LPCXpresso54628_Two boards_CAN_Communication_MCUXpresso

Sam_B — Thu, 24 Nov 2022 18:54:19 GMT

Hello!

I am working with two #LPCXpresso54628 boards and trying to implement a CAN communication between them.

I implemented the following SDK example which used CAN0 with the aim of visualizing a message transmission, but the boards do not receive anything.

This is the code:

/* * Copyright (c) 2016, Freescale Semiconductor, Inc. * Copyright 2016-2021 NXP * All rights reserved. * * SPDX-License-Identifier: BSD-3-Clause */ #include "fsl_debug_console.h" #include "fsl_mcan.h" #include "pin_mux.h" #include "board.h" #include "stdlib.h" #include <stdbool.h> /******************************************************************************* * Definitions ******************************************************************************/ #define USE_CANFD (1U) /* * CAN_DATASIZE DLC BYTES_IN_MB * 8 8 kMCAN_8ByteDatafield * 12 9 kMCAN_12ByteDatafield * 16 10 kMCAN_16ByteDatafield * 20 11 kMCAN_20ByteDatafield * 24 12 kMCAN_24ByteDatafield * 32 13 kMCAN_32ByteDatafield * 48 14 kMCAN_48ByteDatafield * 64 15 kMCAN_64ByteDatafield * * CAN data size (pay load size), DLC and Bytes in Message buffer must align. * */ #define DLC (15) #define BYTES_IN_MB kMCAN_64ByteDatafield /* If not define USE_CANFD or define it 0, CAN_DATASIZE should be 8. */ #define CAN_DATASIZE (64U) /* If user need to auto execute the improved timming configuration. */ #define USE_IMPROVED_TIMING_CONFIG (1U) #define EXAMPLE_MCAN_IRQHandler CAN0_IRQ0_IRQHandler #define EXAMPLE_MCAN_IRQn CAN0_IRQ0_IRQn #define EXAMPLE_MCAN CAN0 #define MCAN_CLK_FREQ CLOCK_GetMCanClkFreq(0U) #define STDID_OFFSET (18U) #define STD_FILTER_OFS 0x0 #define RX_FIFO0_OFS 0x10U #define TX_BUFFER_OFS 0x20U #define MSG_RAM_SIZE (TX_BUFFER_OFS + 8 + CAN_DATASIZE) /******************************************************************************* * Prototypes ******************************************************************************/ /******************************************************************************* * Variables ******************************************************************************/ volatile bool txComplete = false; volatile bool rxComplete = false; mcan_tx_buffer_frame_t txFrame; mcan_rx_buffer_frame_t rxFrame; uint8_t tx_data[CAN_DATASIZE]; uint8_t rx_data[CAN_DATASIZE]; mcan_handle_t mcanHandle; mcan_buffer_transfer_t txXfer; mcan_fifo_transfer_t rxXfer; uint32_t txIdentifier; uint32_t rxIdentifier; #ifndef MSG_RAM_BASE /* The MCAN IP stipulates that the Message RAM start address must align with 0x10000, but in some devices, the single * available RAM block size is less than this value, so we must try to place the Message RAM variables at the start of * the RAM block to avoid memory overflow during link application. By default, the data section is before of the bss * section, so adds the initial value for Message RAM variables to confirm it be placed in the data section, and it must * be initialized with 0 before used. */ #if defined(__CC_ARM) || defined(__ARMCC_VERSION) /* The KEIL --sort=algorithm only impacts code sections, and the data sections is sorted by name, so by specifying the * memory as .data to ensure that it is put in the first place of RAM. */ __attribute__((aligned(1U << CAN_MRBA_BA_SHIFT), section(".data"))) uint8_t msgRam[MSG_RAM_SIZE] = {1U}; #else SDK_ALIGN(uint8_t msgRam[MSG_RAM_SIZE], 1U << CAN_MRBA_BA_SHIFT) = {1U}; #endif #else #define msgRam MSG_RAM_BASE #endif /******************************************************************************* * Code ******************************************************************************/ /*! * @brief MCAN Call Back function */ static void mcan_callback(CAN_Type *base, mcan_handle_t *handle, status_t status, uint32_t result, void *userData) { switch (status) { case kStatus_MCAN_RxFifo0Idle: { rxComplete = true; } break; case kStatus_MCAN_TxIdle: { txComplete = true; } break; default: break; } } /*! * @brief Main function */ int main(void) { mcan_config_t mcanConfig; mcan_frame_filter_config_t rxFilter; mcan_std_filter_element_config_t stdFilter; mcan_rx_fifo_config_t rxFifo0; mcan_tx_buffer_config_t txBuffer; uint8_t node_type; uint8_t numMessage = 0; uint8_t cnt = 0; /* Initialize board hardware. */ /* attach 12 MHz clock to FLEXCOMM0 (debug console) */ CLOCK_AttachClk(BOARD_DEBUG_UART_CLK_ATTACH); /* Set MCAN clock 220Mhz/11=20MHz. */ CLOCK_SetClkDiv(kCLOCK_DivCan0Clk, 11U, true); BOARD_InitBootPins(); BOARD_InitBootClocks(); BOARD_InitDebugConsole(); do { PRINTF("Please select local node as A or B:\r\n"); PRINTF("Note: Node B should start first.\r\n"); PRINTF("Node:"); node_type = GETCHAR(); PRINTF("%c", node_type); PRINTF("\r\n"); } while ((node_type != 'A') && (node_type != 'B') && (node_type != 'a') && (node_type != 'b')); /* Select mailbox ID. */ if ((node_type == 'A') || (node_type == 'a')) { txIdentifier = 0x321U; rxIdentifier = 0x123U; } else { txIdentifier = 0x123U; rxIdentifier = 0x321U; } /* Get MCAN module default Configuration. */ /* * mcanConfig.baudRate = 500000U; * mcanConfig.baudRateFD = 2000000U; * mcanConfig.enableCanfdNormal = false; * mcanConfig.enableCanfdSwitch = false; * mcanConfig.enableLoopBackInt = false; * mcanConfig.enableLoopBackExt = false; * mcanConfig.enableBusMon = false; */ MCAN_GetDefaultConfig(&mcanConfig); #if (defined(USE_CANFD) && USE_CANFD) /* Enable Bit Rate Switch to make baudRateD make sense.*/ mcanConfig.enableCanfdSwitch = true; #endif #if (defined(USE_IMPROVED_TIMING_CONFIG) && USE_IMPROVED_TIMING_CONFIG) mcan_timing_config_t timing_config; memset(&timing_config, 0, sizeof(timing_config)); #if (defined(USE_CANFD) && USE_CANFD) if (MCAN_FDCalculateImprovedTimingValues(mcanConfig.baudRateA, mcanConfig.baudRateD, MCAN_CLK_FREQ, &timing_config)) { /* Update the improved timing configuration*/ memcpy(&(mcanConfig.timingConfig), &timing_config, sizeof(mcan_timing_config_t)); } else { PRINTF("No found Improved Timing Configuration. Just used default configuration\r\n\r\n"); } #else if (MCAN_CalculateImprovedTimingValues(mcanConfig.baudRateA, MCAN_CLK_FREQ, &timing_config)) { /* Update the improved timing configuration*/ memcpy(&(mcanConfig.timingConfig), &timing_config, sizeof(mcan_timing_config_t)); } else { PRINTF("No found Improved Timing Configuration. Just used default configuration\r\n\r\n"); } #endif #endif MCAN_Init(EXAMPLE_MCAN, &mcanConfig, MCAN_CLK_FREQ); /* Create MCAN handle structure and set call back function. */ MCAN_TransferCreateHandle(EXAMPLE_MCAN, &mcanHandle, mcan_callback, NULL); /* Set Message RAM base address and clear to avoid BEU/BEC error. */ MCAN_SetMsgRAMBase(EXAMPLE_MCAN, (uint32_t)msgRam); memset((void *)msgRam, 0, MSG_RAM_SIZE * sizeof(uint8_t)); /* STD filter config. */ rxFilter.address = STD_FILTER_OFS; rxFilter.idFormat = kMCAN_FrameIDStandard; rxFilter.listSize = 1U; rxFilter.nmFrame = kMCAN_reject0; rxFilter.remFrame = kMCAN_rejectFrame; MCAN_SetFilterConfig(EXAMPLE_MCAN, &rxFilter); stdFilter.sfec = kMCAN_storeinFifo0; /* Classic filter mode, only filter matching ID. */ stdFilter.sft = kMCAN_classic; stdFilter.sfid1 = rxIdentifier; stdFilter.sfid2 = 0x7FFU; MCAN_SetSTDFilterElement(EXAMPLE_MCAN, &rxFilter, &stdFilter, 0); /* RX fifo0 config. */ rxFifo0.address = RX_FIFO0_OFS; rxFifo0.elementSize = 1U; rxFifo0.watermark = 0; rxFifo0.opmode = kMCAN_FifoBlocking; rxFifo0.datafieldSize = kMCAN_8ByteDatafield; #if (defined(USE_CANFD) && USE_CANFD) rxFifo0.datafieldSize = BYTES_IN_MB; #endif MCAN_SetRxFifo0Config(EXAMPLE_MCAN, &rxFifo0); /* TX buffer config. */ memset(&txBuffer, 0, sizeof(txBuffer)); txBuffer.address = TX_BUFFER_OFS; txBuffer.dedicatedSize = 1U; txBuffer.fqSize = 