FLEXCAN configuration MCF5233x

[juasago]

Hi everyone,
I'm initiaitng with Coldfire processors and I've been trying to initiate MCF5233x FlexCAN(I'm using M52335EVB board) and don't enable CAN buffers interrrupts.

I' ve made the code for CAN bus for 50Kbs Baudrate, see below, with Coldfire Initialisation program of MicroAPL and with the reference of TCP/IP stack Coldfire Lite CW64. I send a message and the FlexCAN can read it. Besides I debug the program and the IMRL1 is 0xFFFFFFFF, IPRL1 0X0, with this parameters Is it imposible that CAN buffer interruption is enabled?

Can anyone help me to start CAN bus?
Thanks in advance.

Code:

Interrupts TABLE/* File: vectors.s * Purpose: MCF5223 vector table *///#define __GNUC__ #ifdef __GNUC__ /* { */#define sr %sr#define _ethernet_handler ethernet_handler#define _irq_handler      irq_handler#define _timer_isr    timer_isr#define _uart0_isr    uart0_isr#define _BUF0I_handler BUF0I_handler#define _BUF1I_handler BUF1I_handler#define _BUF2I_handler BUF2I_handler#define _BUF3I_handler BUF3I_handler#define _BUF4I_handler BUF4I_handler#define _BUF5I_handler BUF5I_handler#define _BUF6I_handler BUF6I_handler#define _BUF7I_handler BUF7I_handler#define _BUF8I_handler BUF8I_handler#define _BUF9I_handler BUF9I_handler#define _BUF10I_handler BUF10I_handler#define _BUF11I_handler BUF11I_handler#define _BUF12I_handler BUF12I_handler#define _BUF13I_handler BUF13I_handler#define _BUF14I_handler BUF14I_handler#define _BUF15I_handler BUF15I_handler#endif /* } __GNUC__ */ .global VECTOR_TABLE .global _VECTOR_TABLE .global start .global asm_int_off .global _asm_int_off .global asm_int_on .global _asm_int_on    .extern ___SP_INIT .extern _asm_startmeup .extern _asm_exception_handler .extern _irq_handler .extern _ethernet_handler .extern _timer_isr .extern _ephy_handler .extern _uart0_isr .extern _uart1_isr .extern _fec_isr .extern_BUF0I_handler .extern _BUF1I_handler     .extern_BUF2I_handler .extern _BUF3I_handler .extern_BUF4I_handler .extern_BUF5I_handler .extern_BUF6I_handler .extern_BUF7I_handler .extern_BUF8I_handler .extern_BUF9I_handler .extern_BUF10I_handler .extern_BUF11I_handler .extern_BUF12I_handler     .extern_BUF13I_handler .extern_BUF14I_handler .extern_BUF15I_handler .textvector88: .long _BUF0I_handlervector89: .long _BUF1I_handlervector8A: .long _BUF2I_handlervector8B: .long _BUF3I_handlervector8C: .long _BUF4I_handlervector8D: .long _BUF5I_handlervector8E: .long _BUF6I_handlervector8F: .long _BUF7I_handlervector90: .long _BUF8I_handlervector91: .long _BUF9I_handlervector92: .long _BUF10I_handlervector93: .long _BUF11I_handlervector94: .long _BUF12I_handlervector95: .long _BUF13I_handlervector96: .long _BUF14I_handlervector97: .long _BUF15I_handler__interrupt__ void BUF0I_handler(void); . . . .