28377S,CAN通讯

我使用的例程是controlSUITE\device_support\F2837xS\v210\F2837xS_examples_Cpu1\can_loopback\cpu01\ccs

GPIO70 – CANRXA，GPIO71 – CANTXA

下载28377S板子（这个板子是自己设计开发，已经验证电路正常）后can无法通讯，

同一个例程，GPIO17 – CANRXA，GPIO12 – CANTXA，下载到28379DLaunchPad,可以通讯

是不是这个例程用70,71引脚不兼容，还有其他适用于28377S的CAN例程吗，引脚已经不能修改了。

还有其他地方需要修改吗，如图就是我修改的地方

Susan Yang：

请您看一下数据手册的

Table 4-1. Signal Descriptions

www.ti.com/…/tms320f28377s.pdf

在手册中描述： GPIO70 – CANRXA，GPIO71 – CANTXA

而 GPIO17GPIO12 的CANRXB/CANTXB

您还需要修改CANA_BASE为CANB_BASE

另外在controlSUITE\device_support\F2837xS\v210\F2837xS_examples_Cpu1\can_loopback\cpu01\ccs使用的是
GPIO_SetupPinMux(30, GPIO_MUX_CPU1, 1);//GPIO30 – CANRXAGPIO_SetupPinMux(31, GPIO_MUX_CPU1, 1);//GPIO31 – CANTXA

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user6346729：

CANA_BASE为CANB_BASE，我注意到了，已经修改过后测试，CAN通讯不上。

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Susan Yang：

我看您给出的截图内CANA的没有注释掉

能否使用右下角高级编辑器贴一下完整的代码吗？

,

user6346729：

/* * main.c * * Created on: 2021年1月8日 * Author: KXH */

//###########################################################################//// FILE: can_loopback.c//// TITLE: Example to demonstrate basic CAN setup and use.////! \addtogroup cpu01_example_list//! <h1>CAN External Loopback Using Driverlib (can_loopback)</h1>//!//! This example, using driverlib, shows the basic setup of CAN in order to//! transmit and receive messages on the CAN bus. The CAN peripheral is//! configured to transmit messages with a specific CAN ID. A message is then//! transmitted once per second, using a simple delay loop for timing. The//! message that is sent is a 4 byte message that contains an incrementing//! pattern. A CAN interrupt handler is used to confirm message transmission//! and count the number of messages that have been sent.//!//! This example sets up the CAN controller in External Loopback test mode.//! Data transmitted is visible on the CAN0TX pin and can be received with//! an appropriate mailbox configuration.//!////###########################################################################// $TI Release: F2837xS Support Library v210 $// $Release Date: Tue Nov 1 15:35:23 CDT 2016 $// $Copyright: Copyright (C) 2014-2016 Texas Instruments Incorporated -// http://www.ti.com/ ALL RIGHTS RESERVED $//###########################################################################

//// Included Files//#include "F28x_Project.h"#include <stdint.h>#include <stdbool.h>#include "inc/hw_types.h"#include "inc/hw_memmap.h"#include "inc/hw_can.h"#include "driverlib/can.h"

//// Globals//volatile unsigned long g_ulMsgCount = 0; // A counter that keeps track of the // number of times the transmit was // successful.volatile unsigned long g_bErrFlag = 0; // A flag to indicate that some // transmission error occurred.

//// Main//intmain(void){ tCANMsgObject sTXCANMessage; tCANMsgObject sRXCANMessage; unsigned char ucTXMsgData[8], ucRXMsgData[8]; int i=0; uint16_t time = 0;

// // Step 1. Initialize System Control: // PLL, WatchDog, enable Peripheral Clocks // This example function is found in the F2837xS_SysCtrl.c file. // InitSysCtrl();

// // Step 2. Initialize GPIO: // This example function is found in the F2837xS_Gpio.c file and // illustrates how to set the GPIO to its default state. // InitGpio(); EALLOW; //1、端口初始化 //2、端口方向 GpioCtrlRegs.GPADIR.bit.GPIO31 = 1; GpioCtrlRegs.GPBDIR.bit.GPIO34 = 1; EDIS;

// turn off LED….// LED1 = OFF;//blue// LED2 = ON;//red GpioDataRegs.GPADAT.bit.GPIO31 = 1; GpioDataRegs.GPBDAT.bit.GPIO34 = 0; GPIO_SetupPinMux(70, GPIO_MUX_CPU1, 1); //GPIO30 – CANRXA GPIO_SetupPinMux(71, GPIO_MUX_CPU1, 1); //GPIO31 – CANTXA GPIO_SetupPinOptions(70, GPIO_INPUT, GPIO_ASYNC); GPIO_SetupPinOptions(71, GPIO_OUTPUT, GPIO_PUSHPULL);// GPIO_SetupPinMux(17, GPIO_MUX_CPU1, 2); //GPIO17 – CANRXb// GPIO_SetupPinMux(12, GPIO_MUX_CPU1, 2); //GPIO12 – CANTXB// GPIO_SetupPinOptions(17, GPIO_INPUT, GPIO_ASYNC);// GPIO_SetupPinOptions(12, GPIO_OUTPUT, GPIO_PUSHPULL); // // Initialize the CAN controller // CANInit(CANA_BASE);// CANInit(CANB_BASE);

