Other Parts Discussed in Thread: C2000WARE
Hi,
For the remote request, I am stuck on Rx setting. I changed the code from the CAN_ex8_Remote_TX. I am coding for an Rx by starting to send a remote request command first and keep receiving the data frame.
When I set CANA with ObjID = 1 to be TYPE_RX, I got an ASSERT error (not a dead error) in canSendMsg() command. I checked the error and it was caused by ASSERT(msgCtrl & CAN_IF1MCTL_DLC_M == msgLen) in the can.c file, the provided DLC size with the actual DLC size does not match. Error disappears when CANA is set to TYPE_TX. However, In this case, it is necessary to use TYPE_RX, is that right? Do I just need to ignore this issue?
If I ignore the error and keep running. The program is stuck in the while loop to check the completion of the transmission. I tried to change the TYPE_RX to TYPE_TX. However, it is still stuck in the while loop, as shown in the figure and that is what I do not understand. CAN_ES_TXOK should change to 1 when a message is sent. Even when I try to send a data frame, as I change the type to TX, it still does not change. Does that mean I have a hardware issue? For the hardware checking, I run the can_ex7_loopback_tx_rx_remote_frame and it works.
//
// Included Files
//
#include "driverlib.h"
#include "device.h"
//
// Defines
//
#define TXCOUNT 1
#define MSG_DATA_LENGTH 8
#define TX_MSG_OBJ_ID 1
//
// Globals
//
volatile unsigned long i;
volatile uint32_t txMsgCount = 0;
//
// Buffer to store the message Received by node A
//
uint16_t rxMsgData[8];
//
// Main
//
void main(void)
{
//
// Initialize device clock and peripherals
//
Device_init();
//
// Initialize GPIO and configure GPIO pins for CANTX/CANRX
// on modules A
//
Device_initGPIO();
GPIO_setPinConfig(DEVICE_GPIO_CFG_CANRXA);
GPIO_setPinConfig(DEVICE_GPIO_CFG_CANTXA);
//
// Initialize the CAN controllers
//
CAN_initModule(CANA_BASE);
//
// Set up the CAN bus bit rate to 500kHz for each module
// 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_setBitRate(CANA_BASE, DEVICE_SYSCLK_FREQ, 500000, 16);
//
// Initialize the mailbox used for sending the remote frame
// - and receiving the corresponding data frame
// Message Object Parameters:
// CAN Module: A
// Message Object ID Number: 1
// Message Identifier: 0x111
// Message Frame: Standard
// Message Type: Receive (but transmits a Remote frame first)
// Message ID Mask: 0x0
// Message Object Flags: None
// Message Data Length: 8 Bytes
//
CAN_setupMessageObject(CANA_BASE, TX_MSG_OBJ_ID, 0x111,
CAN_MSG_FRAME_STD, CAN_MSG_OBJ_TYPE_RX, 0,
CAN_MSG_OBJ_NO_FLAGS, MSG_DATA_LENGTH);
//
// Initialize the receive buffer to a known value
//
rxMsgData[0] = 0;
rxMsgData[1] = 0;
rxMsgData[2] = 0;
rxMsgData[3] = 0;
rxMsgData[4] = 0;
rxMsgData[5] = 0;
rxMsgData[6] = 0;
rxMsgData[7] = 0;
//
// Start CAN module operations
//
CAN_startModule(CANA_BASE);
//
// Transmit Remote frame(s) from CAN-A and await data frame(s) from node B
//
while(1) // Uncomment for infinite transmissions
//for(i = 0; i < TXCOUNT; i++)
{
//
// Initiate transmission of remote frame. "rxMsgData" is "dummy"
// No data will go out on a Remote Frame
//
CAN_sendMessage(CANA_BASE, TX_MSG_OBJ_ID, MSG_DATA_LENGTH, rxMsgData);
//
// Poll TxOk bit in CAN_ES register to check completion of transmission
//
while(((HWREG_BP(CANA_BASE + CAN_O_ES) & CAN_ES_TXOK)) !=
CAN_ES_TXOK){}
txMsgCount++; // Increment TX counter
//
// Poll RxOk bit in CAN_ES register to check completion of reception
//
while(((HWREG_BP(CANA_BASE + CAN_O_ES) & CAN_ES_RXOK)) !=
CAN_ES_RXOK){}
CAN_readMessage(CANA_BASE, 1, rxMsgData);
}
}
//
// End of File
//
