Other Parts Discussed in Thread: HALCOGEN
Hello,
I am using a Hercules Development Kit with the TMS570 and I want to use the microcontroller to send multiple messages out via the CAN bus at 1Mbps without needing to receive any messages at the moment. I am monitoring the bus with a PEAK PCAN Pro CAN-to-USB device along with an oscilloscope.
I followed the sender portion of this TI tutorial (no receiver, I'm monitoring the traffic with a CAN device & scope): https://training.ti.com/hercules-how-tutorial-can-communication
I did the following steps:
- In Halcogen, enabled only CAN1 driver under Driver Enable.
- In Halcogen, set the Bit Rate to 1000 & disabled Automatic Retransmission & enabled Identifier Extension under CAN1 General
- In Halcogen, set the TX & Activate lines for Message 1 Configuration with an ID of 0x18EFFD88
- Generated the source and header files (attached is the can.c file generated by halcogen)
/** @file can.c * @brief CAN Driver Source File * @date 07-July-2017 * @version 04.07.00 * * This file contains: * - API Functions * - Interrupt Handlers * . * which are relevant for the CAN driver. */ /* * Copyright (C) 2009-2016 Texas Instruments Incorporated - www.ti.com * * * 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. * */ /* USER CODE BEGIN (0) */ /* USER CODE END */ /* Include Files */ #include "can.h" #include "sys_vim.h" /* USER CODE BEGIN (1) */ /* USER CODE END */ /* Global and Static Variables */ #if ((__little_endian__ == 1) || (__LITTLE_ENDIAN__ == 1)) #else static const uint32 s_canByteOrder[8U] = {3U, 2U, 1U, 0U, 7U, 6U, 5U, 4U}; #endif /* USER CODE BEGIN (2) */ /* USER CODE END */ /** @fn void canInit(void) * @brief Initializes CAN Driver * * This function initializes the CAN driver. * */ /* USER CODE BEGIN (3) */ /* USER CODE END */ /* SourceId : CAN_SourceId_001 */ /* DesignId : CAN_DesignId_001 */ /* Requirements : HL_SR207 */ void canInit(void) { /* USER CODE BEGIN (4) */ /* USER CODE END */ /** @b Initialize @b CAN1: */ /** - 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 */ canREG1->CTL = (uint32)0x00000200U | (uint32)0x00000020U | (uint32)((uint32)0x00000005U << 10U) | (uint32)0x00020043U; /** - Clear all pending error flags and reset current status */ canREG1->ES |= 0xFFFFFFFFU; /** - Assign interrupt level for messages */ canREG1->INTMUXx[0U] = (uint32)0x00000000U | (uint32)0x00000000U | (uint32)0x00000000U | (uint32)0x00000000U | (uint32)0x00000000U | (uint32)0x00000000U | (uint32)0x00000000U | (uint32)0x00000000U | (uint32)0x00000000U | (uint32)0x00000000U | (uint32)0x00000000U | (uint32)0x00000000U | (uint32)0x00000000U | (uint32)0x00000000U | (uint32)0x00000000U | (uint32)0x00000000U | (uint32)0x00000000U | (uint32)0x00000000U | (uint32)0x00000000U | (uint32)0x00000000U | (uint32)0x00000000U | (uint32)0x00000000U | (uint32)0x00000000U | (uint32)0x00000000U | (uint32)0x00000000U | (uint32)0x00000000U | (uint32)0x00000000U | (uint32)0x00000000U | (uint32)0x00000000U | (uint32)0x00000000U | (uint32)0x00000000U | (uint32)0x00000000U; canREG1->INTMUXx[1U] = (uint32)0x00000000U | (uint32)0x00000000U | (uint32)0x00000000U | (uint32)0x00000000U | (uint32)0x00000000U | (uint32)0x00000000U | (uint32)0x00000000U | (uint32)0x00000000U | (uint32)0x00000000U | (uint32)0x00000000U | (uint32)0x00000000U | (uint32)0x00000000U | (uint32)0x00000000U | (uint32)0x00000000U | (uint32)0x00000000U | (uint32)0x00000000U | (uint32)0x00000000U | (uint32)0x00000000U | (uint32)0x00000000U | (uint32)0x00000000U | (uint32)0x00000000U | (uint32)0x00000000U | (uint32)0x00000000U | (uint32)0x00000000U | (uint32)0x00000000U | (uint32)0x00000000U | (uint32)0x00000000U | (uint32)0x00000000U | (uint32)0x00000000U | (uint32)0x00000000U | (uint32)0x00000000U | (uint32)0x00000000U; /** - Setup auto bus on timer period */ canREG1->ABOTR = (uint32)0U; /** - 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 ((canREG1->IF1STAT & 0x80U) ==0x80U) { } /* Wait */ canREG1->IF1MSK = 0xC0000000U | (uint32)((uint32)((uint32)0xFFFFFFFFU & (uint32)0x1FFFFFFFU) << (uint32)0U); canREG1->IF1ARB = (uint32)0x80000000U | (uint32)0x40000000U | (uint32)0x20000000U | (uint32)((uint32)((uint32)0x18EFFD88U & (uint32)0x1FFFFFFFU) << (uint32)0U); canREG1->IF1MCTL = 0x00001000U | (uint32)0x00000000U | (uint32)0x00000000U | (uint32)0x00000000U | (uint32)8U; canREG1->IF1CMD = (uint8) 0xF8U; canREG1->IF1NO = 1U; /** - Setup IF1 for data transmission * - Wait until IF1 is ready for use * - Set IF1 