// // Setup CAN to be clocked off the M3/Master subsystem clock // CANClkSourceSelect(CANA_BASE, 0);// CANClkSourceSelect(CANB_BASE, 0);

// // Set up the bit rate for the CAN bus. This function sets up the CAN // bus timing for a nominal configuration. You can achieve more control // over the CAN bus timing by using the function CANBitTimingSet() instead // of this one, if needed. // In this example, the CAN bus is set to 500 kHz. In the function below, // the call to SysCtlClockGet() is used to determine the clock rate that0 // is used for clocking the CAN peripheral. This can be replaced with a // fixed value if you know the value of the system clock, saving the extra // function call. For some parts, the CAN peripheral is clocked by a fixed // 8 MHz regardless of the system clock in which case the call to // SysCtlClockGet() should be replaced with 8000000. Consult the data // sheet for more information about CAN peripheral clocking. // CANBitRateSet(CANA_BASE, 200000000, 1000000);// CANBitRateSet(CANB_BASE, 200000000, 1000000);

// // Step 3. Clear all interrupts and initialize PIE vector table: // Disable CPU interrupts // DINT;

// // Initialize the PIE control registers to their default state. // The default state is all PIE interrupts disabled and flags // are cleared. // This function is found in the F2837xS_PieCtrl.c file. // InitPieCtrl();

// // Disable CPU interrupts and clear all CPU interrupt flags: // IER = 0x0000; IFR = 0x0000;

// // Initialize the PIE vector table with pointers to the shell Interrupt // Service Routines (ISR). // This will populate the entire table, even if the interrupt // is not used in this example. This is useful for debug purposes. // The shell ISR routines are found in F2837xS_DefaultIsr.c. // This function is found in F2837xS_PieVect.c. // InitPieVectTable();

// // Enable test mode and select external loopback //// HWREG(CANA_BASE + CAN_O_CTL) |= CAN_CTL_TEST;// HWREG(CANA_BASE + CAN_O_TEST) = CAN_TEST_EXL;

// // Enable the CAN for operation. // CANEnable(CANA_BASE);// CANEnable(CANB_BASE);

// // Initialize the message object that will be used for sending CAN // messages. The message will be 4 bytes that will contain an incrementing // value. Initially it will be set to 0. // *(unsigned long *)ucTXMsgData = 0; sTXCANMessage.ui32MsgID = 1; // CAN message ID – use 1 sTXCANMessage.ui32MsgIDMask = 0; // no mask needed for TX sTXCANMessage.ui32Flags = MSG_OBJ_TX_INT_ENABLE; // enable interrupt on TX sTXCANMessage.ui32MsgLen = sizeof(ucTXMsgData); // size of message is 4 sTXCANMessage.pucMsgData = ucTXMsgData; // ptr to message content

// // Initialize the message object that will be used for receiving CAN // messages. // *(unsigned long *)ucRXMsgData = 0; sRXCANMessage.ui32MsgID = 1; // CAN message ID – use 1 sRXCANMessage.ui32MsgIDMask = 0; // no mask needed for TX sRXCANMessage.ui32Flags = MSG_OBJ_NO_FLAGS; sRXCANMessage.ui32MsgLen = sizeof(ucRXMsgData); // size of message is 4 sRXCANMessage.pucMsgData = ucRXMsgData; // ptr to message content

// // Setup the message object being used to receive messages // CANMessageSet(CANA_BASE, 2, &sRXCANMessage, MSG_OBJ_TYPE_RX);// CANMessageSet(CANB_BASE, 2, &sRXCANMessage, MSG_OBJ_TYPE_RX); // // Enter loop to send messages. A new message will be sent once per // second. The 4 bytes of message content will be treated as an unsigned // long and incremented by one each time. // for(;;) { // // Send the CAN message using object number 1 (not the same thing as // CAN ID, which is also 1 in this example). This function will cause // the message to be transmitted right away. //

time=time++; GpioDataRegs.GPATOGGLE.bit.GPIO31=1; GpioDataRegs.GPBTOGGLE.bit.GPIO34=1; ucTXMsgData[0]=01; ucTXMsgData[1]=01; ucTXMsgData[2]=01; ucTXMsgData[3]=01; ucTXMsgData[4]=01; ucTXMsgData[5]=01; ucTXMsgData[6]=01; ucTXMsgData[7]=01;

CANMessageSet(CANA_BASE, 1, &sTXCANMessage, MSG_OBJ_TYPE_TX);// CANMessageSet(CANB_BASE, 1, &sTXCANMessage, MSG_OBJ_TYPE_TX);

// // Now wait 1 second before continuing // DELAY_US(1000*100);

// // Get the receive message // CANMessageGet(CANA_BASE, 2, &sRXCANMessage, true);// CANMessageGet(CANB_BASE, 2, &sRXCANMessage, true);

// // Ensure the received data matches the transmitted data //// if((*(unsigned long *)ucTXMsgData) != (*(unsigned long *)ucRXMsgData))// {// asm(" ESTOP0");// }

// // Increment the value in the transmitted message data. //// (*(unsigned long *)ucTXMsgData)++; }}

//// End of file//

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Susan Yang：

请您之后使用右下角的“使用高级编辑器编辑文本”上传代码。

关于GPIO修改，请参考文档：