Can protocol communication using busmaster with maq

prasadrao — Sat, 09 Aug 2014 06:08:04 GMT

Hello All,

I am trying to communicate with busmasetr and k70 using can protocol with mqx but it's not working.

Busmaster coniniously sending the messages but i can not receive it.

the function result = FLEXCAN_Rx_message(CAN_DEVICE, RX_mailbox_num, &ID, format, &DLC, &dptr, interrupt); returning the no messages in the buffer.

please find the below code , any modifications required please suggest me.

Actually iam knew to mqx and can protocol.

#include<stdio.h>

#include <mqx.h>

#include <bsp.h>

#include <lwevent.h>

#include "test.h"

#ifndef PSP_MQX_CPU_IS_KINETIS

#include <flexcan.h>

#endif

#if ! BSPCFG_ENABLE_IO_SUBSYSTEM

#error This application requires BSPCFG_ENABLE_IO_SUBSYSTEM defined non-zero in user_config.h. Please recompile BSP with this option.

#endif

#ifndef BSP_DEFAULT_IO_CHANNEL_DEFINED

#error This application requires BSP_DEFAULT_IO_CHANNEL to be not NULL. Please set corresponding BSPCFG_ENABLE_TTYx to non-zero in user_config.h and recompile BSP with this option.

#endif

LWEVENT_STRUCT event;

/* Task template list */

TASK_TEMPLATE_STRUCT MQX_template_list[] = {

{ MAIN_TASK, Main_Task, 1000L, 8L, "Main task", MQX_AUTO_START_TASK},

/*{ TX_TASK, Tx_Task, 1000L, 7L, "TX task", 0, 0, 0},*/

{ RX_TASK, Rx_Task, 1000L, 7L, "RX task", 0, 0, 0},

{ 0L, 0L, 0L, 0L, 0L, 0L }

};

#if PSP_MQX_CPU_IS_KINETIS

void MY_FLEXCAN_ISR

(

/* [IN] FlexCAN base address */

pointer can_ptr

)

{

volatile CAN_MemMapPtr can_reg_ptr;

vuint_32 tmp_reg;

vuint_32 temp;

can_reg_ptr = (CAN_MemMapPtr)can_ptr;

/* get the interrupt flag */

tmp_reg = (can_reg_ptr->IFLAG1 & CAN_IMASK1_BUFLM_MASK);

// check Tx/Rx interrupt flag and clear the interrupt

if(tmp_reg){

/* clear the interrupt and unlock message buffer */

/* Start CR# 1751 */

_lwevent_set(&event, tmp_reg);

can_reg_ptr->IFLAG1 |= tmp_reg;

/* End CR# 1751 */

temp = can_reg_ptr->TIMER;

}/* Endif */

// Clear all other interrupts in ERRSTAT register (Error, Busoff, Wakeup)

tmp_reg = can_reg_ptr->ESR1;

if(tmp_reg & FLEXCAN_ALL_INT){

/* Start CR# 1751 */

can_reg_ptr->ESR1 |= (tmp_reg & FLEXCAN_ALL_INT);

/* End CR# 1751 */

} /* Endif */

return;

}

#else

void MY_FLEXCAN_ISR

(

/* [IN] FlexCAN base address */

pointer can_ptr

)

{

volatile FLEXCAN_REG_STRUCT_PTR can_reg_ptr;

vuint_32 tmp_reg;

vuint_32 temp;

can_reg_ptr = (FLEXCAN_REG_STRUCT_PTR)can_ptr;

/* get the interrupt flag */

tmp_reg = (can_reg_ptr->IFLAG & FLEXCAN_IMASK_VALUE);

// check Tx/Rx interrupt flag and clear the interrupt

if(tmp_reg){

/* clear the interrupt and unlock message buffer */

/* Start CR# 1751 */

_lwevent_set(&event, tmp_reg);

can_reg_ptr->IFLAG |= tmp_reg;

/* End CR# 1751 */

temp = can_reg_ptr->TIMER;

}/* Endif */

// Clear all other interrupts in ERRSTAT register (Error, Busoff, Wakeup)

tmp_reg = can_reg_ptr->ERRSTAT;

if(tmp_reg & FLEXCAN_ALL_INT){

/* Start CR# 1751 */

can_reg_ptr->ERRSTAT |= (tmp_reg & FLEXCAN_ALL_INT);

