CodeWarrior for MCUのトピックRe: S08DZ60 MSCAN initialization

S08DZ60 MSCAN initialization

ohanica — Thu, 29 Oct 2020 08:40:42 GMT

Hello S08-prgrammers!

using the code generated by the device-initialization is not bad at all.

But I still have a problem with the MSCAN-initialization.

The generated code ist the following:

Code:

 /* ### Init_MSCAN init code */  /* CANCTL0: INITRQ=1 */  CANCTL0 |= (unsigned char)0x01;                                 while(!CANCTL1_INITAK) {             /* Wait for init acknowledge */  }  /* CANCTL1: CANE=1,CLKsrc=0,LOOPB=0,LISTEN=0,BORM=0,WUPM=0,SLPAK=0,INITAK=1 */  CANCTL1 = 0x91;   CANCTL1_LISTEN = 0;                                       /* CANBTR1: SAMP=0,TSEG22=0,TSEG21=0,TSEG20=0,TSEG13=0,TSEG12=0,TSEG11=0,TSEG10=1 */  CANBTR1 = 0x01;                                        /* CANBTR0: SJW1=0,SJW0=0,BRP5=0,BRP4=0,BRP3=0,BRP2=0,BRP1=0,BRP0=1 */  CANBTR0 = 0x01;                                        /* CANIDAC: IDAM1=0,IDAM0=1,IDHIT2=0,IDHIT1=0,IDHIT0=0 */  CANIDAC = 0x10;    CANIDAC_IDAM0=1;                                      /* CANIDAR0: AC7=0,AC6=0,AC5=0,AC4=0,AC3=0,AC2=0,AC1=0,AC0=0 */  CANIDAR0 = 0x00;                                        /* CANIDAR1: AC7=0,AC6=0,AC5=0,AC4=0,AC3=0,AC2=0,AC1=0,AC0=0 */  CANIDAR1 = 0x00;                                        /* CANIDAR2: AC7=0,AC6=0,AC5=0,AC4=0,AC3=0,AC2=0,AC1=0,AC0=0 */  CANIDAR2 = 0x00;                                        /* CANIDAR3: AC7=0,AC6=0,AC5=0,AC4=0,AC3=0,AC2=0,AC1=0,AC0=0 */  CANIDAR3 = 0x00;                                        /* CANIDAR4: AC7=0,AC6=0,AC5=0,AC4=0,AC3=0,AC2=0,AC1=0,AC0=0 */  CANIDAR4 = 0x00;                                        /* CANIDAR5: AC7=0,AC6=0,AC5=0,AC4=0,AC3=0,AC2=0,AC1=0,AC0=0 */  CANIDAR5 = 0x00;                                        /* CANIDAR6: AC7=0,AC6=0,AC5=0,AC4=0,AC3=0,AC2=0,AC1=0,AC0=0 */  CANIDAR6 = 0x00;                                        /* CANIDAR7: AC7=0,AC6=0,AC5=0,AC4=0,AC3=0,AC2=0,AC1=0,AC0=0 */  CANIDAR7 = 0x00;                                        /* CANIDMR0: AM7=0,AM6=0,AM5=0,AM4=0,AM3=0,AM2=0,AM1=0,AM0=0 */  CANIDMR0 = 0x00;                                        /* CANIDMR1: AM7=0,AM6=0,AM5=0,AM4=0,AM3=0,AM2=0,AM1=0,AM0=0 */  CANIDMR1 = 0x00;                                        /* CANIDMR2: AM7=0,AM6=0,AM5=0,AM4=0,AM3=0,AM2=0,AM1=0,AM0=0 */  CANIDMR2 = 0x00;                                        /* CANIDMR3: AM7=0,AM6=0,AM5=0,AM4=0,AM3=0,AM2=0,AM1=0,AM0=0 */  CANIDMR3 = 0x00;                                        /* CANIDMR4: AM7=0,AM6=0,AM5=0,AM4=0,AM3=0,AM2=0,AM1=0,AM0=0 */  CANIDMR4 = 0x00;                                        /* CANIDMR5: AM7=0,AM6=0,AM5=0,AM4=0,AM3=0,AM2=0,AM1=0,AM0=0 */  CANIDMR5 = 0x00;                                        /* CANIDMR6: AM7=0,AM6=0,AM5=0,AM4=0,AM3=0,AM2=0,AM1=0,AM0=0 */  CANIDMR6 = 0x00;                                        /* CANIDMR7: AM7=0,AM6=0,AM5=0,AM4=0,AM3=0,AM2=0,AM1=0,AM0=0 */  CANIDMR7 = 0x00;                                        /* CANCTL0: INITRQ=0 */  CANCTL0 &= (unsigned char)~0x01;                        // here's the PROBLEM PROBLEM PROBLEM LINE
 while(CANCTL1_INITAK) {              /* Wait for init exit */  }      /* CANCTL0: RXFRM=0,RXACT=0,CSWAI=0,SYNCH=0,TIME=0,WUPE=0,SLPRQ=0,INITRQ=0 */  CANCTL0 = 0x00;                                        /* CANRIER: WUPIE=0,CSCIE=0,RSTATE1=0,RSTATE0=0,TSTATE1=0,TSTATE0=0,OVRIE=0,RXFIE=0 */  CANRIER = 0x00;                                        /* CANTIER: TXEIE2=0,TXEIE1=0,TXEIE0=1 */  CANTIER = 0x01;                                        /* ### */

