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TM4C1294NCPDT: Problem in receiving can messages with particular CAN ID

vijayakumar sargunam1
Prodigy 200 points
Part Number: TM4C1294NCPDT

Hi,

     I am transmitting multiple CAN messages with different ID and try to receive only particular CAN message with a particular CAN ID. Can able to transmit multiple messages with different ID. but while receiving I cant able to receive the desired CAN message with a particular CAN ID. Plz help

Transmitter Code:

#include <stdbool.h>
#include <stdint.h>
#include <math.h>

#include "inc/hw_memmap.h"
#include "inc/hw_types.h"
#include "inc/hw_can.h"
#include "inc/hw_ints.h"
#include "driverlib/can.h"
#include "driverlib/interrupt.h"
#include "driverlib/sysctl.h"
#include "driverlib/gpio.h"
#include "driverlib/uart.h"
#include "driverlib/pin_map.h"

#include "utils/uartstdio.h"



volatile bool errFlag = 0; // transmission error flag
unsigned int sysClock; // clockspeed in hz

void delay(unsigned int milliseconds) {
   SysCtlDelay((sysClock / 3) * (milliseconds / 1000.0f));
}

// CAN interrupt handler
void CANIntHandler(void) {

   unsigned long status = CANIntStatus(CAN1_BASE, CAN_INT_STS_CAUSE); // read interrupt status

   if(status == CAN_INT_INTID_STATUS) { // controller status interrupt
      status = CANStatusGet(CAN1_BASE, CAN_STS_CONTROL); // read back error bits, do something with them?
      errFlag = 1;
   } else if(status == 1) { // message object 1
      CANIntClear(CAN1_BASE, 1); // clear interrupt
      errFlag = 0; // clear any error flags
       }
   else if(status == 2) { // message object 1
         CANIntClear(CAN1_BASE, 2); // clear interrupt
         errFlag = 0; // clear any error flags
          }
   else if(status == 3) { // message object 1
         CANIntClear(CAN1_BASE, 3); // clear interrupt
         errFlag = 0; // clear any error flags
          }
   else { // should never happen
      UARTprintf("Unexpected CAN bus interrupt\n");
   }
}

int main(void) {

   tCANMsgObject msg1,msg2,msg3; // the CAN message object
   unsigned int msg1Data, msg2Data, msg3Data; // the message data is four bytes long which we can allocate as an int32
   unsigned char *msg1DataPtr = (unsigned char *)&msg1Data; 
   unsigned char *msg2DataPtr = (unsigned char *)&msg2Data; 
   unsigned char *msg3DataPtr = (unsigned char *)&msg3Data; 

   // Run from the PLL at 120 MHz.
   sysClock = SysCtlClockFreqSet((SYSCTL_XTAL_25MHZ | SYSCTL_OSC_MAIN | SYSCTL_USE_PLL | SYSCTL_CFG_VCO_480), 120000000);

   // Set up debugging UART
   SysCtlPeripheralEnable(SYSCTL_PERIPH_GPIOA); // enable UART0 GPIO peripheral
   SysCtlPeripheralEnable(SYSCTL_PERIPH_UART0);
   GPIOPinConfigure(GPIO_PA0_U0RX);
   GPIOPinConfigure(GPIO_PA1_U0TX);
   GPIOPinTypeUART(GPIO_PORTA_BASE, GPIO_PIN_0 | GPIO_PIN_1);
   UARTStdioConfig(0, 115200, sysClock); // 115200 baud

   // Set up CAN1
   SysCtlPeripheralEnable(SYSCTL_PERIPH_GPIOB); // enable CAN1 GPIO peripheral
   GPIOPinConfigure(GPIO_PB0_CAN1RX);
   GPIOPinConfigure(GPIO_PB1_CAN1TX);
   GPIOPinTypeCAN(GPIO_PORTB_BASE, GPIO_PIN_0 | GPIO_PIN_1);
   SysCtlPeripheralEnable(SYSCTL_PERIPH_CAN1);
   CANInit(CAN1_BASE);
   CANBitRateSet(CAN1_BASE, sysClock, 500000);
   CANIntRegister(CAN1_BASE, CANIntHandler); // use dynamic vector table allocation
   CANIntEnable(CAN1_BASE, CAN_INT_MASTER | CAN_INT_ERROR | CAN_INT_STATUS);
   IntEnable(INT_CAN1);
   CANEnable(CAN1_BASE);

