2383617_en-US

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Using the SDK's CAN communication S32K144 DEMO and making modifications, the sending of extended fra

Using the SDK's CAN communication S32K144 DEMO and making modifications, the sending of extended frames failed. I have already changed the idType to CAN_MSG_ID_EXT, but the CAN adapter still received standard frames. The ID I sent was 1FFFFFFF, but the received ID was 7FF. I would appreciate it if experts could help solve this problem.

#include "Cpu.h"

#include "delay.h"

#include "uart.h"

#include"key.h"

#include"oled.h"

#include "stdint.h"

#include "stdbool.h"

volatile int exit_code = 0;

#define LED1(x) PINS_DRV_WritePin(PTD,16,!x);

#define LED2(x) PINS_DRV_WritePin(PTD,15,!x);

#define LED3(x) PINS_DRV_WritePin(PTD,1,!x);

#define LED4(x) PINS_DRV_WritePin(PTD,0,!x);

#define Rx_Filter 0x0

char IRQ_CAN0_RX;

char IRQ_CAN1_RX;

char IRQ_CAN2_RX;

can_message_t recvMsg_CAN0;

can_message_t recvMsg_CAN1;

can_message_t recvMsg_CAN2;

#define RX_MASK_ALL_EXT 0x1FFFFFFF

#define RX_MAILBOX_CAN0 (0UL)

#define TX_MAILBOX_CAN0 (1UL)

#define RX_MAILBOX_CAN1 (2UL)

#define TX_MAILBOX_CAN1 (3UL)

#define RX_MAILBOX_CAN2 (4UL)

#define TX_MAILBOX_CAN2 (5UL)

/*CAN0回调函数*/

void CAN0_Callback_Func (uint32_t instance,can_event_t event,uint32_t buffIdx,void *flexcanState)

{

(void)flexcanState; //此处防止警报

(void)instance;

(void)buffIdx;

CAN_Receive(&can_pal0_instance, RX_MAILBOX_CAN0, &recvMsg_CAN0); //接收报文并重新注册回调函数

switch(event) //回调事件

{

case CAN_EVENT_RX_COMPLETE: //接收完成事件

IRQ_CAN0_RX =1;

break;

case CAN_EVENT_TX_COMPLETE: //发送完成事件

break;

default:

break;

}

void CAN1_Callback_Func (uint32_t instance,can_event_t event,uint32_t buffIdx,void *flexcanState)

{

(void)flexcanState;

(void)instance;

(void)buffIdx;

CAN_Receive(&can_pal1_instance, RX_MAILBOX_CAN1, &recvMsg_CAN1);

switch(event)

{

case CAN_EVENT_RX_COMPLETE:

IRQ_CAN1_RX =1;

break;

case CAN_EVENT_TX_COMPLETE:

break;

default:

break;

}

void CAN2_Callback_Func (uint32_t instance,can_event_t event,uint32_t buffIdx,void *flexcanState)

{

(void)flexcanState;

(void)instance;

(void)buffIdx;

CAN_Receive(&can_pal2_instance, RX_MAILBOX_CAN2, &recvMsg_CAN2);

switch(event)

{

case CAN_EVENT_RX_COMPLETE:

IRQ_CAN2_RX =1;

break;

case CAN_EVENT_TX_COMPLETE:

break;

default:

break;

}

void CAN0_Init(void)

{

CAN_Init(&can_pal0_instance, &can_pal0_Config0);

can_buff_config_t Rx_buffCfg = {

.enableFD = false,

.enableBRS = false,

.fdPadding = 0U,

.idType = CAN_MSG_ID_EXT,

.isRemote = false

};

can_buff_config_t Tx_buffCfg = {

.enableFD = false,

.enableBRS = false,

.fdPadding = 0U,

.idType = CAN_MSG_ID_EXT,

.isRemote = false

};

CAN_ConfigRxBuff(&can_pal0_instance, RX_MAILBOX_CAN0, &Rx_buffCfg, Rx_Filter); //注册接收配置和MSGID过滤器(如过滤器配置为0x1，则只接受msgid 0x1发来的报文)

CAN_ConfigTxBuff(&can_pal0_instance, TX_MAILBOX_CAN0, &Tx_buffCfg); //配置发送

/*设置MSGID的掩码，掩码粗略可以理解为对11bit MSGID地址的过滤

如果某bit位需要过滤设置为1,不过滤设置为0,例如掩码设置为0x7ff则过滤全部标准id,如果设置为0x7fe,这只能接受0x01的报文(不存在0x0的地址)*/

CAN_SetRxFilter(&can_pal0_instance, CAN_MSG_ID_EXT, RX_MAILBOX_CAN0, 0x1FFFFFFFU);//设置MSGID掩码，

CAN_InstallEventCallback(&can_pal0_instance,&CAN0_Callback_Func,(void*)0); //注册回调函数

CAN_Receive(&can_pal0_instance, RX_MAILBOX_CAN0, &recvMsg_CAN0); //*****重点****此函数不只有接收作用还有续订回调函数的作用.