Everything seems to be okay, but when the code reaches the problem-line

while(CANCTL1_INITAK) { }

the program is hanging up, the INITAK-bit is never cleared (neither in background debug mode nor in normal run mode)... As this is a read-only bit it's a bit difficult to change it by hand ...

What is the reason for this bit to stay set forever? It's a standard MSCAN initialization code from the device-initialization tool however.

need some help!

Thanks,

Johannes

Re: S08DZ60 MSCAN initialization

ohanica — Thu, 19 Jul 2007 13:35:31 GMT

anybody any suggestions?

thanks,

Johannes

Re: S08DZ60 MSCAN initialization

Alban — Thu, 19 Jul 2007 15:09:53 GMT

Hello,

Yes, the suggestion is to look at what the bit means !

If you don't have a bus on which to synchronize, it won't work.
Otherwise it's almost in an instant.

Alban.

Re: S08DZ60 MSCAN initialization

ohanica — Thu, 19 Jul 2007 15:15:30 GMT

Hello Alban,

thanks for the reply!

I tried to run the program with the CANalyzer connected to the CAN-Port and which was turned on, so the bus is active. It did not work.

I guess it is that typical kind of problems where you don't think of the reason....

mg,

Johannes

Re: S08DZ60 MSCAN initialization

ohanica — Thu, 19 Jul 2007 16:29:09 GMT

Hello again!

I tried (nearly) everything. Running the program in debug-mode, normal run-mode, with and without connected bus, but it is not working. The only thing I didn't try is the way it works

The INITRQ and INITAK bits are set right from the beginning of the program. Before I enter the first line these two bits are already set. I can clear and set the INITRQ, but I cannot set the system such that it makes the INITAK=0. Which means the uC cannot synchronize/connect to the bus... The CANalyzer is on, and connected.

I've got not many ideas what to do now...

best,

Johannes

Re: S08DZ60 MSCAN initialization

Nouchi — Thu, 29 Oct 2020 08:40:43 GMT

Hello,

Small question :
Why did you enable LISTEN mode first, then disable it?

I did that (it's asm but easy to understand) and it works.

Code:

;*********************************************************************;*************************** Config CAN bus **************************;*********************************************************************;*********************************************************************;*    SYNC=1   *    PROPSEG = 2    *    PSEG1 = 6   *    PSEG 2 = 7  *;*********************************************************************;              <------------- TSEG1 = 8 ------------><-- TSEG2 = 7 -->;<------------------------ Bit Time = 16 x S ------------------------>;*********************************************************************        LDA   #mCANCTL0_INITRQ        STA   CANCTL0                   ; Mode Init rqstWaitInitMode:        LDA   CANCTL1                   ; Wait for init acknowledge        AND   #mCANCTL1_INITAK        BEQ   WaitInitMode        LDA   #$80                      ;        STA   CANCTL1                   ; Enable CAN in normal mode        LDA   #$67        STA   CANBTR1                   ; Set sampling point & TSEG fields        LDA   #$03        STA   CANBTR0                   ; Set Sync field & Baud rate        LDA   #$10        STA   CANIDAC                   ; Four 16bits acceptance filter        LDA   #$FE                      ;------------------        STA   CANIDAR0                  ;        STA   CANIDAR2                  ;        STA   CANIDAR4                  ;        STA   CANIDAR6                  ;Set Identifier        LDA   #$00                      ;acceptance register        STA   CANIDAR1                  ;        STA   CANIDAR3                  ;        STA   CANIDAR5                  ;        STA   CANIDAR7                  ;------------------        LDA   #$01                      ;        STA   CANIDMR0                  ;        STA   CANIDMR2                  ;        STA   CANIDMR4                  ;        STA   CANIDMR6                  ;Set acceptance mask register        LDA   #$FF                      ;            STA   CANIDMR1                  ;        STA   CANIDMR3                  ;        STA   CANIDMR5                  ;        STA   CANIDMR7                  ;------------------        CLRA        STA   CANCTL0                   ; enter run modeWaitInitAck:        LDA   CANCTL1                   ; Wait for init acknowledge cleared        AND   #mCANCTL1_INITAK        BNE   WaitInitAckWaitSyncCAN:        LDA   CANCTL0                   ; Wait for Synchro CAN         AND   #mCANCTL0_SYNCH        BEQ   WaitSyncCAN        BRA   BCKGND

Emmanuel

Re: S08DZ60 MSCAN initialization

Alban — Thu, 19 Jul 2007 17:21:23 GMT

Hello Manu (if I may)

I don't understand why you do that with the LISTEN mode.