   // Set up msg object
   msg1Data = 0;
   msg1.ui32MsgID = 1;
  // msg1.ui32MsgIDMask = 0;
   msg1.ui32Flags = MSG_OBJ_TX_INT_ENABLE;
   msg1.ui32MsgLen = sizeof(msg1DataPtr);
   msg1.pui8MsgData = msg1DataPtr;

   msg2Data = 0;
    msg2.ui32MsgID = 2;
   // msg2.ui32MsgIDMask = 0;
    msg2.ui32Flags = MSG_OBJ_TX_INT_ENABLE;
    msg2.ui32MsgLen = sizeof(msg2DataPtr);
    msg2.pui8MsgData = msg2DataPtr;

    msg3Data = 0;
     msg3.ui32MsgID = 3;
    //msg3.ui32MsgIDMask = 0;
     msg3.ui32Flags = MSG_OBJ_TX_INT_ENABLE;
     msg3.ui32MsgLen = sizeof(msg3DataPtr);
     msg3.pui8MsgData = msg3DataPtr;

   unsigned int t = 0; // loop counter
   float freq = 0.3; // frequency scaler

   while(1)
   {

         	        msg1DataPtr[0] = 0x01;
	   		msg1DataPtr[1] = 0x04;
	   		msg1DataPtr[2] = 0x03;
	   		msg1DataPtr[3] = 0x04;


	   					msg2DataPtr[0] = 0x02;
	   			   		msg2DataPtr[1] = 0x06;
	   			   		msg2DataPtr[2] = 0x08;
	   			   		msg2DataPtr[3] = 0x10;


	   			   				msg3DataPtr[0] = 0x11;
	   			   		   		msg3DataPtr[1] = 0x14;
	   			   		   		msg3DataPtr[2] = 0x13;
	   			   		   		msg3DataPtr[3] = 0x14;
if (UARTCharsAvail(UART0_BASE))
{
	if(UARTCharGetNonBlocking (UART0_BASE)=='a')
	{
	   		UARTprintf("Sending msg: 0x%02X %02X %02X %02X\n", msg1DataPtr[0], msg1DataPtr[1], msg1DataPtr[2], msg1DataPtr[3]); // write colour to UART for debugging
	   		UARTprintf("Sending msg: 0x%02X %02X %02X %02X\n", msg2DataPtr[0], msg2DataPtr[1], msg2DataPtr[2], msg2DataPtr[3]); // write colour to UART for debugging
	   		UARTprintf("Sending msg: 0x%02X %02X %02X %02X\n", msg3DataPtr[0], msg3DataPtr[1], msg3DataPtr[2], msg3DataPtr[3]); // write colour to UART for debugging
IntMasterDisable();
CANMessageSet(CAN1_BASE, 1, &msg1, MSG_OBJ_TYPE_TX); // send as msg object 1
CANMessageSet(CAN1_BASE, 2, &msg2, MSG_OBJ_TYPE_TX); // send as msg object 1
CANMessageSet(CAN1_BASE, 3, &msg3, MSG_OBJ_TYPE_TX); // send as msg object 1

      delay(100); // wait 100ms
      IntMasterEnable();

      if(errFlag) { // check for errors
         UARTprintf("CAN Bus Error\n");
      }
}
}

      t++; // overflow is fine
   }


}

Output:

Receiver Code:

/*
 * CAN bus LED controller slave firmware
 * Written for TI Tiva TM4C123GH6PM
 */

#include <stdint.h>
#include <stdbool.h>

#include "inc/hw_memmap.h"
#include "inc/hw_types.h"
#include "inc/hw_can.h"
#include "inc/hw_ints.h"
#include "driverlib/can.h"
#include "driverlib/interrupt.h"
#include "driverlib/sysctl.h"
#include "driverlib/gpio.h"
#include "driverlib/uart.h"
#include "driverlib/pin_map.h"

