I want to use CAN RX with interrupts/callbacks and CAN TX simultaneously ( ie a Full duplex) .
I have managed to configure CAN RX with FiFos ( for using DMA and a CALLBACK ). Using config0 on CAN0 in processor expert.
EDMA_DRV_Init(&dmaController1_State, &dmaController1_InitConfig0, edmaChnStateArray, edmaChnConfigArray, EDMA_CONFIGURED_CHANNELS_COUNT);
FLEXCAN_DRV_Init(INST_CANCOM1, &canCom1_State, &canCom1_InitConfig0);
FLEXCAN_DRV_RxFifo(INST_CANCOM1, &recvBuff2);
FLEXCAN_DRV_ConfigRxFifo(INST_CANCOM1, FLEXCAN_RX_FIFO_ID_FORMAT_A, filterTable);
FLEXCAN_DRV_InstallEventCallback(INST_CANCOM1,&rx_fifo_callback,NULL);
With this I can receive CAN messages well.
If I wish to simultaneously send a message I cannot do that by writing.
FLEXCAN_DRV_ConfigTxMb(INST_CANCOM1, MB, &dataInfo, MSG_ID);
/* Execute send non-blocking */
FLEXCAN_DRV_Send(INST_CANCOM1, MB, &dataInfo, MSG_ID, &FrameLen);
/* Wait until the previous FlexCANsend is completed */
while (FLEXCAN_DRV_GetTransferStatus(INST_CANCOM1, MB) == STATUS_BUSY);
I found a workaround to this by de initializing CAN RX FIFO configuration (canCom1_InitConfig0) and enabling another configuration (&canCom1_InitConfig1) with RX FiFos disabled.
FLEXCAN_DRV_Deinit(INST_CANCOM1);
FLEXCAN_DRV_Init(INST_CANCOM1, &canCom1_State, &canCom1_InitConfig1);
However as I am de initializing (canCom1_InitConfig0) case whenever I am sending a CAN message , I am unable to receive any new message which might be of a higher priority.
What I want is to send a CAN message , while also wait / stay available/open to receive a new CAN message.
Attached the configs and main.c file.
const flexcan_user_config_t canCom1_InitConfig0 = {
.fd_enable = false,
.pe_clock = FLEXCAN_CLK_SOURCE_OSC,
.max_num_mb = 16,
.num_id_filters = FLEXCAN_RX_FIFO_ID_FILTERS_8,
.is_rx_fifo_needed = true,
.flexcanMode = FLEXCAN_NORMAL_MODE,
.payload = FLEXCAN_PAYLOAD_SIZE_8,
.bitrate = {
.propSeg = 7,
.phaseSeg1 = 4,
.phaseSeg2 = 1,
.preDivider = 4,
.rJumpwidth = 1
},
.bitrate_cbt = {
.propSeg = 7,
.phaseSeg1 = 4,
.phaseSeg2 = 1,
.preDivider = 4,
.rJumpwidth = 1
},
.transfer_type = FLEXCAN_RXFIFO_USING_DMA,
.rxFifoDMAChannel = 0U
};
const flexcan_user_config_t canCom1_InitConfig1 = {
.fd_enable = false,
.pe_clock = FLEXCAN_CLK_SOURCE_OSC,
.max_num_mb = 16,
.num_id_filters = FLEXCAN_RX_FIFO_ID_FILTERS_8,
.is_rx_fifo_needed = false,
.flexcanMode = FLEXCAN_NORMAL_MODE,
.payload = FLEXCAN_PAYLOAD_SIZE_8,
.bitrate = {
.propSeg = 7,
.phaseSeg1 = 4,
.phaseSeg2 = 1,
.preDivider = 4,
.rJumpwidth = 1
},
.bitrate_cbt = {
.propSeg = 7,
.phaseSeg1 = 4,
.phaseSeg2 = 1,
.preDivider = 4,
.rJumpwidth = 1
},
.transfer_type = FLEXCAN_RXFIFO_USING_INTERRUPTS,
.rxFifoDMAChannel = 0U
};
I don't think the `.transfer_type` in canCom1_InitConfig1 is of any relevance as RX FiFos are disabled.
I could not find any references to this in the SDK reference manual.
Any help would be highly appreciated.