Johannes,
Can you please tell me what the CANanalyzer reports ?
I'm thinking about frame errors or things like this.
Have you put 120Ohm resistors on your CAN bus ?
That would explain why the bus is not ready.

Have you checked your PHYsical interface cabling against an existing EVB ?

Indeed, that must be a simple hidden thing

Cheers,
Alban.

Re: S08DZ60 MSCAN initialization

Nouchi — Thu, 29 Oct 2020 08:40:46 GMT

Hi Alban,

Johannes wrote:

Code:

  CANCTL1 = 0x91;   CANCTL1_LISTEN = 0;

That's Enable CAN and Listen mode then disable listen mode, I just was asking why did he do that, he could write CANCTL1 = 0x80

Emmanuel

Re: S08DZ60 MSCAN initialization

ohanica — Thu, 29 Oct 2020 08:40:47 GMT

Hi,

thanks guys fo taking time to answer!

Indeed, the line with the LISTEN-mode is hand-written by me. I forgot to set the MSCAN to normal mode in the Device-Initialization and did it by hand afterwards. So the line

CANCTL1_LISTEN = 0;

is written by me.

I will have a look to the asm right now, I'm not so good in asm, but I think I'll understand that example.

What is really bothering me, is that the bit INITAK and INITRQ are set right after the uC-reset. that shouldn't be the case normally. I can write the INITRQ-bit to 0 or 1, but the INITAK is allways 1 and I cannot imagine why? Maybe something with my clock (MCG settings) is not ok?

heres the code (using external 4MHz oscillator), its from the Device Initialization tool as well:

Code:

 // ---------------- MCU init -------------------------------------------  /* ### MC9S08DZ60_64 "Cpu" init code ... */  /*  PE initialization code after reset */  /* Common initialization of the write once registers */  /* SOPT1: COPT=0,STOPE=0,SCI2PS=0,IICPS=0 */  SOPT1 = 0x00;                                        /* SOPT2: COPCLKS=0,COPW=0,ADHTS=0,MCSEL=0 */  SOPT2 = 0x00;                                        /* SPMSC1: LVWF=0,LVWACK=0,LVWIE=0,LVDRE=1,LVDSE=1,LVDE=1,BGBE=0 */  SPMSC1 = 0x1C;                                        /* SPMSC2: LVDV=0,LVWV=0,PPDF=0,PPDACK=0,PPDC=0 */  SPMSC2 = 0x00;                                        /*  System clock initialization */  MCGTRM = *(unsigned char*far)0xFFAF; /* Initialize MCGTRM register from a non volatile memory */  MCGSC = *(unsigned char*far)0xFFAE;  /* Initialize MCGSC register from a non volatile memory */  /* MCGC2: BDIV=1,RANGE=1,HGO=0,LP=0,EREFS=0,ERCLKEN=1,EREFSTEN=0 */  MCGC2 = 0x62;                        /* Set MCGC2 register */  /* MCGC1: CLKS=0,RDIV=0,IREFS=1,IRCLKEN=0,IREFSTEN=0 */  MCGC1 = 0x04;                        /* Set MCGC1 register */  /* MCGC3: LOLIE=0,PLLS=0,CME=0,VDIV=1 */  MCGC3 = 0x01;                        /* Set MCGC3 register */  while(!MCGSC_LOCK) {                 /* Wait until FLL is locked */  }    /* Common initialization of the CPU registers */  /* PTASE: PTASE7=1,PTASE6=1,PTASE5=1,PTASE4=1,PTASE3=1,PTASE2=1,PTASE1=1,PTASE0=1 */  PTASE = 0xFF;                                        /* PTBSE: PTBSE7=1,PTBSE6=1,PTBSE5=1,PTBSE4=1,PTBSE3=1,PTBSE2=1,PTBSE1=1,PTBSE0=1 */  PTBSE = 0xFF;                                        /* PTCSE: PTCSE7=1,PTCSE6=1,PTCSE5=1,PTCSE4=1,PTCSE3=1,PTCSE2=1,PTCSE1=1,PTCSE0=1 */  PTCSE = 0xFF;                                        /* PTDSE: PTDSE7=1,PTDSE6=1,PTDSE5=1,PTDSE4=1,PTDSE3=1,PTDSE2=1,PTDSE1=1,PTDSE0=1 */  PTDSE = 0xFF;                                        /* PTESE: PTESE7=1,PTESE6=1,PTESE5=1,PTESE4=1,PTESE3=1,PTESE2=1,PTESE0=1 */  //PTESE |= (unsigned char)0xFD;                                 /* PTFSE: PTFSE7=1,PTFSE6=1,PTFSE5=1,PTFSE4=1,PTFSE3=1,PTFSE2=1,PTFSE1=1,PTFSE0=1 */  PTFSE = 0xFF;                                        /* PTGSE: PTGSE5=1,PTGSE4=1,PTGSE3=1,PTGSE2=1,PTGSE1=1,PTGSE0=1 */  PTGSE |= (unsigned char)0x3F;                                 /* PTADS: PTADS7=0,PTADS6=0,PTADS5=0,PTADS4=0,PTADS3=0,PTADS2=0,PTADS1=0,PTADS0=0 */  PTADS = 0x00;                                        /* PTBDS: PTBDS7=0,PTBDS6=0,PTBDS5=0,PTBDS4=0,PTBDS3=0,PTBDS2=0,PTBDS1=0,PTBDS0=0 */  PTBDS = 0x00;                                        /* PTCDS: PTCDS7=0,PTCDS6=0,PTCDS5=0,PTCDS4=0,PTCDS3=0,PTCDS2=0,PTCDS1=0,PTCDS0=0 */  PTCDS = 0x00;                                        /* PTDDS: PTDDS7=0,PTDDS6=0,PTDDS5=0,PTDDS4=0,PTDDS3=0,PTDDS2=0,PTDDS1=0,PTDDS0=0 */  PTDDS = 0x00;                                        /* PTEDS: PTEDS7=0,PTEDS6=0,PTEDS5=0,PTEDS4=0,PTEDS3=0,PTEDS2=0,PTEDS1=0,PTEDS0=0 */  //PTEDS = 0x00;                                        /* PTFDS: PTFDS7=0,PTFDS6=0,PTFDS5=0,PTFDS4=0,PTFDS3=0,PTFDS2=0,PTFDS1=0,PTFDS0=0 */  PTFDS = 0x00;                                        /* PTGDS: PTGDS5=0,PTGDS4=0,PTGDS3=0,PTGDS2=0,PTGDS1=0,PTGDS0=0 */  PTGDS = 0x00;  // ---------------- MCU init -------------------------------------------

