AURIX TC397 CAN MCMCAN

TC397_CAN简介

不同于TC297的MultiCAN+, TC397的CAN模块唤作MCMCAN:

• 实现了Bosch的M_CAN, 遵循ISO 11898-1(Classical CAN, CAN FD)和ISO 11898-4(Time-triggered CAN, TTCAN)
• TTCAN协议级别1和级别2完全硬件实现
• 支持事件同步时间触发通讯
• CAN错误记录
• AUTOSAR优化, SAE J1939优化
• 改进的验收过滤
• 接收高优先级消息时的单独信令
• MCMCAN 0/1/2模块由M_CAN作为CAN节点组成, 每个模块4个节点, 共计12路CANFD
• 主CPU直接消息RAM访问
• 一个可配置的消息RAM(configurable Message RAM)用于储存发送或者接收的消息, 多个M_CAN共享相同的消息RAM
• 可编程回环测试模式
• 可屏蔽的模块中断
• 8/16/32位通用从接口，用于连接客户特定的主机CPU
• 每个CAN节点有两个可配置的接收FIFO, 接收高优先级消息时的单独信令(signaling), 多达64个专用接收缓冲, 多达32个专用发送缓冲, 可配置的发送FIFO/Queue/Event FIFO

TC397的MCMCAN取代之前TC297的MultiCAN+有下面值得注意的改变:

• 消息对象被可配置的消息RAM取代
• 支持CAN上的调试

其它可参考 TC297 MultiCAN+

综述如下:

资源如下:

Parameter	CAN0	CAN1	CAN2
Node size in byte	1024	1024	1024
Number of CAN Nodes	4	4	4
Number of TTCAN Nodes	1
RAM size in byte	32768	16384	16384
Maximum Number of Standard ID Filter Messages per node	128	128	128
Maximum Number of Extended ID Filter Messages per node	64	64	64
Maximum Number of RxFIFO structures per node	2	2	2
Maximum Number of Messages in a Rx buffer per node	64	64	64
Maximum Number of Tx Event Messages per node	32	32	32
Maximum Number of Tx Messages in a Tx Buffer per node	32	32	32
Maximum number of trigger messages per TTCAN node	64

官方的评估板, 默认仅仅引出了CAN00:

• P20.7, CAN00 Receive Input B
• P20.8, CAN00 Transmit Output

CAN的IO可以在 Infineon-AURIX_TC39x-UserManual-v01_00-EN.pdf 第40.4节 MCMCAN的Connectivity查看, 以CAN00为例, 有下面引脚复用:

官方评估板选了P20.7和P20.8来用

CAN Loop-Back

参考 MCMCAN_1 for KIT_AURIX_TC397_TFT

本例MCMCAN用于在两个节点之间交换数据，实现在使用环回模式的同一设备中. 环回模式下, 无需外部引脚.

CAN0发消息给CAN1, 发送中断点亮LED表示发送成功, 一旦CAN消息被CAN1接收, 接收中断中比较接收和发送的消息内容, 一致就点亮另一颗LED表示接收成功:

• 初始化MODULE_CAN0模块
• 初始化发送CAN00节点, 回环模式, 发送中断
• 初始化接收CAN01节点, 回环模式, 接收中断
• 初始化滤波器
• 发送消息
• 发送中断点灯, 接收中断比较消息, 成功点灯

Cpu0_Main.c代码如下:

#include "Ifx_Types.h"
#include "IfxCpu.h"
#include "IfxScuWdt.h"

#include <stdio.h>
#include <string.h>
#include "Ifx_Types.h"
#include "IfxCan_Can.h"
#include "IfxCan.h"
#include "IfxCpu_Irq.h"
#include "IfxPort.h"

IFX_ALIGN(4) IfxCpu_syncEvent g_cpuSyncEvent = 0;

#define LED0                     &MODULE_P13,0
#define LED1                     &MODULE_P13,1