__interrupt__ void BUF15I_handler(void);Initialize CAN bus, with coldfire Init of MICROAPL/* Pin assignments for port AS            Pin AS3 : GPIO input            Pin AS2 : GPIO input            Pin AS1 : FlexCAN receive data, CANRX            Pin AS0 : FlexCAN transmit data, CANTX */    MCF_GPIO_DDRAS = 0;    MCF_GPIO_PASPAR = MCF_GPIO_PASPAR_PASPAR1(0x2) |                      MCF_GPIO_PASPAR_PASPAR0(0x2);/#define FLEXCAN_BUFFERS ((unsigned long) &CANMCR + 0x80)/ FlexCAN Message Buffer 0 is receive buffer. Message ID = xxxxxxxxxxx  xx11111111xxxxxxxx */ * (vuint32 *) FLEXCAN_BUFFERS = 0x00000000;   /* Make buffer inactive */ * (vuint32 *) (FLEXCAN_BUFFERS + 0x4) = 0x0000ff00; /* Initialise extended ID */ * (vuint32 *) FLEXCAN_BUFFERS = 0x04280000;   /* Initialise code and status */ IMASK = IMASK_BUF(15) |                    IMASK_BUF(14) |                    IMASK_BUF(13) |                    IMASK_BUF(12) |                    IMASK_BUF(11) |                    IMASK_BUF(10) |                    IMASK_BUF(9)  |                    IMASK_BUF(8)  |                    IMASK_BUF(7)  |                    IMASK_BUF(6)  |                    IMASK_BUF(5)  |                    IMASK_BUF(4)  |                    IMASK_BUF(3)  |                    IMASK_BUF(2)  |                    IMASK_BUF(1)  |                    IMASK_BUF(0);   RXGMASK =  RXGMASK_MI(0xff00);   RX14MASK = RX14MASK_MI(0xf000);   RX15MASK = RX15MASK_MI(0xf00);   CANCTRL =  CANCTRL_PRESDIV(0x3b) |              CANCTRL_PSEG1(0x1)    |              CANCTRL_PSEG2(0x1)    |              CANCTRL_CLK_SRC       |              CANCTRL_PROPSEG(0x4);    CANMCR  | =   CANMCR_MAXMB(0xf);    CANMCR &= ~(CANMCR_FRZ | CANMCR_HALT);    // leave freeze mode and start Controller interrupt initialization.void init_interrupt_controller (void){char i; for (i = 8; i < 24; i++)    {        MCF_INTC1_ICR(i) = MCF_INTC_ICR_IL(5);    }  MCF_INTC1_IMRL &=  ~(MCF_INTC_IMRL_INT_MASK8);   MCF_INTC1_IMRL &=  ~(MCF_INTC_IMRL_INT_MASK9);  MCF_INTC1_IMRL &=  ~(MCF_INTC_IMRL_INT_MASK10);  MCF_INTC1_IMRL &=  ~(MCF_INTC_IMRL_INT_MASK11);  MCF_INTC1_IMRL &=  ~(MCF_INTC_IMRL_INT_MASK12);   MCF_INTC1_IMRL &=  ~(MCF_INTC_IMRL_INT_MASK13);  MCF_INTC1_IMRL &=  ~(MCF_INTC_IMRL_INT_MASK14);  MCF_INTC1_IMRL &=  ~(MCF_INTC_IMRL_INT_MASK15);  MCF_INTC1_IMRL &=  ~(MCF_INTC_IMRL_INT_MASK16);   MCF_INTC1_IMRL &=  ~(MCF_INTC_IMRL_INT_MASK17);  MCF_INTC1_IMRL &=  ~(MCF_INTC_IMRL_INT_MASK18);  MCF_INTC1_IMRL &=  ~(MCF_INTC_IMRL_INT_MASK19);  MCF_INTC1_IMRL &=  ~(MCF_INTC_IMRL_INT_MASK20);   MCF_INTC1_IMRL &=  ~(MCF_INTC_IMRL_INT_MASK21);  MCF_INTC1_IMRL &=  ~(MCF_INTC_IMRL_INT_MASK22);  MCF_INTC1_IMRL &=  ~(MCF_INTC_IMRL_INT_MASK23); }

