Part Number: LAUNCHXL-F28379D
Other Parts Discussed in Thread: TMS320F28379D, C2000WARE
Hello all,
I want to send adc data over CAN protocol to the local PC. Currently I am using C2000 Launchpad board and can_external_transmit.c example file. I have did the changes in the code for onboard transceiver. I am using PCANVIEW software but I am unable to see the data on the PC. It is showing status as- Error Passive and shows error frames. I have checked CANH and CANL on oscilloscope , they are working fine. Could someone help me to rectify this problem so that I can view the data on local PC (PCANVIEW).
Specs-
board- tms320f28379d launchpad
c200ware - 4 01
ccs - 11.2
//
// FILE: can_external_transmit.c
//
// TITLE: Example to demonstrate CAN external transmission
//
//! \addtogroup cpu01_example_list
//! <h1>CAN-A to CAN-B External Transmit (can_external_transmit)</h1>
//!
//! This example initializes CAN module A and CAN module B for external
//! communication. CAN-A module is setup to transmit incrementing data for "n"
//! number of times to the CAN-B module, where "n" is the value of TXCOUNT.
//! CAN-B module is setup to trigger an interrupt service routine (ISR) when
//! data is received. An error flag will be set if the transmitted data doesn't
//! match the received data.
//!
//! \note Both CAN modules on the device need to be
//! connected to each other via CAN transceivers.
//!
//! \b Hardware \b Required \n
//! - A C2000 board with two CAN transceivers
//!
//! \b External \b Connections \n
//! - ControlCARD CANA is on GPIO31 (CANTXA) and GPIO30 (CANRXA)
//! - ControlCARD CANB is on GPIO8 (CANTXB) and GPIO10 (CANRXB)
//!
//! \b Watch \b Variables \n
//! - TXCOUNT - Adjust to set the number of messages to be transmitted
//! - txMsgCount - A counter for the number of messages sent
//! - rxMsgCount - A counter for the number of messages received
//! - txMsgData - An array with the data being sent
//! - rxMsgData - An array with the data that was received
//! - errorFlag - A flag that indicates an error has occurred
//!
//
//###########################################################################
// $TI Release: F2837xD Support Library v3.05.00.00 $
// $Release Date: Thu Oct 18 15:48:42 CDT 2018 $
// $Copyright:
// Copyright (C) 2013-2018 Texas Instruments Incorporated - http://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.
// $
//###########################################################################
//
// Included Files
//
#include "F28x_Project.h" // Device Headerfile and Examples Include File
#include <stdint.h>
#include <stdbool.h>
#include "inc/hw_types.h"
#include "inc/hw_memmap.h"
#include "inc/hw_can.h"
#include "driverlib/can.h"
//
// Defines
//
#define TXCOUNT 100
#define MSG_DATA_LENGTH 4
#define TX_MSG_OBJ_ID 1
#define RX_MSG_OBJ_ID 1
//
// Globals
//
volatile unsigned long i;
volatile uint32_t txMsgCount = 0;
volatile uint32_t rxMsgCount = 0;
volatile uint32_t errorFlag = 0;
unsigned char txMsgData[4];
unsigned char rxMsgData[4];
uint32_t canBitRate = 0;
uint32_t status;
tCANMsgObject sTXCANMessage;
tCANMsgObject sRXCANMessage;
//
// Function Prototypes
//
__interrupt void canbISR(void);
//
// Main
//
void main(void)
{
//
// Initialize System Control:
// PLL, WatchDog, enable Peripheral Clocks
//
InitSysCtrl();
//
// Initialize GPIO and configure GPIO pins for CANTX/CANRX
// on module A and B
//
InitGpio();
//
// Setup GPIO pin mux for CAN-A TX/RX and CAN-B TX/RX
//
GPIO_SetupPinMux(17, GPIO_MUX_CPU1, 2); //GPIO30 - CANRXA
GPIO_SetupPinOptions(17, GPIO_INPUT, GPIO_ASYNC);
GPIO_SetupPinMux(12, GPIO_MUX_CPU1, 2); //GPIO31 - CANTXA
GPIO_SetupPinOptions(12, GPIO_OUTPUT, GPIO_PUSHPULL);
/*
GPIO_SetupPinMux(10, GPIO_MUX_CPU1, 2); //GPIO10 - CANRXB
GPIO_SetupPinOptions(10, GPIO_INPUT, GPIO_ASYNC);
GPIO_SetupPinMux(8, GPIO_MUX_CPU1, 2); //GPIO8 - CANTXB
GPIO_SetupPinOptions(8, GPIO_OUTPUT, GPIO_PUSHPULL);
*/
//
// Initialize the CAN controllers
//
//CANInit(CANA_BASE);
CANInit(CANB_BASE);
//
// Setup CAN to be clocked off the PLL output clock
//
//CANClkSourceSelect(CANA_BASE, 0); // 500kHz CAN-Clock
CANClkSourceSelect(CANB_BASE, 0); // 500kHz CAN-Clock
//
// Set up the CAN bus bit rate to 500kHz for each module
// This function sets up the CAN bus timing for a nominal configuration.
