TMS320F280040-Q1: DCAN Configuration to receive different Message Objects ID

Part Number: TMS320F280040-Q1
Other Parts Discussed in Thread: C2000WARE, SYSCONFIG

Hi,

I'm not being able to identify two different message objects received into DCAN controller. The desirable configuration should trip an interruption every time a message is received and the filter ID would allow identifying with which Message Object ID has caused the interrupt. However, when I test the INT0ID register inside ISR its value is always 1, doesn't matter which Message Identifier was used to transmit the messages. 

I would like to know how to identify different received massages based on Message Identifier (What I'm supposed to be the CAN_ID).

Here there is the configuration of CAN controller (generated by SysConfing 11)

void CAN_init(){

	//myCAN0 initialization
	CAN_initModule(myCAN0_BASE);

	// Refer to the Driver Library User Guide for information on how to set
	// tighter timing control. Additionally, consult the device data sheet
	// for more information about the CAN module clocking.
	//
	CAN_setBitTiming(myCAN0_BASE, 7, 0, 15, 7, 3);

	// Enable CAN Interrupts
	CAN_enableInterrupt(myCAN0_BASE, CAN_INT_IE0);

	CAN_enableGlobalInterrupt(myCAN0_BASE, CAN_GLOBAL_INT_CANINT0);          
	// Initialize the transmit message object used for sending CAN messages.
	// Message Object Parameters:
	//      Message Object ID Number: 1
	//      Message Identifier: 882
	//      Message Frame: CAN_MSG_FRAME_STD
	//      Message Type: CAN_MSG_OBJ_TYPE_RX
	//      Message ID Mask: 0
	//      Message Object Flags: CAN_MSG_OBJ_RX_INT_ENABLE,CAN_MSG_OBJ_USE_ID_FILTER
	//      Message Data Length: 0 Bytes
	//
	CAN_setupMessageObject(myCAN0_BASE, 1, myCAN0_MessageObj1_ID_DRIVERLIB_INP, CAN_MSG_FRAME_STD,CAN_MSG_OBJ_TYPE_RX, 0, CAN_MSG_OBJ_RX_INT_ENABLE|CAN_MSG_OBJ_USE_ID_FILTER,0);
	// Initialize the transmit message object used for sending CAN messages.
	// Message Object Parameters:
	//      Message Object ID Number: 2
	//      Message Identifier: 58
	//      Message Frame: CAN_MSG_FRAME_STD
	//      Message Type: CAN_MSG_OBJ_TYPE_RX
	//      Message ID Mask: 0
	//      Message Object Flags: CAN_MSG_OBJ_RX_INT_ENABLE
	//      Message Data Length: 0 Bytes
	//
	CAN_setupMessageObject(myCAN0_BASE, 2, myCAN0_MessageObj2_ID_DRIVERLIB_INP, CAN_MSG_FRAME_STD,CAN_MSG_OBJ_TYPE_RX, 0, CAN_MSG_OBJ_RX_INT_ENABLE,0);
	CAN_setInterruptMux(myCAN0_BASE, 0);
	//
	// Start CAN module operations
	//
	CAN_startModule(myCAN0_BASE);
}

  This is the Interrupts setup

void INTERRUPT_init(){
	
	// Interrupt Setings for INT_ADC_C_1
	Interrupt_register(INT_ADC_C_1, &INT_ADC_C_1_ISR);
	Interrupt_enable(INT_ADC_C_1);
	
	// Interrupt Setings for INT_myCAN0_0
	Interrupt_register(INT_myCAN0_0, &INT_myCAN0_0_ISR);
	Interrupt_enable(INT_myCAN0_0);
	
	// Interrupt Setings for INT_myCAN0_1
	Interrupt_register(INT_myCAN0_1, &INT_myCAN0_1_ISR);
	Interrupt_disable(INT_myCAN0_1);
}

And here there is the ISR (based on driverlib example)

__interrupt void INT_myCAN0_0_ISR(void)
{
    uint32_t status;

    //
    // Read the CAN-B interrupt status to find the cause of the interrupt
    //
    status = CAN_getInterruptCause(myCAN0_BASE); //  <--Always return 1

    //
    // If the cause is a controller status interrupt, then get the status
    //
    if(status == CAN_INT_INT0ID_STATUS)
    {
        //
        // Read the controller status.  This will return a field of status
        // error bits that can indicate various errors.  Error processing
        // is not done in this example for simplicity.  Refer to the
        // API documentation for details about the error status bits.
        // The act of reading this status will clear the interrupt.
        //
        status = CAN_getStatus(myCAN0_BASE);

        //
        // Check to see if an error occurred.
        //
        if(((status  & ~(CAN_STATUS_RXOK)) != CAN_STATUS_LEC_MSK) &&
           ((status  & ~(CAN_STATUS_RXOK)) != CAN_STATUS_LEC_NONE))
        {
            //
            // Set a flag to indicate some errors may have occurred.
            //
            errorFlag = 1;
        }
    }
    //
    // Check if the cause is the CAN-B receive message object 1
    //
   
    else if(status == 1)
    {
        //
        // Get the received message
        //

          CAN_readMessage(myCAN0_BASE, 1 , Payload);

        
        // Getting to this point means that the RX interrupt occurred on
        // message object 1, and the message RX is complete.  Clear the
        // message object interrupt.
        

        
        CAN_clearInterruptStatus(myCAN0_BASE, 1);


        
        // Increment a counter to keep track of how many messages have been
        // received. In a real application this could be used to set flags to
        // indicate when a message is received.
      
        
        // Since the message was received, clear any error flags.
        
        errorFlag = 0;
    }
    else if (status == 2)
    {

        CAN_readMessage(myCAN0_BASE, 2 , Payload);

        
        // Getting to this point means that the RX interrupt occurred on
        // message object 1, and the message RX is complete.  Clear the
        // message object interrupt.
        

        
        CAN_clearInterruptStatus(myCAN0_BASE, 2);

        errorFlag = 0;
    }
    //
    // If something unexpected caused the interrupt, this would handle it.
    //
    else
    {
        //
        // Spurious interrupt handling can go here.
        //
    }



    //
    // Clear the global interrupt flag for the CAN interrupt line
    //
    CAN_clearGlobalInterruptStatus(CANA_BASE, CAN_GLOBAL_INT_CANINT0);

    Interrupt_clearACKGroup(INTERRUPT_ACK_GROUP9);
}

Any help would be much appreciated. 

Cheers