Part Number: LP-MSPM0G3507
Other Parts Discussed in Thread: ISO1044DEVM
Tool/software:
Hello,
I am working with two LP-MSPM0G3507 boards and two CAN transceivers (ISO1044DEVM), studying the MCAN protocol using examples from the MSPM0 SDK (examples > nortos > driverlib > mcan_multi_message_rx, examples > nortos > driverlib > mcan_multi_message_tx).
I successfully transmitted and received MCAN messages between the two boards using these examples.
After that, I set up one LP-MSPM0G3507 to continuously send MCAN messages, while the other LP-MSPM0G3507 was programmed to both send and receive MCAN messages. Specifically, I aimed to create a project where MCAN messages would be transmitted via MCAN interrupts, and also triggered using a switch on the LP-MSPM0G3507 board.
Initially, the LP-MSPM0G3507 receiving and transmitting MCAN messages worked fine and could successfully receive messages from the other board. However, once I attempted to send a message from the same board using the switch, the MCAN message reception stopped working.
Upon debugging, I found that after sending the MCAN message using the switch, the MCAN0_INST_IRQHandler stopped being called, and the DL_MCAN_getOpMode(MCAN0_INST) function no longer returned DL_MCAN_OPERATION_MODE_NORMAL.
I have looked into the MCAN message transmission and reception logic from the example (examples > nortos > msp_subsystems > can_to_i2c_target_bridge) and understand the basic mechanism. However, I am still unsure why the interrupts on the LP-MSPM0G3507 stop triggering when I attempt to transmit a CAN message while it is already receiving messages via MCAN interrupts.
Could you please provide some guidance or suggestions?
The source code for the LP-MSPM0G3507 handling CAN transmission and reception is included below.
- main source code
/*
* Copyright (c) 2021, Texas Instruments Incorporated
* All rights reserved.
*
* Redistribution and use in source and binary forms, with or without
* modification, are permitted provided that the following conditions
* are met:
*
* * Redistributions of source code must retain the above copyright
* notice, this list of conditions and the following disclaimer.
*
* * Redistributions in binary form must reproduce the above copyright
* notice, this list of conditions and the following disclaimer in the
* documentation and/or other materials provided with the distribution.
*
* * Neither the name of Texas Instruments Incorporated nor the names of
* its contributors may be used to endorse or promote products derived
* from this software without specific prior written permission.
*
* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
* AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO,
* THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR
* PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR
* CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL,
* EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO,
* PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS;
* OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY,
* WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR
* OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE,
* EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
*/
#include "ti_msp_dl_config.h"
#include <stdio.h>
#define LED_STATUS_ON ((uint8_t) 0x00)
#define LED_STATUS_OFF ((uint8_t) 0x01)
#define ID_MODE_STANDARD (0x0U)
#define ID_MODE_EXTENDED (0x1U)
volatile uint32_t gInterruptLine1Status;
volatile bool gServiceInt;
static void processRxMsg(DL_MCAN_RxBufElement *rxMsg);
DL_MCAN_TxBufElement txMsg1;
int main(void)
{
DL_MCAN_RxBufElement rxMsg;
DL_MCAN_RxFIFOStatus rxFS;
/* Identifier Value. */
txMsg1.id = ((uint32_t)(0x3)) << 18U;
/* Transmit data frame. */
txMsg1.rtr = 0U;
/* 11-bit standard identifier. */
txMsg1.xtd = 0U;
/* ESI bit in CAN FD format depends only on error passive flag. */
txMsg1.esi = 0U;
/* Transmitting 4 bytes. */
txMsg1.dlc = 1U;
/* CAN FD frames transmitted with bit rate switching. */
txMsg1.brs = 1U;
/* Frame transmitted in CAN FD format. */
txMsg1.fdf = 1U;
/* Store Tx events. */
txMsg1.efc = 1U;
/* Message Marker. */
txMsg1.mm = 0xAAU;
/* Data bytes. */
txMsg1.data[0] = LED_STATUS_ON;
SYSCFG_DL_init();
gServiceInt = false;
gInterruptLine1Status = 0;
// enable switch
NVIC_EnableIRQ(GPIO_SWITCHES_INT_IRQN);
NVIC_EnableIRQ(MCAN0_INST_INT_IRQN);
while (DL_MCAN_OPERATION_MODE_NORMAL != DL_MCAN_getOpMode(MCAN0_INST))
;
while (1) {
/*
* Wait for flag interrupt to be triggered and flag to check received
* message is set to true.