control byte */ /*SAFETYMCUSW 28 D MR:NA <APPROVED> "Potentially infinite loop found - Hardware Status check for execution sequence" */ while ((canREG1->IF1STAT & 0x80U) ==0x80U) { } /* Wait */ canREG1->IF1CMD = 0x87U; /** - Setup IF2 for reading data * - Wait until IF1 is ready for use * - Set IF1 control byte */ /*SAFETYMCUSW 28 D MR:NA <APPROVED> "Potentially infinite loop found - Hardware Status check for execution sequence" */ while ((canREG1->IF2STAT & 0x80U) ==0x80U) { } /* Wait */ canREG1->IF2CMD = 0x17U; /** - Setup bit timing * - Setup baud rate prescaler extension * - Setup TSeg2 * - Setup TSeg1 * - Setup sample jump width * - Setup baud rate prescaler */ canREG1->BTR = (uint32)((uint32)0U << 16U) | (uint32)((uint32)(1U - 1U) << 12U) | (uint32)((uint32)((7U + 1U) - 1U) << 8U) | (uint32)((uint32)(1U - 1U) << 6U) | (uint32)8U; /** - CAN1 Port output values */ canREG1->TIOC = (uint32)((uint32)1U << 18U ) | (uint32)((uint32)0U << 17U ) | (uint32)((uint32)0U << 16U ) | (uint32)((uint32)1U << 3U ) | (uint32)((uint32)1U << 2U ) | (uint32)((uint32)1U << 1U ); canREG1->RIOC = (uint32)((uint32)1U << 18U ) | (uint32)((uint32)0U << 17U ) | (uint32)((uint32)0U << 16U ) | (uint32)((uint32)1U << 3U ) | (uint32)((uint32)0U << 2U ) | (uint32)((uint32)0U <<1U ); /** - Leave configuration and initialization mode */ canREG1->CTL &= ~(uint32)(0x00000041U); /** @note This function has to be called before the driver can be used.\n * This function has to be executed in privileged mode.\n */ /* USER CODE BEGIN (5) */ /* USER CODE END */ } /* USER CODE BEGIN (6) */ /* USER CODE END */ /** @fn uint32 canTransmit(canBASE_t *node, uint32 messageBox, const uint8 * data) * @brief Transmits a CAN message * @param[in] node Pointer to CAN node: * - canREG1: CAN1 node pointer * - canREG2: CAN2 node pointer * - canREG3: CAN3 node pointer * @param[in] messageBox Message box number of CAN node: * - canMESSAGE_BOX1: CAN message box 1 * - canMESSAGE_BOXn: CAN message box n [n: 1-64] * - canMESSAGE_BOX64: CAN message box 64 * @param[in] data Pointer to CAN TX data * @return The function will return: * - 0: When the setup of the TX message box wasn't successful * - 1: When the setup of the TX message box was successful * * This function writes a CAN message into a CAN message box. * This function is not reentrant. However, if a CAN interrupt occurs, the values of * the IF registers are backup up and restored at the end of the ISR, since these are a shared resource. * */ /* SourceId : CAN_SourceId_002 */ /* DesignId : CAN_DesignId_002 */ /* Requirements : HL_SR208 */ uint32 canTransmit(canBASE_t *node, uint32 messageBox, const uint8 * data) { uint32 i; uint32 success = 0U; uint32 regIndex = (messageBox - 1U) >> 5U; uint32 bitIndex = 1U << ((messageBox - 1U) & 0x1FU); /* USER CODE BEGIN (7) */ /* USER CODE END */ /** - Check for pending message: * - pending message, return 0 * - no pending message, start new transmission */ if ((node->TXRQx[regIndex] & bitIndex) != 0U) { success = 0U; } else { /** - Wait until IF1 is ready for use */ /*SAFETYMCUSW 28 D MR:NA <APPROVED> "Potentially infinite loop found - Hardware Status check for execution sequence" */ while ((node->IF1STAT & 0x80U) ==0x80U) { } /* Wait */ /** - Configure IF1 for * - Message direction - Write * - Data Update * - Start Transmission */ node->IF1CMD = 0x87U; /** - Copy TX data into IF1 */ for (i = 0U; i < 8U; i++) { #if ((__little_endian__ == 1) || (__LITTLE_ENDIAN__ == 1)) /*SAFETYMCUSW 45 D MR:21.1 <APPROVED> "Valid non NULL input parameters are only allowed in this driver" */ node->IF1DATx[i] = *data; /*SAFETYMCUSW 45 D MR:21.1 <APPROVED> "Valid non NULL input parameters are only allowed in this driver" */ /*SAFETYMCUSW 567 S MR:17.1,17.4 <APPROVED> "Pointer increment needed" */ data++; #else /*SAFETYMCUSW 45 D MR:21.1 <APPROVED> "Valid non NULL input parameters are only allowed in this driver" */ node->IF1DATx[s_canByteOrder[i]] = *data; /*SAFETYMCUSW 45 D MR:21.1 <APPROVED> "Valid non NULL input parameters are only allowed in this driver" */ /*SAFETYMCUSW 567 S MR:17.1,17.4 <APPROVED> "Pointer increment needed" */ data++; #endif } /** - Copy TX data into message box */ /*SAFETYMCUSW 93 S MR: 6.1,6.2,10.1,10.2,10.3,10.4 <APPROVED> "LDRA Tool issue" */ node->IF1NO = (uint8) messageBox; success = 1U; } /** @note The function canInit has to be called before this function can be used.