}

void CAN1_Init(void)

{

CAN_Init(&can_pal1_instance, &can_pal1_Config0);

can_buff_config_t Rx_buffCfg = {

.enableFD = false,

.enableBRS = false,

.fdPadding = 0U,

.idType = CAN_MSG_ID_EXT,

.isRemote = false

};

can_buff_config_t Tx_buffCfg = {

.enableFD = false,

.enableBRS = false,

.fdPadding = 0U,

.idType = CAN_MSG_ID_EXT,

.isRemote = false

};

CAN_ConfigRxBuff(&can_pal1_instance, RX_MAILBOX_CAN1, &Rx_buffCfg, Rx_Filter);

CAN_ConfigTxBuff(&can_pal1_instance, TX_MAILBOX_CAN1, &Tx_buffCfg);

CAN_SetRxFilter(&can_pal1_instance,CAN_MSG_ID_EXT,RX_MAILBOX_CAN1,0x1FFFFFFFU);

CAN_InstallEventCallback(&can_pal1_instance,&CAN1_Callback_Func,(void*)0);

CAN_Receive(&can_pal1_instance, RX_MAILBOX_CAN1, &recvMsg_CAN1);

}

void CAN2_Init(void)

{

CAN_Init(&can_pal2_instance, &can_pal2_Config0);

can_buff_config_t Rx_buffCfg = {

.enableFD = false,

.enableBRS = false,

.fdPadding = 0U,

.idType = CAN_MSG_ID_EXT,

.isRemote = false

};

can_buff_config_t Tx_buffCfg = {

.enableFD = false,

.enableBRS = false,

.fdPadding = 0U,

.idType = CAN_MSG_ID_EXT,

.isRemote = false

};

CAN_ConfigRxBuff(&can_pal2_instance, RX_MAILBOX_CAN2, &Rx_buffCfg, Rx_Filter);

CAN_ConfigTxBuff(&can_pal2_instance, TX_MAILBOX_CAN2, &Tx_buffCfg);

CAN_SetRxFilter(&can_pal2_instance,CAN_MSG_ID_EXT,RX_MAILBOX_CAN2,0x1FFFFFFFU);

CAN_InstallEventCallback(&can_pal2_instance,&CAN2_Callback_Func,(void*)0);

CAN_Receive(&can_pal2_instance, RX_MAILBOX_CAN2, &recvMsg_CAN2);

}

int main(void)

{

/* Write your local variable definition here */

uint8_t pinstate;

int MCU_Freq;

uint8_t CANRXDATA_STR1[17];

uint8_t CANRXDATA_STR2[17];

/*** Processor Expert internal initialization. DON'T REMOVE THIS CODE!!! ***/

#ifdef PEX_RTOS_INIT

PEX_RTOS_INIT(); /* Initialization of the selected RTOS. Macro is defined by the RTOS component. */

#endif

/*** End of Processor Expert internal initialization. ***/

CLOCK_SYS_Init(g_clockManConfigsArr, CLOCK_MANAGER_CONFIG_CNT,g_clockManCallbacksArr, CLOCK_MANAGER_CALLBACK_CNT);

CLOCK_SYS_UpdateConfiguration(0U, CLOCK_MANAGER_POLICY_AGREEMENT);

MCU_Freq = delay_init();//初始化delay函数

PINS_DRV_Init(NUM_OF_CONFIGURED_PINS, g_pin_mux_InitConfigArr); //初始化IO

I2C_MasterInit(&i2c1_instance, &i2c1_MasterConfig0);//初始化I2C外设,用于OLED通讯

LPUART_DRV_Init(INST_LPUART1, &lpuart1_State, &lpuart1_InitConfig0); //初始化串口

CAN0_Init();

CAN1_Init();

