AWR1642: Data transfer over CAN network

Is it like these resistors I have to re solder , or is this can be done directly on the soc using some jumpers and all please let me know sir.

Hello Suraj,

This would require you to solder 0 ohm resistors.

-Raghu

AWR1642 EVM just gives the CANFD port, so you need to choose the CANFD function.

Hello Raghu,
We mounted 0 ohm on R11 and R12 and we removed R6 and R4. Still data is not going. I am not getting interrupt call back after the Tx done.
I am using CAN not CAN FD

Is it not possible to use CAN instead of CANFD ???

Hello Suraj,

You can use the CAN-FD interface in the Classic CAN mode by setting the frametype to CANFD_MCANFrameType_CLASSIC .

Please see the below post for the modification to be done for the CANFD interface to work in CLASSIC CAN mode.
e2e.ti.com/.../2316239

Could you please confirm how are you analysing the CAN data ? What analyzer you are using ?

-Raghu

Is it possible to use both CAN and SPI connections togather??

Suraj,

The CAN and SPI are muxed . So you can use only 1 of the interfaces with particular mux settings.
Both the interfaces cannot be used together.

-Raghu

I am using a CAN - Ethernet converter which receives data in the CAN port and sends the data over Ethernet. I changed frame type to CANFD_MCANFrameType_CLASSIC.
CANFD_transmitData() function is in a loop, only for the 1st transmission I am getting proper return value but no TxComplete interrupt generated.
In the next loop I am getting the error CANFD_EINUSE error. Please help me in solving the problem.

Suraj,
You can introduce either a delay (Task_sleep())or retry the transmission in case of an Tx error.

-Raghu

Suraj,
With the changes I mentioned above , do you still see the issue?

Please post the code changes you have made for transmitting the data over the CAN so that I can check if there are issue with your changes.

Thanks,
Raghu

Ya still I am getting the error CANFD_EINUSE.

This is the code I am using.
/*MCAN config parameters*/
mcanCfgParams->fdMode = 0x1U;
mcanCfgParams->brsEnable = 0x1U;
mcanCfgParams->txpEnable = 0x0U;
mcanCfgParams->efbi = 0x0U;
mcanCfgParams->pxhddisable = 0x0U;
mcanCfgParams->darEnable = 0x1U;
mcanCfgParams->wkupReqEnable = 0x1U;
mcanCfgParams->autoWkupEnable = 0x1U;
mcanCfgParams->emulationEnable = 0x0U;
mcanCfgParams->emulationFAck = 0x0U;
mcanCfgParams->clkStopFAck = 0x0U;
mcanCfgParams->wdcPreload = 0x0U;
mcanCfgParams->tdcEnable = 0x1U;
mcanCfgParams->tdcConfig.tdcf = 0U;
mcanCfgParams->tdcConfig.tdco = 8U;
mcanCfgParams->monEnable = 0x0U;
mcanCfgParams->asmEnable = 0x0U;
mcanCfgParams->tsPrescalar = 0x0U;
mcanCfgParams->tsSelect = 0x0U;
mcanCfgParams->timeoutSelect = CANFD_MCANTimeOutSelect_CONT;
mcanCfgParams->timeoutPreload = 0x0U;
mcanCfgParams->timeoutCntEnable = 0x0U;
mcanCfgParams->filterConfig.rrfe = 0x1U;
mcanCfgParams->filterConfig.rrfs = 0x1U;
mcanCfgParams->filterConfig.anfe = 0x1U;
mcanCfgParams->filterConfig.anfs = 0x1U;
mcanCfgParams->msgRAMConfig.lss = 127U;
mcanCfgParams->msgRAMConfig.lse = 64U;
mcanCfgParams->msgRAMConfig.txBufNum = 32U;
mcanCfgParams->msgRAMConfig.txFIFOSize = 0U;
mcanCfgParams->msgRAMConfig.txBufMode = 0U;
mcanCfgParams->msgRAMConfig.txEventFIFOSize = 0U;
mcanCfgParams->msgRAMConfig.txEventFIFOWaterMark = 0U;
mcanCfgParams->msgRAMConfig.rxFIFO0size = 0U;
mcanCfgParams->msgRAMConfig.rxFIFO0OpMode = 0U;
mcanCfgParams->msgRAMConfig.rxFIFO0waterMark = 0U;
mcanCfgParams->msgRAMConfig.rxFIFO1size = 64U;
mcanCfgParams->msgRAMConfig.rxFIFO1waterMark = 64U;
mcanCfgParams->msgRAMConfig.rxFIFO1OpMode = 64U;
mcanCfgParams->eccConfig.enable = 1;
mcanCfgParams->eccConfig.enableChk = 1;
mcanCfgParams->eccConfig.enableRdModWr = 1;
mcanCfgParams->errInterruptEnable = 1U;
mcanCfgParams->dataInterruptEnable = 1U;
mcanCfgParams->appErrCallBack = MCANAppErrStatusCallback;
mcanCfgParams->appDataCallBack = MCANAppCallback;