\n * The user is responsible to initialize the message box. */ /* USER CODE BEGIN (8) */ /* USER CODE END */ return success; } /* USER CODE BEGIN (9) */ /* USER CODE END */ /** @fn uint32 canGetData(canBASE_t *node, uint32 messageBox, uint8 * const data) * @brief Gets received a CAN message * @param[in] node Pointer to CAN node: * - canREG1: CAN1 node pointer * - canREG2: CAN2 node pointer * - canREG3: CAN3 node pointer * @param[in] messageBox Message box number of CAN node: * - canMESSAGE_BOX1: CAN message box 1 * - canMESSAGE_BOXn: CAN message box n [n: 1-64] * - canMESSAGE_BOX64: CAN message box 64 * @param[out] data Pointer to store CAN RX data * @return The function will return: * - 0: When RX message box hasn't received new data * - 1: When RX data are stored in the data buffer * - 3: When RX data are stored in the data buffer and a message was lost * * This function writes a CAN message into a CAN message box. * */ /* SourceId : CAN_SourceId_003 */ /* DesignId : CAN_DesignId_003 */ /* Requirements : HL_SR209 */ uint32 canGetData(canBASE_t *node, uint32 messageBox, uint8 * const data) { uint32 i; uint32 size; uint8 * pData = data; uint32 success = 0U; uint32 regIndex = (messageBox - 1U) >> 5U; uint32 bitIndex = 1U << ((messageBox - 1U) & 0x1FU); /* USER CODE BEGIN (10) */ /* USER CODE END */ /** - Check if new data have been arrived: * - no new data, return 0 * - new data, get received message */ if ((node->NWDATx[regIndex] & bitIndex) == 0U) { success = 0U; } else { /** - Wait until IF2 is ready for use */ /*SAFETYMCUSW 28 D MR:NA <APPROVED> "Potentially infinite loop found - Hardware Status check for execution sequence" */ while ((node->IF2STAT & 0x80U) ==0x80U) { } /* Wait */ /** - Configure IF2 for * - Message direction - Read * - Data Read * - Clears NewDat bit in the message object. */ node->IF2CMD = 0x17U; /** - Copy data into IF2 */ /*SAFETYMCUSW 93 S MR: 6.1,6.2,10.1,10.2,10.3,10.4 <APPROVED> "LDRA Tool issue" */ node->IF2NO = (uint8) messageBox; /** - Wait until data are copied into IF2 */ /*SAFETYMCUSW 28 D MR:NA <APPROVED> "Potentially infinite loop found - Hardware Status check for execution sequence" */ while ((node->IF2STAT & 0x80U) ==0x80U) { } /* Wait */ /** - Get number of received bytes * - Value from 0x8 to 0xF equals length 8. */ size = node->IF2MCTL & 0xFU; if(size > 0x8U) { size = 0x8U; } /** - Copy RX data into destination buffer */ for (i = 0U; i < size; i++) { #if ((__little_endian__ == 1) || (__LITTLE_ENDIAN__ == 1)) /*SAFETYMCUSW 45 D MR:21.1 <APPROVED> "Valid non NULL input parameters are only allowed in this driver" */ *pData = node->IF2DATx[i]; /*SAFETYMCUSW 45 D MR:21.1 <APPROVED> "Valid non NULL input parameters are only allowed in this driver" */ /*SAFETYMCUSW 567 S MR:17.1,17.4 <APPROVED> "Pointer increment needed" */ pData++; #else /*SAFETYMCUSW 45 D MR:21.1 <APPROVED> "Valid non NULL input parameters are only allowed in this driver" */ *pData = node->IF2DATx[s_canByteOrder[i]]; /*SAFETYMCUSW 45 D MR:21.1 <APPROVED> "Valid non NULL input parameters are only allowed in this driver" */ /*SAFETYMCUSW 567 S MR:17.1,17.4 <APPROVED> "Pointer increment needed" */ pData++; #endif } success = 1U; } /** - Check if data have been lost: * - no data lost, return 1 * - data lost, return 3 */ if ((node->IF2MCTL & 0x4000U) == 0x4000U) { success = 3U; } /** @note The function canInit has to be called before this function can be used.\n * The user is responsible to initialize the message box. */ /* USER CODE BEGIN (11) */ /* USER CODE END */ return success; } /** @fn uint32 canGetID(canBASE_t *node, uint32 messageBox) * @brief Gets the Message Box's ID * @param[in] node Pointer to CAN node: * - canREG1: CAN1 node pointer * - canREG2: CAN2 node pointer * - canREG3: CAN3 node pointer * @param[in] messageBox Message box number of CAN node: * - canMESSAGE_BOX1: CAN message box 1 * - canMESSAGE_BOXn: CAN message box n [n: 1-64] * - canMESSAGE_BOX64: CAN message box 64 * @param[out] data Pointer to store CAN RX data * @return The function will return the ID of the message box. * * This function gets the identifier of a CAN message box. * */ /* SourceId : CAN_SourceId_026 */ /* DesignId : CAN_DesignId_020 */ /* Requirements : HL_SR537 */ uint32 canGetID(canBASE_t *node, uint32 messageBox) { uint32 msgBoxID = 0U; /** - Wait until IF2 is ready for use */ while ((node->IF2STAT & 0x80U) ==0x80U) { } /* Wait */ /** - Configure IF2 for * - Message direction - Read * - Data Read * - Clears NewDat bit in the message object. */ node->IF2CMD = 0x20U; /** - Copy