#include "utils/uartstdio.h"


volatile bool rxFlag = 0; // msg recieved flag
volatile bool errFlag = 0; // error flag
unsigned int sysClock; // clockspeed in hz

// CAN interrupt handler
void CANIntHandler(void) {

   unsigned long status = CANIntStatus(CAN1_BASE, CAN_INT_STS_CAUSE); // read interrupt status

   if(status == CAN_INT_INTID_STATUS) { // controller status interrupt
      status = CANStatusGet(CAN1_BASE, CAN_STS_CONTROL);
      errFlag = 1;
   } else if(status == 1) { // msg object 1
      CANIntClear(CAN1_BASE, 1); // clear interrupt
      rxFlag = 1; // set rx flag
      errFlag = 0; // clear any error flags
   }
   else if(status == 2) { // msg object 1
         CANIntClear(CAN1_BASE, 2); // clear interrupt
         rxFlag = 1; // set rx flag
         errFlag = 0; // clear any error flags
   }
   else if(status == 3) { // msg object 1
         CANIntClear(CAN1_BASE, 3); // clear interrupt
         rxFlag = 1; // set rx flag
         errFlag = 0; // clear any error flags
   }else { // should never happen
      UARTprintf("Unexpected CAN bus interrupt\n");
   }
}

int main(void) {

   tCANMsgObject msg1,msg2,msg3;// the CAN msg object
   unsigned char msg1Data[8]; // 8 byte buffer for rx message data
   unsigned char msg2Data[8]; // 8 byte buffer for rx message data
   unsigned char msg3Data[8]; // 8 byte buffer for rx message data
   // Run from crystal at 50Mhz
    sysClock = SysCtlClockFreqSet((SYSCTL_XTAL_25MHZ | SYSCTL_OSC_MAIN | SYSCTL_USE_PLL | SYSCTL_CFG_VCO_480), 120000000);

   // Set up debugging UART
   SysCtlPeripheralEnable(SYSCTL_PERIPH_GPIOA);
   SysCtlPeripheralEnable(SYSCTL_PERIPH_UART0);
   GPIOPinConfigure(GPIO_PA0_U0RX);
   GPIOPinConfigure(GPIO_PA1_U0TX);
   GPIOPinTypeUART(GPIO_PORTA_BASE, GPIO_PIN_0 | GPIO_PIN_1);
   UARTStdioConfig(0, 115200, sysClock); // 115200 baud


   SysCtlPeripheralEnable(SYSCTL_PERIPH_GPIOB); // enable CAN1 GPIO peripheral
   GPIOPinConfigure(GPIO_PB0_CAN1RX);
   GPIOPinConfigure(GPIO_PB1_CAN1TX);
   GPIOPinTypeCAN(GPIO_PORTB_BASE, GPIO_PIN_0 | GPIO_PIN_1);
   SysCtlPeripheralEnable(SYSCTL_PERIPH_CAN1);
   CANInit(CAN1_BASE);
   CANBitRateSet(CAN1_BASE, sysClock, 500000);
   CANIntRegister(CAN1_BASE, CANIntHandler); // use dynamic vector table allocation
   CANIntEnable(CAN1_BASE, CAN_INT_MASTER | CAN_INT_ERROR | CAN_INT_STATUS);
   IntEnable(INT_CAN1);
   CANEnable(CAN1_BASE);
   //IntMasterEnable();
   // Set up LED driver
//   RGBInit(1);

   // Use ID and mask 0 to recieved messages with any CAN ID
   msg1.ui32MsgID = 1;
 //msg.ui32MsgIDMask = 0;
   msg1.ui32Flags = MSG_OBJ_RX_INT_ENABLE | MSG_OBJ_USE_ID_FILTER;
   msg1.ui32MsgLen = 8; // allow up to 8 bytes
   // Use ID and mask 0 to recieved messages with any CAN ID
    msg2.ui32MsgID = 2;
  //msg.ui32MsgIDMask = 0;
    msg2.ui32Flags = MSG_OBJ_RX_INT_ENABLE | MSG_OBJ_USE_ID_FILTER;
    msg2.ui32MsgLen = 8; // allow up to 8 bytes