*/
while (false == gServiceInt) {
__WFE();
}
gServiceInt = false;
rxFS.fillLvl = 0;
if ((gInterruptLine1Status & MCAN_IR_RF0N_MASK) == MCAN_IR_RF0N_MASK) {
rxFS.num = DL_MCAN_RX_FIFO_NUM_0;
while ((rxFS.fillLvl) == 0) {
DL_MCAN_getRxFIFOStatus(MCAN0_INST, &rxFS);
}
DL_MCAN_readMsgRam(
MCAN0_INST, DL_MCAN_MEM_TYPE_FIFO, 0U, rxFS.num, &rxMsg);
DL_MCAN_writeRxFIFOAck(MCAN0_INST, rxFS.num, rxFS.getIdx);
processRxMsg(&rxMsg);
gInterruptLine1Status &= ~(MCAN_IR_RF0N_MASK);
}
}
}
void processRxMsg(DL_MCAN_RxBufElement *rxMsg)
{
uint32_t idMode;
uint32_t id;
idMode = rxMsg->xtd;
if (ID_MODE_EXTENDED == idMode) {
id = rxMsg->id;
} else {
/* Assuming package is using 11-bit standard ID.
* When package uses standard id, ID is stored in ID[28:18]*/
id = ((rxMsg->id & (uint32_t) 0x1FFC0000) >> (uint32_t) 18);
}
/*
switch (id) {
case 0x3:
if (rxMsg->data[0] == LED_STATUS_ON) {
DL_GPIO_clearPins(GPIO_LEDS_PORT, GPIO_LEDS_USER_LED_1_PIN);
} else {
DL_GPIO_setPins(GPIO_LEDS_PORT, GPIO_LEDS_USER_LED_1_PIN);
}
break;
case 0x4:
if (rxMsg->data[0] == LED_STATUS_ON) {
DL_GPIO_clearPins(GPIO_LEDS_PORT, GPIO_LEDS_USER_LED_2_PIN);
} else {
DL_GPIO_setPins(GPIO_LEDS_PORT, GPIO_LEDS_USER_LED_2_PIN);
}
break;
default:
break;
}
*/
}
void MCAN0_INST_IRQHandler(void)
{
switch (DL_MCAN_getPendingInterrupt(MCAN0_INST)) {
case DL_MCAN_IIDX_LINE1:
/* Check MCAN interrupts fired during TX/RX of CAN package */
gInterruptLine1Status |= DL_MCAN_getIntrStatus(MCAN0_INST);
DL_MCAN_clearIntrStatus(MCAN0_INST, gInterruptLine1Status,
DL_MCAN_INTR_SRC_MCAN_LINE_1);
gServiceInt = true;
break;
default:
break;
}
}
void GROUP1_IRQHandler(void)
{
switch (DL_Interrupt_getPendingGroup(DL_INTERRUPT_GROUP_1)) {
case GPIO_SWITCHES_INT_IIDX:
switch (DL_GPIO_getPendingInterrupt(GPIO_SWITCHES_PORT)) {
case DL_GPIO_IIDX_DIO21:
/* Write Tx Message to the Message RAM. */
DL_MCAN_writeMsgRam(MCAN0_INST, DL_MCAN_MEM_TYPE_BUF, 1U, &txMsg1);
/* Add request for transmission. */
DL_MCAN_TXBufAddReq(MCAN0_INST, 1U);
break;
default:
break;
}
break;
default:
break;
}
}
- ti_msp_dl_config.c
/*
* Copyright (c) 2023, Texas Instruments Incorporated
* All rights reserved.
*
* Redistribution and use in source and binary forms, with or without
* modification, are permitted provided that the following conditions
* are met:
*
* * Redistributions of source code must retain the above copyright
* notice, this list of conditions and the following disclaimer.
*
* * Redistributions in binary form must reproduce the above copyright
* notice, this list of conditions and the following disclaimer in the
* documentation and/or other materials provided with the distribution.
*
* * Neither the name of Texas Instruments Incorporated nor the names of
* its contributors may be used to endorse or promote products derived
* from this software without specific prior written permission.
*
* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
* AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO,
* THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR
* PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR
* CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL,
* EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO,
* PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS;
* OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY,
* WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR
* OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE,
* EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
*/
/*
* ============ ti_msp_dl_config.c =============
* Configured MSPM0 DriverLib module definitions
*
* DO NOT EDIT - This file is generated for the MSPM0G350X
* by the SysConfig tool.