/* End CR# 1751 */

} /* Endif */

return;

}

#endif

/*TASK*-----------------------------------------------------------

* Task Name : Main_Task

* Comments :

*END*-----------------------------------------------------------*/

void Main_Task(uint_32 parameter)

{ /* Body */

_task_id created_task;

uint_32 result;

_int_install_unexpected_isr();

if (_bsp_flexcan_io_init(CAN_DEVICE) != 0)

{

printf ("\nError initializing pins for FlexCAN device %d!\n", CAN_DEVICE);

_task_block();

}

printf("\n*********FLEXCAN TEST PROGRAM.*********");

printf("\n Message format: Standard (11 bit id)");

printf("\n Message buffer 0 used for Tx and Rx.");

printf("\n Interrupt Mode: Enabled");

printf("\n Operation Mode: TX and RX --> Normal");

printf("\n***************************************\n");

frequency = 250;

printf("\nselected frequency (Kbps) is: %d", frequency);

data_len_code = 1;

printf("\nData length: %d", data_len_code);

/* Select message format */

format = FLEXCAN_STANDARD;

/* Select mailbox number */

//RX_mailbox_num = 0; just for checking purpose.

RX_mailbox_num = 1;

TX_mailbox_num = 1;

RX_remote_mailbox_num = 2;

TX_remote_mailbox_num = 3;

/*#if NODE==1

RX_identifier = 0x123;//0x123;

TX_identifier = 0x321;

RX_remote_identifier = 0x0F0;

TX_remote_identifier = 0x00F;

#else

RX_identifier = 0x321;

TX_identifier = 0x123;

RX_remote_identifier = 0x00F;

TX_remote_identifier = 0x0F0;

#endif */

RX_identifier = 0x123;

TX_identifier = 0x123;

RX_remote_identifier = 0x0F0;

TX_remote_identifier = 0x0F0;

/* We use default settings */

bit_timing0 = bit_timing1 = 0;

/* Select operation mode */

/*flexcan_mode = FLEXCAN_NORMAL_MODE;*/

flexcan_mode = FLEXCAN_LOOPBK_MODE;

/* Enable interrupt */

interrupt = FLEXCAN_ENABLE;

/* Enable error interrupt */

flexcan_error_interrupt = 1;

/* Reset FLEXCAN device */

result = FLEXCAN_Softreset ( CAN_DEVICE);

printf("\nFLEXCAN reset. result: 0x%lx", result);

/* Initialize FLEXCAN device */

result = FLEXCAN_Initialize ( CAN_DEVICE, bit_timing0, bit_timing1, frequency, FLEXCAN_IPBUS_CLK);

printf("\nFLEXCAN initilization. result: 0x%lx", result);

/* Select mode */

result = FLEXCAN_Select_mode( CAN_DEVICE, flexcan_mode);

printf("\nFLEXCAN mode selected. result: 0x%lx", result);

result = FLEXCAN_Set_global_stdmask (CAN_DEVICE, 0x222 );//

printf("\nFLEXCAN global mask. result: 0x%lx", result);

/* Enable error interrupts */

if(flexcan_error_interrupt == 1)

{

result = FLEXCAN_Install_isr_err_int( CAN_DEVICE, MY_FLEXCAN_ISR );

printf("\nFLEXCAN Error ISR install, result: 0x%lx", result);

result = FLEXCAN_Install_isr_boff_int( CAN_DEVICE, MY_FLEXCAN_ISR );

printf("\nFLEXCAN Bus off ISR install, result: 0x%lx", result);

result = FLEXCAN_Error_int_enable(CAN_DEVICE);

printf("\nFLEXCAN error interrupt enable. result: 0x%lx", result);

}

/* Set up an event group */

result = _lwevent_create(&event, LWEVENT_AUTO_CLEAR);

if (result != MQX_OK) {

printf("\nCannot create lwevent");

}

created_task = _task_create(0, RX_TASK, 0);

if (created_task == MQX_NULL_TASK_ID)

