K60CAN总线无法发送

navy1988 · 发表于 2015-1-6 14:37:30

K60 CAN发送扩展帧不成功；请教大师!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!! void CANInit(void){
   UInt8 i;
// CAN0BaseAdd=CAN0_BASE_PTR;
   OSC_CR=0x80|0x02;  //使能CAN外部时钟
   SIM_SCGC6|=0x10; //使能CAN0的时钟模块
// SIM_SCGC3|=0x10; //使能CAN1的时钟模块

   NVICICPR0 = (NVICICPR0 & ~(0x07<<29)) | (0x07<<29);//清除挂载在FlexCAN0的中断
   NVICISER0 = (NVICISER0 & ~(0x07<<29)) | (0x07<<29);//使能FlexCAN0中断

   NVICICPR1 = (NVICICPR1 & ~(0x1F<<0)) | (0x1F);//清除挂载在FlexCAN0的中断
   NVICISER1 = (NVICISER1 & ~(0x1F<<0)) | (0x1F);//使能FlexCAN0中断

// NVICICPR1 = (NVICICPR1 & ~(0xFF<<5)) | (0xFF<<5);//清除挂载在FlexCAN1的中断
// NVICISER1 = (NVICISER1 & ~(0xFF<<5)) | (0xFF<<5);//使能FlexCAN1中断

   PORTB_PCR18 = 0X0203;//使能CAN0TX 使能上拉
   PORTB_PCR19 =0X0203 ; //使能CAN0RX 使能上拉

   //选择时钟源，外设时钟48MHz，内部时钟：12MHz
   CAN0_CTRL1|=0x00002000;
   CAN0_MCR |= CAN_MCR_FRZ_MASK;  //使能冻结模式 y
// CAN0_MCR|=0x40000000;
   CAN0_MCR&= ~CAN_MCR_MDIS_MASK;//使能CAN模块 y
// CAN0_MCR&=0x7FFFFFFF;

      //确认已退出冻结模式
   while((CAN_MCR_LPMACK_MASK & CAN0_MCR));// (((CAN_MCR) >> (20)) & 1)
// while((CAN0_MCR >> 20) & 1);
      //软件复位
   CAN0_MCR ^= CAN_MCR_SOFTRST_MASK;
      //等待复位完成
   while(CAN_MCR_SOFTRST_MASK & CAN0_MCR);
   // while((CAN0_MCR >> 25) & 1); //(CAN0_MCR >> 25) & 1
      //等待进入冻结模式
   // while(!((CAN0_MCR >> 24) & 1));//(CAN0_MCR >> 24) & 1
   while(!(CAN_MCR_FRZACK_MASK & CAN0_MCR));
      //将16个邮箱缓冲区内容清0
      for(i=0;i<16;i++)
      {
        CAN0_BASE_PTR->MB[i].CS = 0x00000000;
        CAN0_BASE_PTR->MB[i].ID = 0x00000000;
        CAN0_BASE_PTR->MB[i].WORD0 = 0x00000000;
        CAN0_BASE_PTR->MB[i].WORD1 = 0x00000000;
      }
      CAN0_MCR |= CAN_MCR_SRXDIS_MASK;  //禁止自发自收
      //配置相关的寄存器
      CAN0_CTRL2 &= ~CAN_CTRL2_EACEN_MASK; //接收邮箱过滤IDE匹配，RTR不匹配
      CAN0_CTRL2&= ~CAN_CTRL2_RRS_MASK;  //不自动产生远程请求帧产生
      CAN0_CTRL2 &= ~CAN_CTRL2_MRP_MASK; //ID首先从邮箱中匹配

         //canx->CTRL1 |= CAN_CTRL1_LBUF_MASK;  //发送的时候从低Msg开始
      // CAN0_CTRL1 &= ~CAN_CTRL1_LBUF_MASK; //发送的时候从低优先级发送
      CAN0_CTRL1&= ~CAN_CTRL1_LPB_MASK; //使用正常模式
      SetCANBand(250);
      // CAN0_CTRL1=CAN0_CTRL1|(0<<12);  //使用正常模式

         ////不屏蔽ID
      CAN0_RXMGMASK=0x0;
      CAN0_RX14MASK=0x0;
      CAN0_RX15MASK=0x0;

      CAN0_MCR &=~( CAN_MCR_HALT_MASK);  //0x10000000u
      //等待直到退出冻结模式
      while( CAN0_MCR& CAN_MCR_FRZACK_MASK);
      //等到不在冻结模式，休眠模式或者停止模式
      while((CAN0_MCR & CAN_MCR_NOTRDY_MASK));


