I am trying to communicate busmaster using CAN but its not happening the function FLEXCAN_RX_Message throwing no messages in the buffer

[prasadrao]

I am trying to communicate busmaster using CAN but its not happening the function FLEXCAN_RX_Message throwing no messages in the buffer

[soledad]

Hi,

Please check the below example code, this may helps!

#include

#include

#include

#include "test.h"

#ifndef PSP_MQX_CPU_IS_KINETIS

#include

#endif

#if ! BSPCFG_ENABLE_IO_SUBSYSTEM

#error This application requires BSPCFG_ENABLE_IO_SUBSYSTEM defined non-zero in user_config.h. Please recompile BSP with this option.

#endif

#ifndef BSP_DEFAULT_IO_CHANNEL_DEFINED

#error This application requires BSP_DEFAULT_IO_CHANNEL to be not NULL. Please set corresponding BSPCFG_ENABLE_TTYx to non-zero in user_config.h and recompile BSP with this option.

#endif

LWEVENT_STRUCT event;

/* Task template list */

TASK_TEMPLATE_STRUCT MQX_template_list[] = {

  { MAIN_TASK, Main_Task, 1000L, 9L, "Main task", MQX_AUTO_START_TASK},

  { TX_TASK, Tx_Task, 1000L, 8L, "TX task", 0, 0, 0},

  { RX_TASK, Rx_Task, 1000L, 8L, "RX task", 0, 0, 0},

  { 0L, 0L, 0L, 0L, 0L, 0L }

};

#if PSP_MQX_CPU_IS_KINETIS

void MY_FLEXCAN_ISR

(

  /* [IN] FlexCAN base address */

  pointer can_ptr

)

{

  volatile CAN_MemMapPtr can_reg_ptr;

  vuint_32 tmp_reg;

  vuint_32 temp;

  can_reg_ptr = (CAN_MemMapPtr)can_ptr;

  /* get the interrupt flag */

  tmp_reg = (can_reg_ptr->IFLAG1 & CAN_IMASK1_BUFLM_MASK);

  // check Tx/Rx interrupt flag and clear the interrupt

  if(tmp_reg){

  /* clear the interrupt and unlock message buffer */

  /* Start CR# 1751 */

  _lwevent_set(&event, tmp_reg);

  can_reg_ptr->IFLAG1 |= tmp_reg;

  /* End CR# 1751 */

  temp = can_reg_ptr->TIMER;

  }/* Endif */

  // Clear all other interrupts in ERRSTAT register (Error, Busoff, Wakeup)

  tmp_reg = can_reg_ptr->ESR1;

  if(tmp_reg & FLEXCAN_ALL_INT){

  /* Start CR# 1751 */

  can_reg_ptr->ESR1 |= (tmp_reg & FLEXCAN_ALL_INT);

  /* End CR# 1751 */

  } /* Endif */

  return;

}

#else

void MY_FLEXCAN_ISR

(

  /* [IN] FlexCAN base address */

  pointer can_ptr

)

{

  volatile FLEXCAN_REG_STRUCT_PTR can_reg_ptr;

  vuint_32 tmp_reg;

  vuint_32 temp;

  can_reg_ptr = (FLEXCAN_REG_STRUCT_PTR)can_ptr;

  /* get the interrupt flag */

  tmp_reg = (can_reg_ptr->IFLAG & FLEXCAN_IMASK_VALUE);

  // check Tx/Rx interrupt flag and clear the interrupt

  if(tmp_reg){

  /* clear the interrupt and unlock message buffer */

  /* Start CR# 1751 */

  _lwevent_set(&event, tmp_reg);

  can_reg_ptr->IFLAG |= tmp_reg;

  /* End CR# 1751 */

  temp = can_reg_ptr->TIMER;

  }/* Endif */

  // Clear all other interrupts in ERRSTAT register (Error, Busoff, Wakeup)

  tmp_reg = can_reg_ptr->ERRSTAT;

  if(tmp_reg & FLEXCAN_ALL_INT){

  /* Start CR# 1751 */

  can_reg_ptr->ERRSTAT |= (tmp_reg & FLEXCAN_ALL_INT);