#define CAN_MESSAGE_ID              (uint32)0x777           /* Message ID that will be used in arbitration phase    */
#define INVALID_RX_DATA_VALUE       0xA5                    /* Used to invalidate RX message data content           */
#define INVALID_ID_VALUE            (uint32)0xFFFFFFFF      /* Used to invalidate RX message ID value               */
#define ISR_PRIORITY_CAN_TX         2                       /* Define the CAN TX interrupt priority                 */
#define ISR_PRIORITY_CAN_RX         1                       /* Define the CAN RX interrupt priority                 */
#define TX_DATA_LOW_WORD            (uint32)0xC0CAC01A      /* Define CAN data lower word to be transmitted         */
#define TX_DATA_HIGH_WORD           (uint32)0xBA5EBA11      /* Define CAN data higher word to be transmitted        */
#define MAXIMUM_CAN_DATA_PAYLOAD    2                       /* Define maximum classical CAN payload in 4-byte words */

/*********************************************************************************************************************/
/*--------------------------------------------------Data Structures--------------------------------------------------*/
/*********************************************************************************************************************/
typedef struct
{
    
    
    IfxCan_Can_Config canConfig;                            /* CAN module configuration structure                   */
    IfxCan_Can canModule;                                   /* CAN module handle                                    */
    IfxCan_Can_Node canSrcNode;                             /* CAN source node handle data structure                */
    IfxCan_Can_Node canDstNode;                             /* CAN destination node handle data structure           */
    IfxCan_Can_NodeConfig canNodeConfig;                    /* CAN node configuration structure                     */
    IfxCan_Filter canFilter;                                /* CAN filter configuration structure                   */
    IfxCan_Message txMsg;                                   /* Transmitted CAN message structure                    */
    IfxCan_Message rxMsg;                                   /* Received CAN message structure                       */
    uint32 txData[MAXIMUM_CAN_DATA_PAYLOAD];                /* Transmitted CAN data array                           */
    uint32 rxData[MAXIMUM_CAN_DATA_PAYLOAD];                /* Received CAN data array                              */
} McmcanType;

McmcanType                  g_mcmcan;

IFX_INTERRUPT(canIsrTxHandler, 0, ISR_PRIORITY_CAN_TX);
void canIsrTxHandler(void)
{
    
    
    /* Clear the "Transmission Completed" interrupt flag */
    IfxCan_Node_clearInterruptFlag(g_mcmcan.canSrcNode.node, IfxCan_Interrupt_transmissionCompleted);
    /* Just to indicate that the CAN message has been transmitted by turning on LED0 */
    IfxPort_setPinState(LED0, IfxPort_State_low);
}

IFX_INTERRUPT(canIsrRxHandler, 0, ISR_PRIORITY_CAN_RX);
void canIsrRxHandler(void)
{
    
    
    /* Clear the "Message stored to Dedicated RX Buffer" interrupt flag */
    IfxCan_Node_clearInterruptFlag(g_mcmcan.canDstNode.node, IfxCan_Interrupt_messageStoredToDedicatedRxBuffer);
    /* Clear the "New Data" flag; as long as the "New Data" flag is set, the respective Rx buffer is
     * locked against updates from received matching frames.
     */
    IfxCan_Node_clearRxBufferNewDataFlag(g_mcmcan.canDstNode.node, g_mcmcan.canFilter.rxBufferOffset);
    /* Read the received CAN message */
    IfxCan_Can_readMessage(&g_mcmcan.canDstNode, &g_mcmcan.rxMsg, g_mcmcan.rxData);

    /* Check if the received data matches with the transmitted one */
    if( ( g_mcmcan.rxData[0] == g_mcmcan.txData[0] ) &&
        ( g_mcmcan.rxData[1] == g_mcmcan.txData[1] ) &&
        ( g_mcmcan.rxMsg.messageId == g_mcmcan.txMsg.messageId ) )
    {
    
    
        /* Turn on the LED1 to indicate correctness of the received message */
        IfxPort_setPinState(LED1, IfxPort_State_low);
    }
}

void core0_main(void)
{
    
    
    IfxCpu_enableInterrupts();
    
