TMS320F28379D: F2837x CAN example issue

Sorry by sending a wrong image, the correct one is as below:

Hi Jiakai,

Expert is out of office. Please expect the response by 1/8.

Thanks,

Susmitha Bumadi

Jiakai, 

Jiakai Ye said:

in can.c in driverlib, there is a function CAN_sendRemoteRequestMessage, it gets IF1MCTL to check DLC that is ok, but it sets msgCtrl to IF1CMD, is it a bug?

You are right, this is a bug. It should instead read the following:

HWREG_BP(base + CAN_O_IF1CMD) = ((uint32_t)CAN_IF1CMD_DIR |
                                     (uint32_t)CAN_IF1CMD_TXRQST |
                                     (objID & CAN_IF1CMD_MSG_NUM_M));

Thanks.

Hi Sahil,

Happy New Year!

Thank you for your quick reply.

I'm trying to write a DCAN communication program, now normal input/output message boxes can be sent/received successfully, but the remote request doesn't work. Here are the functions for remote request:

// Can messageBox type
#define CAN_MSG_INPUT_TYPE          1   // CAN_MSG_OBJ_TYPE_RX
#define CAN_MSG_OUTPUT_TYPE         2   // CAN_MSG_OBJ_TYPE_TX
#define CAN_MSG_REMOTEOUT_TYPE      3   // CAN_MSG_OBJ_TYPE_TX_REMOTE
#define CAN_MSG_REMOTEINOUT_TYPE    4   // CAN_MSG_OBJ_TYPE_RXTX_REMOTE

struct PST_eCanMsgID_Bits
{        // bits  description
    Uint32 MsgID:29;    // 0:28
    Uint32 Dir:1;          // 29
    Uint32 Xtd:1;          // 30
    Uint32 MsgVal:1;    // 31
};

union PST_CanMsgID_Reg
{
    struct PST_eCanMsgID_Bits ebit;
    Uint32  all;
};

struct PST_CanMsgCtrl_Bits
{   // bits  description
    Uint32  DLC:4;          // 0:3 data length
    Uint32  MsgNo:5;        // 4:8 message ID
    Uint32  MsgType:3;      // 9:11 message type: CAN_MSG_INPUT_TYPE, CAN_MSG_OUTPUT_TYPE, CAN_MSG_REMOTEOUT_TYPE and CAN_MSG_REMOTEINOUT_TYPE
    Uint32  rsvd:20;        // 12:31 reserved
};

union PST_CanMsgCtrl_Reg
{
    struct PST_CanMsgCtrl_Bits bit;
    Uint32 all;
};

union PST_CanMD_Reg
{
    Uint32 MData[2];
    Uint64 MData64;
};

typedef struct
{
    union PST_CanMsgID_Reg MSGID;
    union PST_CanMsgCtrl_Reg MSGCTRL;
    union PST_CanMD_Reg MD;
} PST_MBox;


void PS_CanRemReq(PST_MBox* pBox)
{
    Uint16 mailbox_number; // valid numbers are 1 to 32
    Uint16 loop_count;

    mailbox_number = (pBox->MSGCTRL.bit.MsgNo + 1) & CAN_IF1CMD_MSG_NUM_M;

    //
    // Wait for busy bit to clear
    //
    loop_count = 20;
    while (((HWREGH(PSK_CanBase + CAN_O_IF1CMD) & CAN_IF1CMD_BUSY) == CAN_IF1CMD_BUSY) && (loop_count--));

    //
    // Read IF message control
    //
//    msgCtrl = HWREGH(PSK_CanBase + CAN_O_IF1MCTL);

    HWREG_BP(PSK_CanBase + CAN_O_IF1CMD) = CAN_IF1CMD_DIR | CAN_IF1CMD_TXRQST | mailbox_number;
} // end PS_CanRemReq

void PS_CanRemData(PST_MBox* pBox)
{
    Uint16  loop_count = 20;
    Uint32  cmdReg = CAN_IF1CMD_DIR | ((pBox->MSGCTRL.bit.MsgNo + 1) & CAN_IF1CMD_MSG_NUM_M);
    while ( ((HWREGH(PSK_CanBase + CAN_O_IF1CMD) & CAN_IF1CMD_BUSY) == CAN_IF1CMD_BUSY)
            && (loop_count--) );
    //
    // Write the data out to the CAN Data registers.
    //
    switch (pBox->MSGCTRL.bit.DLC) {
    default:
    case 8:
    case 7:
    case 6:
    case 5:
        HWREG_BP(PSK_CanBase + CAN_O_IF1DATB) = pBox->MD.MData[1];
        cmdReg |= CAN_IF1CMD_DATA_B;
    case 4:
    case 3:
    case 2:
    case 1:
        HWREG_BP(PSK_CanBase + CAN_O_IF1DATA) = pBox->MD.MData[0];
        cmdReg |= CAN_IF1CMD_DATA_A;
        break;
    case 0:
        break;
    }
    HWREG_BP(PSK_CanBase + CAN_O_IF1CMD) = cmdReg;