  /* End CR# 1751 */

  } /* Endif */

  return;

}

#endif

/*TASK*-----------------------------------------------------------

*

* Task Name : Main_Task

* Comments :

*

*

*END*-----------------------------------------------------------*/

void Main_Task(uint_32 parameter)

{ /* Body */

  _task_id created_task;

  uint_32 result;

  _int_install_unexpected_isr();

  if (_bsp_flexcan_io_init(CAN_DEVICE) != 0)

  {

  printf ("\nError initializing pins for FlexCAN device %d!\n", CAN_DEVICE);

  _task_block();

  }

  printf("\n*********FLEXCAN TEST PROGRAM.*********");

  printf("\n Message format: Standard (11 bit id)");

  printf("\n Message buffer 0 used for Tx and Rx.");

  printf("\n Interrupt Mode: Enabled");

  printf("\n Operation Mode: TX and RX --> Normal");

  printf("\n***************************************\n");

frequency = 125;

printf("\nselected frequency (Kbps) is: %d", frequency);

  data_len_code = 1;

  printf("\nData length: %d", data_len_code);

/* Select message format */

format = FLEXCAN_STANDARD;

/* Select mailbox number */

RX_mailbox_num = 0;

TX_mailbox_num = 1;

RX_remote_mailbox_num = 2;

TX_remote_mailbox_num = 3;

  RX_identifier = 0x123;

  TX_identifier = 0x123;

  RX_remote_identifier = 0x0F0;

  TX_remote_identifier = 0x0F0;

  /* We use default settings */

  bit_timing0 = bit_timing1 = 0;

  /* Select operation mode */

  flexcan_mode = FLEXCAN_LOOPBK_MODE;

  /* Enable interrupt */

  interrupt = FLEXCAN_ENABLE;

  /* Enable error interrupt */

  flexcan_error_interrupt = 1;

  /* Reset FLEXCAN device */

  result = FLEXCAN_Softreset ( CAN_DEVICE);

  printf("\nFLEXCAN reset. result: 0x%lx", result);

  /* Initialize FLEXCAN device */

  result = FLEXCAN_Initialize ( CAN_DEVICE, bit_timing0, bit_timing1, frequency, FLEXCAN_IPBUS_CLK);

  printf("\nFLEXCAN initilization. result: 0x%lx", result);

  /* Select mode */

  result = FLEXCAN_Select_mode( CAN_DEVICE, flexcan_mode);

  printf("\nFLEXCAN mode selected. result: 0x%lx", result);

  result = FLEXCAN_Set_global_stdmask (CAN_DEVICE, 0xFFF );

  printf("\nFLEXCAN global mask. result: 0x%lx", result);

  /* Enable error interrupts */

  if(flexcan_error_interrupt == 1)

  {

  result = FLEXCAN_Install_isr_err_int( CAN_DEVICE, (pointer)MY_FLEXCAN_ISR );

  printf("\nFLEXCAN Error ISR install, result: 0x%lx", result);

  result = FLEXCAN_Install_isr_boff_int( CAN_DEVICE, (pointer)MY_FLEXCAN_ISR );

  printf("\nFLEXCAN Bus off ISR install, result: 0x%lx", result);

  result = FLEXCAN_Error_int_enable(CAN_DEVICE);

  printf("\nFLEXCAN error interrupt enable. result: 0x%lx", result);

  }

/* Set up an event group */

  result = _lwevent_create(&event, LWEVENT_AUTO_CLEAR);

  if (result != MQX_OK) {

  printf("\nCannot create lwevent");

  } 

  created_task = _task_create(0, RX_TASK, 0);

  if (created_task == MQX_NULL_TASK_ID)

  {

  printf("\nRx task: task creation failed.");

  }

  created_task = _task_create(0, TX_TASK, 0);

  if (created_task == MQX_NULL_TASK_ID)

  {

  printf("\nTx task: task creation failed.");

  }

  /* Start FLEXCAN */

  result = FLEXCAN_Start(CAN_DEVICE);

  printf("\nFLEXCAN started. result: 0x%lx", result);