    /* !!WATCHDOG0 AND SAFETY WATCHDOG ARE DISABLED HERE!!
     * Enable the watchdogs and service them periodically if it is required
     */
    IfxScuWdt_disableCpuWatchdog(IfxScuWdt_getCpuWatchdogPassword());
    IfxScuWdt_disableSafetyWatchdog(IfxScuWdt_getSafetyWatchdogPassword());
    
    /* Wait for CPU sync event */
    IfxCpu_emitEvent(&g_cpuSyncEvent);
    IfxCpu_waitEvent(&g_cpuSyncEvent, 1);
    
    //initLED
    IfxPort_setPinMode(LED0, IfxPort_Mode_outputPushPullGeneral);    /* Initialize LED port pin                      */
    IfxPort_setPinMode(LED1, IfxPort_Mode_outputPushPullGeneral);
    IfxPort_setPinState(LED0, IfxPort_State_high);                   /* Turn off LED (LED is low-level active)       */
    IfxPort_setPinState(LED1, IfxPort_State_high);

    //initMcmcan

    /*******CAN module configuration and initialization*******/
    //load default CAN module configuration into configuration structure
    IfxCan_Can_initModuleConfig(&g_mcmcan.canConfig, &MODULE_CAN0);
    //initialize CAN module with the default configuration
    IfxCan_Can_initModule(&g_mcmcan.canModule, &g_mcmcan.canConfig);

    /*******Source CAN node configuration and initialization*******/
    IfxCan_Can_initNodeConfig(&g_mcmcan.canNodeConfig, &g_mcmcan.canModule);
    g_mcmcan.canNodeConfig.busLoopbackEnabled = TRUE;
    g_mcmcan.canNodeConfig.nodeId = IfxCan_NodeId_0;
    g_mcmcan.canNodeConfig.frame.type = IfxCan_FrameType_transmit;
    g_mcmcan.canNodeConfig.interruptConfig.transmissionCompletedEnabled = TRUE;
    g_mcmcan.canNodeConfig.interruptConfig.traco.priority = ISR_PRIORITY_CAN_TX;
    g_mcmcan.canNodeConfig.interruptConfig.traco.interruptLine = IfxCan_InterruptLine_0;
    g_mcmcan.canNodeConfig.interruptConfig.traco.typeOfService = IfxSrc_Tos_cpu0;
    IfxCan_Can_initNode(&g_mcmcan.canSrcNode, &g_mcmcan.canNodeConfig);

    /*******Destination CAN node configuration and initialization*******/
    //load default CAN node configuration into configuration structure
    IfxCan_Can_initNodeConfig(&g_mcmcan.canNodeConfig, &g_mcmcan.canModule);
    //set destination CAN node in the "Loop-Back" mode (no external pins are used)
    g_mcmcan.canNodeConfig.busLoopbackEnabled = TRUE;
    //assign destination CAN node to CAN node 1
    g_mcmcan.canNodeConfig.nodeId = IfxCan_NodeId_1;
    //define the frame to be the receiving one
    g_mcmcan.canNodeConfig.frame.type = IfxCan_FrameType_receive;
    //once the message is stored in the dedicated RX buffer, raise the interrupt
    g_mcmcan.canNodeConfig.interruptConfig.messageStoredToDedicatedRxBufferEnabled = TRUE;
    //define the receive interrupt priority
    g_mcmcan.canNodeConfig.interruptConfig.reint.priority = ISR_PRIORITY_CAN_RX;
    //assign the interrupt line 1 to the receive interrupt
    g_mcmcan.canNodeConfig.interruptConfig.reint.interruptLine = IfxCan_InterruptLine_1;
    //receive interrupt service routine should be serviced by the CPU0
    g_mcmcan.canNodeConfig.interruptConfig.reint.typeOfService = IfxSrc_Tos_cpu0;
    //initialize the destination CAN node with the modified configuration
    IfxCan_Can_initNode(&g_mcmcan.canDstNode, &g_mcmcan.canNodeConfig);

