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TMS320F2809 eCAN

marco sartor
Prodigy 80 points
Other Parts Discussed in Thread: TMS320F2809, ISO7221M

Hi Support, we have an application using 24 CanOpen Nodes with TMS320F2809 CANA, initialized like specified in Ti's documentation ( EALLOW, Shadow Mask, 32 bit accesses for control and status register....) but we find a very big problem because in the network we recorded sporadic errors frame. We have found that error frame are generated by a node that is only receiving message. The issues in not only in the same node but varies along the network. The cable is 45mts long with speed 250kBps (between each node there is 1,5m of cable) so we think that the problem is internal to cpu. If we change some lines in can initialization and managment, the frequency of error frame increase 10x (about 15 errorframe/hour) , yet if the meanings of sotware is the same. Is there some issues on this peripheral that we don't know? We have a lot of similar application with TMS320F2809 with different software that run correctly. In the analisys of the problem, with the help of a can analyzer we find that the problem born when there is a collision between a very high COBID message Vs a low COBID message (ex.212 Vs 701). Error frame is detected in a node that is only listening, message colliding are not destinated to that node (mail box are correctly configurated)- The electrical signals seem to be ok. The hardware is composed of TMS320F2809+ISO7221M+SN65HVD251D.

  • 0
    Mastermind 7585 points

    To help you with this problem you will have to give us some more informations:

    How precise is your CAN-clock? What type of core clock oscillator do you use? Is it  stable over temperature? When the error occurs, what current CAN - bit frequency do you measure? 

    Do you have any temperature gradients during you observations?

    Where is the sample point ? How precise is that sample point, are there any truncated reminders in your sample point calculation?

     

  • 0 in reply to Frank Bormann
    Prodigy 80 points

    In our application we use a crystal quartz 20MHz 50pp -20+70°C, the ambient temperature is constant about 20°.

    I measure the bit time during error and seem that message corrupted are identycal to ritransmitted message (I have overlying the trace) and the problem is a crc error

    The sample point is at 83% and the sum of quantum is 4uS --->>> 250ksps

    We analize a lot this behaviour and wh observe that error occurs after a messagge arbitration, the error is in the SUCCESSIVE message, it seems that arbitration lost doesn't reset correctly some internal counter (example crc) ..... so the next message fail to transmit....

  • 0 in reply to marco sartor
    Mastermind 7585 points

    OK , so we can rule out any clock or temperature issues.

    Could it be that in your network tow nodes do start the arbitration with identical identifiers? This would lead to a corruption of the CRC of the resulting data frame.

     

     

     

     

  • 0 in reply to Frank Bormann
    Prodigy 80 points

    No in our networks nodes have different identifier and cob-id and we have verified this on our sotware and we can exclude this.

    Error is repetead only one time in communication, we ipotize that if two node transmit with the same cob-id there were a lot of consecutive error.

    See CanAnalyzer below for an example of what happens :

    Message 702 T1 Opetional response to 702 RTR collide with message 80 generating an error frame, it wait for retransmission that other COB-ID were transmitted (196,197,1A0,210,213,211).