 

[juasago]

Hi Simon,
Thanks for your suggestion, I did it but I can't write or read any message. Now I'm trying to write a message and I can't assign buffer direction to a pointer. See the next code.

Code:

void Escribir_CAN(vuint8 order,vuint8 dest, vuint8 auxi, vuint8 datos[],vuint8 ndatos){vuint8 code_act=0xC;vuint8 j,contador;vuint32 *pescrcan_buffer; pescrcan_buffer= &MBUFF13_ADD; printf("bufferadd = %x \n", &pescrcan_buffer);//pescrcan_buffer=(vuint8)(0x0F & (0x02<<20));*pescrcan_buffer=(vuint8)(0xFF & (auxi<<32));*pescrcan_buffer=(vuint8)(0xFF & (dest<<40));*pescrcan_buffer=(vuint8)(0xFF & (0x0A<<48));*pescrcan_buffer=(vuint8)(0x1F & (order<<56));   contador=0;   for(j = 0; j < ndatos; j++)   {   *pescrcan_buffer=(vuint8)(0xFF & (datos[j]<<(64+contador)));   contador=contador+8;   }   contador=0;*pescrcan_buffer=(vuint8)(0x0F & (ndatos<<16));*pescrcan_buffer=(vuint8)(0x0F & (code_act<<24));while((*pescrcan_buffer<<24)!=0x08){};IFLAG|=IFLAG_BUF(13);}

The Idle bit  of ERRSTAT  is  '1' , Can I W/R on Flexcan with this value?

Apart from this, pescrcan_buffer = 0x20000C60 not 0x401C0150(CAN buffer 13 to write), see code

Code:

#define MBUFF0_ADD           (*(vuint32*)(&__IPSBAR[0x1C0080]))   // CAN Message Buffer 0 (16 bytes) BROADCAST, reading#define MBUFF1_ADD           (*(vuint32*)(&__IPSBAR[0x1C0090]))   // CAN Message Buffer 1 (16 bytes)#define MBUFF2_ADD           (*(vuint32*)(&__IPSBAR[0x1C00A0]))   // CAN Message Buffer 2 (16 bytes)#define MBUFF3_ADD           (*(vuint32*)(&__IPSBAR[0x1C00B0]))   // CAN Message Buffer 3 (16 bytes)#define MBUFF4_ADD           (*(vuint32*)(&__IPSBAR[0x1C00C0]))   // CAN Message Buffer 4 (16 bytes)#define MBUFF5_ADD           (*(vuint32*)(&__IPSBAR[0x1C00D0]))   // CAN Message Buffer 5 (16 bytes)#define MBUFF6_ADD           (*(vuint32*)(&__IPSBAR[0x1C00E0]))   // CAN Message Buffer 6 (16 bytes)#define MBUFF7_ADD           (*(vuint32*)(&__IPSBAR[0x1C00F0]))   // CAN Message Buffer 7 (16 bytes)#define MBUFF8_ADD           (*(vuint32*)(&__IPSBAR[0x1C0100]))  // CAN Message Buffer 8 (16 bytes)#define MBUFF9_ADD           (*(vuint32*)(&__IPSBAR[0x1C0110]))  // CAN Message Buffer 9 (16 bytes)#define MBUFF10_ADD          (*(vuint32*)(&__IPSBAR[0x1C0120]))  // CAN Message Buffer 10 (16 bytes)#define MBUFF11_ADD          (*(vuint32*)(&__IPSBAR[0x1C0130]))  // CAN Message Buffer 11 (16 bytes)#define MBUFF12_ADD          (*(vuint32*)(&__IPSBAR[0x1C0140]))  // CAN Message Buffer 12 (16 bytes)#define MBUFF13_ADD          (*(vuint32*)(&__IPSBAR[0x1C0150]))  // CAN Message Buffer 13 Writing (16 bytes)#define MBUFF14_ADD          (*(vuint32*)(&__IPSBAR[0x1C0160]))  // CAN Message Buffer 14 (16 bytes) MULTICAST#define MBUFF15_ADD          (*(vuint32*)(&__IPSBAR[0x1C0170]))  // CAN Message Buffer 15 (16 bytes) CCLAN(0X10)

Regards.
 

[CompilerGuru]

Just as hint, the code snippet is always overwriting the first 4 bytes with 8 bit values again and again,
all the shifts are probably not doing what you want them too (are either undefined or result in just a 0 value),
and the printf prints the address of pescrcan_buffer, not the content.

Daniel

[SimonMarsden_de]

Hi

Two suggestions:

You need to make sure that the 'Mask all interrupts' bit in the IMRL1 register is not set:

    MCF_INTC1_IMRL &= ~(MCF_INTC_IMRL_MASKALL);

You also need to check that the processor's main interrupt mask in the Status Register (SR) is not set to a level which would block the interrupt. To unmask all interrupts, try:

    asm {
        move.w   #0x2000,sr
    }


Hope this helps


Simon