    // Use ID and mask 0 to recieved messages with any CAN ID
     msg3.ui32MsgID = 3;
   //msg.ui32MsgIDMask = 0;
     msg3.ui32Flags = MSG_OBJ_RX_INT_ENABLE | MSG_OBJ_USE_ID_FILTER;
     msg3.ui32MsgLen = 8; // allow up to 8 bytes
   // Load msg into CAN peripheral message object 1 so it can trigger interrupts on any matched rx messages
   //CANMessageSet(CAN1_BASE, 1, &msg1, MSG_OBJ_TYPE_RX);
  CANMessageSet(CAN1_BASE, 2, &msg2, MSG_OBJ_TYPE_RX);
  //CANMessageSet(CAN1_BASE, 3, &msg3, MSG_OBJ_TYPE_RX);
 //  unsigned int colour[3];
//   float intensity;
   unsigned int rcv1msg[4];
   unsigned int rcv2msg[4];
   unsigned int rcv3msg[4];

   while(1) {
	  //IntMasterEnable();
      if(rxFlag) { // rx interrupt has occured

         msg2.pui8MsgData = msg2Data; // set pointer to rx buffer
         CANMessageGet(CAN1_BASE, 2, &msg2, 0); // read CAN message object 1 from CAN peripheral

         rxFlag = 0; // clear rx flag

         if(msg2.ui32Flags & MSG_OBJ_DATA_LOST)

          { // check msg flags for any lost messages

              UARTprintf("CAN message loss detected\n");


              msg2.ui32Flags &= ~MSG_OBJ_DATA_LOST;

           
           // Set the new state of the message object.
          
              CANMessageSet(CAN1_BASE, 2, &msg2, MSG_OBJ_TYPE_RX);
              
         }

        
     	                rcv2msg[0] = msg2Data[0] ;
     			rcv2msg[1] = msg2Data[1] ;
     			rcv2msg[2] = msg2Data[2] ;
     			rcv2msg[3] = msg2Data[3] ;

     			// write to UART for debugging
     			UARTprintf("Received message 0x%02X %02X %02X %02X\n", rcv2msg[0], rcv2msg[1],rcv2msg[2],rcv2msg[3]);
       

       
      }
     else
     {
#if DEBUG
    	 if(bMsgFlag == 0)
    	 {
    		 UARTPrintf("cant able to receive message");
    		 bMsgFlag = 1;
    	 }
#endif

     }
  }

 
}

Output:

  • 0
    TI__Guru**** 190986 points

    Hi,

      I'm not clear with your question. Can you please elaborate which CAN ID are you expecting to receive and what is the expected message data associated with it? 

      Please also describe your hardware setup? Are you setting up two different MCU controllers as two nodes on the CAN network with one as TX and another as RX? 

  • 0 in reply to Charles Tsai
    Prodigy 200 points

    Hi Tsai

    I am using 2xTIVAC (TM4C1294NCPDT) controllers for CAN communication (one as TX and another as RX) as well as I am using 2xMCP2551 as CAN transceiver(s). I am trying to receive the messages associated with CAN ID = 2 (ui32MsgID = 2). My output data should be like Received message 0x02 0x06 0x08 0x10 but I am receiving data messages associated with CAN ID(s) 1 and 3 along with data loss.

     

  • 0 in reply to vijayakumar sargunam1
    TI__Guru**** 190986 points

    Hi,

      I suspect something wrong with your interrupt handler. You wrote below:

