TMS320F280049: F280049 DCAN寄存器版收发问题

你好！附件是我使用寄存器配置F280049 DCAN收发的工程，但是收发失败，监控寄存器没有数据，请帮忙分析一下原因，看看配置哪里出了问题，谢谢！

Fu Mo：

#include "F28x_Project.h"
#include "device.h"
#include "math.h"///////////DCan////////////////////////////
typedef struct{Uint32 cob_id_ext:18;Uint32 cob_id:11;Uint32 rtr:1;Uint32 rsvd1:2;
}CanFrameIdStr;typedef union{Uint32 frame_id;CanFrameIdStr strct;
}CanFrameId;typedef struct{CanFrameId id;Uint8 len;Uint32hdata;Uint32ldata;
}CanFrame;//////////////////////////////////////////////////
void InitCan(void);int CanAppTx(int no,CanFrame *tx_frame);
int CanAppRx(int no,CanFrame *rx_frame);//
uint16_t Save_data;
uint16_t can_tx_result;
uint16_t can_rx_result;CanFrame tx_data;
CanFrame rx_data;void main(void)
{// 初始化时钟和外设 Initialize device clock and peripheralsDevice_init();// InitSysCtrl();//本工程不能使用寄存器的InitSysCtrl();函数初始化。/*//库函数版配置// 初始化GPIO并设置为推挽输出 Initialize GPIO and configure the GPIO pin as a push-pull outputDevice_initGPIO();*/InitGpio();//寄存器指令配置//InitCan();// 初始化PIE并清空PIE寄存器，关闭CPU中断// Initialize PIE and clear PIE registers. Disables CPU interrupts.Interrupt_initModule();// 初始化PIE向量表// 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;for(;;){//tx_data.ldata =0x1234;tx_data.hdata =0x4567;tx_data.len=8;tx_data.id.frame_id = 0x256;can_tx_result = CanAppTx(0,&tx_data);//can_rx_result = CanAppRx(0,&rx_data);}
}/////////////////////////////DCan////////////////////////////
void InitCan( void )
{int i;EALLOW;//引脚配置*************************************************//CAN_B_RX//mux = 2(0010)GpioCtrlRegs.GPAGMUX1.bit.GPIO13= 0x0;//10GpioCtrlRegs.GPAMUX1.bit.GPIO13= 0x2;//10GpioCtrlRegs.GPADIR.bit.GPIO13= 0x0; //设置为输入GpioCtrlRegs.GPAPUD.bit.GPIO13= 0x0; //使能上拉电阻//CAN_B_TX//mux = 2(0010)GpioCtrlRegs.GPAGMUX1.bit.GPIO12= 0x0;//10GpioCtrlRegs.GPAMUX1.bit.GPIO12= 0x2;//10GpioCtrlRegs.GPADIR.bit.GPIO12= 0x1; //设置为输出GpioCtrlRegs.GPAPUD.bit.GPIO12= 0x0; //使能上拉电阻//初始化开始*************************************************CanbRegs.CAN_CTL.bit.Init= 1;CanbRegs.CAN_CTL.bit.CCE= 1;/*设置寄存器写方向，将arb和mctl写入消息对象*///CAN_IF1CMDwhile(CanbRegs.CAN_IF1CMD.bit.Busy){;}CanbRegs.CAN_IF1CMD.bit.DIR= 1;CanbRegs.CAN_IF1CMD.bit.Mask= 1;CanbRegs.CAN_IF1CMD.bit.Arb= 1;CanbRegs.CAN_IF1CMD.bit.Control= 1;CanbRegs.CAN_IF1MSK.all= 0;CanbRegs.CAN_IF1ARB.bit.MsgVal= 1;CanbRegs.CAN_IF1MCTL.bit.UMask= 1;//CAN_IF2CMDwhile(CanbRegs.CAN_IF2CMD.bit.Busy){;}CanbRegs.CAN_IF2CMD.bit.DIR= 1;CanbRegs.CAN_IF2CMD.bit.Mask= 1;CanbRegs.CAN_IF2CMD.bit.Arb= 1;CanbRegs.CAN_IF2CMD.bit.Control= 1;CanbRegs.CAN_IF2MSK.all= 0;CanbRegs.CAN_IF2ARB.bit.MsgVal= 1;CanbRegs.CAN_IF2ARB.bit.Dir= 1;CanbRegs.CAN_IF2MCTL.bit.UMask= 1;CanbRegs.CAN_IF2MCTL.bit.RmtEn= 1;/*1-16是接收，17-32是发送*/for(i=1;i<=16;i++){CanbRegs.CAN_IF1CMD.bit.MSG_NUM =i;while(CanbRegs.CAN_IF1CMD.bit.Busy){;}CanbRegs.CAN_IF2CMD.bit.MSG_NUM =i + 16;while(CanbRegs.CAN_IF2CMD.bit.Busy){;}}/*最后一个设置为EOB,表示fifo的末尾*/CanbRegs.CAN_IF1MCTL.bit.EoB= 1;CanbRegs.CAN_IF2MCTL.bit.EoB= 1;CanbRegs.CAN_IF1CMD.bit.MSG_NUM =16;while(CanbRegs.CAN_IF1CMD.bit.Busy){;}CanbRegs.CAN_IF2CMD.bit.MSG_NUM =32;while(CanbRegs.CAN_IF2CMD.bit.Busy){;}/*设置寄存器读方向，清除mctl的intpnd和newdat位*/CanbRegs.CAN_IF1CMD.bit.TXRQST= 1;CanbRegs.CAN_IF1CMD.bit.ClrIntPnd= 1;CanbRegs.CAN_IF2CMD.bit.TxRqst= 1;CanbRegs.CAN_IF2CMD.bit.ClrIntPnd= 1;for(i=1;i<=16;i++){CanbRegs.CAN_IF1CMD.bit.MSG_NUM =i;while(CanbRegs.CAN_IF1CMD.bit.Busy){;}CanbRegs.CAN_IF2CMD.bit.MSG_NUM =i + 16;while(CanbRegs.CAN_IF2CMD.bit.Busy){;}}volatileUint32discardRead= CanbRegs.CAN_ES.all;//错误信息/*波特率设置500k*/ClkCfgRegs.CLKSRCCTL2.bit.CANBBCLKSEL = 0;//内部时钟100MHzCanbRegs.CAN_BTR.bit.BRP= 9;CanbRegs.CAN_BTR.bit.TSEG1= 10;CanbRegs.CAN_BTR.bit.TSEG2= 7;CanbRegs.CAN_BTR.bit.SJW=3;//CanbRegs.CAN_CTL.bit.DAR= 1;CanbRegs.CAN_CTL.bit.ABO= 1;//完成复位CanbRegs.CAN_CTL.bit.Init= 0;CanbRegs.CAN_CTL.bit.CCE= 0;EDIS;}