{

printf("\nRx task: task creation failed.");

}

/*created_task = _task_create(0, TX_TASK, 0);

if (created_task == MQX_NULL_TASK_ID)

{

printf("\nTx task: task creation failed.");

}*/

/* Start FLEXCAN */

result = FLEXCAN_Start(CAN_DEVICE);

printf("\nFLEXCAN started. result: 0x%lx", result);

// start the ping pong

while(1){}

} /* EndBody */

/*TASK*-----------------------------------------------------------

* Task Name : Tx_Task

* Comments :

*END*-----------------------------------------------------------*/

void Tx_Task(uint_32 parameter)

{/* Body */

uchar data = 0;

uint_32 result;

uchar string[] =

{

0xa, 0xb, 0xe, 0xc, 0xe, 0xd, 0xa, 0x0

};

result = FLEXCAN_Initialize_mailbox( CAN_DEVICE, TX_remote_mailbox_num, TX_remote_identifier,

8, FLEXCAN_TX, format,

interrupt);

printf("\nFLEXCAN tx remote mailbox initialization. result: 0x%lx", result);

/* Initialize mailbox */

result = FLEXCAN_Initialize_mailbox( CAN_DEVICE, TX_mailbox_num, TX_identifier,

data_len_code, FLEXCAN_TX, format,

interrupt);

printf("\nFLEXCAN tx mailbox initialization. result: 0x%lx", result);

result = FLEXCAN_Activate_mailbox(CAN_DEVICE, TX_mailbox_num, FLEXCAN_TX_MSG_BUFFER_NOT_ACTIVE);

printf("\nFLEXCAN tx mailbox activation. result: 0x%lx", result);

/* Install ISR */

if(interrupt == FLEXCAN_ENABLE)

{

result = FLEXCAN_Install_isr( CAN_DEVICE, TX_mailbox_num, MY_FLEXCAN_ISR );

printf("\nFLEXCAN TX ISR install. result: 0x%lx", result);

result = FLEXCAN_Install_isr( CAN_DEVICE, TX_remote_mailbox_num, MY_FLEXCAN_ISR );

printf("\nFLEXCAN TX remote ISR install. result: 0x%lx", result);

}

/* Let Rx Task start to initialize */

_time_delay(1000);

result = FLEXCAN_Tx_message(CAN_DEVICE, TX_mailbox_num, TX_identifier,

format, data_len_code, &data);

if(result != FLEXCAN_OK)

printf("\nTransmit error. Error Code: 0x%lx", result);

else

printf("\nData transmit: %d", data);

while(1)

{

/* Let Rx Task receive message */

_time_delay(1000);

data++;

result = FLEXCAN_Tx_mailbox(CAN_DEVICE, TX_mailbox_num, &data);

if(result != FLEXCAN_OK)

printf("\nTransmit error. Error Code: 0x%lx", result);

else

printf("\nData transmit: %d", data);

string[7] = data;

result = FLEXCAN_Update_message(CAN_DEVICE, string, 8, format, TX_remote_mailbox_num);

printf("\nFLEXCAN tx update message. result: 0x%lx", result);

}

} /* EndBody */

/*TASK*-----------------------------------------------------------

* Task Name : Rx_Task

* Comments :

*END*-----------------------------------------------------------*/

void Rx_Task(uint_32 parameter)

{/* Body */

//uchar dptr[8];

uchar dptr[8] = {0, 0, 0, 0, 0, 0, 0, 0};

uint_32 result = -1;

uint_32 DLC = 0;

uint_32 ID = 0;

result = FLEXCAN_Initialize_mailbox( CAN_DEVICE, RX_mailbox_num, RX_identifier,

8, FLEXCAN_RX, format,

interrupt);

printf("\nFLEXCAN rx remote mailbox initialization. result: 0x%lx", result);

/* Initialize mailbox */

/*result = FLEXCAN_Initialize_mailbox( CAN_DEVICE, RX_mailbox_num, RX_identifier,

data_len_code, FLEXCAN_RX, format,

interrupt);

printf("\nFLEXCAN rx mailbox initialization. result: 0x%lx", result);*/

result = FLEXCAN_Activate_mailbox(CAN_DEVICE, RX_mailbox_num, FLEXCAN_RX_MSG_BUFFER_EMPTY);

printf("\nFLEXCAN mailbox activation. result: 0x%lx", result);

