AT91SAM7X Interrupt Handler wird nur einmal aufgerufen

Kristof K. OP (Firma: HS Bochum) #1869099
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Hallo,

ich kämpfe nun schon ewig an diesem Problem und hoffe das ich hier neue 
Anregungen/Lösungen bekomme. Ich arbeite auf einem eigenen Board mit 
einem AT91SAM7X512 und benutze im Moment CAN zum empfangen von Daten und 
USB HID zum senden an den PC. Das soll mal ein CAN-Gamepad werden.

Can Initialisierung und Interrupt handler scheinen zu funktionieren, 
denn eine Nachricht wird korrekt bearbeitet. Das [b}Problem[/b] liegt 
darin das danach absolute Funkstille herrscht. Keine weitere Nachricht 
löst einen Interrupt aus. Das SR Register ist clear, CAN und Interrupts 
sind eingeschaltet.

1
void can_init(void){

2
  printf("--Init CANBUS\r\n");

3
  //enable Pins for CAN

4
  AT91C_BASE_PIOA->PIO_ASR = AT91C_PA19_CANRX|AT91C_PA20_CANTX;

5
  AT91C_BASE_PIOA->PIO_PDR = AT91C_PA19_CANRX|AT91C_PA20_CANTX;

6
  //Enable Peripheral Clock in PMC (Seite 520)

7
  AT91C_BASE_PMC->PMC_PCER = (1 << AT91C_ID_CAN);    //Enable Peripheral Clock

8
  AT91C_BASE_AIC->AIC_IDCR = (1 << AT91C_ID_CAN);   //Disable Interrupt

9


10
  AT91C_BASE_CAN->CAN_IDR = AT91C_CAN_MB0|AT91C_CAN_MB1|AT91C_CAN_MB2|AT91C_CAN_MB3

11
              |AT91C_CAN_MB4|AT91C_CAN_MB5|AT91C_CAN_MB6;      //Disable Mailbox 0 Interrupt

12
  AT91C_BASE_AIC->AIC_SMR[AT91C_ID_CAN] = 0x47;        //Set prior = 7 + high level sensitive

13
  AT91C_BASE_AIC->AIC_SVR[AT91C_ID_CAN] = (unsigned int) CANIrqHandler;

14
  //Enable CAN Controller Interrupt in the AIC (Seite 520)

15
  AT91C_BASE_AIC->AIC_ICCR = (1 << AT91C_ID_CAN);    //Clear Interrupt

16
  AT91C_BASE_AIC->AIC_IECR = (1 << AT91C_ID_CAN);     //Enable Interrupt

17


18
  //Set Baudrate

19
  AT91C_BASE_CAN->CAN_BR = CAN_BR_500K;

20
  //enable WAKEUP Int

21
  //AT91C_BASE_CAN->CAN_IER = AT91C_CAN_WAKEUP;

