Hi,
for example here; Example MPC5748G FlexCAN FD simple TX/RX GHS614
There are also SDK example within S32 Design Studio which can be modified for CAN FD easily
BR, Petr
Thanks for your answer, but the attachment has been removed, Can you upload the file again.
Hi Petr,
I have used your upload MPC5748G project, and find it can't run on my MPC5748G development board, The Can_Init() can't pass , so i changed the interface ,and then it works normally.
But during debug the project, canoe always report CAN_FD message error. I check the canoe setup ,and find the can_fd baud rate and the sample point is the same as my project , I don't know what cause this problem.Can you check my following can interface , and give me some advice?
thank you .
The can interface as below:
void FlexCAN0_Init(void)
{
uint32_t i = 0;
/* enable the FlexCAN module, reset and freeze */
CAN_0.MCR.B.MDIS = 1; /* Disable module before selecting clock source*/
CAN_0.CTRL1.B.CLKSRC=0; /* Clock Source = oscillator clock (40 MHz) */
CAN_0.MCR.B.MDIS = 0; /* Enable module for config. (Sets FRZ, HALT)*/
/* double check that we are actually in freeze mode */
while(0 == CAN_0.MCR.B.FRZACK) {};
CAN_0.CBT.R =0x808721A7; // BTF=1;EPRSDIV = 4;ERJW=7;EPRSEG = 8;EPSEG1=13;EPSEG2=7
// clockSrc =40Mhz; braud = 40/((4+1)*(4+8+13+7)) = 250kHz.
// smp = (1+EPRSEG+EPSEG1+2)/(1+EPRSEG+EPSEG1+2+EPSEG2+1) = (1+8+13+2)/(1+8+13+2+7+1) = 24/32 = 75%.
CAN_0.FDCBT.R = 0x004310C3; // FPRESDIV= 4;FRJW=3;FPROSEG=4;FPSEG1=6;FPSEG2=3
//braud =40/((4+1)*(3+4+6+3)) =500kHz.
//smp = (1+FPROSEG+FPSEG1+1)/(1+FPROSEG+FPSEG1+1+FPSEG2+1) = 12/16 = 75%.
CAN_0.FDCTRL.R = 0x80030500; // TDCEN = 0;TDCOFF = 5;
/* Make first 64 message buffers inactive by writing their control fields
* to "not active". They will be left inactive until we're ready for communication. */
for(i=0;i<96;i++)
{
CAN_0.MB[i].CS.R = 0;
}
/*CAN0 MB寄存器的设置，其中MB[4]设置为发，MB[0]设置为收。*/
// CAN_0.MB[0].CS.B.IDE = 0; /* MB 0 will look for a standard ID */
// CAN_0.MB[0].ID.B.ID_STD = 0x155; /* MB 0 will look for ID = 0x555 */
// CAN_0.MB[0].CS.B.CODE = 4; /* MB 0 set to RX EMPTY */
CAN_0.MB[0].CS.B.CODE = 8; //MB[4]设置为发送MB
/* configure CAN0TX and CAN0RX pin functions */
SIUL2.MSCR[16].B.SSS = 1; /* Pad PB0: Source signal is CAN0_TX */
SIUL2.MSCR[16].B.OBE = 1; /* Pad PB0: Output Buffer Enable */
SIUL2.MSCR[16].B.SRC = 3; /* Pad PB0: Maximum slew rate */
SIUL2.MSCR[17].B.IBE = 1; /* Pad PB1: Enable pad for input - CAN0_RX */
SIUL2.IMCR[188].B.SSS = 2; /* CAN0_RX: connected to pad PB1 */
/* Finally clear the HALT flag in MCR to enable the FlexCAN
* to synchronize with the CAN bus and allow
* participation in communication. */
CAN_0.MCR.R = (0
// | CAN_MCR_BCC /* individual Rx masking and queue */
| CAN_MCR_AEN /* Safe Tx abort enable */
| CAN_MCR_FDEN /* CAN FD enabled */
| 0x0000003F); /* enable 64 MBs */
/* wait until FlexCAN ready */
while(1 == CAN_0.MCR.B.FRZACK){};
while(1 == CAN_0.MCR.B.NOTRDY){};
}
the transmit message as blew：
void TransmitMsgFD(uint8_t ext, uint32_t ID, uint8_t length)
{
/* Assumption: Message buffer CODE is INACTIVE */
uint8_t i,dlc,z=0;
uint32_t *pTxMB = (uint32_t *)&CAN_0.MB[0].CS.R;
uint32_t txID;
if (ext==0) txID = ID<<18;
else txID = ID;
/*calculate dlc value from no. bytes*/
if(length < 0x09)
{
dlc = length;
}else if(length < 0x0D){
dlc = 0x9;
}else if(length < 0x11){
dlc = 0xA;
}else if(length < 0x15){
dlc = 0xB;
}else if(length < 0x19){
dlc = 0xC;
}else if(length < 0x21){
dlc = 0xD;
}else if(length < 0x31){
dlc = 0xE;
}else{
dlc = 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
CAN_0.MB[0].CS.B.IDE = 0; /* Use standard ID length */
CAN_0.MB[0].ID.B.ID_STD = ID; /* Transmit ID is 0x555 */
CAN_0.MB[0].CS.B.RTR = 0; /* Data frame, not remote Tx request frame */
CAN_0.MB[0].CS.B.DLC = dlc;
CAN_0.MB[0].CS.B.EDL = 1;
CAN_0.MB[0].CS.B.BRS = 1;
CAN_0.MB[0].CS.B.SRR = 1; /* Tx frame (not req'd for standard frame)*/
CAN_0.MB[0].CS.B.CODE =0xC; /* Activate msg. buf. to transmit data frame */
}
The can message error and the can_fd set up as blew:
the can-fd set up as blew:
Wish your reply .