    /*******CAN filter configuration and initialization*******/
    //filter configuration is stored under the filter element number 0
    g_mcmcan.canFilter.number = 0;
    //store received frame in a dedicated RX Buffer
    g_mcmcan.canFilter.elementConfiguration = IfxCan_FilterElementConfiguration_storeInRxBuffer;
    //define the same message ID as defined for the TX message
    g_mcmcan.canFilter.id1 = CAN_MESSAGE_ID;
    //assign the filter to the dedicated RX Buffer (RxBuffer0 in this case)
    g_mcmcan.canFilter.rxBufferOffset = IfxCan_RxBufferId_0;
    //initialize the standard filter with the modified configuration
    IfxCan_Can_setStandardFilter(&g_mcmcan.canDstNode, &g_mcmcan.canFilter);

    //transmitCanMessage

    //Initialization of the RX message with the default configuration
    IfxCan_Can_initMessage(&g_mcmcan.rxMsg);
    //Invalidation of the RX message data content
    memset((void *)(&g_mcmcan.rxData[0]), INVALID_RX_DATA_VALUE, MAXIMUM_CAN_DATA_PAYLOAD * sizeof(uint32));
    //Initialization of the TX message with the default configuration
    IfxCan_Can_initMessage(&g_mcmcan.txMsg);
    //Define the content of the data to be transmitted
    g_mcmcan.txData[0] = TX_DATA_LOW_WORD;
    g_mcmcan.txData[1] = TX_DATA_HIGH_WORD;
    //Set the message ID that is used during the receive acceptance phase
    g_mcmcan.txMsg.messageId = CAN_MESSAGE_ID;
    //Send the CAN message with the previously defined TX message content
    while( IfxCan_Status_notSentBusy ==
           IfxCan_Can_sendMessage(&g_mcmcan.canSrcNode, &g_mcmcan.txMsg, &g_mcmcan.txData[0]) )
    {
    
    
    }

    while(1)
    {
    
    
    }
}

CAN Transceiver

下面的例子用到了CAN00, 加收发器, 评估板有, 连到CAN卡, 以便在电脑上收发:

• 板子上默认有120Ω终端电阻了, 可以把USB-CAN卡的120Ω也用上
• Classic CAN波特率500K
• 对应的引脚是P20.7(CAN00_RX)和P20.8(CAN00_TX)
• CAN发送ID为 0x1234567, 中断中翻转LED0
• CAN接收 0x1234561 扩展帧, 数据为0x 01 23 45 67 89 AB CD EF 时, 点亮LED1
• CAN接收 0x1234562 扩展帧, 数据为0x 02 23 45 67 89 AB CD EF 时, 点亮LED2
• CAN接收 0x1234563 扩展帧, 数据为0x 03 23 45 67 89 AB CD EF 时, 点亮LED3

Cpu0_Main.c代码:

#include "Ifx_Types.h"
#include "IfxCpu.h"
#include "IfxScuWdt.h"

IFX_ALIGN(4) IfxCpu_syncEvent g_cpuSyncEvent = 0;

#include "Ifx_Types.h"
#include "IfxCan_Can.h"
#include "IfxCan.h"
#include "IfxCpu_Irq.h"
#include "IfxPort.h"
#include "Bsp.h"

#define LED0                     &MODULE_P13,0
#define LED1                     &MODULE_P13,1
#define LED2                     &MODULE_P13,2
#define LED3                     &MODULE_P13,3

#define MODULE_CAN0_RAM    0xF0200000
#define NODE0_RAM_OFFSET   0x0
//#define NODE1_RAM_OFFSET   0x1000

#define CAN_MESSAGE_TX_ID0             (uint32)0x1234567
#define CAN_MESSAGE_RX_ID1             (uint32)0x1234561
#define CAN_MESSAGE_RX_ID2             (uint32)0x1234562
#define CAN_MESSAGE_RX_ID3             (uint32)0x1234563

#define ISR_PRIORITY_CAN_TX         2                       /* Define the CAN TX interrupt priority                 */
#define ISR_PRIORITY_CAN_RX         1                       /* Define the CAN RX interrupt priority                 */
#define MAXIMUM_CAN_DATA_PAYLOAD    2                       /* Define maximum classical CAN payload in 4-byte words */

