Other Parts Discussed in Thread: C2000WARE
I use a CAN example from C2000 ware, the example project's name is can_ex3_external_transmit.
Since I only want to test CAN transmit, I removed error check and let the mailbox been sent out forever.
I use F280049C LaunchPad, set a pre-defined MACRO _LAUNCHXL_F280049C in CCS, the source file
is changed as follows:
//#############################################################################
//
// FILE: can_ex3_external_transmit.c
//
// TITLE: CAN External Transmit Example
//
//! \addtogroup driver_example_list
//! <h1> CAN-A to CAN-B 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 DEVICE_GPIO_PIN_CANTXA (CANTXA)
//! - and DEVICE_GPIO_PIN_CANRXA (CANRXA)
//! - ControlCARD CANB is on DEVICE_GPIO_PIN_CANTXB (CANTXB)
//! - and DEVICE_GPIO_PIN_CANRXB (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
//!
//
//#############################################################################
//
//
// $Copyright:
// Copyright (C) 2022 Texas Instruments Incorporated - http://www.ti.com/
//
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//
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// notice, this list of conditions and the following disclaimer.
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// Redistributions in binary form must reproduce the above copyright
// notice, this list of conditions and the following disclaimer in the
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// Neither the name of Texas Instruments Incorporated nor the names of
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//
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// "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
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// (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 "driverlib.h"
#include "device.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;
uint16_t txMsgData[4];
uint16_t rxMsgData[4];
//
// Function Prototypes
//
__interrupt void canbISR(void);
//
// Main
//
void main(void)
{
//
// Initialize device clock and peripherals
//
Device_init();
//
// Initialize GPIO and configure GPIO pins for CANTX/CANRX
// on module A and B
//
Device_initGPIO();
GPIO_setPinConfig(DEVICE_GPIO_CFG_CANRXA);
GPIO_setPinConfig(DEVICE_GPIO_CFG_CANTXA);
GPIO_setPinConfig(DEVICE_GPIO_CFG_CANRXB);
GPIO_setPinConfig(DEVICE_GPIO_CFG_CANTXB);
//
// Initialize the CAN controllers
//
CAN_initModule(CANA_BASE);
CAN_initModule(CANB_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, 20);
CAN_setBitRate(CANB_BASE, DEVICE_SYSCLK_FREQ, 500000, 20);
//
// Enable interrupts on the CAN B peripheral.
//
CAN_enableInterrupt(CANB_BASE, CAN_INT_IE0 | CAN_INT_ERROR |
CAN_INT_STATUS);
//
// Initialize PIE and clear PIE registers. Disables CPU interrupts.
//
Interrupt_initModule();
//
// Initialize the PIE vector table with pointers to the shell Interrupt
// Service Routines (ISR).
//
Interrupt_initVectorTable();
//
// Enable Global Interrupt (INTM) and realtime interrupt (DBGM)
//
EINT;
ERTM;
//
// 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.
//
Interrupt_register(INT_CANB0, &canbISR);
//
// Enable the CAN-B interrupt signal
//
Interrupt_enable(INT_CANB0);
CAN_enableGlobalInterrupt(CANB_BASE, CAN_GLOBAL_INT_CANINT0);
//
// Initialize the transmit message object used for sending CAN messages.
// Message Object Parameters:
// CAN Module: A
// Message Object ID Number: 1
// Message Identifier: 0x15555555
// Message Frame: Extended
// Message Type: Transmit
// Message ID Mask: 0x0
// Message Object Flags: None
// Message Data Length: 4 Bytes (Note that DLC field is a "don't care"
// for a Receive mailbox
//
CAN_setupMessageObject(CANA_BASE, TX_MSG_OBJ_ID, 0x15555555,
CAN_MSG_FRAME_EXT, CAN_MSG_OBJ_TYPE_TX, 0,
CAN_MSG_OBJ_NO_FLAGS, MSG_DATA_LENGTH);
//
// Initialize the receive message object used for receiving CAN messages.
// Message Object Parameters:
// CAN Module: B
// Message Object ID Number: 1
// Message Identifier: 0x15555555
// Message Frame: Extended
// Message Type: Receive
// Message ID Mask: 0x0
// Message Object Flags: Receive Interrupt
// Message Data Length: 4 Bytes
//
CAN_setupMessageObject(CANB_BASE, RX_MSG_OBJ_ID, 0x15555555,
CAN_MSG_FRAME_EXT, CAN_MSG_OBJ_TYPE_RX, 0,
CAN_MSG_OBJ_RX_INT_ENABLE, MSG_DATA_LENGTH);
//
// 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
//
CAN_startModule(CANA_BASE);
CAN_startModule(CANB_BASE);
//
// Transmit messages from CAN-A to CAN-B
//
// for(i = 0; i < TXCOUNT; i++)
while (1)
{
//
// Check the error flag to see if errors occurred
//
if(errorFlag)
{
// asm(" ESTOP0");
}
//
// Verify that the number of transmitted messages equal the number of
// messages received before sending a new message
//
// if(txMsgCount == rxMsgCount)
{
CAN_sendMessage(CANA_BASE, TX_MSG_OBJ_ID, MSG_DATA_LENGTH,
txMsgData);
txMsgCount++;
}
// else
// {
// errorFlag = 1;
// }
//
// Delay 0.25 second before continuing
//
DEVICE_DELAY_US(250000);
//
// Increment the value in the transmitted message data.
//
txMsgData[0] += 0x01;
txMsgData[1] += 0x01;
txMsgData[2] += 0x01;
txMsgData[3] += 0x01;
//
// Reset data if exceeds a byte
//
if(txMsgData[0] > 0xFF)
{
txMsgData[0] = 0;
}
if(txMsgData[1] > 0xFF)
{
txMsgData[1] = 0;
}
if(txMsgData[2] > 0xFF)
{
txMsgData[2] = 0;
}
if(txMsgData[3] > 0xFF)
{
txMsgData[3] = 0;
}
}
//
// 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 = CAN_getInterruptCause(CANB_BASE);
//
// 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(CANB_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 == RX_MSG_OBJ_ID)
{
//
// Get the received message
//
CAN_readMessage(CANB_BASE, RX_MSG_OBJ_ID, rxMsgData);
//
// 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(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
//
CAN_clearGlobalInterruptStatus(CANB_BASE, CAN_GLOBAL_INT_CANINT0);
//
// Acknowledge this interrupt located in group 9
//
Interrupt_clearACKGroup(INTERRUPT_ACK_GROUP9);
}
//
// End of File
//
By the way, S9 on the LaunchPad is in CAN side.
My CAN receiver works when I run a CAN communication program on F28379D LaunchPad.
Thanks,
Jiakai