22
  //enable Error Ints

23
  //AT91C_BASE_CAN->CAN_IER = AT91C_CAN_AERR | AT91C_CAN_CERR;// |AT91C_CAN_SERR;//| AT91C_CAN_BERR

24


25
  // Configure Mailbox 0, RX

26
  AT91C_BASE_CAN_MB0->CAN_MB_MAM    = 0x7FF << 18;   //accept all -> 0x000

27
  AT91C_BASE_CAN_MB0->CAN_MB_MID    = 0xC2 << 18;

28
  AT91C_BASE_CAN_MB0->CAN_MB_MMR    = AT91C_CAN_MOT_RXOVERWRITE;

29


30
  // Configure Mailbox 1, RX

31
  AT91C_BASE_CAN_MB1->CAN_MB_MAM    = 0x7FF << 18;   //accept all -> 0x000

32
  AT91C_BASE_CAN_MB1->CAN_MB_MID    = 0x310 << 18;

33
  AT91C_BASE_CAN_MB1->CAN_MB_MMR    = AT91C_CAN_MOT_RXOVERWRITE;

34


35
  // Configure Mailbox 2, RX

36
  AT91C_BASE_CAN_MB2->CAN_MB_MAM    = 0x7FF << 18;   //accept all -> 0x000

37
  AT91C_BASE_CAN_MB2->CAN_MB_MID    = 0x90 << 18;

38
  AT91C_BASE_CAN_MB2->CAN_MB_MMR    = AT91C_CAN_MOT_RXOVERWRITE;

39


40
  // Configure Mailbox 3, RX

41
  AT91C_BASE_CAN_MB3->CAN_MB_MAM    = 0x7FF << 18;   //accept all -> 0x000

42
  AT91C_BASE_CAN_MB3->CAN_MB_MID    = 0x23A << 18;

43
  AT91C_BASE_CAN_MB3->CAN_MB_MMR    = AT91C_CAN_MOT_RXOVERWRITE;

44
  //ToDo

45
  // Enable WAKEUP RAUSGENOMMEN!!

46
  //Interrupt Enable

47
  AT91C_BASE_CAN->CAN_IER = AT91C_CAN_MB0|AT91C_CAN_MB1|AT91C_CAN_MB2|AT91C_CAN_MB3;

48
                //|AT91C_CAN_MB4|AT91C_CAN_MB5|AT91C_CAN_MB6|AT91C_CAN_MB7|AT91C_CAN_MB8

49
                //|AT91C_CAN_AERR|AT91C_CAN_CERR//AT91C_CAN_SERR

50
                //|AT91C_CAN_BERR;

51
                //|AT91C_CAN_FERR;

52
                //|AT91C_CAN_WAKEUP;

53
  // Clears the MRDY Signal

54
  AT91C_BASE_CAN->CAN_MB0.CAN_MB_MCR = AT91C_CAN_MTCR;

55
  AT91C_BASE_CAN->CAN_MB1.CAN_MB_MCR = AT91C_CAN_MTCR;

56
  AT91C_BASE_CAN->CAN_MB2.CAN_MB_MCR = AT91C_CAN_MTCR;

57
  AT91C_BASE_CAN->CAN_MB3.CAN_MB_MCR = AT91C_CAN_MTCR;

58
  // Enable CAN in "Listen Only" mode

59
  AT91C_BASE_CAN->CAN_MR = AT91C_CAN_ABM | AT91C_CAN_CANEN;

60
  //Wait for Wakeup Flag (11 rezessive bits)

61
  while((AT91C_BASE_CAN->CAN_SR & AT91C_CAN_WAKEUP) != AT91C_CAN_WAKEUP);

62
}

1
void CANIrqHandler (void){

2


3
  printf("--Handler\r\n");

4
  volatile unsigned int status;

5
  unsigned short MBnummer = 10;

6
  volatile unsigned char EP = 10;

7
  //Read AIV_IV for ack (Seite 159)

8
  AT91C_BASE_AIC->AIC_IVR;

9
  //CHECK for enabled interrupt

10
  status = ((AT91C_BASE_CAN->CAN_SR) & (AT91C_BASE_CAN->CAN_IMR));

11
  //Disable Interrupt & Clear

12
  AT91C_BASE_AIC->AIC_IDCR = (0x1 << AT91C_ID_CAN)|(0x1 << AT91C_ID_SYS);

13
  //AT91C_BASE_CAN->CAN_IDR = 0xFF; //((status = 1))

14
  printf("vor_CAN_SR = %x\r\n",AT91C_BASE_CAN->CAN_SR);

15
  printf("vor_CAN_IMR = %x\r\n",AT91C_BASE_CAN->CAN_IMR);

16
  printf("vor_CAN_SR & CAN_IMR = %x\r\n", status);

17


18
  //ToDo

19
  //WAKEUP interrupt

20
  if(status & AT91C_CAN_WAKEUP){

21
    AT91C_BASE_CAN->CAN_IDR = AT91C_CAN_WAKEUP;

22
  }

23
  //ALTERNATIVE WAKEUP SOFORT DISABLE!