IFX_CONST IfxCan_Can_Pins Can00_pins = {
    
    
       &IfxCan_TXD00_P20_8_OUT,   IfxPort_OutputMode_pushPull, // CAN00_TX
       &IfxCan_RXD00B_P20_7_IN,   IfxPort_InputMode_pullUp,    // CAN00_RX
       IfxPort_PadDriver_cmosAutomotiveSpeed4
};

typedef struct
{
    
    
    IfxCan_Can_Config canConfig;                            /* CAN module configuration structure                   */
    IfxCan_Can canModule;                                   /* CAN module handle                                    */
    IfxCan_Can_Node can00Node;                             /* CAN source node handle data structure                */
    IfxCan_Can_NodeConfig canNodeConfig;                    /* CAN node configuration structure                     */
    IfxCan_Filter canFilter;                                /* CAN filter configuration structure                   */
    IfxCan_Message txMsg;                                   /* Transmitted CAN message structure                    */
    IfxCan_Message rxMsg;                                   /* Received CAN message structure                       */
    uint32 txData[MAXIMUM_CAN_DATA_PAYLOAD];                /* Transmitted CAN data array                           */
    uint32 rxData[MAXIMUM_CAN_DATA_PAYLOAD];                /* Received CAN data array                              */
} McmcanType;

McmcanType                  g_mcmcan;

IFX_INTERRUPT(canIsrTxHandler, 0, ISR_PRIORITY_CAN_TX);
void canIsrTxHandler(void)
{
    
    
    /* Clear the "Transmission Completed" interrupt flag */
    IfxCan_Node_clearInterruptFlag(g_mcmcan.can00Node.node, IfxCan_Interrupt_transmissionCompleted);

    IfxPort_togglePin(LED0);    //transmit indicator
}

IFX_INTERRUPT(canIsrRxHandler, 0, ISR_PRIORITY_CAN_RX);
void canIsrRxHandler(void)
{
    
    
    /* Clear the "Message stored to Dedicated RX Buffer" interrupt flag */
    IfxCan_Node_clearInterruptFlag(g_mcmcan.can00Node.node, IfxCan_Interrupt_messageStoredToDedicatedRxBuffer);
    /* Clear the "New Data" flag; as long as the "New Data" flag is set, the respective Rx buffer is
     * locked against updates from received matching frames.
     */
    IfxCan_Node_clearRxBufferNewDataFlag(g_mcmcan.can00Node.node, g_mcmcan.canFilter.rxBufferOffset);
    /* Read the received CAN message */
    IfxCan_Can_readMessage(&g_mcmcan.can00Node, &g_mcmcan.rxMsg, g_mcmcan.rxData);

    /* Check if the received data matches with the transmitted one */
    if((g_mcmcan.rxMsg.messageId == CAN_MESSAGE_RX_ID1)
            && (g_mcmcan.rxData[1] == 0xEFCDAB89))
    {
    
    
        if(g_mcmcan.rxData[0] == 0x67452301) {
    
      //send 0x
            IfxPort_setPinState(LED1, IfxPort_State_low);   //LED ON
        } else {
    
    
            IfxPort_setPinState(LED1, IfxPort_State_high);  //LED OFF
        }
    }

    if((g_mcmcan.rxMsg.messageId == CAN_MESSAGE_RX_ID2)
            && (g_mcmcan.rxData[1] == 0xEFCDAB89))
    {
    
    
        if(g_mcmcan.rxData[0] == 0x67452302) {
    
    
            IfxPort_setPinState(LED2, IfxPort_State_low);
        } else {
    
    
            IfxPort_setPinState(LED2, IfxPort_State_high);
        }
    }

    if((g_mcmcan.rxMsg.messageId == CAN_MESSAGE_RX_ID3)
            && (g_mcmcan.rxData[1] == 0xEFCDAB89))
    {
    
    
        if(g_mcmcan.rxData[0] == 0x67452303) {
    
    
            IfxPort_setPinState(LED3, IfxPort_State_low);
        } else {
    
    
            IfxPort_setPinState(LED3, IfxPort_State_high);
        }
    }

}

void initCAN0(void)
{
    
    
    /*******CAN module configuration and initialization*******/
    IfxCan_Can_initModuleConfig(&g_mcmcan.canConfig, &MODULE_CAN0);
    IfxCan_Can_initModule(&g_mcmcan.canModule, &g_mcmcan.canConfig);