message box number into IF2 */ /*SAFETYMCUSW 93 S MR: 6.1,6.2,10.1,10.2,10.3,10.4 <APPROVED> "LDRA Tool issue" */ node->IF2NO = (uint8) messageBox; /** - Wait until data are copied into IF2 */ while ((node->IF2STAT & 0x80U) ==0x80U) { } /* Wait */ /* Read Message Box ID from Arbitration register. */ msgBoxID = (node->IF2ARB & 0x1FFFFFFFU); return msgBoxID; } /** @fn uint32 canUpdateID(canBASE_t *node, uint32 messageBox, uint32 msgBoxArbitVal) * @brief Change CAN Message Box ID. * @param[in] node Pointer to CAN node: * - canREG1: CAN1 node pointer * - canREG2: CAN2 node pointer * - canREG3: CAN3 node pointer * @param[in] messageBox Message box number of CAN node: * - canMESSAGE_BOX1: CAN message box 1 * - canMESSAGE_BOXn: CAN message box n [n: 1-64] * - canMESSAGE_BOX64: CAN message box 64 * @param[in] msgBoxArbitVal (32 bit value): * Bit 31 - Not used. * Bit 30 - 0 - The 11-bit ("standard") identifier is used for this message object. * 1 - The 29-bit ("extended") identifier is used for this message object. * Bit 29 - 0 - Direction = Receive * 1 - Direction = Transmit * Bit 28:0 - Message Identifier. * @return * * This function changes the Identifier and other arbitration parameters of a CAN Message Box. * */ /* SourceId : CAN_SourceId_027 */ /* DesignId : CAN_DesignId_021 */ /* Requirements : HL_SR538 */ void canUpdateID(canBASE_t *node, uint32 messageBox, uint32 msgBoxArbitVal) { /** - Wait until IF2 is ready for use */ while ((node->IF2STAT & 0x80U) ==0x80U) { } /* Wait */ /** - Configure IF2 for * - Message direction - Read * - Data Read * - Clears NewDat bit in the message object. */ node->IF2CMD = 0xA0U; /* Copy passed value into the arbitration register. */ node->IF2ARB &= 0x80000000U; node->IF2ARB |= (msgBoxArbitVal & 0x7FFFFFFFU); /** - Update message box number. */ /*SAFETYMCUSW 93 S MR: 6.1,6.2,10.1,10.2,10.3,10.4 <APPROVED> "LDRA Tool issue" */ node->IF2NO = (uint8) messageBox; /** - Wait until data are copied into IF2 */ while ((node->IF2STAT & 0x80U) ==0x80U) { } /* Wait */ } /* USER CODE BEGIN (12) */ /* USER CODE END */ /** @fn uint32 canSendRemoteFrame(canBASE_t *node, uint32 messageBox) * @brief Transmits a CAN Remote Frame. * @param[in] node Pointer to CAN node: * - canREG1: CAN1 node pointer * - canREG2: CAN2 node pointer * - canREG3: CAN3 node pointer * @param[in] messageBox Message box number of CAN node: * - canMESSAGE_BOX1: CAN message box 1 * - canMESSAGE_BOXn: CAN message box n [n: 1-64] * - canMESSAGE_BOX64: CAN message box 64 * @param[in] data Pointer to CAN TX data * @return The function will return: * - 0: When the setup of Send Remote Frame from message box wasn't successful * - 1: When the setup of Send Remote Frame from message box was successful * * This function triggers Remote Frame Transmission from CAN message box. * Note : Enable RTR must be set in the Message x Configuration in the GUI( x: 1 - 64) * */ /* SourceId : CAN_SourceId_028 */ /* DesignId : CAN_DesignId_022 */ /* Requirements : HL_SR531 */ uint32 canSendRemoteFrame(canBASE_t *node, uint32 messageBox) { uint32 success = 0U; uint32 regIndex = (messageBox - 1U) >> 5U; uint32 bitIndex = 1U << ((messageBox - 1U) & 0x1FU); /** - Check for pending message: * - pending message, return 0 * - no pending message, start new transmission */ if ((node->TXRQx[regIndex] & bitIndex) != 0U) { success = 0U; } else { /** - Wait until IF1 is ready for use */ /*SAFETYMCUSW 28 D MR:NA <APPROVED> "Potentially infinite loop found - Hardware Status check for execution sequence" */ while ((node->IF1STAT & 0x80U) ==0x80U) { } /* Wait */ /** - Request Transmission by setting TxRqst in message box */ node->IF1CMD = (uint8) 0x84U; /** - Trigger Remote Frame Transmit from message box */ /*SAFETYMCUSW 93 S MR: 6.1,6.2,10.1,10.2,10.3,10.4 <APPROVED> "LDRA Tool issue" */ node->IF1NO = (uint8) messageBox; success = 1U; } /** @note The function canInit has to be called before this function can be used.