24
  //AT91C_BASE_CAN->CAN_IDR = AT91C_CAN_WAKEUP;

25


26
  //MB0 0xC2

27
  if(status &  AT91C_CAN_MB0){

28
    InterruptFunctionMB0();

29
    MBnummer = 0;

30
    EP = 0;

31
  }

32
  //MB1 0x310

33
  else if(status & AT91C_CAN_MB1){

34
    printf("MAB1\r\n");

35
    InterruptFunctionMB1();

36
    MBnummer = 1;

37
    EP = 1;

38
  }

39
  //MB2 0x90

40
  else if(status & AT91C_CAN_MB2){

41
    printf("MAB2\r\n");

42
    InterruptFunctionMB2();

43
    MBnummer = 2;

44
    EP = 2;

45
  }

46
  //MB3 0x23A

47
  else if(status & AT91C_CAN_MB3){

48
    printf("MAB3\r\n");

49
    InterruptFunctionMB3();

50
    MBnummer = 3;

51
    EP = 3;

52
  }

53
  else printf("nix\r\n");

54


55
  //Check for Errors

56
  if ((status&0xFFCF0000) != 0) {

57
    CAN_ErrorHandling(status, EP);

58
    }

59
  //Clears MRDY (Seite 562)

60
  printf("Mailbox NR = %x\r\n", MBnummer);

61
  AT91C_BASE_CAN->CAN_MB0.CAN_MB_MMR = AT91C_CAN_MOT;

62
  AT91C_BASE_CAN->CAN_MB1.CAN_MB_MMR = AT91C_CAN_MOT;

63
  AT91C_BASE_CAN->CAN_MB2.CAN_MB_MMR = AT91C_CAN_MOT;

64
  AT91C_BASE_CAN->CAN_MB3.CAN_MB_MMR = AT91C_CAN_MOT;

65
  switch(MBnummer){

66
    case 0: AT91C_BASE_CAN->CAN_MB0.CAN_MB_MCR = AT91C_CAN_MTCR;

67
        break;

68
    case 1: AT91C_BASE_CAN->CAN_MB1.CAN_MB_MCR = AT91C_CAN_MTCR;

69
        break;

70
    case 2: AT91C_BASE_CAN->CAN_MB2.CAN_MB_MCR = AT91C_CAN_MTCR;

71
        break;

72
    case 3: AT91C_BASE_CAN->CAN_MB3.CAN_MB_MCR = AT91C_CAN_MTCR;

73
        break;

74
  }

75


76
  unsigned int i = AT91C_BASE_CAN_MB0->CAN_MB_MSR;

77
  i = AT91C_BASE_CAN_MB1->CAN_MB_MSR;

78
  i = AT91C_BASE_CAN_MB2->CAN_MB_MSR;

79
  i = AT91C_BASE_CAN_MB3->CAN_MB_MSR;

80
  printf("end_0MSR = %x\r\n",AT91C_BASE_CAN_MB0->CAN_MB_MSR);

81
  printf("end_1MSR = %x\r\n",AT91C_BASE_CAN_MB1->CAN_MB_MSR);

82
  printf("end_2MSR = %x\r\n",AT91C_BASE_CAN_MB2->CAN_MB_MSR);

83
  printf("end_3MSR = %x\r\n",AT91C_BASE_CAN_MB3->CAN_MB_MSR);

84
  printf("end_CAN_SR = %x\r\n",AT91C_BASE_CAN->CAN_SR);

85


86
  //write to EOICR = exit point

87
  AT91C_BASE_AIC->AIC_ICCR = (1 << AT91C_ID_CAN)|(1 << AT91C_ID_SYS);

88
  //Enable Interrupt

89
  AT91C_BASE_AIC->AIC_IECR = (1 << AT91C_ID_SYS) | (1 << AT91C_ID_CAN);

90
  AT91C_BASE_AIC->AIC_EOICR = 0x0;

91
  printf("ENDHANDLER\r\n");

92
}


Danke fürs durchlesen!

  





  

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