TMS570LC4357: How CAN communicates properly with external debugging tools

This is  my test code:

/** @file HL_sys_main.c 
*@brief Application main file
*@date 11-Dec-2018
*@version 04.07.01
*
*This file contains an empty main function,
*which can be used for the application.
*/

/* 
* Copyright (C) 2009-2018 Texas Instruments Incorporated - www.ti.com  
* 
* 
*  Redistribution and use in source and binary forms, with or without 
*  modification, are permitted provided that the following conditions 
*  are met:
*
*Redistributions of source code must retain the above copyright 
*notice, this list of conditions and the following disclaimer.
*
*Redistributions in binary form must reproduce the above copyright
*notice, this list of conditions and the following disclaimer in the 
*documentation and/or other materials provided with the
*distribution.
*
*Neither the name of Texas Instruments Incorporated nor the names of
*its contributors may be used to endorse or promote products derived
*from this software without specific prior written permission.
*
*  THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS 
*  "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT 
*  LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR
*  A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT 
*  OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, 
*  SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT 
*  LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS OF USE,
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*  OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
*
*/


/* USER CODE BEGIN (0) */
#include "HL_can.h"
/* USER CODE END */

/* Include Files */

#include "HL_sys_common.h"

/* USER CODE BEGIN (1) */
#define D_COUNT  512
uint32 cnt=0, error =0, tx_done =0;	//cnt-计数 error--错误计数 tx_done--发送标志位
uint8 tx_data[8] = {0,1,2,3,4,5,6,7};	//发送缓冲区
uint8 rx_data[8] = {0};	//接收缓冲区
/*缓冲区重定向*/
uint8 *tx_ptr = NULL;
uint8 *rx_ptr = NULL;

uint8 *dptr=0;			//组包时使用

uint16 round_cnt = 0;	//初始化值

//void dumpSomeData(uint32 tmp);	//组包函数 测试用
/* USER CODE END */

/** @fn void main(void)
*@brief Application main function
*@note This function is empty by default.
*
*This function is called after startup.
*The user can use this function to implement the application.
*/

/* USER CODE BEGIN (2) */
void smallDelay(uint32 num) {volatile unsigned int delayval;delayval = num;while(delayval--);// 800000大约168ms	1ms 大约 4762
}
/* USER CODE END */

int main(void)
{
/* USER CODE BEGIN (3) */uint8 *tx_ptr = &(tx_data[0]);uint8 *rx_ptr = &(rx_data[0]);canInit();
//  dumpSomeData(cnt);smallDelay(4762);canTransmit(canREG1, canMESSAGE_BOX2, tx_ptr);	//发送到外部调试助手while(1)
	{while(!canIsRxMessageArrived(canREG1, canMESSAGE_BOX2));canGetData(canREG1, canMESSAGE_BOX2, rx_ptr);smallDelay(4762);//将接收到的数据发送出去canTransmit(canREG1, canMESSAGE_BOX2, rx_ptr);//发送到外部调试助手
	}
/* USER CODE END */return 0;
}


/* USER CODE BEGIN (4) */

/* USER CODE END */

Alice：

Hello ，

    HALCoGen contains several step-by-step example projects including CAN example.

    They can be located in HALCoGen by going to Help -> Examples, or Help -> Help Topics -> Contents -> Examples.

    There is FAQ for development resource , including CAN example code also.

    [FAQ] TMS570LC4357: Examples and Demos available for Hercules Controllers (E.g. TMS570x, RM57x and RM46x etc) – Arm-based microcontrollers forum – Arm-based microcontrollers – TI E2E support forums

     If you have further concern , please review the user guide linked below.

    2.1. Description — Hercules Safety MCUs Documentation

,

xy s：

Hello Alice.

      Thank you for your reply.I want to know what configuration I need if I want to communicate with USB_CAN Tool in order to communicate successfully.