\n * The user is responsible to initialize the message box. */ return success; } /** @fn uint32 canFillMessageObjectData(canBASE_t *node, uint32 messageBox, const uint8 * data) * @brief Fills the Message Object with the data but does not initiate transmission. * @param[in] node Pointer to CAN node: * - canREG1: CAN1 node pointer * - canREG2: CAN2 node pointer * - canREG3: CAN3 node pointer * @param[in] messageBox Message box number of CAN node: * - canMESSAGE_BOX1: CAN message box 1 * - canMESSAGE_BOXn: CAN message box n [n: 1-64] * - canMESSAGE_BOX64: CAN message box 64 * @return The function will return: * - 0: When the Fill up of the TX message box wasn't successful * - 1: When the Fill up of the TX message box was successful * * This function fills the Message Object with the data but does not initiate transmission. * */ /* SourceId : CAN_SourceId_029 */ /* DesignId : CAN_DesignId_023 */ /* Requirements : HL_SR532 */ uint32 canFillMessageObjectData(canBASE_t *node, uint32 messageBox, const uint8 * data) { uint32 i; uint32 success = 0U; uint32 regIndex = (messageBox - 1U) >> 5U; uint32 bitIndex = 1U << ((messageBox - 1U) & 0x1FU); /** - Check for pending message: * - pending message, return 0 * - no pending message, start new transmission */ if ((node->TXRQx[regIndex] & bitIndex) != 0U) { success = 0U; } else { /** - Wait until IF1 is ready for use */ /*SAFETYMCUSW 28 D MR:NA <APPROVED> "Potentially infinite loop found - Hardware Status check for execution sequence" */ while ((node->IF1STAT & 0x80U) ==0x80U) { } /* Wait */ /** - Configure IF1 for * - Message direction - Write * - Data Update */ node->IF1CMD = 0x83U; /** - Copy TX data into IF1 */ for (i = 0U; i < 8U; i++) { #if ((__little_endian__ == 1) || (__LITTLE_ENDIAN__ == 1)) /*SAFETYMCUSW 45 D MR:21.1 <APPROVED> "Valid non NULL input parameters are only allowed in this driver" */ node->IF1DATx[i] = *data; /*SAFETYMCUSW 45 D MR:21.1 <APPROVED> "Valid non NULL input parameters are only allowed in this driver" */ /*SAFETYMCUSW 567 S MR:17.1,17.4 <APPROVED> "Pointer increment needed" */ data++; #else /*SAFETYMCUSW 45 D MR:21.1 <APPROVED> "Valid non NULL input parameters are only allowed in this driver" */ node->IF1DATx[s_canByteOrder[i]] = *data; /*SAFETYMCUSW 45 D MR:21.1 <APPROVED> "Valid non NULL input parameters are only allowed in this driver" */ /*SAFETYMCUSW 567 S MR:17.1,17.4 <APPROVED> "Pointer increment needed" */ data++; #endif } /** - Copy TX data into message box */ /*SAFETYMCUSW 93 S MR: 6.1,6.2,10.1,10.2,10.3,10.4 <APPROVED> "LDRA Tool issue" */ node->IF1NO = (uint8) messageBox; success = 1U; } return success; } /** @fn uint32 canIsTxMessagePending(canBASE_t *node, uint32 messageBox) * @brief Gets Tx message box transmission status * @param[in] node Pointer to CAN node: * - canREG1: CAN1 node pointer * - canREG2: CAN2 node pointer * - canREG3: CAN3 node pointer * @param[in] messageBox Message box number of CAN node: * - canMESSAGE_BOX1: CAN message box 1 * - canMESSAGE_BOXn: CAN message box n [n: 1-64] * - canMESSAGE_BOX64: CAN message box 64 * @return The function will return the tx request flag * * Checks to see if the Tx message box has a pending Tx request, returns * 0 is flag not set otherwise will return the Tx request flag itself. */ /* SourceId : CAN_SourceId_004 */ /* DesignId : CAN_DesignId_004 */ /* Requirements : HL_SR210 */ uint32 canIsTxMessagePending(canBASE_t *node, uint32 messageBox) { uint32 flag; uint32 regIndex = (messageBox - 1U) >> 5U; uint32 bitIndex = 1U << ((messageBox - 1U) & 0x1FU); /* USER CODE BEGIN (13) */ /* USER CODE END */ /** - Read Tx request register */ flag = node->TXRQx[regIndex] & bitIndex; /* USER CODE BEGIN (14) */ /* USER CODE END */ return flag; } /* USER CODE BEGIN (15) */ /* USER CODE END */ /** @fn uint32 canIsRxMessageArrived(canBASE_t *node, uint32 messageBox) * @brief Gets Rx message box reception status * @param[in] node Pointer to CAN node: * - canREG1: CAN1 node pointer * - canREG2: CAN2 node pointer * - canREG3: CAN3 node pointer * @param[in] messageBox Message box number of CAN node: * - canMESSAGE_BOX1: CAN message box 1 * - canMESSAGE_BOXn: CAN message box n [n: 1-64] * - canMESSAGE_BOX64: CAN message box 64 * @return The function will return the new data flag * * Checks to see if the Rx message box has pending Rx data, returns * 0 is flag not set otherwise will return the Tx request flag itself. */ /* SourceId : CAN_SourceId_005 */ /* DesignId : CAN_DesignId_005 */ /* Requirements : HL_SR211 */ uint32 canIsRxMessageArrived(canBASE_t *node, uint32 messageBox) { uint32 flag; uint32 regIndex = (messageBox - 1U) >> 5U; uint32 bitIndex = 1U << ((messageBox - 1U) & 0x1FU); /* USER CODE BEGIN (16) */ /* USER CODE END */ /** - Read Tx request register */ flag = node->NWDATx[regIndex] & bitIndex; /* USER CODE BEGIN (17) */ /* USER CODE END */ return flag; } /* USER CODE BEGIN (18) */ /* USER CODE END */ /** @fn uint32 canIsMessageBoxValid(canBASE_t *node, uint32 messageBox) * @brief