I am building a device that will control some devices in my house. Now evolving tool that will simulate the operation of multiple nodes on the bus.
The device transmits to the bus twenty messages under different ID's = 20 different nodes, but from 1 device.
My problem: I modified the program CAN_1st from the library of PIC32 examples. However, the CAN bus gets only 1 periodic message ID 337.
But the bus should get 20 messages. The hardware simulation works, messages go to CAN2Write, but CAN module of PIC32 has only ID 337.
I'm not experienced in C and do not know where my mistakes. You advise me? I have EasyPIC Fusion v7, PIC32MX795F512L, mikroC PRO for PIC32
v. 3.6.0, low speed USB2CAN interface with PP2CAN software. I am working with my own CAM modules with fault tolerant TJA1054AT (100 kBd).
Code: Select all
unsigned int Can_Init_Flags, Can_Send_Flags, Can_Rcv_Flags; // CAN priznaky
unsigned int Rx_Data_Len; // - delka prijatych
// dat v bajtech
unsigned int Tx_Data_LenKec;
char RxTx_Data[8];
char Msg_Rcvd; // priznak prijmu
unsigned long ID_kec, ID_2nd = 3; // oznaceni uzlu
unsigned long Rx_ID;
unsigned int i; // index ukazatelů
//const unsigned long ID;
// Zpravy pro komunikaci s topenim (v soucasne dobe 20 zprav)
unsigned long ID_1st[] = {337, 963, 1078, 705, 849, 857, 859, 993, 995, 707,
1067, 1393, 1397, 1569, 1589, 1136, 1319, 1550,
1583, 1617}; // oznacuje uzel
const unsigned int Tx_Data_Len[] = {4, 8, 6, 5, 8, 8, 8, 8, 8, 1, 6, 6, 4, 5,
3, 5, 8, 2, 4, 6}; // pocet komponentu
// ve zprave
// (max hodnota 8)
const unsigned char D0[] = {0, 116, 7, 0, 0, 24, 0, 3, 0, 7, 11, 180, 71, 32, 0,
0, 0, 8, 1, 192}; // komponenty D0
const unsigned char D1[] = {32, 27, 1, 0, 0, 1, 224, 106, 0, 0, 4, 0, 34, 195, 1,
0, 1, 0, 144, 3}; // komponenty D1
const unsigned char D2[] = {40, 0, 0, 0, 0, 0, 12, 12, 0, 0, 0, 0, 0, 25, 2, 0,
0, 0, 96, 89}; // komponenty D2
const unsigned char D3[] = {8, 0, 0, 0, 0, 0, 136, 0, 0, 0, 0, 0, 0, 35, 0, 0,
32, 0, 144, 175}; // komponenty D3
const unsigned char D4[] = {0, 128, 8, 4, 0, 0, 8, 0, 0, 0, 0, 0, 0, 17, 0, 16,
121, 0, 0, 38}; // komponenty D4
const unsigned char D5[] = {0, 64, 128, 0, 0, 43, 25, 0, 0, 0, 0, 0, 0, 0, 0, 0,
101, 0, 0, 71}; // komponenty D5
const unsigned char D6[] = {0, 0, 0, 0, 0, 0, 2, 0, 0, 0, 0, 0, 0, 0, 0, 0, 103,
0, 0, 0}; // komponenty D6
const unsigned char D7[] = {0, 48, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0,
0, 0, 0}; // komponenty D7
// rezervuje prostor pro 2 buffery s 8 zpravami (kazda zprava po 16 bajtech)
// zacatek bufferu musi byt zarovnan na 32 bitu
char FIFObuffers[2*8*16] absolute 0xA0000000;