0; txBuffer.datafieldSize = kMCAN_8ByteDatafield; #if (defined(USE_CANFD) && USE_CANFD) txBuffer.datafieldSize = BYTES_IN_MB; #endif MCAN_SetTxBufferConfig(EXAMPLE_MCAN, &txBuffer); /* Finish software initialization and enter normal mode, synchronizes to CAN bus, ready for communication */ MCAN_EnterNormalMode(EXAMPLE_MCAN); if ((node_type == 'A') || (node_type == 'a')) { PRINTF("Press any key to trigger one-shot transmission\r\n\r\n"); } else { PRINTF("Start to Wait data from Node A\r\n\r\n"); } while (1) { if ((node_type == 'A') || (node_type == 'a')) { GETCHAR(); /* Config TX frame data. */ memset(tx_data, 0, sizeof(uint8_t) * CAN_DATASIZE); for (cnt = 0; cnt < CAN_DATASIZE; cnt++) { tx_data[cnt] = cnt; } tx_data[0] = numMessage++; txFrame.xtd = kMCAN_FrameIDStandard; txFrame.rtr = kMCAN_FrameTypeData; txFrame.fdf = 0; txFrame.brs = 0; txFrame.dlc = 8U; txFrame.id = txIdentifier << STDID_OFFSET; txFrame.data = tx_data; txFrame.size = CAN_DATASIZE; #if (defined(USE_CANFD) && USE_CANFD) txFrame.fdf = 1; txFrame.brs = 1; txFrame.dlc = DLC; #endif txXfer.frame = &txFrame; txXfer.bufferIdx = 0; MCAN_TransferSendNonBlocking(EXAMPLE_MCAN, &mcanHandle, &txXfer); while (!txComplete) { } txComplete = false; /* Start receive data through Rx FIFO 0. */ memset(rx_data, 0, sizeof(uint8_t) * CAN_DATASIZE); /* the MCAN engine can't auto to get rx payload size, we need set it. */ rxFrame.size = CAN_DATASIZE; rxXfer.frame = &rxFrame; MCAN_TransferReceiveFifoNonBlocking(EXAMPLE_MCAN, 0, &mcanHandle, &rxXfer); /* Wait until message received. */ while (!rxComplete) { } rxComplete = false; /* After call the API of rMCAN_TransferReceiveFifoNonBlocking success, we can * only get a point (rxFrame.data) to the fifo reading entrance. * Copy the received frame data from the FIFO by the pointer(rxFrame.data). */ memcpy(rx_data, rxFrame.data, rxFrame.size); PRINTF("Received Frame ID: 0x%x\r\n", rxFrame.id >> STDID_OFFSET); PRINTF("Received Frame DATA: "); cnt = 0; while (cnt < rxFrame.size) { PRINTF("0x%x ", rx_data[cnt++]); } PRINTF("\r\n"); PRINTF("Press any key to trigger the next transmission!\r\n\r\n"); } else { memset(rx_data, 0, sizeof(uint8_t) * CAN_DATASIZE); /* the MCAN engine can't auto to get rx payload size, we need set it. */ rxFrame.size = CAN_DATASIZE; rxXfer.frame = &rxFrame; MCAN_TransferReceiveFifoNonBlocking(EXAMPLE_MCAN, 0, &mcanHandle, &rxXfer); while (!rxComplete) { } rxComplete = false; /* After call the API of rMCAN_TransferReceiveFifoNonBlocking success, we can * only get a point (rxFrame.data) to the fifo reading entrance. * Copy the received frame data from the FIFO by the pointer(rxFrame.data). */ memcpy(rx_data, rxFrame.data, rxFrame.size); PRINTF("Received Frame ID: 0x%x\r\n", rxFrame.id >> STDID_OFFSET); PRINTF("Received Frame DATA: "); cnt = 0; while (cnt < rxFrame.size) { PRINTF("0x%x ", rx_data[cnt++]); } PRINTF("\r\n"); /* Copy received frame data to tx frame. */ memcpy(tx_data, rx_data, CAN_DATASIZE); txFrame.xtd = rxFrame.xtd; txFrame.rtr = rxFrame.rtr; txFrame.fdf = rxFrame.fdf; txFrame.brs = rxFrame.brs; txFrame.dlc = rxFrame.dlc; txFrame.id = txIdentifier << STDID_OFFSET; txFrame.data = tx_data; txFrame.size = rxFrame.size; txXfer.frame = &txFrame; txXfer.bufferIdx = 0; MCAN_TransferSendNonBlocking(EXAMPLE_MCAN, &mcanHandle, &txXfer); while (!txComplete) { } txComplete = false; PRINTF("Wait Node A to trigger the next transmission!\r\n\r\n"); } } }

This example links the boards between Node A (Transmitter) and Node B (Receiver) whose functionality is to send a value from the keyboard and then show it on the console, but it does not work.

I attach an image of the console messages.

Board 1:

Board 2:

I will thanks if someone could support me.

topic LPCXpresso54628_Two boards_CAN_Communication_MCUXpresso in LPC Microcontrollers

LPCXpresso54628_Two boards_CAN_Communication_MCUXpresso