Hello all,
I have problems receiving can messages. I'm working with a LAUNCHXL2-TMS57012 and I configured CAN2 for sending messages via Messagebox 1 and receiving messages via Messagebox 2 using HalCoGen like shown below.
I also enabled the VIM Channel 35 CAN2 High Interrupt.
I'm able now to receive messages and send messages. But after I send the first message I don't receive any messages any more. I dont even get an RX Interrupt. On a CAN-BUS monitor the messages looks fine.
Here's my code for sending messages:
bool Can_Send(CanHandlePtr_t _p_Handle, uint32_t _u32_ID, CanMsgIdType_t _e_MsgIdType, CanFrameType_t _e_FrameType, uint8_t _u8_DataLen, uint8_t* _p_u8_Data) {
uint32_t regIndex = (DCAN_TX_MESSAGE_BOX - 1U) >> 5U;
uint32_t bitIndex = 1U << ((DCAN_TX_MESSAGE_BOX - 1U) & 0x1FU);
if ( NULL == _p_Handle ) {
return(false);
}
/* - Check for pending message:
* - pending message, return 0
* - no pending message, start new transmission
*/
if ((_p_Handle->p_CAN->TXRQx[regIndex] & bitIndex) != 0U) {
return(false);
}
/* - Wait until IF1 is ready for use
*/
while ((_p_Handle->p_CAN->IF1STAT & (1U<<7)) == (1U<<7));
_p_Handle->p_CAN->IF1MSK = 0 // Msk = Don't care
| (0U<<29) // Rsvd
| (0U<<30) // MDir
| (0U<<31); // MXtd
_p_Handle->p_CAN->IF1CMD = (1U<<7) // WR
| (1U<<6) // Write Mask Bits
| (1U<<5) // Write Arbitration Bits
| (1U<<4) // Write Control Bits
| (0U<<3) // CtrlIntPnd
| (1U<<2) // TxReqst
| (1U<<1) // DATA A
| (1U<<0); // DATA B
_p_Handle->p_CAN->IF1ARB = _u32_ID // Message ID
| ((E_CAN_DATA_FRAME == _e_FrameType ? 1U : 0U) << 29) // Data or Remote Frame
| (1U<<30) // Extended Frame
| (1U<<31); // Message Valid
/* Set Data Bytes */
for (int i = 0U; i < _u8_DataLen; i++) {
_p_Handle->p_CAN->IF1DATx[s_canByteOrder[i]] = _p_u8_Data[i];
}
/* Copy TX data into message box */
_p_Handle->p_CAN->IF1NO = (uint8)DCAN_TX_MESSAGE_BOX;
return(true);
}
And the Interrupt Handler for receiving messages:
void canMessageNotification(canBASE_t *node, uint32 messageBox) {
uint32_t u32_MsgID = 0;
uint32_t u8_DLC = 0;
uint8_t au8_Data[8] = {0};
CanMsgIdType_t e_MsgIdType = E_CAN_EXT_MSG;
CanFrameType_t e_MsgFrameType = E_CAN_DATA_FRAME;
CanHandle_t* p_Handle = NULL;
if( !canIsRxMessageArrived(node, DCAN_RX_MESSAGE_BOX) ) {
return;
}
if( node == canREG1 ) {
p_Handle = GetInstance(E_CAN_NO_0);
} else if ( node == canREG2 ) {
p_Handle = GetInstance(E_CAN_NO_1);
} else if ( node == canREG3 ) {
p_Handle = GetInstance(E_CAN_NO_2);
}
if( NULL == p_Handle ) {
return;
}
/* Wait until IF2 is ready for use */
while ((p_Handle->p_CAN->IF2STAT & 0x80U) == 0x80U);
p_Handle->p_CAN->IF2CMD = (0U<<7) // RD
| (1U<<6) // Read Mask Bits
| (1U<<5) // Read Arbitration Bits
| (1U<<4) // Read Control Bits
| (0U<<3) // CtrlIntPnd
| (1U<<2) // TxReqst
| (1U<<1) // DATA A
| (1U<<0); // DATA B
/* Copy data into IF2 */
p_Handle->p_CAN->IF2NO = (uint8)DCAN_RX_MESSAGE_BOX;
/* Wait until data are copied into IF2 */
while ((p_Handle->p_CAN->IF2STAT & 0x80U) ==0x80U);
/** - Get number of received bytes
* - Value from 0x8 to 0xF equals length 8.
*/
u8_DLC = (uint8_t)p_Handle->p_CAN->IF2MCTL & 0xFU;
if(u8_DLC > 8) {
u8_DLC = 8;
}
/* Copy RX data into destination buffer */
for (int i = 0; i < u8_DLC; i++) {
au8_Data[i] = p_Handle->p_CAN->IF2DATx[s_canByteOrder[i]];
}
/* Read Message ID from Arbitration register. */
u32_MsgID = (p_Handle->p_CAN->IF2ARB & 0x1FFFFFFFU);
/* Read Message ID Type from Arbitration register. */
e_MsgIdType = (p_Handle->p_CAN->IF2ARB & (1<<30)) == (1<<30) ? E_CAN_EXT_MSG : E_CAN_STD_MSG;
/* Read Message Frame Type from Mask register. */
e_MsgFrameType = (p_Handle->p_CAN->IF2MSK & (1<<8)) == (1<<8) ? E_CAN_REMOTE_FRAME : E_CAN_DATA_FRAME;
if( NULL != p_Handle->Callback ) {
(p_Handle->Callback)(p_Handle->p_ClientData, u32_MsgID, e_MsgIdType, e_MsgFrameType, u8_DLC, &(au8_Data[0]));
}
}
Any help is appreciated!
Best Regards
Jens