//*************接收数据***************************************
int CanAppTx(int no,CanFrame *tx_frame)
{Uint32 regbase;Uint32 cmd_regdata=0;Uint32 arb_regdata=0;Uint32 mctl_regdata=0;Uint32 dataA=0,dataB=0;int i,j;if(no==0){//regbase = CANA_BASE;}else{//regbase = CANB_BASE;}//错误复位if(CanbRegs.CAN_ES.bit.EWarn){CanbRegs.CAN_CTL.bit.Init = 1;CanbRegs.CAN_CTL.bit.SWR= 1;CanbRegs.CAN_CTL.bit.DAR= 1;CanbRegs.CAN_CTL.bit.ABO= 1;CanbRegs.CAN_CTL.bit.Init = 0;return(0);}//while(CanbRegs.CAN_IF1CMD.bit.Busy){;}CanbRegs.CAN_IF1CMD.bit.Arb= 1;CanbRegs.CAN_IF1CMD.bit.Mask= 1;CanbRegs.CAN_IF1CMD.bit.Control= 1;/*从17-32中寻找可以发送的邮箱*/for(i=17;i<=32;i++){CanbRegs.CAN_IF1CMD.bit.MSG_NUM = i;while(CanbRegs.CAN_IF1CMD.bit.Busy){;}if(CanbRegs.CAN_IF1MCTL.bit.TxRqst==0){break;}}if(i>=33){return(-1);}/*读取当前邮箱配置信息*/CanbRegs.CAN_IF1CMD.bit.Control = 1;CanbRegs.CAN_IF1CMD.bit.MSG_NUM = i;while(CanbRegs.CAN_IF1CMD.bit.Busy){;}//CanbRegs.CAN_IF1CMD.bit.DIR = 1;CanbRegs.CAN_IF1CMD.bit.Arb = 1;CanbRegs.CAN_IF1CMD.bit.Control = 1;CanbRegs.CAN_IF1CMD.bit.DATA_A =1;CanbRegs.CAN_IF1CMD.bit.DATA_B =1;if(tx_frame->id.strct.rtr==0){CanbRegs.CAN_IF1ARB.bit.Dir =1;CanbRegs.CAN_IF1ARB.bit.MsgVal =1;CanbRegs.CAN_IF1ARB.bit.ID = tx_frame->id.frame_id;CanbRegs.CAN_IF1MCTL.bit.TxRqst =0;CanbRegs.CAN_IF1MCTL.bit.DLC = tx_frame->len;CanbRegs.CAN_IF1MCTL.bit.TxRqst =1;//for(j=0;j<4;j++){dataA = dataA<<8;dataA |= (tx_frame->hdata>>(j<<3))&0x0FF;}for(j=0;j<4;j++){dataB = dataB<<8;dataB |= (tx_frame->ldata>>(j<<3))&0x0FF;}}else{CanbRegs.CAN_IF1MCTL.bit.DLC = tx_frame->len;CanbRegs.CAN_IF1MCTL.bit.TxRqst = 1;}//CanbRegs.CAN_IF1CMD.bit.MSG_NUM = i;while(CanbRegs.CAN_IF1CMD.bit.Busy){;}}//*************接收数据*******************************************
/*1---rcv ok 0---no msg -1---msg lost*/
int CanAppRx(int no,CanFrame *rx_frame)
{Uint32 cmd_regdata=0;Uint32 arb_regdata=0;Uint32 mctl_regdata=0;Uint32 regbase;int i,j;//错误复位if(CanbRegs.CAN_ES.bit.EWarn){CanbRegs.CAN_CTL.bit.Init = 1;CanbRegs.CAN_CTL.bit.SWR= 1;CanbRegs.CAN_CTL.bit.DAR= 1;CanbRegs.CAN_CTL.bit.ABO= 1;CanbRegs.CAN_CTL.bit.Init = 0;return(0);}//while(CanbRegs.CAN_IF2CMD.bit.Busy){;}CanbRegs.CAN_IF2CMD.bit.Arb= 1;CanbRegs.CAN_IF2CMD.bit.Control = 1;CanbRegs.CAN_IF2CMD.bit.DATA_A= 1;CanbRegs.CAN_IF2CMD.bit.DATA_B= 1;//for(i=1;i<=32;i++){CanbRegs.CAN_IF2CMD.bit.MSG_NUM = i;while(CanbRegs.CAN_IF2CMD.bit.Busy){;}if(CanbRegs.CAN_IF2MCTL.bit.NewDat !=0){break;}}//if(i>=17){return(0);}if(CanbRegs.CAN_IF2MCTL.bit.MsgLst!=0){return(-1);}//CanbRegs.CAN_IF2CMD.bit.Arb= 1;CanbRegs.CAN_IF2CMD.bit.Mask= 1;CanbRegs.CAN_IF2CMD.bit.Control = 1;CanbRegs.CAN_IF2CMD.bit.DATA_A= 1;CanbRegs.CAN_IF2CMD.bit.DATA_B= 1;CanbRegs.CAN_IF2CMD.bit.MSG_NUM = i;while(CanbRegs.CAN_IF2CMD.bit.Busy){;}//rx_frame->id.frame_id = 0;if(((CanbRegs.CAN_IF2ARB.bit.Dir)&&(!(CanbRegs.CAN_IF2MCTL.bit.TxRqst)))||((!(CanbRegs.CAN_IF2ARB.bit.Dir))&&(CanbRegs.CAN_IF2MCTL.bit.TxRqst))){rx_frame->id.strct.rtr = 1;}//rx_frame->id.frame_id |= CanbRegs.CAN_IF2ARB.bit.ID;//获取报文IDrx_frame->len= CanbRegs.CAN_IF2MCTL.bit.DLC; //获取报文长度//获取数据if(rx_frame->id.strct.rtr==0){for(j=0;j<4;j++){rx_frame->hdata= CanbRegs.CAN_IF2DATB.all;}for(j=0;j<4;j++){rx_frame->ldata = CanbRegs.CAN_IF2DATA.all;;}}else{rx_frame->hdata = 0;rx_frame->ldata = 0;}//CanbRegs.CAN_IF2CMD.bit.TxRqst = 1;CanbRegs.CAN_IF2CMD.bit.MSG_NUM = i;while(CanbRegs.CAN_IF2CMD.bit.Busy){;}return(1);}