  // start the ping pong

  while(1){}

} /* EndBody */

/*TASK*-----------------------------------------------------------

*

* Task Name : Tx_Task

* Comments :

*

*

*END*-----------------------------------------------------------*/

void Tx_Task(uint_32 parameter)

{/* Body */ 

  uchar data = 0;

  uint_32 result;

  uchar string[] =

  {

  0xa, 0xb, 0xe, 0xc, 0xe, 0xd, 0xa, 0x0

  };

  result = FLEXCAN_Initialize_mailbox( CAN_DEVICE, TX_remote_mailbox_num, TX_remote_identifier,

  8, FLEXCAN_TX, format,

  interrupt);

  printf("\nFLEXCAN tx remote mailbox initialization. result: 0x%lx", result);

  /* Initialize mailbox */

  result = FLEXCAN_Initialize_mailbox( CAN_DEVICE, TX_mailbox_num, TX_identifier,

  data_len_code, FLEXCAN_TX, format,

  interrupt);

  printf("\nFLEXCAN tx mailbox initialization. result: 0x%lx", result); printf("\nFLEXCAN tx mailbox activation. result: 0x%lx", result);

  /* Install ISR */

  if(interrupt == FLEXCAN_ENABLE)

  {

  result = FLEXCAN_Install_isr( CAN_DEVICE, TX_mailbox_num, (pointer)MY_FLEXCAN_ISR );

  printf("\nFLEXCAN TX ISR install. result: 0x%lx", result);

  result = FLEXCAN_Install_isr( CAN_DEVICE, TX_remote_mailbox_num, (pointer)MY_FLEXCAN_ISR );

  printf("\nFLEXCAN TX remote ISR install. result: 0x%lx", result);

  }

  /* Let Rx Task start to initialize */

  _time_delay(1000);

  result = FLEXCAN_Tx_message(CAN_DEVICE, TX_mailbox_num, TX_identifier,

  format, data_len_code, &data);

  if(result != FLEXCAN_OK)

  printf("\nTransmit error. Error Code: 0x%lx", result);

  else

  printf("\nData transmit: %d", data);

  while(1)

  { 

  /* Let Rx Task receive message */

  _time_delay(1000);

  data++;

  result = FLEXCAN_Tx_mailbox(CAN_DEVICE, TX_mailbox_num, &data);

  if(result != FLEXCAN_OK)

  printf("\nTransmit error. Error Code: 0x%lx", result);

  else

  printf("\nData transmit: %d", data);

  string[7] = data;

  result = FLEXCAN_Update_message(CAN_DEVICE, string, 8, format, TX_remote_mailbox_num);

  printf("\nFLEXCAN tx update message. result: 0x%lx", result);

  }

} /* EndBody */

/*TASK*-----------------------------------------------------------

*

* Task Name : Rx_Task

* Comments :

*

*

*END*-----------------------------------------------------------*/

void Rx_Task(uint_32 parameter)

{/* Body */ 

  uchar dptr[8];

  uint_32 result;

  uint_32 DLC = 0;

  uint_32 ID = 0;

  result = FLEXCAN_Initialize_mailbox( CAN_DEVICE, RX_remote_mailbox_num, RX_remote_identifier,

  8, FLEXCAN_TX, format,

  interrupt);

  printf("\nFLEXCAN rx remote mailbox initialization. result: 0x%lx", result);

  /* Initialize mailbox */

  result = FLEXCAN_Initialize_mailbox( CAN_DEVICE, RX_mailbox_num, RX_identifier,

  data_len_code, FLEXCAN_RX, format,

  interrupt);

  printf("\nFLEXCAN rx mailbox initialization. result: 0x%lx", result);

  result = FLEXCAN_Activate_mailbox(CAN_DEVICE, RX_mailbox_num, FLEXCAN_RX_MSG_BUFFER_EMPTY);

  printf("\nFLEXCAN mailbox activation. result: 0x%lx", result);

  /* Install ISR */

  if(interrupt == FLEXCAN_ENABLE)