} // end PS_CanRemData

void PS_CanMailBoxInit(Uint16 mailbox_number, Uint32 msgID,
        Uint32 maskID, Uint16 msgLen, Uint16 msgBoxType, Uint16 extension_flag)
{
    Uint16 loop_count;
    //uint32_t base;
    uint32_t cmdReg = 0UL;
    uint32_t maskReg = 0UL;
    uint32_t arbReg = 0UL;
    uint32_t msgCtrl = 0UL;

    assert( mailbox_number < MBOX_MAX );

    // CAN module numbers mailboxes 1-32
    mailbox_number++;

    // wait for IF1 registers to become available
    loop_count = 20;
    while ( ((HWREGH(PSK_CanBase + CAN_O_IF1CMD) & CAN_IF1CMD_BUSY) == CAN_IF1CMD_BUSY)
            && (loop_count--) );

    switch (msgBoxType) {
    case CAN_MSG_INPUT_TYPE: // receive
        msgCtrl |= CAN_IF1MCTL_RXIE; // enable receive interrupt
        // bit 1 is mailbox 1, bit 2 is mbox 2, bit 0 is mbox 32!!!
        HWREG_BP(PSK_CanBase + CAN_O_IP_MUX21) |= 1UL << (mailbox_number & 0x01F); // Rx int to INT1
        break;
    case CAN_MSG_OUTPUT_TYPE:
        arbReg = CAN_IF1ARB_DIR;
        break;
    case CAN_MSG_REMOTEINOUT_TYPE:
        arbReg = CAN_IF1ARB_DIR;
        // Set this object to auto answer if a matching identifier is seen.
        msgCtrl = (uint32_t)((uint32_t)CAN_IF1MCTL_RMTEN | (uint32_t)CAN_IF1MCTL_UMASK);
        break;
    case CAN_MSG_REMOTEOUT_TYPE:
        arbReg = CAN_IF1ARB_DIR;
        break;
    default:
        assert( 0 );
        break;
    }

    if (extension_flag)
    {
        arbReg |= CAN_IF1ARB_MSGVAL | CAN_IF1ARB_XTD | (CAN_IF1MSK_MSK_M & msgID);
        if (maskID != 0UL)
        {
            maskReg = CAN_IF1MSK_MXTD | (maskID & CAN_IF1MSK_MSK_M);
            msgCtrl |= CAN_IF1MCTL_UMASK;
        }
    }
    else
    {
        arbReg |= CAN_IF1ARB_MSGVAL | ((msgID << CAN_IF1ARB_STD_ID_S) & CAN_IF1ARB_STD_ID_M);
        if (maskID != 0UL)
        {
            maskReg = ((maskID << CAN_IF1ARB_STD_ID_S) & CAN_IF1ARB_STD_ID_M);
            msgCtrl |= CAN_IF1MCTL_UMASK;
        }
    }

    msgCtrl |= msgLen & CAN_IF1MCTL_DLC_M; // data length
//  if (last)
//  {
//      msgCtrl |= CAN_IF1MCTL_EOB;
//  }

    // set control arb and mask bits so they get transferred to the message object
    cmdReg = CAN_IF1CMD_DIR | CAN_IF1CMD_MASK | CAN_IF1CMD_ARB | CAN_IF1CMD_CONTROL;
    // set message object number
    cmdReg |= (mailbox_number & CAN_IF1CMD_MSG_NUM_M);

    // wait for IF1 registers to become available
    loop_count = 20;
    while ( ((HWREGH(PSK_CanBase + CAN_O_IF1CMD) & CAN_IF1CMD_BUSY) == CAN_IF1CMD_BUSY)
            && (loop_count--) );

    // Write out the registers to program the message object.
    HWREG_BP(PSK_CanBase + CAN_O_IF1MSK) = maskReg;
    HWREG_BP(PSK_CanBase + CAN_O_IF1ARB) = arbReg;
    HWREG_BP(PSK_CanBase + CAN_O_IF1MCTL) = msgCtrl;
    HWREG_BP(PSK_CanBase + CAN_O_IF1CMD) = cmdReg;
} // end PSI_CanMailBoxInit

All message boxes are initialized by PS_CanMailBoxInit(), program calls PS_CanRemReq() to send out a remote request, and calls PS_CanRemData() to renew the data of remote message box.

Could you please take time to check if there are anything wrong in these functions?

Thank you very much!

Jiakai