// You can achieve more control over the CAN bus timing by using the
// function CANBitTimingSet() instead of this one, if needed.
// Additionally, consult the device data sheet for more information about
// the CAN module clocking.
//
//CANBitRateSet(CANA_BASE, 200000000, 500000);
canBitRate = CANBitRateSet(CANB_BASE, 200000000, 500000);
//
// Enable interrupts on the CAN B peripheral.
//
CANIntEnable(CANB_BASE, CAN_INT_MASTER | CAN_INT_ERROR | CAN_INT_STATUS);
//
// Clear all interrupts and initialize PIE vector table:
// Disable CPU interrupts
//
DINT;
//
// Initialize the PIE control registers to their default state.
// The default state is all PIE interrupts disabled and flags
// are cleared.
//
InitPieCtrl();
//
// Disable CPU interrupts and clear all CPU interrupt flags
//
IER = 0x0000;
IFR = 0x0000;
//
// Initialize the PIE vector table with pointers to the shell Interrupt
// Service Routines (ISR).
// This will populate the entire table, even if the interrupt
// is not used in this example. This is useful for debug purposes.
//
InitPieVectTable();
//
// Interrupts that are used in this example are re-mapped to
// ISR functions found within this file.
// This registers the interrupt handler in PIE vector table.
//
EALLOW;
PieVectTable.CANB0_INT = canbISR;
EDIS;
//
// Enable the CAN-B interrupt on the processor (PIE).
//
PieCtrlRegs.PIEIER9.bit.INTx7 = 1;
IER |= M_INT9;
EINT;
//
// Enable the CAN-B interrupt signal
//
CANGlobalIntEnable(CANB_BASE, CAN_GLB_INT_CANINT0);
//
// Initialize the transmit message object used for sending CAN messages.
// Message Object Parameters:
// Message Identifier: 0x5555
// Message ID Mask: 0x0
// Message Object Flags: None
// Message Data Length: 4 Bytes
// Message Transmit data: txMsgData
//
sTXCANMessage.ui32MsgID = 0x0005;
sTXCANMessage.ui32MsgIDMask = 0;
sTXCANMessage.ui32Flags = 0;
sTXCANMessage.ui32MsgLen = MSG_DATA_LENGTH;
sTXCANMessage.pucMsgData = txMsgData;
//
// Initialize the receive message object used for receiving CAN messages.
// Message Object Parameters:
// Message Identifier: 0x5555
// Message ID Mask: 0x0
// Message Object Flags: Receive Interrupt
// Message Data Length: 4 Bytes
// Message Receive data: rxMsgData
//
sRXCANMessage.ui32MsgID = 0x0005;
sRXCANMessage.ui32MsgIDMask = 0;
sRXCANMessage.ui32Flags = MSG_OBJ_RX_INT_ENABLE;
sRXCANMessage.ui32MsgLen = MSG_DATA_LENGTH;
sRXCANMessage.pucMsgData = rxMsgData;
//CANMessageSet(CANB_BASE, RX_MSG_OBJ_ID, &sRXCANMessage,
// MSG_OBJ_TYPE_RX);
//
// Initialize the transmit message object data buffer to be sent
//
txMsgData[0] = 0x12;
txMsgData[1] = 0x34;
txMsgData[2] = 0x56;
txMsgData[3] = 0x78;
//
// Start CAN module A and B operations
//
//CANEnable(CANA_BASE);
CANEnable(CANB_BASE);
//
// Transmit messages from CAN-A to CAN-B
//
for(;;)
{
//
// Transmit Message
//
CANMessageSet(CANB_BASE, TX_MSG_OBJ_ID, &sTXCANMessage,
MSG_OBJ_TYPE_TX);
status = CANStatusGet(CANB_BASE,CAN_STS_TXREQUEST);
DELAY_US(1000 * 1000);
}
//
// Stop application
//
asm(" ESTOP0");
}
//
// CAN B ISR - The interrupt service routine called when a CAN interrupt is
// triggered on CAN module B.
//
__interrupt void
canbISR(void)
{
uint32_t status;
//
// Read the CAN-B interrupt status to find the cause of the interrupt
//
status = CANIntStatus(CANB_BASE, CAN_INT_STS_CAUSE);
//
// 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 = CANStatusGet(CANB_BASE, CAN_STS_CONTROL);
//
// Check to see if an error occurred.
//
if(((status & ~(CAN_ES_RXOK)) != 7) &&
((status & ~(CAN_ES_RXOK)) != 0))
{
//
// 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 == RX_MSG_OBJ_ID)
{
//
// Get the received message
//
CANMessageGet(CANB_BASE, RX_MSG_OBJ_ID, &sRXCANMessage, true);
//
// 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.
//
CANIntClear(CANB_BASE, RX_MSG_OBJ_ID);
//
// 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.
//
rxMsgCount++;
//
// Since the message was received, clear any error flags.
//
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
//
CANGlobalIntClear(CANB_BASE, CAN_GLB_INT_CANINT0);
//
// Acknowledge this interrupt located in group 9
//
PieCtrlRegs.PIEACK.all = PIEACK_GROUP9;
}
//
// End of File
