SPC560Dxx FlexCAN传输错误

我正在使用SPC560D-DIS Discovery板进行开发和SPC5工作室。


我已经为FlexCAN测试导入了测试应用程序'SPC560Dxx OS-Less CAN Test Application for Discovery'。在此FlexCAN0用于环回模式。它正在循环返回模式下工作。

但是在禁用环回模式后，它不会在CANTx上传输数据。 TX邮箱的代码保持为0x0C并生成错误处理程序。设置TWRNINT，BIT0ERR，BOFFINT和ERRINT的错误标志。

我用下面的结构传输数据，

/ * CAN TX消息结构* /
txmsg.IDE = CAN_IDE_EXT;
txmsg.RTR = CAN_RTR_DATA;
txmsg.LENGTH = 8;
txmsg.data32 [0] = 0x55AA55AA;
txmsg.data32 [1] = 0x00FF00FF;

初始化程序如下，

uint8_t mb_index = 0;
uint8_t id = 0;


/ *进入初始化模式。 * /
canp-＆gt; state = CAN_STARTING;


/ *时钟激活。* /
#if SPC5_CAN_USE_FLEXCAN0
/ *设置外设时钟模式。* /
if（＆amp; CAND1 == canp）{
SPC5_FLEXCAN0_ENABLE_CLOCK（）;
#if！SPC5_CAN_FLEXCAN0_USE_EXT_CLK
canp-> flexcan-＆gt; CR.R | = CAN_CTRL_CLK_SRC;
＃万一
}

/ *启用设备。* /
canp-> flexcan-＆gt; MCR.R＆amp; = ~CAN_MCR_MDIS;


/ *
*每MB单独过滤，禁用帧自我接收，
*禁用FIFO，启用SuperVisor模式。
* /
#if SPC5_CAN_USE_FLEXCAN0
if（＆amp; CAND1 == canp）
canp-＆gt; flexcan-＆gt; MCR.R | = CAN_MCR_SUPV | CAN_MCR_MAXMB（SPC5_FLEXCAN0_MB - 1）;
＃万一


canp-> flexcan-＆gt; CR.R | = CAN_CTRL_TSYN | CAN_CTRL_RJW（3）;


/ * TX MB初始化。* /
#if SPC5_CAN_USE_FLEXCAN0
if（＆amp; CAND1 == canp）{
for（mb_index = 0; mb_index＆lt;（SPC5_FLEXCAN0_MB - CAN_RX_MAILBOXES）;
mb_index ++）{
canp-＆gt; flexcan-＆gt; BUF [mb_index + CAN_RX_MAILBOXES] .CS.B.CODE = 8U;
}
}
＃万一


/ *解锁消息缓冲区。* /
（void）canp-> flexcan-＆gt; TIMER.R;


/ * MCR初始化。* /
canp-＆gt; flexcan-＆gt; MCR.R | = canp-＆gt; config-＆gt; mcr;


/ * CTRL初始化。* /
canp-＆gt; flexcan-＆gt; CR.R | = canp-＆gt; config-＆gt; ctrl;


/ *中断源初始化。* /
canp-＆gt; flexcan-＆gt; MCR.R | = CAN_MCR_WRN_EN;


canp-＆gt; flexcan-＆gt; CR.R | = CAN_CTRL_BOFF_MSK | CAN_CTRL_ERR_MSK |
CAN_CTRL_TWRN_MSK | CAN_CTRL_RWRN_MSK;

/ * RX MB初始化。* /
for（id = 0; id＆lt; CAN_RX_MAILBOXES; id ++）{
canp-> flexcan-＆gt; BUF [id] .CS.B.CODE = 0U;
if（canp-＆gt; config-＆gt; RxFilter [id] .scale）{
canp-> flexcan-＆gt; BUF [id] .CS.B.IDE = 1U;
canp-＆gt; flexcan-＆gt; BUF [id] .ID.R = canp-＆gt; config-＆gt; RxFilter [id] .register1;
}
其他{
canp-＆gt; flexcan-＆gt; BUF [id] .CS.B.IDE = 0U;
canp-＆gt; flexcan-＆gt; BUF [id] .ID.B.STD_ID = canp-＆gt; config-＆gt; RxFilter [id] .register1;
canp-＆gt; flexcan-＆gt; BUF [id] .ID.B.EXT_ID = 0U;
}
/ * RX MB初始化。* /
canp-> flexcan-＆gt; BUF [id] .CS.B.CODE = 4U;
}
canp-> flexcan-> RXGMASK.R = 0x0FFFFFFF;

/ *启用MB中断。* /
#if SPC5_CAN_USE_FLEXCAN0
if（＆amp; CAND1 == canp）{
if（SPC5_FLEXCAN0_MB == 32）{
canp-＆gt; flexcan-＆gt; IMRL.R = 0xFFFFFFFF;
}
否则if（SPC5_FLEXCAN0_MB == 64）{
canp-＆gt; flexcan-＆gt; IMRL.R = 0xFFFFFFFF;
canp-＆gt; flexcan-＆gt; IMRH.R = 0xFFFFFFFF;
}
}
＃万一


/ * CAN BUS同步。* /
canp-> flexcan-> MCR.B.HALT = 0;

这个配置是否缺失/错误？

同样在FlexCAN Buad上，我使用48MHz的总线clk，PRESDIV = 3，PSEG1 = 2，PSEG2 = 7和PROPSEG = 2。然后Sclock将是48MHz /（3 + 1）= 12MHz并且FlexCAN buad是12MHz / 15 = 800kbps。它是否正确？



以下为原文




I am using SPC560D-DIS Discovery board for development and SPC5 studio.


