Other Parts Discussed in Thread: C2000WARE
I want to use the classic CAN mode in the MCAN module. So, I used the mcan_ex2_external_loopback example and modified this value (initParams.fdMode) to be 0 instead of 1 to disable the CAN FD operation, but after that when I call the function (MCAN_isFDOpEnable(MCAN0_BASE);), it returns true which means that the CAN FD operation is enabled. You can find the configurations below:
static void MCANConfig(void)
{
uint32_t fdoe;
MCAN_RevisionId revId;
MCAN_InitParams initParams;
MCAN_ConfigParams configParams;
MCAN_MsgRAMConfigParams msgRAMConfigParams;
MCAN_StdMsgIDFilterElement stdFiltelem;
MCAN_ExtMsgIDFilterElement extFiltelem;
MCAN_BitTimingParams bitTimes;
//
// Initialize MCAN Init parameters.
//
initParams.fdMode = 0x0U; // FD operation disabled.
initParams.brsEnable = 0x1U; // Bit rate switching for
// transmissions enabled.
initParams.txpEnable = 0x1U; // Transmit pause enabled.
initParams.efbi = 0x0U; // Edge filtering disabled.
initParams.pxhddisable = 0x0U; // Protocol exception handling enabled.
initParams.darEnable = 0x1U; // Automatic retransmission of messages
// not transmitted successfully enabled.
initParams.wkupReqEnable = 0x1U; // Wakeup request is enabled.
initParams.autoWkupEnable = 0x1U; // Auto-Wakeup is enabled.
initParams.emulationEnable = 0x1U; // Emulation/Debug Suspend is enabled.
initParams.tdcEnable = 0x1U; // Transmitter Delay Compensation is
// enabled.
initParams.wdcPreload = 0xFFU; // Start value of the Message RAM
// Watchdog Counter preload.
//
// Transmitter Delay Compensation parameters.
//
initParams.tdcConfig.tdcf = 0xAU;
initParams.tdcConfig.tdco = 0x6U;
//
// Initialize MCAN Config parameters.
//
configParams.monEnable = 0x0U; // Bus Monitoring Mode is disabled.
configParams.asmEnable = 0x0U; // Normal CAN operation.
configParams.tsPrescalar = 0x2U; // Prescaler Value.
configParams.tsSelect = 0x2U; // Timestamp counter value.
configParams.timeoutSelect = MCAN_TIMEOUT_SELECT_CONT;
// Time-out counter source select.
configParams.timeoutPreload = 0xFFFFU;// Start value of the Timeout
// Counter.
configParams.timeoutCntEnable = 0x0U; // Time-out Counter is disabled.
configParams.filterConfig.rrfs = 0x1U; // Reject all remote frames with
// 29-bit extended IDs.
configParams.filterConfig.rrfe = 0x1U; // Reject all remote frames with
// 11-bit standard IDs.
configParams.filterConfig.anfe = 0x1U; // Accept in Rx FIFO 1.
configParams.filterConfig.anfs = 0x1U; // Accept in Rx FIFO 1.
//
// Initialize Message RAM Sections Configuration Parameters
//
msgRAMConfigParams.flssa = MCAN_STD_ID_FILT_START_ADDR;
// Standard ID Filter List Start Address.
msgRAMConfigParams.lss = MCAN_STD_ID_FILTER_NUM;
// List Size: Standard ID.
msgRAMConfigParams.flesa = MCAN_EXT_ID_FILT_START_ADDR;
// Extended ID Filter List Start Address.
msgRAMConfigParams.lse = MCAN_EXT_ID_FILTER_NUM;
// List Size: Extended ID.
msgRAMConfigParams.txStartAddr = MCAN_TX_BUFF_START_ADDR;
// Tx Buffers Start Address.
msgRAMConfigParams.txBufNum = MCAN_TX_BUFF_SIZE;
// Number of Dedicated Transmit Buffers.
msgRAMConfigParams.txFIFOSize = MCAN_TX_FIFO_SIZE;
// Tx FIFO/Queue.
msgRAMConfigParams.txBufMode = 0U;
msgRAMConfigParams.txBufElemSize = MCAN_ELEM_SIZE_64BYTES;
// Tx Buffer Element Size.
msgRAMConfigParams.txEventFIFOStartAddr = MCAN_TX_EVENT_START_ADDR;
// Tx Event FIFO Start Address.
msgRAMConfigParams.txEventFIFOSize = MCAN_TX_BUFF_SIZE;
// Event FIFO Size.
msgRAMConfigParams.txEventFIFOWaterMark = MCAN_TX_EVENT_WATERMARK;
// Level for Tx Event FIFO watermark interrupt.
msgRAMConfigParams.rxFIFO0startAddr = MCAN_FIFO_0_START_ADDR;
// Rx FIFO0 Start Address.
msgRAMConfigParams.rxFIFO0size = MCAN_FIFO_0_NUM;
// Number of Rx FIFO elements.
msgRAMConfigParams.rxFIFO0waterMark = MCAN_FIFO_0_WATERMARK;
msgRAMConfigParams.rxFIFO0OpMode = 0U;
msgRAMConfigParams.rxFIFO1startAddr = MCAN_FIFO_1_START_ADDR;
// Rx FIFO1 Start Address.