    /*******CAN00 node configuration and initialization*******/
    IfxCan_Can_initNodeConfig(&g_mcmcan.canNodeConfig, &g_mcmcan.canModule);

    g_mcmcan.canNodeConfig.nodeId = IfxCan_NodeId_0;
    g_mcmcan.canNodeConfig.clockSource = IfxCan_ClockSource_both;
    g_mcmcan.canNodeConfig.frame.type = IfxCan_FrameType_transmitAndReceive;
    g_mcmcan.canNodeConfig.frame.mode = IfxCan_FrameMode_standard;  //Classic CAN

    g_mcmcan.canNodeConfig.txConfig.txMode = IfxCan_TxMode_dedicatedBuffers;
    g_mcmcan.canNodeConfig.txConfig.dedicatedTxBuffersNumber = 255;
    g_mcmcan.canNodeConfig.txConfig.txBufferDataFieldSize = IfxCan_DataFieldSize_8;

    g_mcmcan.canNodeConfig.rxConfig.rxMode = IfxCan_RxMode_dedicatedBuffers;
    g_mcmcan.canNodeConfig.rxConfig.rxBufferDataFieldSize = IfxCan_DataFieldSize_8;

    g_mcmcan.canNodeConfig.filterConfig.extendedListSize = 255; //Extended Frame
    g_mcmcan.canNodeConfig.filterConfig.messageIdLength = IfxCan_MessageIdLength_extended;

    g_mcmcan.canNodeConfig.messageRAM.extendedFilterListStartAddress = 0x100;   //Extended Frame
    g_mcmcan.canNodeConfig.messageRAM.rxBuffersStartAddress = 0x200;
    g_mcmcan.canNodeConfig.messageRAM.txBuffersStartAddress = 0x400;
    g_mcmcan.canNodeConfig.messageRAM.baseAddress = MODULE_CAN0_RAM + NODE0_RAM_OFFSET;

    g_mcmcan.canNodeConfig.baudRate.baudrate = 500000;   //500KBaud

    //transmit interrupt
    g_mcmcan.canNodeConfig.interruptConfig.transmissionCompletedEnabled = TRUE;
    g_mcmcan.canNodeConfig.interruptConfig.traco.priority = ISR_PRIORITY_CAN_TX;
    g_mcmcan.canNodeConfig.interruptConfig.traco.interruptLine = IfxCan_InterruptLine_0;
    g_mcmcan.canNodeConfig.interruptConfig.traco.typeOfService = IfxSrc_Tos_cpu0;

    //receive interrupt
    g_mcmcan.canNodeConfig.interruptConfig.messageStoredToDedicatedRxBufferEnabled = TRUE;
    g_mcmcan.canNodeConfig.interruptConfig.reint.priority = ISR_PRIORITY_CAN_RX;
    g_mcmcan.canNodeConfig.interruptConfig.reint.interruptLine = IfxCan_InterruptLine_1;
    g_mcmcan.canNodeConfig.interruptConfig.reint.typeOfService = IfxSrc_Tos_cpu0;

    //binding pin
    g_mcmcan.canNodeConfig.pins = &Can00_pins;

    IfxCan_Can_initNode(&g_mcmcan.can00Node, &g_mcmcan.canNodeConfig);

    /*******CAN filter configuration and initialization*******/
    g_mcmcan.canFilter.number = 0;
    g_mcmcan.canFilter.elementConfiguration = IfxCan_FilterElementConfiguration_storeInRxBuffer;
    g_mcmcan.canFilter.id1 = CAN_MESSAGE_RX_ID1;
    g_mcmcan.canFilter.rxBufferOffset = IfxCan_RxBufferId_0;
    //IfxCan_Can_setStandardFilter(&g_mcmcan.can00Node, &g_mcmcan.canFilter);
    IfxCan_Can_setExtendedFilter(&g_mcmcan.can00Node, &g_mcmcan.canFilter);