CAN2_Init();

oled_init(); //OLED配置参数初始化

OLED_TITLE((uint8_t*)"S32K144",(uint8_t*)" CAN");//OLED显示标题

u1_printf("初始化完毕,MCU运行频率为 %d Mhz \r\n",MCU_Freq);

while(1)

{

/*按键处理*/

pinstate = KEY_Proc (0);

/*if(pinstate ==BTN1_PRES )

{

can_message_t Tx_msg = {

.cs = 0U,

.id = 0x01,

.data[0] = 0x0,

.data[1] = 0x1,

.data[2] = 0x2,

.data[3] = 0x3,

.data[4] = 0x4,

.data[5] = 0x5,

.data[6] = 0x6,

.data[7] = 0x7,

.length = 8

};

CAN_Send(&can_pal0_instance, TX_MAILBOX_CAN0, &Tx_msg);

u1_printf("CAN0发送报文\r\n");

}

else if(pinstate ==BTN2_PRES )

{

can_message_t Tx_msg = {

.cs = 0U,

.id = 0x02,

.data[0] = 0x20,

.data[1] = 0x21,

.data[2] = 0x22,

.data[3] = 0x23,

.data[4] = 0x24,

.data[5] = 0x25,

.data[6] = 0x26,

.data[7] = 0x27,

.length = 8

};

CAN_Send(&can_pal1_instance, TX_MAILBOX_CAN1, &Tx_msg);

u1_printf("CAN1发送报文\r\n");

}

else if(pinstate ==BTN3_PRES )

{

can_message_t Tx_msg = {

.cs = 0U,

.id = 0x03,

.data[0] = 0x30,

.data[1] = 0x31,

.data[2] = 0x32,

.data[3] = 0x33,

.data[4] = 0x34,

.data[5] = 0x35,

.data[6] = 0x36,

.data[7] = 0x37,

.length = 8

};

CAN_Send(&can_pal2_instance, TX_MAILBOX_CAN2, &Tx_msg);

u1_printf("CAN2发送报文\r\n");

}*/

u1_printf("123456\r\n");

/* can_message_t Tx_msg = {

.cs = 0U,

.id = 0x03,

.data[0] = 0x30,

.data[1] = 0x31,

.data[2] = 0x32,

.data[3] = 0x33,

.data[4] = 0x34,

.data[5] = 0x35,

.data[6] = 0x36,

.data[7] = 0x37,

.length = 8

};

CAN_Send(&can_pal1_instance, TX_MAILBOX_CAN1, &Tx_msg);*/

// 发送标准帧（用于对照）

delay_ms(100);

can_message_t std_msg0 = {

.cs = 0U,

.id = 0x1FFFF111U,

.data[0] = 0x30,

.data[1] = 0x31,

.data[2] = 0x32,

.data[3] = 0x33,

.data[4] = 0x34,

.data[5] = 0x35,

.data[6] = 0x36,

.data[7] = 0x37,

.length = 8

};

status_t ret = CAN_Send(&can_pal2_instance, TX_MAILBOX_CAN2, &std_msg0);

if(ret != STATUS_SUCCESS)

{

u1_printf("CAN2 send std_msg0 fail,ret:%d\r\n",ret);

}

delay_ms(100);

can_message_t Tx_msg0 = {

.cs = 0U,

.id = 0x1FFFFFFFU,

.data[0] = 0x30,

.data[1] = 0x31,

.data[2] = 0x32,

.data[3] = 0x33,

.data[4] = 0x34,

.data[5] = 0x35,

.data[6] = 0x36,

.data[7] = 0x37,

.length = 8

};

CAN_Send(&can_pal2_instance, TX_MAILBOX_CAN2, &Tx_msg0);

delay_ms(100);

if (IRQ_CAN0_RX ==1)

{

int i;

u1_printf("CAN0 RECV ID:0x%x \r\n",recvMsg_CAN0.id);

for(i=0; i

{

u1_printf("Data %d : %x\r\n",i,recvMsg_CAN0.data[i]);

if(i==recvMsg_CAN0.length-1) u1_printf("***************\r\n");

}

IRQ_CAN0_RX=0;

}

if (IRQ_CAN1_RX ==1)

{

int i;

u1_printf("CAN1 RECV ID:0x%x \r\n",recvMsg_CAN1.id);

for(i=0; i

{

u1_printf("Data %d : %x\r\n",i,recvMsg_CAN1.data[i]);

if(i==recvMsg_CAN1.length-1) u1_printf("***************\r\n");