*/
#include "ti_msp_dl_config.h"
/*
* ======== SYSCFG_DL_init ========
* Perform any initialization needed before using any board APIs
*/
SYSCONFIG_WEAK void SYSCFG_DL_init(void)
{
SYSCFG_DL_initPower();
SYSCFG_DL_GPIO_init();
/* Module-Specific Initializations*/
SYSCFG_DL_SYSCTL_init();
SYSCFG_DL_MCAN0_init();
SYSCFG_DL_SYSCTL_CLK_init();
}
SYSCONFIG_WEAK void SYSCFG_DL_initPower(void)
{
DL_GPIO_reset(GPIOA);
DL_GPIO_reset(GPIOB);
DL_MCAN_reset(MCAN0_INST);
DL_GPIO_enablePower(GPIOA);
DL_GPIO_enablePower(GPIOB);
DL_MCAN_enablePower(MCAN0_INST);
delay_cycles(POWER_STARTUP_DELAY);
}
SYSCONFIG_WEAK void SYSCFG_DL_GPIO_init(void)
{
DL_GPIO_initPeripheralAnalogFunction(GPIO_HFXIN_IOMUX);
DL_GPIO_initPeripheralAnalogFunction(GPIO_HFXOUT_IOMUX);
DL_GPIO_initDigitalInputFeatures(GPIO_SWITCHES_USER_SWITCH_1_IOMUX,
DL_GPIO_INVERSION_DISABLE, DL_GPIO_RESISTOR_PULL_UP,
DL_GPIO_HYSTERESIS_DISABLE, DL_GPIO_WAKEUP_DISABLE);
DL_GPIO_initDigitalOutput(GPIO_LEDS_USER_LED_1_IOMUX);
DL_GPIO_initDigitalOutput(GPIO_LEDS_USER_LED_2_IOMUX);
DL_GPIO_initDigitalOutput(GPIO_LEDS_PIN_2_IOMUX);
DL_GPIO_clearPins(GPIOB, GPIO_LEDS_USER_LED_1_PIN |
GPIO_LEDS_USER_LED_2_PIN |
GPIO_LEDS_PIN_2_PIN);
DL_GPIO_enableOutput(GPIOB, GPIO_LEDS_USER_LED_1_PIN |
GPIO_LEDS_USER_LED_2_PIN |
GPIO_LEDS_PIN_2_PIN);
DL_GPIO_setUpperPinsPolarity(GPIOB, DL_GPIO_PIN_21_EDGE_FALL);
DL_GPIO_clearInterruptStatus(GPIOB, GPIO_SWITCHES_USER_SWITCH_1_PIN);
DL_GPIO_enableInterrupt(GPIOB, GPIO_SWITCHES_USER_SWITCH_1_PIN);
DL_GPIO_initPeripheralOutputFunction(
GPIO_MCAN0_IOMUX_CAN_TX, GPIO_MCAN0_IOMUX_CAN_TX_FUNC);
DL_GPIO_initPeripheralInputFunction(
GPIO_MCAN0_IOMUX_CAN_RX, GPIO_MCAN0_IOMUX_CAN_RX_FUNC);
}
SYSCONFIG_WEAK void SYSCFG_DL_SYSCTL_init(void)
{
//Low Power Mode is configured to be SLEEP0
DL_SYSCTL_setBORThreshold(DL_SYSCTL_BOR_THRESHOLD_LEVEL_0);
DL_SYSCTL_setSYSOSCFreq(DL_SYSCTL_SYSOSC_FREQ_BASE);
/* Set default configuration */
DL_SYSCTL_disableHFXT();
DL_SYSCTL_disableSYSPLL();
DL_SYSCTL_setHFCLKSourceHFXTParams(DL_SYSCTL_HFXT_RANGE_32_48_MHZ,10, true);
}
SYSCONFIG_WEAK void SYSCFG_DL_SYSCTL_CLK_init(void) {
while ((DL_SYSCTL_getClockStatus() & (DL_SYSCTL_CLK_STATUS_HFCLK_GOOD
| DL_SYSCTL_CLK_STATUS_LFOSC_GOOD))
!= (DL_SYSCTL_CLK_STATUS_HFCLK_GOOD
| DL_SYSCTL_CLK_STATUS_LFOSC_GOOD))
{
/* Ensure that clocks are in default POR configuration before initialization.