    g_mcmcan.canFilter.number = 1;
    g_mcmcan.canFilter.elementConfiguration = IfxCan_FilterElementConfiguration_storeInRxBuffer;
    g_mcmcan.canFilter.id1 = CAN_MESSAGE_RX_ID2;
    //g_mcmcan.canFilter.id2 = CAN_MESSAGE_RX_ID2;
    g_mcmcan.canFilter.rxBufferOffset = IfxCan_RxBufferId_0;
    //IfxCan_Can_setStandardFilter(&g_mcmcan.can00Node, &g_mcmcan.canFilter);
    IfxCan_Can_setExtendedFilter(&g_mcmcan.can00Node, &g_mcmcan.canFilter);

    g_mcmcan.canFilter.number = 2;
    g_mcmcan.canFilter.elementConfiguration = IfxCan_FilterElementConfiguration_storeInRxBuffer;
    g_mcmcan.canFilter.id1 = CAN_MESSAGE_RX_ID3;
    //g_mcmcan.canFilter.id2 = CAN_MESSAGE_RX_ID3;
    g_mcmcan.canFilter.rxBufferOffset = IfxCan_RxBufferId_0;
    //IfxCan_Can_setStandardFilter(&g_mcmcan.can00Node, &g_mcmcan.canFilter);
    IfxCan_Can_setExtendedFilter(&g_mcmcan.can00Node, &g_mcmcan.canFilter);

}

void initLED(void)
{
    
    
    IfxPort_setPinMode(LED0, IfxPort_Mode_outputPushPullGeneral);    /* Initialize LED port pin                      */
    IfxPort_setPinMode(LED1, IfxPort_Mode_outputPushPullGeneral);
    IfxPort_setPinMode(LED2, IfxPort_Mode_outputPushPullGeneral);
    IfxPort_setPinMode(LED3, IfxPort_Mode_outputPushPullGeneral);
    IfxPort_setPinState(LED0, IfxPort_State_high);                   /* Turn off LED (LED is low-level active)       */
    IfxPort_setPinState(LED1, IfxPort_State_high);
    IfxPort_setPinState(LED2, IfxPort_State_high);
    IfxPort_setPinState(LED3, IfxPort_State_high);
}


void core0_main(void)
{
    
    
    IfxCpu_enableInterrupts();
    
    /* !!WATCHDOG0 AND SAFETY WATCHDOG ARE DISABLED HERE!!
     * Enable the watchdogs and service them periodically if it is required
     */
    IfxScuWdt_disableCpuWatchdog(IfxScuWdt_getCpuWatchdogPassword());
    IfxScuWdt_disableSafetyWatchdog(IfxScuWdt_getSafetyWatchdogPassword());
    
    /* Wait for CPU sync event */
    IfxCpu_emitEvent(&g_cpuSyncEvent);
    IfxCpu_waitEvent(&g_cpuSyncEvent, 1);
    
    initLED();
    initTime();
    initCAN0();

    IfxCan_Can_initMessage(&g_mcmcan.txMsg);
    g_mcmcan.txMsg.messageId = CAN_MESSAGE_TX_ID0;
    g_mcmcan.txMsg.bufferNumber = 0;
    g_mcmcan.txMsg.dataLengthCode = IfxCan_DataLengthCode_8;//8 bytes
    g_mcmcan.txMsg.frameMode = IfxCan_FrameMode_standard;   //Classic CAN
    g_mcmcan.txMsg.messageIdLength=IfxCan_MessageIdLength_extended;  //Extended Frame
    g_mcmcan.txData[0] = 0x98BADCFE;
    g_mcmcan.txData[1] = 0x10325476;
    //you will receive: FE DC BA 98 76 54 32 10

    while(1)
    {
    
    
        while(IfxCan_Status_notSentBusy ==
                IfxCan_Can_sendMessage(&g_mcmcan.can00Node, &g_mcmcan.txMsg, &g_mcmcan.txData[0]) );

        waitTime(TimeConst_1s);
    }
}

编译运行, LED0每秒翻转一次状态, 查看CAN00发送出来的数据:

点亮LED1:

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