    // CAN interrupt handler
    void CANIntHandler(void) {
       unsigned long status = CANIntStatus(CAN1_BASE, CAN_INT_STS_CAUSE); // read interrupt status
       if(status == CAN_INT_INTID_STATUS) { // controller status interrupt
          status = CANStatusGet(CAN1_BASE, CAN_STS_CONTROL);
          errFlag = 1;
       } else if(status == 1) { // msg object 1
          CANIntClear(CAN1_BASE, 1); // clear interrupt
          rxFlag = 1; // set rx flag
          errFlag = 0; // clear any error flags
       }
      You are trying to get the status of the CAN_STS_CONTROL and use the return value to determine which CAN message object receives the data. The CAN_STS_CONTROL doesn't provide information about which message object has the new data. You should change from CAN_STS_CONTROL  to CAN_STS_NEWDAT as to query which message object contains the data. It is likely this is the problem. 
      You should start with something simple. Instead of transmitting multiple messages you should start with only one message with the CAN ID equal to 2 since this is the one that has trouble to receive. 
  • 0 in reply to Charles Tsai
    Prodigy 200 points

    Hi charles,

                As you suggested I tried to transmit only one CAN message with ID 2 and tried to receive the same. I can able to receive the message with ID 2

    after that I tried to transmit the message with ID 3 only, According to the receiver code it should not be received but I can able to see the message with ID 3 also in the terminal. 

    As you suggested I changed the interrupt routine of receiver code from CAN_STS_CONTROL  to CAN_STS_NEWDAT

    But in the terminal I cant able to see any message it was blank but if I changed the code from CAN_STS_NEWDAT to CAN_STS_CONTROL I can able to see the above output help me in this regard

  • 0 in reply to vijayakumar sargunam1
    TI__Guru**** 190986 points

    Hi,

      You have written the below code. I will suggest you clean up your code first for readability. Why are you setting three message objects? 

       // Use ID and mask 0 to recieved messages with any CAN ID
   msg1.ui32MsgID = 1;
 //msg.ui32MsgIDMask = 0;
   msg1.ui32Flags = MSG_OBJ_RX_INT_ENABLE | MSG_OBJ_USE_ID_FILTER;
   msg1.ui32MsgLen = 8; // allow up to 8 bytes
   // Use ID and mask 0 to recieved messages with any CAN ID
    msg2.ui32MsgID = 2;
  //msg.ui32MsgIDMask = 0;
    msg2.ui32Flags = MSG_OBJ_RX_INT_ENABLE | MSG_OBJ_USE_ID_FILTER;
    msg2.ui32MsgLen = 8; // allow up to 8 bytes

    // Use ID and mask 0 to recieved messages with any CAN ID
     msg3.ui32MsgID = 3;
   //msg.ui32MsgIDMask = 0;
     msg3.ui32Flags = MSG_OBJ_RX_INT_ENABLE | MSG_OBJ_USE_ID_FILTER;
     msg3.ui32MsgLen = 8; // allow up to 8 bytes
   // Load msg into CAN peripheral message object 1 so it can trigger interrupts on any matched rx messages
   //CANMessageSet(CAN1_BASE, 1, &msg1, MSG_OBJ_TYPE_RX);
  CANMessageSet(CAN1_BASE, 2, &msg2, MSG_OBJ_TYPE_RX);

    You should just need one message object such that it is configured to receive only ID 2. You need to setup mask so that only ID 2 is filtered.  Maybe there is something wrong with the filtering mask.  Check the CAN1F1MSK1 and CAN2FMSK1 register? They should be all '1'. This means you need to set msg2.ui32MsgIDMask = 0xFFFFFFFF;

    Why don't you also try an experiment to receive all IDs. Will you get the ID2 in this case? Below is an example to receive all IDs.

    // Initialize a message object to be used for receiving CAN messages with
    // any CAN ID.  In order to receive any CAN ID, the ID and mask must both
    // be set to 0, and the ID filter enabled.
    //
    sCANMessage.ui32MsgID = 0;
    sCANMessage.ui32MsgIDMask = 0;
    sCANMessage.ui32Flags = MSG_OBJ_RX_INT_ENABLE | MSG_OBJ_USE_ID_FILTER;
    sCANMessage.ui32MsgLen = 8;

    //
    // Now load the message object into the CAN peripheral.  Once loaded the
    // CAN will receive any message on the bus, and an interrupt will occur.
    // Use message object 1 for receiving messages (this is not the same as
    // the CAN ID which can be any value in this example).
    //
    CANMessageSet(CAN0_BASE, 1, &sCANMessage, MSG_OBJ_TYPE_RX);