msgRAMConfigParams.rxFIFO1size = MCAN_FIFO_1_NUM;
// Number of Rx FIFO elements.
msgRAMConfigParams.rxFIFO1waterMark = MCAN_FIFO_1_WATERMARK;
// Level for Rx FIFO 1 watermark interrupt.
msgRAMConfigParams.rxFIFO1OpMode = 0U; // FIFO blocking mode.
msgRAMConfigParams.rxBufStartAddr = MCAN_RX_BUFF_START_ADDR;
// Rx Buffer Start Address.
msgRAMConfigParams.rxBufElemSize = MCAN_ELEM_SIZE_64BYTES;
// Rx Buffer Element Size.
msgRAMConfigParams.rxFIFO0ElemSize = MCAN_ELEM_SIZE_64BYTES;
// Rx FIFO0 Element Size.
msgRAMConfigParams.rxFIFO1ElemSize = MCAN_ELEM_SIZE_64BYTES;
// Rx FIFO1 Element Size.
//
// Initialize Tx Buffer Configuration parameters.
//
stdFiltelem.sfid2 = 0x3U; // Standard Filter ID 2.
stdFiltelem.sfid1 = 0x3U; // Standard Filter ID 1.
stdFiltelem.sfec = 0x2U; // Store into Rx Buffer or as
// debug message, configuration of SFT[1:0] ignored.
stdFiltelem.sft = 0x0U; // Range filter from SFID1 to SFID2.
//
// Initialize Tx Buffer Configuration parameters.
//
extFiltelem.efid2 = (0x9U << 16U);
extFiltelem.efid2 |= 0xFFU;
extFiltelem.efid1 = (0x0U << 16U);
extFiltelem.efid1 |= 0xFFU;
extFiltelem.efec = 0x6U;
extFiltelem.eft = 0x0U;
//
// Initialize bit timings.
//
// bitTimes.nomRatePrescalar = 0x1FU; // Nominal Baud Rate Pre-scaler.
// bitTimes.nomTimeSeg1 = 0x1U; // Nominal Time segment before sample point.
// bitTimes.nomTimeSeg2 = 0x1U; // Nominal Time segment after sample point.
// bitTimes.nomSynchJumpWidth = 0x0U; // Nominal (Re)Synchronization Jump Width Range.
// bitTimes.dataRatePrescalar = 0x3U; // Data Baud Rate Pre-scaler.
// bitTimes.dataTimeSeg1 = 0x1U; // Data Time segment before sample point.
// bitTimes.dataTimeSeg2 = 0x1U; // Data Time segment after sample point.
// bitTimes.dataSynchJumpWidth = 0x0U; // Data (Re)Synchronization Jump Width.
//
// Get MCANSS Revision ID
//
MCAN_getRevisionId(MCAN0_BASE, &revId);
//
// Wait for memory initialization to happen.
//
while(FALSE == MCAN_isMemInitDone(MCAN0_BASE))
{
}
//
// Put MCAN in SW initialization mode.
//
MCAN_setOpMode(MCAN0_BASE, MCAN_OPERATION_MODE_SW_INIT);
//
// Wait till MCAN is not initialized.
//
while (MCAN_OPERATION_MODE_SW_INIT != MCAN_getOpMode(MCAN0_BASE))
{}
//
// Initialize MCAN module.
//
MCAN_init(MCAN0_BASE, &initParams);
//
// Configure MCAN module.
//
MCAN_config(MCAN0_BASE, &configParams);
//
// Disable external timeStamp overflow interrupt.
//
MCAN_extTSEnableIntr(MCAN0_BASE,1);
//
// Configure TimeStamp Counter.
//
MCAN_extTSCounterConfig(MCAN0_BASE, MCAN_TS_PRESCALAR);
//
// Configure Bit timings.
//
MCAN_setBitTime(MCAN0_BASE, &bitTimes);
//
// Set Extended ID Mask.
//
MCAN_setExtIDAndMask(MCAN0_BASE, MCAN_EXT_ID_AND_MASK);
//
// Configure Message RAM Sections
//
MCAN_msgRAMConfig(MCAN0_BASE, &msgRAMConfigParams);
//
// Configure Standard ID filter element
//
MCAN_addStdMsgIDFilter(MCAN0_BASE, 0U, &stdFiltelem);
//
// Configure Extended ID filter element
//
MCAN_addExtMsgIDFilter(MCAN0_BASE, 0U, &extFiltelem);
//
// Enable external counter.
//
MCAN_extTSCounterEnable(MCAN0_BASE, 1U);
//
// Take MCAN out of the SW initialization mode
//
MCAN_setOpMode(MCAN0_BASE, MCAN_OPERATION_MODE_NORMAL);
while (MCAN_OPERATION_MODE_NORMAL != MCAN_getOpMode(MCAN0_BASE))
{
}
fdoe = MCAN_isFDOpEnable(MCAN0_BASE);
if(TRUE == fdoe)
{
//
// CAN-FD operation is enabled.
//
}
else
{
//
// CAN-FD operation is disabled.
//
}
}
