The loopback test of S32K142 using CAN PAL peripheral failed

[RyzeBai]

Hi,

    Recently, I came into contact with S32K platform. The loopback test using CAN_PAL peripheral failed. It has been several days.Please give me a suggestion.The code is simple, as follows:

•     In DEBUG, the program gets stuck in "while(CAN_GetTransferStatus(&can_pal1_instance, RX_MAILBOX) == STATUS_BUSY);

CAN_PALPIN_MUX

#include "Cpu.h"
#include "callbacks.h"

#define TX_MAILBOX  (1UL)
#define TX_MSG_ID   (1UL)
#define RX_MAILBOX  (0UL)
#define RX_MSG_ID   (1UL)

volatile int exit_code = 0;
can_message_t recvMsg;

  void BoardInit(void)
  {
      CLOCK_SYS_Init(g_clockManConfigsArr, CLOCK_MANAGER_CONFIG_CNT,g_clockManCallbacksArr, CLOCK_MANAGER_CALLBACK_CNT);
      CLOCK_SYS_UpdateConfiguration(0U, CLOCK_MANAGER_POLICY_FORCIBLE);
      PINS_DRV_Init(NUM_OF_CONFIGURED_PINS, g_pin_mux_InitConfigArr);
  }

  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_STD,
	        .isRemote = false
	    };
	    /* Configure RX buffer with index RX_MAILBOX */
	    CAN_ConfigRxBuff(&can_pal1_instance, RX_MAILBOX, &RX_buffCfg, RX_MSG_ID);

	    can_buff_config_t TX_buffCfg =  {
	        .enableFD = false,
	        .enableBRS = false,
	        .fdPadding = 0U,
	        .idType = CAN_MSG_ID_STD,
	        .isRemote = false
	    };
	    /* Configure RX buffer with index RX_MAILBOX */
	    CAN_ConfigTxBuff(&can_pal1_instance, TX_MAILBOX, &TX_buffCfg);
);
  }

  /*
   * @brief Function which configures the LEDs and Buttons
   */

int main(void)
{
    BoardInit();   
    CAN1_Init();   
    can_message_t sendMsg = {
    		 .cs=0U,
			 .id = RX_MSG_ID,
			 .data[0] = 0x05,
			 .length = 1U
    };

while(1)
{
	CAN_Send(&can_pal1_instance,TX_MAILBOX,&sendMsg);
	while(CAN_GetTransferStatus(&can_pal1_instance, TX_MAILBOX) == STATUS_BUSY);
	CAN_Receive(&can_pal1_instance,RX_MAILBOX,&recvMsg);
	while(CAN_GetTransferStatus(&can_pal1_instance, RX_MAILBOX) == STATUS_BUSY);
}

[PetrS]

Hi,

try to move CAN_ConfigTxBuff into main function. But rather reorganize code little bit, e.g as below

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_STD,
    .isRemote = false
   };
   /* Configure RX buffer with index RX_MAILBOX */
   CAN_ConfigRxBuff(&can_pal1_instance, RX_MAILBOX, &RX_buffCfg, RX_MSG_ID);
}

/*
* @brief Function which configures the LEDs and Buttons
*/

int main(void)
{
   BoardInit();
   CAN1_Init();

   can_message_t sendMsg = {
    .cs=0U,
    .id = RX_MSG_ID,
    .data[0] = 0x05,
    .length = 1U
   };

   CAN_Receive(&can_pal1_instance,RX_MAILBOX,&recvMsg);

   can_buff_config_t TX_buffCfg = {
   .enableFD = false,
   .enableBRS = false,
   .fdPadding = 0U,
   .idType = CAN_MSG_ID_STD,
   .isRemote = false
   };
   /* Configure RX buffer with index RX_MAILBOX */
   CAN_ConfigTxBuff(&can_pal1_instance, TX_MAILBOX, &TX_buffCfg);

   CAN_Send(&can_pal1_instance,TX_MAILBOX,&sendMsg);

   while(1)
   {

       while(CAN_GetTransferStatus(&can_pal1_instance, RX_MAILBOX) == STATUS_BUSY);
       CAN_Receive(&can_pal1_instance,RX_MAILBOX,&recvMsg);

       for(int i=0;i<200000;i++){};

       /* Toggle output value LED0 */
       PINS_DRV_TogglePins(GPIO_PORT, (1 << LED1));

       CAN_Send(&can_pal1_instance,TX_MAILBOX,&sendMsg);
    }

BR, Petr

[RyzeBai]

Thanks for your advice! I achieved it after move CAN_ConfigTxBuff into main function!
But I don't understand why.can you tell me? thanks a lot.

[PetrS]

Hi,

I only found the TX buffer is not properly filled in Send function then, but don't know exact reason.

BR, Petr 

[RyzeBai]

Thanks,

Best Regards.