/* Initialize the CANFD driver */
canHandle = CANFD_init(&mcanCfgParams, &errCode);
if (canHandle == NULL)
{
System_printf ("Error: CANFD Module Initialization failed [Error code %d]\n", errCode);
return -1;
}

mcanBitTimingParams.nomBrp = 0x2U;
mcanBitTimingParams.nomPropSeg = 0x8U;
mcanBitTimingParams.nomPseg1 = 0x6U;
mcanBitTimingParams.nomPseg2 = 0x5U;
mcanBitTimingParams.nomSjw = 0x1U;

mcanBitTimingParams.dataBrp = 0x1U;
mcanBitTimingParams.dataPropSeg = 0x2U;
mcanBitTimingParams.dataPseg1 = 0x2U;
mcanBitTimingParams.dataPseg2 = 0x3U;
mcanBitTimingParams.dataSjw = 0x1U;

/* Configure the CAN driver */
retVal = CANFD_configBitTime (canHandle, &mcanBitTimingParams, &errCode);
if (retVal < 0)
{
System_printf ("Error: CANFD Module configure bit time failed [Error code %d]\n", errCode);
return -1;
}
/* Setup the transmit message object */
txMsgObjectParams.direction = CANFD_Direction_TX;
txMsgObjectParams.msgIdType = CANFD_MCANXidType_29_BIT;
txMsgObjectParams.msgIdentifier = 0xC1;

txMsgObjHandle = CANFD_createMsgObject (canHandle, &txMsgObjectParams, &errCode);
if (txMsgObjHandle == NULL)
{
System_printf ("Error: CANFD create Tx message object failed [Error code %d]\n", errCode);
return -1;
}

retVal = CANFD_transmitData (txMsgObjHandle, txMsgObjectParams.msgIdentifier, CANFD_MCANFrameType_CLASSIC, 1U, &txData[0], &errCode);
if (retVal < 0)
{
System_printf("Error in sending the Data over CAN FD Error code:%d\n",errCode);
return -1;

}

Hello Suraj,

This is just cut /paste from the SDK driver code.
Hope you are doing initialization only once and then calling "CANFD_transmitData ()" in your transmit thread. Is this understanding correct?


-Raghu

Please tell me what to do???

Hello Suraj,

You can follow the below procedure:
1) Include the CAN initialization code in "MmwDemo_mssInitTask()" . You can include the pinmux, data structure initialization and message object creation in this task.

2) Your CAN transmit code should be there in "MmwDemo_mboxReadTask()" where you receive the object data from the DSS. You can include the "CANFD_transmitData()" in place of the "UART_writePolling()" . Just make sure you send the right length and data pointer.

Thanks,
Raghu

Ya I am doing like that only...

From the code you have put in this post did not look like that.

Also curious to know why you are just transferring 1byte data using the CAN_Transmit(). Is there a specific reason to transfer 1byte at a time ?

-Raghu

I did the same thing still I am getting the error with error code -3502

Suraj,

Why are you transferring just 1 byte ?

-Raghu

No just to check I tried

I tried to send 64 byte it did not work so I sent 1 byte to try no specific reason for it.
But still my problem did not got solved.