Maybe because of some clock setting, the MSCAN clock cannot synchronize with the bus clock?

thanks,
Johannes

Re: S08DZ60 MSCAN initialization

Alban — Thu, 19 Jul 2007 18:13:04 GMT

Hello,

The Bus synchro is not with the CPU Bus, but with the msCAN bus. This is not taking ages.
Can you look and confirm that your CAN bus is idle ? (=check that CANH and CANL are both high and that CANTX and CANRX are also HIGH).

Indeed, if you are in LISTEN mode, you won't transmit...

Cheers,
Alban.

Re: S08DZ60 MSCAN initialization

ohanica — Thu, 29 Oct 2020 08:40:49 GMT

Hello!

its been the clock setting for the uC. Now I'm using the initialization code below and things work. And MSCAN is working not bad at all

Code:

    // MCU/Board Specific configuration     SOPT1 = 0;                                                   //Multi-purpose Clock Generator config register2    //set HGO (high gain operation),EREFS (oscillator),ERCLKEN (ext clk reference enable)            MCGC2 |= 0x26;          //wait for oscillator to initialize    while(!MCGSC_OSCINIT);        //Multi-purpose Clock Generator config register1    MCGC1 = 0x00;        //wait until output of PLL is selected as clock mode    if(MCGSC & 0x0C)    {        for(;;)            ;                // Empty Body */    }

Thanks to the freescale support center for helping in this issue!

mg,

Johannes

Message Edited by ohanica on 2007-07-24 12:51 PM

Re: S08DZ60 MSCAN initialization

petr — Wed, 25 Jul 2007 14:07:08 GMT

Hello
Just a question. Do you use a crystal or external clock source? Did you set the correct option for the external clock source in the Device Initialization? From the code you sent previously I suspect that you did set the "External oscillator" option, not the probably correct "External crystal" option.
Regards
Petr

Re: S08DZ60 MSCAN initialization

Alban — Wed, 25 Jul 2007 19:24:38 GMT

Hi Petr,

His code posted is now working.

Cheers,
Alban.

Re: S08DZ60 MSCAN initialization

Pinak — Fri, 04 Jan 2013 15:45:42 GMT

The solution is, for s08 CAN module to initialise, the MCGERCLK bit in MCGC2 register should be set.