}

IRQ_CAN1_RX=0;

}

if (IRQ_CAN2_RX ==1)

{

int i;

u1_printf("CAN2 RECV ID:0x%x \r\n",recvMsg_CAN2.id);

for(i=0; i

{

u1_printf("Data %d : %x\r\n",i,recvMsg_CAN2.data[i]);

if(i==recvMsg_CAN2.length-1) u1_printf("***************\r\n");

}

IRQ_CAN2_RX=0;

}

/*OLED显示*/

sprintf((char*)CANRXDATA_STR1,"CAN0 %02X %02X %02X %02X",

recvMsg_CAN2.data[0],recvMsg_CAN2.data[1],recvMsg_CAN2.data[2],recvMsg_CAN2.data[3]);

// 改动点：删除(uint8_t)强转，格式符改为%08X

sprintf((char*)CANRXDATA_STR2,"ID:%08X %02X %02X %02X %02X",

recvMsg_CAN2.id,recvMsg_CAN2.data[4],recvMsg_CAN2.data[5],recvMsg_CAN2.data[6],recvMsg_CAN2.data[7]);

OLED_ShowString(0,2,CANRXDATA_STR1,8,0);

OLED_ShowString(0,3,CANRXDATA_STR2,8,0);

/*sprintf((char*)CANRXDATA_STR1,"CAN1 %02X %02X %02X %02X",recvMsg_CAN1.data[0],recvMsg_CAN1.data[1],recvMsg_CAN1.data[2],recvMsg_CAN1.data[3]);

sprintf((char*)CANRXDATA_STR2,"ID%02X %02X %02X %02X %02X",(uint8_t)recvMsg_CAN1.id,recvMsg_CAN1.data[4],recvMsg_CAN1.data[5],recvMsg_CAN1.data[6],recvMsg_CAN1.data[7]);

OLED_ShowString(0,4,CANRXDATA_STR1,8,0);

OLED_ShowString(0,5,CANRXDATA_STR2,8,0);

sprintf((char*)CANRXDATA_STR1,"CAN2 %02X %02X %02X %02X",recvMsg_CAN2.data[0],recvMsg_CAN2.data[1],recvMsg_CAN2.data[2],recvMsg_CAN2.data[3]);

sprintf((char*)CANRXDATA_STR2,"ID%02X %02X %02X %02X %02X",(uint8_t)recvMsg_CAN2.id,recvMsg_CAN2.data[4],recvMsg_CAN2.data[5],recvMsg_CAN2.data[6],recvMsg_CAN2.data[7]);

OLED_ShowString(0,6,CANRXDATA_STR1,8,0);

OLED_ShowString(0,7,CANRXDATA_STR2,8,0);*/

/*OLED显示*/

PINS_DRV_TogglePins(PTD, 1 << 0);

PINS_DRV_TogglePins(PTD, 1 << 1);

PINS_DRV_TogglePins(PTD, 1 << 15);

PINS_DRV_TogglePins(PTD, 1 << 16);

delay_ms(100);

}

/*** Don't write any code pass th5is line, or it will be deleted during code generation. ***/

/*** RTOS startup code. Macro PEX_RTOS_START is defined by the RTOS component. DON'T MODIFY THIS CODE!!! ***/

#ifdef PEX_RTOS_START

PEX_RTOS_START(); /* Startup of the selected RTOS. Macro is defined by the RTOS component. */

#endif

/*** End of RTOS startup code. ***/

/*** Processor Expert end of main routine. DON'T MODIFY THIS CODE!!! ***/

for(;;) {

if(exit_code != 0) {

break;

}

return exit_code;

/*** Processor Expert end of main routine. DON'T WRITE CODE BELOW!!! ***/

} /*** End of main routine. DO NOT MODIFY THIS TEXT!!! ***/

/* END main */

/*!

** @}

*/

/*

** ###################################################################

**

** This file was created by Processor Expert 10.1 [05.21]

** for the NXP S32K series of microcontrollers.

**

** ###################################################################

*/

Re: Using the SDK's CAN communication S32K144 DEMO and making modifications, the sending of extended

Hi

Before calling CAN_Send, please call CAN_ConfigTxBuff first.

Refer to the discussion in can not receive the CAN frame with extended ID

Since I'm unsure which SDK version you're using, I suggest you check if SRR bit is set to one. For details, please refer to: When FlexCAN Tx send Extended ID, should the SRR bit be set?

Best Regards,
Robin
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