Interrupt on Receiving CAN FD S32k144

[Sandra1]

Hi,
i would ask if there's any example for CAN FD Interrupt without SDK.

I've configured IMASK1, is there anything else I must do?

I tested it with canoe and send a CAN FD Message. But it says Tx Error (Bit Error and NAK Error)

Hope anyone can help

Sandra

[Senlent · Accepted solution]

Hi@Sandra1

I made a demo base on "S32K144_Project_CanFd" which is provided in S32 DS For Arm V2.2.

1.set MB4 interrupt mask in FLEXCAN0_init()

CAN0->IMASK1 |= CAN_IMASK1_BUF31TO0M(1 << 4);/*Enable MB 4 interrupt mask*/

2.Set NVIC and install  CAN0 IRQ Handler

void NVIC_init_IRQs (void)
{
	  S32_NVIC->ICPR[2] = 1 << (CAN0_ORed_0_15_MB_IRQn % 32);
	  S32_NVIC->ISER[2] = 1 << (CAN0_ORed_0_15_MB_IRQn % 32);
	  S32_NVIC->IP[CAN0_ORed_0_15_MB_IRQn] = 0xA0;
}

void CAN0_ORed_0_15_MB_IRQHandler(void)
{
    if ((CAN0->IFLAG1 >> 4) & 1) {  /* If CAN 0 MB 4 flag is set (received msg), read MB4 */
      FLEXCAN0_receive_msg();      /* Read message */
      rx_msg_count++;               /* Increment receive msg counter */

      if (rx_msg_count == 10) {   /* If 1000 messages have been received, */
        PTD->PTOR |= 1<<16;         /*   toggle output port D16 (Green LED) */
        rx_msg_count = 0;           /*   and reset message counter */
      }

      FLEXCAN0_transmit_msg();     /* Transmit message using MB0 */
    }
}