,

Fu Mo：

8204.F280049C_Template.zip附件是整个工程，盼望回复，谢谢！

,

Green Deng：

你好，具体是transmit还是receive的寄存器没有反应？

一般这款芯片都是基于driverlib编写的，看寄存器的话得花点时间，你有大概的方向说明一下吗？

,

Fu Mo：

你好！收发寄存都没有数据。我是想参照库函数版本完成DCAN数据的收发功能，用1-16号邮箱作为接收，17-32号邮箱作为发送。其中发送时要先查询邮箱是否可用，不需要等待发送，譬如：当前是想用17号邮箱发送先看看17号邮箱是否空闲如果空闲就直接发送，如果17号邮箱正忙就自加到18号邮箱以此类推。谢谢！

,

Fu Mo：

7701.F280049C_Template.zip我对照手册发现了几个问题，并更新了代码，但是还是没能实现DCAN报文的发送和接收功能，请帮忙看看分析一下原因，谢谢！

,

Green Deng：

你好，因为没经手过这款芯片的DCAN寄存器方式编程，我将你的工程的关键代码发送到英文E2E论坛咨询了一下，但是对方也没给出具体的问题所在，但是给出了2点建议，你可以参考一下：

https://e2e.ti.com/support/microcontrollers/c2000-microcontrollers-group/c2000/f/c2000-microcontrollers-forum/1026132/tms320f280049-configure-can-module-in-register-mode 

,

Fu Mo：

好的，感谢。其实，硬件是没有问题的，通过库函数配置已经验证过没有问题，现在就是想通过寄存器来配置，可以跟英文E2E论坛人员沟通一下c200ware的demod都是库函数配置，能否把C200WARE里面的这些DEMO出个寄存器版本的，谢谢！

,

Green Deng：

其实有些模块是有寄存器版本的，比如SCI，寄l存器版本的例程可以在这个路径找到：C:\ti\c2000\C2000Ware_3_04_00_00\device_support\f28004x\examples

但是例程不多，而且没有CAN模块的，不知道后续会不会更新。