Checks if message box is valid * @param[in] node Pointer to CAN node: * - canREG1: CAN1 node pointer * - canREG2: CAN2 node pointer * - canREG3: CAN3 node pointer * @param[in] messageBox Message box number of CAN node: * - canMESSAGE_BOX1: CAN message box 1 * - canMESSAGE_BOXn: CAN message box n [n: 1-64] * - canMESSAGE_BOX64: CAN message box 64 * @return The function will return the new data flag * * Checks to see if the message box is valid for operation, returns * 0 is flag not set otherwise will return the validation flag itself. */ /* SourceId : CAN_SourceId_006 */ /* DesignId : CAN_DesignId_006 */ /* Requirements : HL_SR212 */ uint32 canIsMessageBoxValid(canBASE_t *node, uint32 messageBox) { uint32 flag; uint32 regIndex = (messageBox - 1U) >> 5U; uint32 bitIndex = 1U << ((messageBox - 1U) & 0x1FU); /* USER CODE BEGIN (19) */ /* USER CODE END */ /** - Read Tx request register */ flag = node->MSGVALx[regIndex] & bitIndex; /* USER CODE BEGIN (20) */ /* USER CODE END */ return flag; } /* USER CODE BEGIN (21) */ /* USER CODE END */ /** @fn uint32 canGetLastError(canBASE_t *node) * @brief Gets last RX/TX-Error of CAN message traffic * @param[in] node Pointer to CAN node: * - canREG1: CAN1 node pointer * - canREG2: CAN2 node pointer * - canREG3: CAN3 node pointer * @return The function will return: * - canERROR_OK (0): When no CAN error occurred * - canERROR_STUFF (1): When a stuff error occurred on RX message * - canERROR_FORMAT (2): When a form/format error occurred on RX message * - canERROR_ACKNOWLEDGE (3): When a TX message wasn't acknowledged * - canERROR_BIT1 (4): When a TX message monitored dominant level where recessive is expected * - canERROR_BIT0 (5): When a TX message monitored recessive level where dominant is expected * - canERROR_CRC (6): When a RX message has wrong CRC value * - canERROR_NO (7): When no error occurred since last call of this function * * This function returns the last occurred error code of an RX or TX message, * since the last call of this function. * */ /* SourceId : CAN_SourceId_007 */ /* DesignId : CAN_DesignId_007 */ /* Requirements : HL_SR213 */ uint32 canGetLastError(canBASE_t *node) { uint32 errorCode; /* USER CODE BEGIN (22) */ /* USER CODE END */ /** - Get last error code */ errorCode = node->ES & 7U; /** @note The function canInit has to be called before this function can be used. */ /* USER CODE BEGIN (23) */ /* USER CODE END */ return errorCode; } /* USER CODE BEGIN (24) */ /* USER CODE END */ /** @fn uint32 canGetErrorLevel(canBASE_t *node) * @brief Gets error level of a CAN node * @param[in] node Pointer to CAN node: * - canREG1: CAN1 node pointer * - canREG2: CAN2 node pointer * - canREG3: CAN3 node pointer * @return The function will return: * - canLEVEL_ACTIVE (0x00): When RX- and TX error counters are below 96 * - canLEVEL_WARNING (0x40): When RX- or TX error counter are between 96 and 127 * - canLEVEL_PASSIVE (0x20): When RX- or TX error counter are between 128 and 255 * - canLEVEL_BUS_OFF (0x80): When RX- or TX error counter are above 255 * * This function returns the current error level of a CAN node. * */ /* SourceId : CAN_SourceId_008 */ /* DesignId : CAN_DesignId_008 */ /* Requirements : HL_SR214 */ uint32 canGetErrorLevel(canBASE_t *node) { uint32 errorLevel; /* USER CODE BEGIN (25) */ /* USER CODE END */ /** - Get error level */ errorLevel = node->ES & 0xE0U; /** @note The function canInit has to be called before this function can be used. */ /* USER CODE BEGIN (26) */ /* USER CODE END */ return errorLevel; } /* USER CODE BEGIN (27) */ /* USER CODE END */ /** @fn void canEnableErrorNotification(canBASE_t *node) * @brief Enable error notification * @param[in] node Pointer to CAN node: * - canREG1: CAN1 node pointer * - canREG2: CAN2 node pointer * - canREG3: CAN3 node pointer * * This function will enable the notification for the reaching the error levels warning, passive and bus off. */ /* SourceId : CAN_SourceId_009 */ /* DesignId : CAN_DesignId_009 */ /* Requirements : HL_SR215 */ void canEnableErrorNotification(canBASE_t *node) { /* USER CODE BEGIN (28) */ /* USER CODE END */ node->CTL |= 8U; /** @note The function canInit has to be called before this function can be used. */ /* USER CODE BEGIN (29) */ /* USER CODE END */ } /* USER CODE BEGIN (30) */ /* USER CODE END */ /** @fn void canEnableStatusChangeNotification(canBASE_t *node) * @brief Enable Status Change notification * @param[in] node Pointer to CAN node: * - canREG1: CAN1 node pointer * - canREG2: CAN2 node pointer * - canREG3: CAN3 node pointer * * This function will enable the notification for the status change RxOK, TxOK, PDA, WakeupPnd Interrupt. */ /* SourceId : CAN_SourceId_030 */ /* DesignId : CAN_DesignId_024 */ /* Requirements : HL_SR533 */ void canEnableStatusChangeNotification(canBASE_t *node) { node->CTL |= 4U; /** @note The function canInit has to be called before this function can be used. */ } /** @fn void canDisableStatusChangeNotification(canBASE_t *node) * @brief Disable Status Change notification * @param[in] node Pointer to CAN node: * - canREG1: CAN1 node pointer * - canREG2: CAN2 node pointer * - canREG3: CAN3 node pointer * * This function will disable the notification for the status change RxOK, TxOK, PDA, WakeupPnd Interrupt. */ /* SourceId : CAN_SourceId_031 */ /* DesignId : CAN_DesignId_025 */ /* Requirements : HL_SR534 */ void canDisableStatusChangeNotification(canBASE_t *node) { node->CTL &= ~(uint32)(4U); /** @note The function canInit has to be called before this function can be used. */ } /* USER CODE BEGIN (31) */ /* USER CODE END */ /** @fn void canDisableErrorNotification(canBASE_t *node) * @brief Disable error notification * @param[in] node Pointer to CAN node: * - canREG1: CAN1 node pointer * - canREG2: CAN2 node pointer * - canREG3: CAN3 node pointer * * This function will disable the notification for the reaching the error levels warning, passive and bus off. */ /* SourceId : CAN_SourceId_010 */ /* DesignId : CAN_DesignId_010 */ /* Requirements : HL_SR216 */ void canDisableErrorNotification(canBASE_t *node) { /* USER CODE BEGIN (32) */ /* USER CODE END */ node->CTL &= ~(uint32)(8U); /** @note The function canInit has to be called before this function can be used. */ /* USER CODE BEGIN (33) */ /* USER CODE END */ } /** @fn void canEnableloopback(canBASE_t *node, canloopBackType_t Loopbacktype) * @brief Disable error notification * @param[in] node Pointer to CAN node: * - canREG1: CAN1 node pointer * - canREG2: CAN2 node pointer * - canREG3: CAN3 node pointer * @param[in] Loopbacktype Type of Loopback: * - Internal_Lbk: Internal Loop Back * - External_Lbk: External Loop Back * - Internal_Silent_Lbk: Internal Loop Back with Silent mode. * * This function will enable can loopback mode */ /* SourceId : CAN_SourceId_011 */ /* DesignId : CAN_DesignId_011 */ /* Requirements : HL_SR521 */ void canEnableloopback(canBASE_t *node, canloopBackType_t Loopbacktype) { /* Enter Test Mode */ node->CTL |= (uint32)((uint32)1U << 7U); /* Configure Loopback */ node->TEST |= (uint32)Loopbacktype; /** @note The function canInit has to be called before this function can be used. */ } /** @fn void canDisableloopback(canBASE_t *node) * @brief Disable error notification * @param[in] node Pointer to CAN node: * - canREG1: CAN1 node pointer * - canREG2: CAN2 node pointer * - canREG3: CAN3 node pointer * * This function will disable can loopback mode */ /* SourceId : CAN_SourceId_012 */ /* DesignId : CAN_DesignId_012 */ /* Requirements : HL_SR522 */ void canDisableloopback(canBASE_t *node) { node->TEST &= ~(uint32)(0x00000118U); /* Exit Test Mode */ node->CTL &= ~(uint32)((uint32)1U << 7U); /** @note The function canInit has to be called before this function can be used. */ } /** @fn void canIoSetDirection(canBASE_t *node,uint32 TxDir,uint32 RxDir) * @brief Set Port Direction * @param[in] node Pointer to CAN node: * - canREG1: CAN1 node pointer * - canREG2: CAN2 node pointer * - canREG3: CAN3 node pointer * @param[in] TxDir - TX Pin direction * @param[in] RxDir - RX Pin direction * * Set the direction of CAN pins at runtime when configured as IO pins. */ /* SourceId : CAN_SourceId_013 */ /* DesignId : CAN_DesignId_013 */ /* Requirements : HL_SR217 */ void canIoSetDirection(canBASE_t *node,uint32 TxDir,uint32 RxDir) { /* USER CODE BEGIN (34) */ /* USER CODE END */ node->TIOC = ((node->TIOC & 0xFFFFFFFBU) | (TxDir << 2U)); node->RIOC = ((node->RIOC & 0xFFFFFFFBU) | (RxDir << 2U)); /* USER CODE BEGIN (35) */ /* USER CODE END */ } /** @fn void canIoSetPort(canBASE_t *node, uint32 TxValue, uint32 RxValue) * @brief Write Port Value * @param[in] node Pointer to CAN node: * - canREG1: CAN1 node pointer * - canREG2: CAN2 node pointer * - canREG3: CAN3 node pointer * @param[in] TxValue - TX Pin value 0 or 1 * @param[in] RxValue - RX Pin value 0 or 1 * * Writes a value to TX and RX pin of a given CAN module when configured as IO pins. */ /* SourceId : CAN_SourceId_014 */ /* DesignId : CAN_DesignId_014 */ /* Requirements : HL_SR218 */ void canIoSetPort(canBASE_t *node, uint32 TxValue, uint32 RxValue) { /* USER CODE BEGIN (36) */ /* USER CODE END */ node->TIOC = ((node->TIOC & 0xFFFFFFFDU) | (TxValue << 1U)); node->RIOC = ((node->RIOC & 0xFFFFFFFDU) | (RxValue << 1U)); /* USER CODE BEGIN (37) */ /* USER CODE END */ } /** @fn uint32 canIoTxGetBit(canBASE_t *node) * @brief Read TX Bit * @param[in] node Pointer to CAN node: * - canREG1: CAN1 node pointer * - canREG2: CAN2 node pointer * - canREG3: CAN3 node pointer * * Reads a the current value from the TX pin of the given CAN port */ /* SourceId : CAN_SourceId_015 */ /* DesignId : CAN_DesignId_015 */ /* Requirements : HL_SR219 */ uint32 canIoTxGetBit(canBASE_t *node) { /* USER CODE BEGIN (38) */ /* USER CODE END */ return (node->TIOC & 1U); } /** @fn uint32 canIoRxGetBit(canBASE_t *node) * @brief Read RX Bit * @param[in] node Pointer to CAN node: * - canREG1: CAN1 node pointer * - canREG2: CAN2 node pointer * - canREG3: CAN3 node pointer * * Reads a the current value from the RX pin of the given CAN port */ /* SourceId : CAN_SourceId_016 */ /* DesignId : CAN_DesignId_016 */ /* Requirements : HL_SR220 */ uint32 canIoRxGetBit(canBASE_t *node) { /* USER CODE BEGIN (39) */ /* USER CODE END */ return (node->RIOC & 1U); } /** @fn void can1GetConfigValue(can_config_reg_t *config_reg, config_value_type_t type) * @brief Get the initial or current values of the CAN1 configuration registers * * @param[in] *config_reg: pointer to the struct to which the initial or current * value of the configuration registers need to be stored * @param[in] type: whether initial or current value of the configuration registers need to be stored * - InitialValue: initial value of the configuration registers will be stored * in the struct pointed by config_reg * - CurrentValue: initial value of the configuration registers will be stored * in the struct pointed by config_reg * * This function will copy the initial or current value (depending on the parameter 'type') * of the configuration registers to the struct pointed by config_reg * */ /* SourceId : CAN_SourceId_017 */ /* DesignId : CAN_DesignId_017 */ /* Requirements : HL_SR224 */ void can1GetConfigValue(can_config_reg_t *config_reg, config_value_type_t type) { if (type == InitialValue) { config_reg->CONFIG_CTL = CAN1_CTL_CONFIGVALUE; config_reg->CONFIG_ES = CAN1_ES_CONFIGVALUE; config_reg->CONFIG_BTR = CAN1_BTR_CONFIGVALUE; config_reg->CONFIG_TEST = CAN1_TEST_CONFIGVALUE; config_reg->CONFIG_ABOTR = CAN1_ABOTR_CONFIGVALUE; config_reg->CONFIG_INTMUX0 = CAN1_INTMUX0_CONFIGVALUE; config_reg->CONFIG_INTMUX1 = CAN1_INTMUX2_CONFIGVALUE; config_reg->CONFIG_INTMUX2 = CAN1_INTMUX2_CONFIGVALUE; config_reg->CONFIG_INTMUX3 = CAN1_INTMUX3_CONFIGVALUE; config_reg->CONFIG_TIOC = CAN1_TIOC_CONFIGVALUE; config_reg->CONFIG_RIOC = CAN1_RIOC_CONFIGVALUE; } else { /*SAFETYMCUSW 134 S MR:12.2 <APPROVED> "LDRA Tool issue" */ config_reg->CONFIG_CTL = canREG1->CTL; config_reg->CONFIG_ES = canREG1->ES; config_reg->CONFIG_BTR = canREG1->BTR; config_reg->CONFIG_TEST = canREG1->TEST; config_reg->CONFIG_ABOTR = canREG1->ABOTR; config_reg->CONFIG_INTMUX0 = canREG1->INTMUXx[0]; config_reg->CONFIG_INTMUX1 = canREG1->INTMUXx[1]; config_reg->CONFIG_INTMUX2 = canREG1->INTMUXx[2]; config_reg->CONFIG_INTMUX3 = canREG1->INTMUXx[3]; config_reg->CONFIG_TIOC = canREG1->TIOC; config_reg->CONFIG_RIOC = canREG1->RIOC; } } - Created a project and in sys_main.c wrote the following program:
#include "sys_common.h"
#include "can.h"
int main(void)
{
int i = 0;
const uint8 message[8] = { 0x25, 0x00, 0x00, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF};
canInit();
canUpdateID(canREG1, canMESSAGE_BOX1, 0x78EFFD88);
for( i= 0; i < 10000; i++)
{
canTransmit(canREG1, canMESSAGE_BOX1, message);
}
return 0;
}
void canErrorNotification(canBASE_t *node, uint32 notification)
{
}
void canStatusChangeNotification(canBASE_t *node, uint32 notification)
{
}
void canMessageNotification(canBASE_t *node, uint32 messageBox)
{
}
My issue is that when I run the program, not only do I not get the message using the PCAN's monitoring program, but I also don't see any data across the bus using the oscilloscope. The only thing I could think it could be is that I didn't initialize some aspect of the uC but I'm not sure how to proceed to debug this issue. If anyone could point me in the right direction, that would be greatly appreciated!
