uint32)((uint32)((uint32)2U & (uint32)0x000007FFU) << (uint32)18U);
            canREG2->IF2MCTL = 0x00001000U | (uint32)0x00000400U | (uint32)0x00000000U | (uint32)0x00000000U | (uint32)8U;
            canREG2->IF2CMD  = (uint8) 0xF8U;
            canREG2->IF2NO   = 2U;
        }else if (canREG == canREG3)
        {
            canREG3->IF1MSK  = 0xC0000000U | (uint32)((uint32)((uint32)0x00000000U & (uint32)0x000007FFU) << (uint32)18U);
            canREG3->IF1ARB  = (uint32)0x80000000U | (uint32)0x00000000U | (uint32)0x20000000U | (uint32)((uint32)((uint32)1U & (uint32)0x000007FFU) << (uint32)18U);
            canREG3->IF1MCTL = 0x00001000U | (uint32)0x00000000U | (uint32)0x00000000U | (uint32)0x00000000U | (uint32)8U;
            canREG3->IF1CMD  = (uint8) 0xF8U;
            canREG3->IF1NO   = 1U;
        }
        break;
    case true:
        if(canREG == canREG2)
        {
            canREG2->IF2MSK  = 0xC0000000U | (uint32)((uint32)((uint32)0x00000000U & (uint32)0x1FFFFFFFU) << (uint32)0U);
            canREG2->IF2ARB  = (uint32)0x80000000U | (uint32)0x40000000U | (uint32)0x00000000U | (uint32)((uint32)((uint32)2U & (uint32)0x1FFFFFFFU) << (uint32)0U);
            canREG2->IF2MCTL = 0x00001000U | (uint32)0x00000400U | (uint32)0x00000000U | (uint32)0x00000000U | (uint32)8U;
            canREG2->IF2CMD  = (uint8) 0xF8U;
            canREG2->IF2NO   = 2U;
        }else if (canREG == canREG3)
        {
            canREG3->IF1MSK  = 0xC0000000U | (uint32)((uint32)((uint32)0x00000000U & (uint32)0x1FFFFFFFU) << (uint32)0U);
            canREG3->IF1ARB  = (uint32)0x80000000U | (uint32)0x40000000U | (uint32)0x20000000U | (uint32)((uint32)((uint32)1U & (uint32)0x1FFFFFFFU) << (uint32)0U);
            canREG3->IF1MCTL = 0x00001000U | (uint32)0x00000000U | (uint32)0x00000000U | (uint32)0x00000000U | (uint32)8U;
            canREG3->IF1CMD  = (uint8) 0xF8U;
            canREG3->IF1NO   = 1U;
        }

        break;
    default:
        break;
    }
    /** - Leave configuration and initialization mode  */
    canREG->CTL &= ~(uint32)(0x00000041U);

    canEnableErrorNotification(canREG2);            //Enable canREG2 interrupt.
    canEnableErrorNotification(canREG3);            //Enable canREG3 interrupt.
}

Regards,

Leandro

Hi Leandro,

Leandro Gagliardi said:

I realized that my mistake was working with the wrong registry.

Good to hear that your code is working.

--

Thanks & Regards,

Jagadish.