// CAN Inicializacni konstanty
// Baudova rychlost je nastavena podle nasledujici rovnice
// Fbaud = Fosc/(2*N*BRP), N = SYNC + PHSEG1 + PHSEG2 + PROPSEG = 16
// V tomto pripade Fbaud = 100000
/*Toto do deklaracni sekce*/
const unsigned int SJW = 1; //puvod. hodnoty: 1 pro 125000
const unsigned int BRP = 2; //puvod. hodnoty: 2
const unsigned int PHSEG1 = 8; //puvod. hodnoty: 5
const unsigned int PHSEG2 = 3; //puvod. hodnoty: 2
const unsigned int PROPSEG = 8; //puvod. hodnoty: 8
const unsigned int CAN_CONFIG_FLAGS =
_CAN_CONFIG_SAMPLE_ONCE &
_CAN_CONFIG_PHSEG2_PRG_ON &
_CAN_CONFIG_STD_MSG &
_CAN_CONFIG_MATCH_MSG_TYPE &
_CAN_CONFIG_LINE_FILTER_OFF;
void main() {
AD1PCFG = 0; // konfiguruje ADC jako digitalni I/O
LATB = 0;
TRISB = 0;
i = 0; //ukazatel na prvky poli
Can_Init_Flags = 0; //
Can_Send_Flags = 0; // smaze priznaky
Can_Rcv_Flags = 0; //
Can_Send_Flags = // formát použité hodnoty
_CAN_TX_STD_FRAME & // s CAN2Write
_CAN_TX_NO_RTR_FRAME;
// Inicializační sekce pro CAN
CAN2Initialize(SJW, BRP, PHSEG1, PHSEG2, PROPSEG, CAN_CONFIG_FLAGS);
CAN2SetOperationMode(_CAN_MODE_CONFIG,0xFF); // nastavení konfiguračního módu
CAN2AssignBuffer(FIFObuffers); // priradime buffery
// Konfigurujeme fifo pro RX
CAN2ConfigureFIFO(0, 8,_CAN_FIFO_RX & _CAN_FULL_MESSAGE); // Buffer RX 8 hloubka
// 8 zprav
// Konfigurujeme fifo pro TX
CAN2ConfigureFIFO(1, 8,_CAN_FIFO_TX & _CAN_TX_PRIORITY_3 & _CAN_TX_NO_RTR_FRAME);
// Buffer TX hloubka 8 zprav
// Nastaveni masky 0
CAN2SetMask(_CAN_MASK_0, -1, _CAN_CONFIG_MATCH_MSG_TYPE & _CAN_CONFIG_STD_MSG);
// nastavi vsechny bity mask1 do jednicek
// Nastaveni filtru 1
CAN2SetFilter(_CAN_FILTER_31, ID_2nd, _CAN_MASK_0, _CAN_BUFFER_0, _CAN_CONFIG_STD_MSG);
// nastavi id filter1 na ID
// uzlu prijimace
CAN2SetOperationMode(_CAN_MODE_NORMAL,0xFF); // Nastavi mod NORMAL
while(1){
for (i = 0; i < 20; i++) {
ID_kec = ID_1st[i];
Tx_Data_LenKec = Tx_Data_Len[i];
RxTx_Data[0] = D0[i]; // Nacteni komponentu zprav
RxTx_Data[1] = D1[i]; // pro odeslani z poli
RxTx_Data[2] = D2[i];
RxTx_Data[3] = D3[i];
RxTx_Data[4] = D4[i];
RxTx_Data[5] = D5[i];
RxTx_Data[6] = D6[i];
RxTx_Data[7] = D7[i];
CAN2Write(ID_kec, RxTx_Data, Tx_Data_LenKec, Can_Send_Flags); // odesilame zpravu
}
/* puvodní PGM
Msg_Rcvd = CAN2Read(&Rx_ID, RxTx_Data, &Rx_Data_Len, &Can_Rcv_Flags); // receive message
if ((Rx_ID == ID_2nd) && Msg_Rcvd) { // if message received check id
LATB = RxTx_Data[0]; // id correct, output data at PORTB
RxTx_Data[0]++; // increment received data
delay_ms(10);
CAN2Write(ID_kec, RxTx_Data, 1, Can_Send_Flags); // send incremented data back
} */
}
}Jan