       I have tried the baud rate 500K.As in my code above, the USB_CAN tool cannot receive the message sent, and the development board cannot receive the message sent by the USB_CAN tool.The CAN bus mode I configured is normal.There is a CAN transceiver on the development board, the model is SN65HVDA541.

     This is my configuration code:

 

void canInit(void)
{
/* USER CODE BEGIN (4) */
/* USER CODE END *//** @b Initialize @b CAN2: *//** - Setup control register*- Disable automatic wakeup on bus activity*- Local power down mode disabled*- Disable DMA request lines*- Enable global Interrupt Line 0 and 1*- Disable debug mode*- Release from software reset*- Enable/Disable parity or ECC*- Enable/Disable auto bus on timer*- Setup message completion before entering debug state*- Setup normal operation mode*- Request write access to the configuration registers*- Setup automatic retransmission of messages*- Disable error interrupts*- Disable status interrupts*- Enter initialization mode*/canREG2->CTL = (uint32)0x00000200U| (uint32)0x00000000U| (uint32)((uint32)0x00000005U << 10U)| 0x00020043U;/** - Clear all pending error flags and reset current status */canREG2->ES |= 0xFFFFFFFFU;/** - Assign interrupt level for messages */canREG2->INTMUXx[0U] = (uint32)0x00000000U| (uint32)0x00000000U| (uint32)0x00000000U| (uint32)0x00000000U| (uint32)0x00000000U| (uint32)0x00000000U| (uint32)0x00000000U| (uint32)0x00000000U| (uint32)0x00000000U| (uint32)0x00000000U| (uint32)0x00000000U| (uint32)0x00000000U| (uint32)0x00000000U| (uint32)0x00000000U| (uint32)0x00000000U| (uint32)0x00000000U| (uint32)0x00000000U| (uint32)0x00000000U| (uint32)0x00000000U| (uint32)0x00000000U| (uint32)0x00000000U| (uint32)0x00000000U| (uint32)0x00000000U| (uint32)0x00000000U| (uint32)0x00000000U| (uint32)0x00000000U| (uint32)0x00000000U| (uint32)0x00000000U| (uint32)0x00000000U| (uint32)0x00000000U| (uint32)0x00000000U| (uint32)0x00000000U;canREG2->INTMUXx[1U] = (uint32)0x00000000U| (uint32)0x00000000U| (uint32)0x00000000U| (uint32)0x00000000U| (uint32)0x00000000U| (uint32)0x00000000U| (uint32)0x00000000U| (uint32)0x00000000U| (uint32)0x00000000U| (uint32)0x00000000U| (uint32)0x00000000U| (uint32)0x00000000U| (uint32)0x00000000U| (uint32)0x00000000U| (uint32)0x00000000U| (uint32)0x00000000U| (uint32)0x00000000U| (uint32)0x00000000U| (uint32)0x00000000U| (uint32)0x00000000U| (uint32)0x00000000U| (uint32)0x00000000U| (uint32)0x00000000U| (uint32)0x00000000U| (uint32)0x00000000U| (uint32)0x00000000U| (uint32)0x00000000U| (uint32)0x00000000U| (uint32)0x00000000U| (uint32)0x00000000U| (uint32)0x00000000U| (uint32)0x00000000U;/** - Setup auto bus on timer period */canREG2->ABOTR = (uint32)15U;/** - Initialize message 1*- Wait until IF1 is ready for use*- Set message mask*- Set message control word*- Set message arbitration*- Set IF1 control byte*- Set IF1 message number*//*SAFETYMCUSW 28 D MR:NA <APPROVED> "Potentially infinite loop found - Hardware Status check for execution sequence" */while ((canREG2->IF1STAT & 0x80U) ==0x80U){} /* Wait */canREG2->IF1MSK= 0xC0000000U | (uint32)((uint32)((uint32)0x00000000U & (uint32)0x000007FFU) << (uint32)18U);canREG2->IF1ARB= (uint32)0x80000000U | (uint32)0x00000000U | (uint32)0x20000000U | (uint32)((uint32)((uint32)1U & (uint32)0x000007FFU) << (uint32)18U);canREG2->IF1MCTL = 0x00001000U | (uint32)0x00000000U | (uint32)0x00000000U | (uint32)0x00000000U | (uint32)8U;canREG2->IF1CMD= (uint8) 0xF8U;canREG2->IF1NO= 1U;/** - Initialize message 2*- Wait until IF2 is ready for use*- Set message mask*- Set message control word*- Set message arbitration*- Set IF2 control byte*- Set IF2 message number*//*SAFETYMCUSW 28 D MR:NA <APPROVED> "Potentially infinite loop found - Hardware Status check for execution sequence" */while ((canREG2->IF2STAT & 0x80U) ==0x80U){} /* Wait */canREG2->IF2MSK= 0xC0000000U | (uint32)((uint32)((uint32)0x00000000U & (uint32)0x000007FFU) << (uint32)18U);canREG2->IF2ARB= (uint32)0x80000000U | (uint32)0x00000000U | (uint32)0x00000000U | (uint32)((uint32)((uint32)2U & (uint32)0x000007FFU) << (uint32)18U);canREG2->IF2MCTL = 0x00001000U | (uint32)0x00000000U | (uint32)0x00000000U | (uint32)0x00000000U | (uint32)8U;canREG2->IF2CMD= (uint8) 0xF8U;canREG2->IF2NO= 2U;/** - Setup IF1 for data transmission*- Wait until IF1 is ready for use*- Set IF1 control byte*//*SAFETYMCUSW 28 D MR:NA <APPROVED> "Potentially infinite loop found - Hardware Status check for execution sequence" */while ((canREG2->IF1STAT & 0x80U) ==0x80U){} /* Wait */canREG2->IF1CMD= 0x87U;/** - Setup IF2 for reading data*- Wait until IF1 is ready for use*- Set IF1 control byte*//*SAFETYMCUSW 28 D MR:NA <APPROVED> "Potentially infinite loop found - Hardware Status check for execution sequence" */while ((canREG2->IF2STAT & 0x80U) ==0x80U){} /* Wait */canREG2->IF2CMD = 0x17U;/** - Setup bit timing*- Setup baud rate prescaler extension*- Setup TSeg2*- Setup TSeg1*- Setup sample jump width*- Setup baud rate prescaler*/canREG2->BTR = (uint32)((uint32)0U << 16U) |(uint32)((uint32)(4U - 1U) << 12U) |(uint32)((uint32)((6U + 4U) - 1U) << 8U) |(uint32)((uint32)(4U - 1U) << 6U) |(uint32)9U;/** - CAN2 Port output values */canREG2->TIOC =(uint32)((uint32)1U<< 18U )| (uint32)((uint32)0U<< 17U )| (uint32)((uint32)0U<< 16U )| (uint32)((uint32)1U<< 3U )| (uint32)((uint32)0U<< 2U )| (uint32)((uint32)0U << 1U );canREG2->RIOC =(uint32)((uint32)1U<< 18U )| (uint32)((uint32)0U<< 17U )| (uint32)((uint32)0U<< 16U )| (uint32)((uint32)1U<< 3U )| (uint32)((uint32)0U<< 2U )| (uint32)((uint32)0U <<1U );/** - Leave configuration and initialization mode*/canREG2->CTL &= ~(uint32)(0x00000041U);/**@note This function has to be called before the driver can be used.\n*This function has to be executed in privileged mode.\n*//* USER CODE BEGIN (5) */
/* USER CODE END */
}

and Circuit diagram:

I have no problem using cases to communicate between CAN1 and CAN2.However, communication with the USB_CAN Tool failed.

Is it the problem of my configuration of CAN module? How do I configure to properly communicate with USB_CAN Tool?

   Looking forward to your reply.Thanks !

          Alice

,

Alice：

Hello，

      Unfortunately, We  do not familiar with "USB_CAN Tool" you noted.

     Please use the CAN demo in last reply to test your hardware.