}

UInt8 SetCANBand(UInt32 baudrateKHz)
{

   switch (baudrateKHz)
   {

         case (250):
            if(CAN0_CTRL1 & CAN_CTRL1_CLKSRC_MASK)
            {
   // 48M/(PRESDIV+1)= 3M sclock, 12Tq=(1+(PSEG1+1)+(PSEG2+1)+(PROPSEG+1))
               //波特率=3M/12=250K
   // PROPSEG = 3, LOM = 0x0, LBUF = 0x0, TSYNC = 0x0, SAMP = 1
   // RJW = 2, PSEG1 = 4, PSEG2 = 4, PRESDIV = 16
   CAN0_CTRL1 = (0 | CAN_CTRL1_PROPSEG(2)
| CAN_CTRL1_RJW(1)
| CAN_CTRL1_PSEG1(3)
| CAN_CTRL1_PSEG2(3)
| CAN_CTRL1_PRESDIV(15));
            }
            else
            {
   // 12M/4= 3M sclock, 12Tq
   // PROPSEG = 3, LOM = 0x0, LBUF = 0x0, TSYNC = 0x0, SAMP = 1
   // RJW = 2, PSEG1 = 4, PSEG2 = 4, PRESDIV = 4
   CAN0_CTRL1= (0 | CAN_CTRL1_PROPSEG(2)
| CAN_CTRL1_RJW(1)
| CAN_CTRL1_PSEG1(3)
| CAN_CTRL1_PSEG2(3)
| CAN_CTRL1_PRESDIV(3));
            }
            break;
         case (500):
            if(CAN0_CTRL1 & CAN_CTRL1_CLKSRC_MASK)
            {
   // 48M/8=6M sclock, 12Tq
   // PROPSEG = 3, LOM = 0x0, LBUF = 0x0, TSYNC = 0x0, SAMP = 1
   // RJW = 2, PSEG1 = 4, PSEG2 = 4, PRESDIV = 6
   CAN0_CTRL1 = (0 | CAN_CTRL1_PROPSEG(2)
| CAN_CTRL1_RJW(1)
| CAN_CTRL1_PSEG1(3)
| CAN_CTRL1_PSEG2(3)
| CAN_CTRL1_PRESDIV(7));
            }
            else
            {
   // 12M/2=6M sclock, 12Tq
   // PROPSEG = 3, LOM = 0x0, LBUF = 0x0, TSYNC = 0x0, SAMP = 1
   // RJW = 2, PSEG1 = 4, PSEG2 = 4, PRESDIV = 2
   CAN0_CTRL1 = (0 | CAN_CTRL1_PROPSEG(2)
   | CAN_CTRL1_RJW(1)
   | CAN_CTRL1_PSEG1(3)
   | CAN_CTRL1_PSEG2(3)
   | CAN_CTRL1_PRESDIV(1));

            }
            break;

}
}
//此程序可写MB，但发送未完成，程序死在 while(!(CAN0_BASE_PTR->IFLAG1 & (1<<iMB)))循环中
  UInt8 CANSendData(UInt16 iMB, UInt32 id,UInt8 length,UInt8 Data[])
  {
   UInt8 i;
   UInt16  j;

   //以下四步骤为发送过程
   CAN0_BASE_PTR->MB[iMB].CS = ( (0x08&0x0000000F)<<24)//缓冲区写激活代码
    | (1<<21)//缓冲区写IDE位
    | (0<<20)//缓冲区写RTR位
                           |((length&0x0000000F)<<16);  //缓冲区写数据长度

   //缓冲区写ID
   CAN0_BASE_PTR->MB[iMB].ID = (1 <<30) | id;

   //缓冲区写内容
   CAN0_BASE_PTR->MB[iMB].WORD0 =(UInt32)((Data[0]<<24)|(Data[1]<<16)|(Data[2]<<8)|Data[3]) ;
   CAN0_BASE_PTR->MB[iMB].WORD1 =(UInt32)((Data[4]<<24)|(Data[5]<<16)|(Data[6]<<8)|Data[7]) ;

   //延迟
   for(i = 0;i < 100;i++);

   //通过制定的发送代码开始发送
   CAN0_BASE_PTR->MB[iMB].CS = (CAN0_BASE_PTR->MB[iMB].CS & ~(0x0F000000))
    | ( (0x0C&0x0000000F)<<24)//写激活代码
    | ((length&0x0000000F)<<16);//缓冲区写数据长度

   //限时等待发送完成（如果使用中断则限时等待语句可删除）

   while(!(CAN0_IFLAG1 & (1<<iMB)))
   {
      if((j++)>0x1000)
      return 1;
   }
   //清报文缓冲区中断标志
   CAN0_IFLAG1 = (1<<iMB);
   return 0;
  }

程序运行时我寄存器值如下：CAN0_MCR=0x4082000f
CAN0_CTRL1=0x0f5b2002

CAN0_IFLAG1 0x00000000

CAN0_CTRL2 0x00c00000

CAN0_CS0 0x0c280000

CAN0_ID0 0x5801f456 //我在ID处写的是0x180156f4，为何变成这样了？

CAN0_WORD00 0x11223344
CAN0_WORD10    0x55667788 //数据都已经写入了但为何发不出来？

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