         Time           Chn ID    Name         NodeTransfer data             Dir    ErrorInterpretation                              DLC Data  
      |  2896.429660    1   701                   RTR                       Rx                                                    1   Remote-Frame               
      |  2896.430000    1   212                   00 00 00 00               Rx                                                    4   00 00 00 00                
      |  2896.430240    1   210                   00                        Rx                                                    1   00                         
      |  2896.430450    1   80                                              Rx                                                    0                              
      |  2896.430930    1   19a                   ff ff 7f b1 ff ff 7f 00   Rx                                                    8   ff ff 7f b1 ff ff 7f 00    
      |  2896.431410    1   19f                   3c fc ff af 4a fc ff ff   Rx                                                    8   3c fc ff af 4a fc ff ff    
      |  2896.431750    1   213                   00 00 00 00               Rx                                                    4   00 00 00 00                
      |  2896.431980    1   701                   T0 Operational            Rx                                                    1   05                         
      |  2896.432210    1   211                   00                        Rx                                                    1   00                         
      |  2896.432560    1   214                   00 00 00 00               Rx                                                    4   00 00 00 00                
      |  2896.433030    1   19e                   d1 f9 ff ae b2 f9 ff ff   Rx                                                    8   d1 f9 ff ae b2 f9 ff ff    
      |  2896.433750    1   19b                   cc 6d 3d b1 cd 6d 3d 00   Rx                                                    8   cc 6d 3d b1 cd 6d 3d 00    
      |  2896.434460    1   20f                   00                        Rx                                                    1   00                         
      |  2896.434710    1   210                   00                        Rx                                                    1   00                         
      |  2896.434930    1   211                   00                        Rx                                                    1   00                         
      |  2896.438600    1   195                   fc fb ff a5 05 fc ff ff   Rx                                                    8   fc fb ff a5 05 fc ff ff    
      |  2896.439440    1   20f                   00                        Rx                                                    1   00                         
      |  2896.439640    1   702                   RTR                       Rx                                                    1   Remote-Frame               
      |  2896.439990    1   212                   00 00 00 00               Rx                                                    4   00 00 00 00                
      |  2896.440480    1   19c                   ff ff 7f b0 ff ff 7f 00   Rx                                                    8   ff ff 7f b0 ff ff 7f 00    
      |  2896.440680    1   80                                              Rx                                                    0                              
      |  2896.441140    1         ErrorFrame                                                                                                                     
      |  2896.441660    1   196                   51 02 00 a8 16 02 00 00   Rx                                                    8   51 02 00 a8 16 02 00 00    
      |  2896.442130    1   197                   58 fb ff b6 46 fb ff ff   Rx                                                    8   58 fb ff b6 46 fb ff ff    
      |  2896.442610    1   1a0                   fa fc ff ac e8 fc ff ff   Rx                                                    8   fa fc ff ac e8 fc ff ff    
      |  2896.442850    1   210                   00                        Rx                                                    1   00                         
      |  2896.443190    1   213                   00 00 00 00               Rx                                                    4   00 00 00 00                
      |  2896.443420    1   211                   00                        Rx                                                    1   00                         
      |  2896.443650    1   702                   T1 Operational            Rx                                                    1   85                         
      |  2896.444000    1   214                   00 00 00 00               Rx                                                    4   00 00 00 00                
      |  2896.444460    1   20f                   00                        Rx                                                    1   00                         
      |  2896.444700    1   210                   00                        Rx                                                    1   00                         
      |  2896.444930    1   211                   00                        Rx                                                    1   00                         
      |  2896.445460    1   199                   ff ff 7f b1 ff ff 7f 00   Rx                                                    8   ff ff 7f b1 ff ff 7f 00    
      |  2896.446930    1   193                   5e ff ff ab 47 ff ff ff   Rx                                                    8   5e ff ff ab 47 ff ff ff    
      |  2896.447410    1   19d                   99 fe ff b2 8d fe ff ff   Rx                                                    8   99 fe ff b2 8d fe ff ff    
      |  2896.447880    1   194                   81 f5 ff a9 6c f5 ff ff   Rx                                                    8   81 f5 ff a9 6c f5 ff ff    
      |  2896.448370    1   606                                             Rx        [2508,04] Initiate Upload Rq.               8   40 08 25 04 00 00 00 00    
      |  2896.448850    1   586                   00 00                     Rx        [2508,04] Initiate Upload Rsp. expedited    8   4b 08 25 04 00 00 00 00    
      |  2896.449440    1   20f                   00                        Rx                                                    1   00                         
      |  2896.449640    1   703                   RTR                       Rx                                                    1   Remote-Frame               
      |  2896.449980    1   212                   00 00 00 00               Rx                                                    4   00 00 00 00                
      |  2896.450230    1   210                   00                        Rx                                                    1   00                         
      |  2896.450430    1   80                                              Rx                                                    0                              
      |  2896.450770    1   213                   00 00 00 00               Rx                                                    4   00 00 00 00                
      |  2896.451010    1   703                   T1 Operational            Rx                                                    1   85