awr1642 can 发送出错

我在awr1642 demo的基础上添加了CAN总线，但发送数据失败，请大神指教！

void Can_Initialize(void)
{

int32_t errCode = 0;
int32_t retVal = 0;
// int32_t j = 0;
//CANFD_OptionTLV optionTLV;
CANFD_MCANInitParams mcanCfgParams;
CANFD_MCANBitTimingParams mcanBitTimingParams;
#if 0
CANFD_MCANMsgObjectStats msgObjStats;
CANFD_MCANErrCntStatus errCounter;
CANFD_MCANProtocolStatus protoStatus;
#endif
CANFD_MCANMsgObjCfgParams rxMsgObjectParams;
//CANFD_MsgObjHandle rxMsgObjHandle[2];

gTxDoneFlag = 0;
gRxDoneFlag = 0;

/* Setup the PINMUX to bring out the XWR16xx CAN pins */
Pinmux_Set_OverrideCtrl(SOC_XWR16XX_PINE14_PADAE, PINMUX_OUTEN_RETAIN_HW_CTRL, PINMUX_INPEN_RETAIN_HW_CTRL);
Pinmux_Set_FuncSel(SOC_XWR16XX_PINE14_PADAE, SOC_XWR16XX_PINE14_PADAE_CANFD_TX);

Pinmux_Set_OverrideCtrl(SOC_XWR16XX_PIND13_PADAD, PINMUX_OUTEN_RETAIN_HW_CTRL, PINMUX_INPEN_RETAIN_HW_CTRL);
Pinmux_Set_FuncSel(SOC_XWR16XX_PIND13_PADAD, SOC_XWR16XX_PIND13_PADAD_CANFD_RX);

/* Configure the divide value for MCAN source clock */
SOC_setPeripheralClock(gSrrMSSMCB.socHandle, SOC_MODULE_MCAN, SOC_CLKSOURCE_VCLK, 4U, &errCode);

/* Initialize peripheral memory */
SOC_initPeripheralRam(gSrrMSSMCB.socHandle, SOC_MODULE_MCAN, &errCode);

//CSL_FINSR(0x43201450, 22, 22, 0x1U);
//CSL_FINSR(0x4320140C, 26, 16, 0x23U);

MCANAppInitParams(&mcanCfgParams);

/* Initialize the CANFD driver */
canHandle = CANFD_init(&mcanCfgParams, &errCode);
if (canHandle == NULL)
{
System_printf ("Error: CANFD Module Initialization failed [Error code %d]\n", errCode);
return ;
}

/* Configuring 1Mbps and 5Mbps as nominal and data bit-rate respectively
Prop seg: 8
Ph seg 1: 6
Ph Seg2 : 5
Sync jump: 1
BRP(Baud rate Prescaler): 2

Nominal Bit rate = (40)/(((8+6+5)+1)*BRP) = 1Mhz

Timing Params for Data Bit rate:
Prop seg: 2
Ph seg 1: 2
Ph Seg2 : 3
Sync jump: 1
BRP(Baud rate Prescaler): 1

Nominal Bit rate = (40)/(((2+2+3)+1)*BRP) = 5Mhz
*/
#if 1
mcanBitTimingParams.nomBrp = 0x2U;
mcanBitTimingParams.nomPropSeg = 0x8U;
mcanBitTimingParams.nomPseg1 = 0x6U;
mcanBitTimingParams.nomPseg2 = 0x5U;
mcanBitTimingParams.nomSjw = 0x1U;
#else
/*500Kbps NomBitRate: (40)/(((6+5+4)+1)*5)*/
mcanBitTimingParams.nomBrp = 0x5U;
mcanBitTimingParams.nomPropSeg = 0x6U;
mcanBitTimingParams.nomPseg1 = 0x5U;
mcanBitTimingParams.nomPseg2 = 0x4U;
mcanBitTimingParams.nomSjw = 0x1U;
#endif

#if 1 //5 Mbps
mcanBitTimingParams.dataBrp = 0x1U;
mcanBitTimingParams.dataPropSeg = 0x2U;
mcanBitTimingParams.dataPseg1 = 0x2U;
mcanBitTimingParams.dataPseg2 = 0x3U;
mcanBitTimingParams.dataSjw = 0x1U;
#else //2 Mbps
mcanBitTimingParams.dataBrp = 0x4U;
mcanBitTimingParams.dataPropSeg = 01U;
mcanBitTimingParams.dataPseg1 = 0x2U;
mcanBitTimingParams.dataPseg2 = 0x1U;
mcanBitTimingParams.dataSjw = 0x1U;

#endif
/* Configure the CAN driver */
retVal = CANFD_configBitTime(canHandle, &mcanBitTimingParams, &errCode);
if (retVal < 0)
{
System_printf ("Error: CANFD Module configure bit time failed [Error code %d]\n", errCode);
return ;
}

/* Setup the transmit message object */
txMsgObjectParams.direction = CANFD_Direction_TX;
txMsgObjectParams.msgIdType = CANFD_MCANXidType_29_BIT;
txMsgObjectParams.msgIdentifier = 0xD1;

txMsgObjHandle = CANFD_createMsgObject (canHandle, &txMsgObjectParams, &errCode);
if (txMsgObjHandle == NULL)
{
System_printf ("Error: CANFD create Tx message object failed [Error code %d]\n", errCode);
return ;
}

/* Setup the receive message object */
rxMsgObjectParams.direction = CANFD_Direction_RX;
rxMsgObjectParams.msgIdType = CANFD_MCANXidType_29_BIT;
rxMsgObjectParams.msgIdentifier = 0xD1;

rxMsgObjHandle = CANFD_createMsgObject(canHandle, &rxMsgObjectParams,
&errCode);
if (rxMsgObjHandle == NULL)
{
System_printf(
"Error: CANFD create Rx message object failed [Error code %d]\n",
errCode);
return;
}

}

Wesley He：

回复 Wesley He:

另外，CAN-FD管脚与板载SPI复用，需要检查是否有将CAN-FD的管脚引出？
指的是，是否有在EVM板上切换拨码开关选择或是使用电阻跳线。

user5921064：

回复 Wesley He:

我使用的是CAN-FD管脚，并且已经将拨码开关拨到了CAN-FD端。

user5921064：

回复 user5921064:

波特率也可以识别到，我用USB2CAN工具显示接收错误计数128，总线数据错误，错误报警，被动错误

Wesley He：

回复 user5921064:

请问你使用的是CAN-FD工具进行接收的吗？使用CAN-FD工具配合以下两篇文档中的示例代码，AWR1642发送，PC接收是测试过可行的。

CAN-FD是兼容普通CAN协议的。

可以查看一下这两份文档。

 

Adding CAN Tx and Rx to an Existing mmWave Project

http://www.ti.com/cn/lit/pdf/spracg9

CAN Node on AWR1642

http://www.ti.com/cn/lit/pdf/swra606

user5921064：

回复 Wesley He:

AWR1642应该使用的是CAN-FD，我就是按照你们的文档做的呀，但是没有DATA出来， 麻烦看下我的初始化有问题么

user5921064：

回复 Wesley He:

请教下SDK怎么编译呀

user5921064：

回复 user5921064:

调用CANFD_transmitData返回的errCode=-442503144