* Additionally once LFXT is enabled, the internal LFOSC is disabled, and cannot
* be re-enabled other than by executing a BOOTRST. */
;
}
}
static const DL_MCAN_ClockConfig gMCAN0ClockConf = {
.clockSel = DL_MCAN_FCLK_HFCLK,
.divider = DL_MCAN_FCLK_DIV_1,
};
static const DL_MCAN_InitParams gMCAN0InitParams= {
/* Initialize MCAN Init parameters. */
.fdMode = true,
.brsEnable = true,
.txpEnable = false,
.efbi = false,
.pxhddisable = false,
.darEnable = false,
.wkupReqEnable = true,
.autoWkupEnable = true,
.emulationEnable = true,
.tdcEnable = true,
.wdcPreload = 255,
/* Transmitter Delay Compensation parameters. */
.tdcConfig.tdcf = 10,
.tdcConfig.tdco = 6,
};
static const DL_MCAN_ConfigParams gMCAN0ConfigParams={
/* Initialize MCAN Config parameters. */
.monEnable = false,
.asmEnable = false,
.tsPrescalar = 15,
.tsSelect = 0,
.timeoutSelect = DL_MCAN_TIMEOUT_SELECT_CONT,
.timeoutPreload = 65535,
.timeoutCntEnable = false,
.filterConfig.rrfs = true,
.filterConfig.rrfe = true,
.filterConfig.anfe = 1,
.filterConfig.anfs = 1,
};
static const DL_MCAN_MsgRAMConfigParams gMCAN0MsgRAMConfigParams ={
/* Standard ID Filter List Start Address. */
.flssa = MCAN0_INST_MCAN_STD_ID_FILT_START_ADDR,
/* List Size: Standard ID. */
.lss = MCAN0_INST_MCAN_STD_ID_FILTER_NUM,
/* Extended ID Filter List Start Address. */
.flesa = MCAN0_INST_MCAN_EXT_ID_FILT_START_ADDR,
/* List Size: Extended ID. */
.lse = MCAN0_INST_MCAN_EXT_ID_FILTER_NUM,
/* Tx Buffers Start Address. */
.txStartAddr = MCAN0_INST_MCAN_TX_BUFF_START_ADDR,
/* Number of Dedicated Transmit Buffers. */
.txBufNum = MCAN0_INST_MCAN_TX_BUFF_SIZE,
.txFIFOSize = 5,
/* Tx Buffer Element Size. */
.txBufMode = 0,
.txBufElemSize = DL_MCAN_ELEM_SIZE_64BYTES,
/* Tx Event FIFO Start Address. */
.txEventFIFOStartAddr = MCAN0_INST_MCAN_TX_EVENT_START_ADDR,
/* Event FIFO Size. */
.txEventFIFOSize = MCAN0_INST_MCAN_TX_EVENT_SIZE,
/* Level for Tx Event FIFO watermark interrupt. */
.txEventFIFOWaterMark = 0,
/* Rx FIFO0 Start Address. */
.rxFIFO0startAddr = MCAN0_INST_MCAN_FIFO_0_START_ADDR,
/* Number of Rx FIFO elements. */
.rxFIFO0size = MCAN0_INST_MCAN_FIFO_0_NUM,
/* Rx FIFO0 Watermark. */
.rxFIFO0waterMark = 0,
.rxFIFO0OpMode = 0,
/* Rx FIFO1 Start Address. */
.rxFIFO1startAddr = MCAN0_INST_MCAN_FIFO_1_START_ADDR,
/* Number of Rx FIFO elements. */
.rxFIFO1size = MCAN0_INST_MCAN_FIFO_1_NUM,
/* Level for Rx FIFO 1 watermark interrupt. */
.rxFIFO1waterMark = 3,
/* FIFO blocking mode. */
.rxFIFO1OpMode = 0,
/* Rx Buffer Start Address. */
.rxBufStartAddr = MCAN0_INST_MCAN_RX_BUFF_START_ADDR,
/* Rx Buffer Element Size. */
.rxBufElemSize = DL_MCAN_ELEM_SIZE_8BYTES,
/* Rx FIFO0 Element Size. */
.rxFIFO0ElemSize = DL_MCAN_ELEM_SIZE_8BYTES,
/* Rx FIFO1 Element Size. */
.rxFIFO1ElemSize = DL_MCAN_ELEM_SIZE_8BYTES,
