Hi,
I'm intend to build CAN communication, but I was not able to receive the data. I'm attaching the code here, please have a look and suggest me.
/*
* main implementation: use this 'C' sample to create your own application
*
*/
#include "S32K144.h"
//#include "FlexCAN.h"
#define PTD16 16
#if defined (__ghs__)
#define __INTERRUPT_SVC __interrupt
#define __NO_RETURN _Pragma("ghs nowarning 111")
#elif defined (__ICCARM__)
#define __INTERRUPT_SVC __svc
#define __NO_RETURN _Pragma("diag_suppress=Pe111")
#elif defined (__GNUC__)
#define __INTERRUPT_SVC __attribute__ ((interrupt ("SVC")))
#define __NO_RETURN
#else
#define __INTERRUPT_SVC
#define __NO_RETURN
#endif
int counter, accumulator = 0, limit_value = 1000000;
void SOSC_init_8MHz(void){
SCG->SOSCDIV = 0x00000101;
SCG->SOSCCFG = 0x00000024;
while(SCG->SOSCCSR & SCG_SOSCCSR_LK_MASK);
SCG->SOSCCSR = 0x00000001;
while (!(SCG->SOSCCSR &SCG_SOSCCSR_SOSCVLD_MASK));
}
void SPLL_init_80MHz(void){
while(SCG->SPLLCSR & SCG_SPLLCSR_LK_MASK);
SCG->SPLLCSR = 0x00000000;
SCG->SPLLDIV = 0x00000302;
SCG->SPLLCFG = 0x00180000;
while(SCG->SPLLCSR & SCG_SPLLCSR_LK_MASK);
SCG->SPLLCSR = 0x00000001;
while(!(SCG->SPLLCSR & SCG_SPLLCSR_SPLLVLD_MASK));
}
void NormalRunMode_80MHz(void){
SCG->RCCR = SCG_RCCR_SCS(6) | SCG_RCCR_DIVCORE(0b01) | SCG_RCCR_DIVBUS(0b01) | SCG_RCCR_DIVSLOW(0b10);
while (((SCG->CSR & SCG_CSR_SCS_MASK) >> SCG_CSR_SCS_SHIFT) != 6);
}
void CAN0_init(void){
#define MSG_BUF_SIZE 4
uint32_t i = 0;
PCC->PCCn[PCC_FlexCAN0_INDEX] |= PCC_PCCn_CGC_MASK;
CAN0->MCR |= CAN_MCR_MDIS_MASK;
CAN0->CTRL1 &= ~(CAN_CTRL1_CLKSRC_MASK);
CAN0->MCR &= ~CAN_MCR_MDIS_MASK;
while(!((CAN0->MCR & CAN_MCR_FRZACK_MASK) >> CAN_MCR_FRZACK_SHIFT));
CAN0->CTRL1 = 0x00DB0006;
for(i=0;i<128;i++){
CAN0->RAMn[i] = 0;
}
for(i=0;i<16;i++){
CAN0->RXIMR[i]=0xFFFFFFFF;
}
CAN0->RXMGMASK = 0x1FFFFFFF;
CAN0->RAMn[4*MSG_BUF_SIZE + 0] = 0x04000000;
CAN0->RAMn[4*MSG_BUF_SIZE + 1] = 0x15540000;
//#ifdef NODE_A
// CAN0->RAMn[4*MSG_BUF_SIZE + 1] = 0x14440000;
//#else
// CAN0->RAMn[4*MSG_BUF_SIZE + 1] = 0x15540000;
//#endif
CAN0->MCR = 0x0000001F;
while((CAN0->MCR && CAN_MCR_FRZACK_MASK) >> CAN_MCR_FRZACK_SHIFT);
while((CAN0->MCR && CAN_MCR_NOTRDY_MASK) >> CAN_MCR_NOTRDY_SHIFT);
}
void PORT_init(void){
PCC->PCCn[PCC_PORTE_INDEX] |= PCC_PCCn_CGC_MASK;
PORTE->PCR[4] |= PORT_PCR_MUX(5);
PORTE->PCR[5] |= PORT_PCR_MUX(5);
PCC->PCCn[PCC_PORTD_INDEX] |= PCC_PCCn_CGC_MASK;
PORTD->PCR[16] = 0x00000100;
PTD->PDDR |= 1<<PTD16;
}
int main(void) {
int counter = 0;
uint32_t rx_msg_cnt= 0;
SOSC_init_8MHz();
SPLL_init_80MHz();
NormalRunMode_80MHz();
CAN0_init();
PORT_init();
#ifdef NODE_A
CAN0_tx_msg();
#endif
for (;;) {
counter++;
if((CAN0->IFLAG1 >> 4) & 1)
{
CAN0_rx_msg();
rx_msg_cnt++;
if(rx_msg_cnt == 1000)
{
PTD->PTOR |= 1<<PTD16;
rx_msg_cnt = 0;
}
CAN0_tx_msg();
}
}
/* to avoid the warning message for GHS and IAR: statement is unreachable*/
__NO_RETURN
return 0;
}
void CAN0_tx_msg(void){
CAN0->IFLAG1 = 0x00000001;
CAN0->RAMn[0*MSG_BUF_SIZE + 2] = 0xA5112233;
CAN0->RAMn[0*MSG_BUF_SIZE + 3] = 0x44556677;
CAN0->RAMn[0*MSG_BUF_SIZE + 1] = 0x14440000;
CAN0->RAMn[0*MSG_BUF_SIZE + 0] = 0x0C400000 | 8<< CAN_WMBn_CS_DLC_SHIFT;
//#ifdef NODE_A
// CAN0->RAMn[0*MSG_BUF_SIZE + 1] = 0x15540000;
//#else
// CAN0->RAMn[0*MSG_BUF_SIZE + 1] = 0X14440000;
//#endif
// CAN0->RAMn[0*MSG_BUF_SIZE + 1] = 0x0C400000 | 8<< CAN_WMBn_CS_DLC_SHIFT;
}
void CAN0_rx_msg(void){
uint8_t j;
uint32_t RxCODE;
uint32_t RxID;
uint32_t RxLENGTH;
uint32_t RxDATA[2];
uint32_t RxTIMESTAMP;
RxCODE = (CAN0->RAMn[4*MSG_BUF_SIZE + 0] & 0x070000) >> 24;
RxID = (CAN0->RAMn[4*MSG_BUF_SIZE + 1] & CAN_WMBn_ID_ID_MASK) >> CAN_WMBn_ID_ID_SHIFT;
RxLENGTH = (CAN0->RAMn[4*MSG_BUF_SIZE + 0] & CAN_WMBn_CS_DLC_MASK) >> CAN_WMBn_CS_DLC_SHIFT;
for (j=0;j<2;j++){
RxDATA[j] = CAN0->RAMn[4*MSG_BUF_SIZE + 2 + j];
}
RxTIMESTAMP = (CAN0->RAMn[0*MSG_BUF_SIZE + 0] & 0X000FFFFF);
(void)CAN0->TIMER;
CAN0->IFLAG1 = 0x00000010;
}
__INTERRUPT_SVC void SVC_Handler() {
accumulator += counter;
}