I have imported test application 'SPC560Dxx OS-Less CAN Test Application for Discovery' for FlexCAN testing. In this FlexCAN0 is used in loop back mode. It is working in loop back mode.  

But after disabling loop back mode, it is not transmitting data on CANTx. The code for TX mailbox remain as 0x0C and error handler is generating. Error flags for TWRNINT, BIT0ERR, BOFFINT and ERRINT are set.
  
I used below structure to transmit data,

/* CAN TX Message structure */
txmsg.IDE = CAN_IDE_EXT;
txmsg.RTR = CAN_RTR_DATA;
txmsg.LENGTH = 8;
txmsg.data32[0] = 0x55AA55AA;
txmsg.data32[1] = 0x00FF00FF;

And initialization routine is as below,

  uint8_t mb_index = 0;
  uint8_t id = 0;


  /* Entering initialization mode. */
  canp->state = CAN_STARTING;


  /* Clock activation.*/
#if SPC5_CAN_USE_FLEXCAN0
  /* Set peripheral clock mode.*/
  if(&CAND1 == canp) {
    SPC5_FLEXCAN0_ENABLE_CLOCK();
#if !SPC5_CAN_FLEXCAN0_USE_EXT_CLK
    canp->flexcan->CR.R |= CAN_CTRL_CLK_SRC;
#endif
  }
   
  /* Enable the device.*/
  canp->flexcan->MCR.R &= ~CAN_MCR_MDIS;


  /*
   * Individual filtering per MB, disable frame self reception,
   * disable the FIFO, enable SuperVisor mode.
   */
#if SPC5_CAN_USE_FLEXCAN0
  if(&CAND1 == canp)
    canp->flexcan->MCR.R |= CAN_MCR_SUPV | CAN_MCR_MAXMB(SPC5_FLEXCAN0_MB - 1);
#endif


  canp->flexcan->CR.R |= CAN_CTRL_TSYN | CAN_CTRL_RJW(3);


  /* TX MB initialization.*/
#if SPC5_CAN_USE_FLEXCAN0
  if(&CAND1 == canp) {
    for(mb_index = 0; mb_index < (SPC5_FLEXCAN0_MB - CAN_RX_MAILBOXES);
        mb_index++) {
      canp->flexcan->BUF[mb_index + CAN_RX_MAILBOXES].CS.B.CODE = 8U;
    }
  }
#endif


  /* Unlock Message buffers.*/
  (void) canp->flexcan->TIMER.R;


  /* MCR initialization.*/
  canp->flexcan->MCR.R |= canp->config->mcr;


  /* CTRL initialization.*/
  canp->flexcan->CR.R |= canp->config->ctrl;


  /* Interrupt sources initialization.*/
  canp->flexcan->MCR.R |= CAN_MCR_WRN_EN;


  canp->flexcan->CR.R |= CAN_CTRL_BOFF_MSK | CAN_CTRL_ERR_MSK  |
                         CAN_CTRL_TWRN_MSK | CAN_CTRL_RWRN_MSK;
  
  /* RX MB initialization.*/  
  for (id = 0; id < CAN_RX_MAILBOXES; id++) {
    canp->flexcan->BUF[id].CS.B.CODE = 0U;
    if (canp->config->RxFilter[id].scale) {
      canp->flexcan->BUF[id].CS.B.IDE = 1U;
      canp->flexcan->BUF[id].ID.R = canp->config->RxFilter[id].register1;
    }
    else {
      canp->flexcan->BUF[id].CS.B.IDE = 0U;
      canp->flexcan->BUF[id].ID.B.STD_ID = canp->config->RxFilter[id].register1;
      canp->flexcan->BUF[id].ID.B.EXT_ID = 0U;
    }
    /* RX MB initialization.*/
    canp->flexcan->BUF[id].CS.B.CODE = 4U;
  }
  canp->flexcan->RXGMASK.R = 0x0FFFFFFF;
   
    /* Enable MBs interrupts.*/
#if SPC5_CAN_USE_FLEXCAN0
  if(&CAND1 == canp) {
    if(SPC5_FLEXCAN0_MB == 32) {
      canp->flexcan->IMRL.R = 0xFFFFFFFF;
    }
    else if(SPC5_FLEXCAN0_MB == 64) {
      canp->flexcan->IMRL.R = 0xFFFFFFFF;
      canp->flexcan->IMRH.R = 0xFFFFFFFF;
    }
  }
#endif


  /* CAN BUS synchronization.*/
  canp->flexcan->MCR.B.HALT = 0;

Is any configuration is missing / wrong in this?

Also on FlexCAN Buad, I used bus clk of 48MHz, and PRESDIV=3, PSEG1=2, PSEG2=7 and PROPSEG=2. Then Sclock will be 48MHz/(3+1) = 12MHz and FlexCAN buad is 12MHz/15 = 800kbps. Is this correct?