};
static const DL_MCAN_StdMsgIDFilterElement gMCAN0StdFiltelem = {
.sfec = 0x1,
.sft = 0x0,
.sfid1 = 0,
.sfid2 = 4,
};
static const DL_MCAN_BitTimingParams gMCAN0BitTimes = {
/* Arbitration Baud Rate Pre-scaler. */
.nomRatePrescalar = 0,
/* Arbitration Time segment before sample point. */
.nomTimeSeg1 = 126,
/* Arbitration Time segment after sample point. */
.nomTimeSeg2 = 31,
/* Arbitration (Re)Synchronization Jump Width Range. */
.nomSynchJumpWidth = 31,
/* Data Baud Rate Pre-scaler. */
.dataRatePrescalar = 0,
/* Data Time segment before sample point. */
.dataTimeSeg1 = 14,
/* Data Time segment after sample point. */
.dataTimeSeg2 = 3,
/* Data (Re)Synchronization Jump Width. */
.dataSynchJumpWidth = 3,
};
SYSCONFIG_WEAK void SYSCFG_DL_MCAN0_init(void) {
DL_MCAN_RevisionId revid_MCAN0;
DL_MCAN_enableModuleClock(MCAN0_INST);
DL_MCAN_setClockConfig(MCAN0_INST, (DL_MCAN_ClockConfig *) &gMCAN0ClockConf);
/* Get MCANSS Revision ID. */
DL_MCAN_getRevisionId(MCAN0_INST, &revid_MCAN0);
/* Wait for Memory initialization to be completed. */
while(false == DL_MCAN_isMemInitDone(MCAN0_INST));
/* Put MCAN in SW initialization mode. */
DL_MCAN_setOpMode(MCAN0_INST, DL_MCAN_OPERATION_MODE_SW_INIT);
/* Wait till MCAN is not initialized. */
while (DL_MCAN_OPERATION_MODE_SW_INIT != DL_MCAN_getOpMode(MCAN0_INST));
/* Initialize MCAN module. */
DL_MCAN_init(MCAN0_INST, (DL_MCAN_InitParams *) &gMCAN0InitParams);
/* Configure MCAN module. */
DL_MCAN_config(MCAN0_INST, (DL_MCAN_ConfigParams*) &gMCAN0ConfigParams);
/* Configure Bit timings. */
DL_MCAN_setBitTime(MCAN0_INST, (DL_MCAN_BitTimingParams*) &gMCAN0BitTimes);
/* Configure Message RAM Sections */
DL_MCAN_msgRAMConfig(MCAN0_INST, (DL_MCAN_MsgRAMConfigParams*) &gMCAN0MsgRAMConfigParams);
/* Configure Standard ID filter element */
DL_MCAN_addStdMsgIDFilter(MCAN0_INST, 0U, (DL_MCAN_StdMsgIDFilterElement *) &gMCAN0StdFiltelem);
/* Set Extended ID Mask. */
DL_MCAN_setExtIDAndMask(MCAN0_INST, MCAN0_INST_MCAN_EXT_ID_AND_MASK );
/* Loopback mode */
/* Take MCAN out of the SW initialization mode */
DL_MCAN_setOpMode(MCAN0_INST, DL_MCAN_OPERATION_MODE_NORMAL);
while (DL_MCAN_OPERATION_MODE_NORMAL != DL_MCAN_getOpMode(MCAN0_INST));
/* Enable MCAN mopdule Interrupts */
DL_MCAN_enableIntr(MCAN0_INST, MCAN0_INST_MCAN_INTERRUPTS, 1U);
DL_MCAN_selectIntrLine(MCAN0_INST, DL_MCAN_INTR_MASK_ALL, DL_MCAN_INTR_LINE_NUM_1);
DL_MCAN_enableIntrLine(MCAN0_INST, DL_MCAN_INTR_LINE_NUM_1, 1U);
/* Enable MSPM0 MCAN interrupt */
DL_MCAN_clearInterruptStatus(MCAN0_INST,(DL_MCAN_MSP_INTERRUPT_LINE1));
DL_MCAN_enableInterrupt(MCAN0_INST,(DL_MCAN_MSP_INTERRUPT_LINE1));
}
Lastly, here are the details of my development environment:
- Development environment: CCS 12.8.1
- MSPM0 SDK version: 2.02.00.05
Thank you for your help!
