@PetrS Thanks a lot for your answer.
here is the register setup after initialisation :
Complete register view :
The message buffer :
we use Vector cancase to send CAN-FD fram, based on the input from the excel sheet, i choose to set the following
// arbitration bitrate
canFdConf.arbitrationBitRate = 500000;
canFdConf.tseg1Abr = 34;
canFdConf.tseg2Abr = 5;
canFdConf.sjwAbr = 4;
// data bitrate
canFdConf.dataBitRate = canFdConf.arbitrationBitRate * 4;
canFdConf.tseg1Dbr = 31;
canFdConf.tseg2Dbr = 8;
canFdConf.sjwDbr = 1;ESR1 suggest that an ovverus is occured, and the FlexCAN is not synchronised with the bus, where did the problem comes from ?
ECR has a value of 0x40005E00
Thank you
@PetrS Thank you, this was the problem.
Interrupt is activated for the receive function, and disable for the transmission.
i can receive CAN-FD frames via ISR. but when i want to send them the program get stucked in function TransmitMsgFD , in line : while (fpDevice->IFLAG1.B.BUF0I != 1) {};:
void FlexCANDevice::TransmitMsgFD(uint8_t ext, uint32_t ID, uint8_t length, uint8_t* data)
{
uint8_t i,dlc,z=0;
uint32_t *pTxMB = (uint32_t *)&(fpDevice->MB[0].CS.R);
uint32_t txID;
if (ext==0) txID = ID<<18;
else txID = ID;
/*calculate dlc value from no. bytes*/
dlc = length < 0x09 ? length :
length < 0x0D ? 0x9 :
length < 0x11 ? 0xA :
length < 0x15 ? 0xB :
length < 0x19 ? 0xC :
length < 0x21 ? 0xD :
length < 0x31 ? 0xE : 0xF;
*(pTxMB + 1) = txID; // write ID
for (i=0; i<length/4; i++,z+=4) {
*(pTxMB + 2 + i) = z<<24 | (z+1)<<16 | (z+2)<< 8 | z+3; /* Data to be transmitted */
}
*pTxMB = ( 0 // Tx Buffer 0 T0 word
| 1<<31 // extended Data Length
| 1<<30 // bit rate switch
| 0xC<<24 // code = 0xC, TX once
| 1<<22 // SRR = 1
| ext<<21 // IDE
| 0<<20 // RTR = 0
| dlc<<16); // DLC
while (fpDevice->IFLAG1.B.BUF0I != 1) {}; /***** Program get stuck here *******/
fpDevice->IFLAG1.R = 1; // clear MB0 flag
}
CAN1 is set to send and receive data, the MB0 for sending, and MB1 for receiving. from the debuger view i can see that data are available in MB0 but i dont understand why they were not processed
any though why this could happen ?
Thank you.
Content of ECR and ESR1 registers are :
Please note that transmission is done via a task and not an interrupt (queued and later processed).
reception in the other hand is handled via an ISR.
Thank you !
Thanks a lot @PetrS for your support.
By disabling the BSR i could receive data.
There is a problem though. the application should only Echo "once" the same received frame, but it keep transmiting frames without stop , event though i make sure to clear the receive interrupt once the transmission is completed (fpDevice->IFLAG1.R = 0xffffffff;) .
uint8_t start()
{
// Clear interrupt flags
fpDevice->IFLAG1.R = 0xffffffff;
fpDevice->IFLAG2.R = 0xffffffff;
// Disable transmit interrupt on MB0
fpDevice->IMASK2.B.BUFHM = 0; // Disable transmit interrupt on MB0
// Enable receive interrupt on MB1
fpDevice->IMASK1.B.BUFLM |= 0x00000002; // Enable receive interrupt on MB1
// Leave freeze mode
fpDevice->MCR.B.HALT = 0;
fpDevice->MCR.B.FRZ = 0;
return CAN_ERR_OK;
}
uint8_t receiveISR(const uint8_t* filterMap)
{
uint32_t dummy,dlc,id;
uint8_t *pRxMB;
uint32_t RxCODE; /* Received message buffer code */
uint32_t RxID; /* Received message ID */
uint32_t RxLENGTH; /* Recieved message number of data bytes */
uint8_t RxDATA[64]; /* Received message data string*/
uint32_t RxTIMESTAMP; /* Received message time */
bufIdx = 1; /* MB1 for receiving frames */
/* Read CODE, ID, LENGTH, DATA, TIMESTAMP*/
id = fpDevice->MB[bufIdx].CS.B.IDE;
RxCODE = fpDevice->MB[bufIdx].CS.B.CODE;
RxID = fpDevice->MB[bufIdx].ID.B.ID_STD;
dlc = fpDevice->MB[bufIdx].CS.B.DLC;
pRxMB = (uint8_t *)&fpDevice->MB[bufIdx].DATA.B[0];
RxTIMESTAMP = fpDevice->MB[bufIdx].CS.B.TIMESTAMP;
/*calculate no. bytes from dlc value*/
RxLENGTH = (dlc <= Any though why this is happening ?
Best regards.