/* Install ISR */

if(interrupt == FLEXCAN_ENABLE)

{

result = FLEXCAN_Install_isr( CAN_DEVICE, RX_mailbox_num, MY_FLEXCAN_ISR );

printf("\nFLEXCAN RX ISR install. result: 0x%lx", result);

/*result = FLEXCAN_Install_isr( CAN_DEVICE, RX_remote_mailbox_num, MY_FLEXCAN_ISR );

printf("\nFLEXCAN RX remote ISR install. result: 0x%lx", result);*/

}

if (_lwevent_wait_ticks(&event, 1 << RX_mailbox_num, FALSE, 1000) != MQX_OK) {

printf("\nEvent Wait failed");

}

result = FLEXCAN_Lock_mailbox (CAN_DEVICE, RX_mailbox_num);

if(result != FLEXCAN_OK)

{

printf("\nLock mailbox failed. Error Code: 0x%lx", result);

}

result = FLEXCAN_Rx_message(CAN_DEVICE, RX_mailbox_num, &ID, format,

&DLC, &dptr, interrupt);

if(result != FLEXCAN_OK)

printf("\nReceived error. Error Code: 0x%lx", result);

else

{

printf("\nReceived data: ");

for (result = 0; result < DLC; result++) printf ("0x%x ", dptr[result]);

printf("\nID is: 0x%x", ID);

printf("\nDLC is: 0x%x\n", DLC);

}

result = FLEXCAN_Unlock_mailbox (CAN_DEVICE);

if(result != FLEXCAN_OK)

{

printf("\nUnlock mailbox failed. Error Code: 0x%lx", result);

}

while(1)

{

if (_lwevent_wait_ticks(&event, 1 << RX_mailbox_num, FALSE, 1000) != MQX_OK) {

printf("\nEvent Wait failed");

}

_time_delay(1000);

result = FLEXCAN_Lock_mailbox (CAN_DEVICE, RX_mailbox_num);

if(result != FLEXCAN_OK)

{

printf("\nLock mailbox failed. Error Code: 0x%lx", result);

}

result = FLEXCAN_Rx_message(CAN_DEVICE, RX_mailbox_num, &ID, format,

&DLC, &dptr, interrupt);

if(result != FLEXCAN_OK)

{

if(result != FLEXCAN_OK)

{

printf("\nReceived error. Error Code: 0x%lx\n", result);

switch(result)

{

case FLEXCAN_MESSAGE_OVERWRITTEN:

printf("\nMessage overwritten\n");

break;

case FLEXCAN_INVALID_ADDRESS:

printf("\Wrong device Number\n");

break;

case FLEXCAN_INVALID_MAILBOX:

printf("\Wrong message box number\n");

break;

case FLEXCAN_NO_MESSAGE:

printf("\Mail box is empty\n");

break;

case FLEXCAN_MESSAGE_FORMAT_UNKNOWN:

printf("\Wrong msg format\n");

break;

}

printf("\nReceived error. Error Code: 0x%lx", result);

}

else

{

printf("\nReceived data: ");

for (result = 0; result < DLC; result++) printf ("0x%x ", dptr[result]);

printf("\nID is: 0x%x", ID);

printf("\nDLC is: 0x%x\n", DLC);

}

result = FLEXCAN_Unlock_mailbox (CAN_DEVICE);

if(result != FLEXCAN_OK)

{

printf("\nUnlock mailbox failed. Error Code: 0x%lx", result);

}

FLEXCAN_Request_message (CAN_DEVICE, RX_remote_mailbox_num, format);

}

result = FLEXCAN_Initialize_mailbox( CAN_DEVICE, RX_remote_mailbox_num, RX_remote_identifier,

8, FLEXCAN_TX, format,

interrupt);

printf("\nFLEXCAN rx remote mailbox initialization. result: 0x%lx", result);

} /* EndBody */

/* EOF */

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Can protocol communication using busmaster with maq

Re: Can protocol communication using busmaster with maq

Re: Can protocol communication using busmaster with maq