  {

  result = FLEXCAN_Install_isr( CAN_DEVICE, RX_mailbox_num, (pointer)MY_FLEXCAN_ISR );

  printf("\nFLEXCAN RX ISR install. result: 0x%lx", result);

  result = FLEXCAN_Install_isr( CAN_DEVICE, RX_remote_mailbox_num, (pointer)MY_FLEXCAN_ISR );

  printf("\nFLEXCAN RX remote ISR install. result: 0x%lx", result);

  }

if (_lwevent_wait_ticks(&event, 1 << RX_mailbox_num, FALSE, 0) != MQX_OK) {

  printf("\nEvent Wait failed");

}

result = FLEXCAN_Lock_mailbox (CAN_DEVICE, RX_mailbox_num);

if(result != FLEXCAN_OK)

{

  printf("\nLock mailbox failed. Error Code: 0x%lx", result);

}

result = FLEXCAN_Rx_message(CAN_DEVICE, RX_mailbox_num, &ID, format,

  &DLC, &dptr, interrupt);

if(result != FLEXCAN_OK)

  printf("\nReceived error. Error Code: 0x%lx", result);

else

{

  printf("\nReceived data: ");

  for (result = 0; result < DLC; result++) printf ("0x%x ", dptr[result]);

  printf("\nID is: 0x%x", ID);

  printf("\nDLC is: 0x%x\n", DLC);

}

result = FLEXCAN_Unlock_mailbox (CAN_DEVICE);

if(result != FLEXCAN_OK)

{

  printf("\nUnlock mailbox failed. Error Code: 0x%lx", result);

}

  while(1)

  { 

  if (_lwevent_wait_ticks(&event, 1 << RX_mailbox_num, FALSE, 0) != MQX_OK) {

  printf("\nEvent Wait failed");

  }

  result = FLEXCAN_Lock_mailbox (CAN_DEVICE, RX_mailbox_num);

  if(result != FLEXCAN_OK)

  {

  printf("\nLock mailbox failed. Error Code: 0x%lx", result);

  }

  result = FLEXCAN_Rx_message(CAN_DEVICE, RX_mailbox_num, &ID, format,

  &DLC, &dptr, interrupt);

  if(result != FLEXCAN_OK)

  printf("\nReceived error. Error Code: 0x%lx", result);

  else

  {

  printf("\nReceived data: ");

  for (result = 0; result < DLC; result++) printf ("0x%x ", dptr[result]);

  printf("\nID is: 0x%x", ID);

  printf("\nDLC is: 0x%x\n", DLC);

  }

  result = FLEXCAN_Unlock_mailbox (CAN_DEVICE);

  if(result != FLEXCAN_OK)

  {

  printf("\nUnlock mailbox failed. Error Code: 0x%lx", result);

  }

  FLEXCAN_Request_message (CAN_DEVICE, RX_remote_mailbox_num, format);

  }

} /* EndBody */

/* EOF */

result = FLEXCAN_Activate_mailbox(CAN_DEVICE, TX_mailbox_num, FLEXCAN_TX_MSG_BUFFER_NOT_ACTIVE);

Have a great day,
Sol

-----------------------------------------------------------------------------------------------------------------------
Note: If this post answers your question, please click the Correct Answer button. Thank you!
-----------------------------------------------------------------------------------------------------------------------

[prasadrao]

Hi,

Thanks for the replay.

I done same thing but its not working.

1)if (_lwevent_wait_ticks(&event, 1 << RX_mailbox_num, FALSE, 0) != MQX_OK) {

  printf("\nEvent Wait failed");}

due to this code it not allowing(stopped), i replaced with delay(_time_delay(1000);) now its allowing but the read message(result = FLEXCAN_Rx_message(CAN_DEVICE, RX_mailbox_num, &ID, format,

  &DLC, &dptr, interrupt);) returning the id is 291.

I am waiting your replay......

Regards

Prasad

[ironsean]

Not sure if you are experiencing this still, but you are using the send id of 0x123 in this example, which is 291 in Decimal. So that is the expected result if you're using a printf %d to check.