SK-TDA4VM: CAN bus cannot be recovered after bus off happened.

HI，

i did't find the gateway-demos/mcuss_demos/Bsw_Stubs/CanIf/src/CanIf_Cbk.c file in my pc.  please provide me this file

Best Regards

Hi,

Posting the code from that here:

void CanIf_ControllerBusOff(uint8 ControllerId)
{
    Std_ReturnType status;
    /* To get out of error, set controller Mode to Start */
    status = Can_SetControllerMode(ControllerId, CAN_CS_STARTED);
    if (status != E_OK)
    {
        busOff_error_cnt += 1;
    }
}

file: 

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#ifdef __cplusplus
extern "C"{
#endif

/* ========================================================================== */
/*                           Include Files                                    */
/* ========================================================================== */
#include "CanIf_Cbk.h"
#include "Can.h"
#include "Can_GeneralTypes.h"

#include <ti/osal/osal.h>
#include <ti/osal/SemaphoreP.h>

/* ========================================================================== */
/*                            Global Variables                                */
/* ========================================================================== */
#define CANIF_START_SEC_VAR_CLEARED_UNSPECIFIED
#include "CanIf_MemMap.h"

/* Global variables used in callback functions */
volatile VAR(uint8, CANIF_VAR_CLEARED) CanIf_ControllerId;
#if defined (AUTOSAR_421)
volatile VAR(CanIf_ControllerModeType, CANIF_VAR_CLEARED) CanIf_ControllerMode;
#else
volatile VAR(Can_ControllerStateType, CANIF_VAR_CLEARED) CanIf_ControllerMode;
#endif
volatile P2VAR(Can_HwType, CANIF_VAR_CLEARED, CANIF_APPL_DATA) CanIf_Mailbox;
volatile VAR(Can_HwType, CANIF_VAR_CLEARED) CanIf_MailBuf;
volatile VAR(PduInfoType, CANIF_VAR_CLEARED) CanIf_PduInfo;
int32_t (*push_frame_to_app_queue)(const PduInfoType*);

volatile VAR(uint32, CANIF_VAR_CLEARED) CanIf_RxConfirmationCount;
volatile VAR(uint32, CANIF_VAR_CLEARED) CanIf_TxConfirmationCount;
volatile P2CONST(PduInfoType, CANIF_VAR_CLEARED, CANIF_APPL_DATA) 
         CanIf_PduInfoPtr;
volatile VAR(uint8, CANIF_VAR_CLEARED) CanIf_TxCounter;
volatile VAR(PduIdType, CANIF_VAR_CLEARED) CanIf_GblTxPduIdStore[32];
volatile VAR(PduIdType, CANIF_VAR_CLEARED) CanIf_CanTxPduId;
uint32  busOff_error_cnt = 0;
/**< Counter which increments during Bus off error */
/* ========================================================================== */
/*                          Externals                                         */
/* ========================================================================== */
extern SemaphoreP_Handle CanIf_TxConfirmationSemaphore;
/**< TX Confirmation semaphore */
extern SemaphoreP_Handle CanIf_RxConfirmationSemaphore;
/**< Rx Confirmation semaphore */

#define CANIF_STOP_SEC_VAR_CLEARED_UNSPECIFIED
#include "CanIf_MemMap.h"
/* ========================================================================== */
/*                          Function Definitions                              */
/* ========================================================================== */
#define CANIF_START_SEC_CODE
#include "CanIf_MemMap.h"

void CanIf_TxConfirmation(PduIdType CanTxPduId)
{
#if (CAN_TX_POLLING == STD_OFF)
    SemaphoreP_postFromISR(CanIf_TxConfirmationSemaphore);
#endif //CAN_TX_POLLING
    CanIf_TxConfirmationCount++;
}

void CanIf_RxIndication(const Can_HwType* Mailbox, 
    const PduInfoType* PduInfoPtr)
{
    CanIf_Mailbox = &CanIf_MailBuf;
    CanIf_Mailbox->CanId = Mailbox->CanId;
    CanIf_Mailbox->Hoh = Mailbox->Hoh;
    CanIf_Mailbox->ControllerId = Mailbox->ControllerId;

    /*Put data in application CAN queues*/
    (*push_frame_to_app_queue)(PduInfoPtr);

#if (CAN_RX_POLLING == STD_OFF)
    SemaphoreP_postFromISR(CanIf_RxConfirmationSemaphore);
#endif //CAN_RX_POLLING
    CanIf_RxConfirmationCount++;
}

void CanIf_ControllerBusOff(uint8 ControllerId)
{
    Std_ReturnType      status;
    /* To get out of error, set controller Mode to Start */
    status = Can_SetControllerMode(ControllerId, CAN_CS_STARTED);
    if (status != E_OK)
    {
        busOff_error_cnt += 1;
    }
}
#if defined (AUTOSAR_421)
void CanIf_ControllerModeIndication(uint8 ControllerId,
                                    CanIf_ControllerModeType ControllerMode)
#else
void CanIf_ControllerModeIndication(uint8 ControllerId,
                                    Can_ControllerStateType ControllerMode)
#endif
{
    CanIf_ControllerId = ControllerId;
    CanIf_ControllerMode = ControllerMode;
}
#define CANIF_STOP_SEC_CODE
#include "CanIf_MemMap.h"

#ifdef __cplusplus
}
#endif

Regards

Karan

Hi,

Follow the steps below and have a similar problem.
The operation steps are as follows:
1. Connect CANoe and Device, and start CANoe and Device;
2. Send NM Frame through CANoe, Device will periodically send messages to CAN bus;
3. Without stopping sending NM Frame, click the Stop button directly to disconnected CANoe;
4. Click the Start button again, CANoe Start, and continue to send NM Frame to the CAN bus;
5. The problem occurs: At this time, the Device no longer sends messages to the CAN bus;

After debugging, it is the same as the cause of this problem: the function Can_writeGetFreeMsgObj() always returns CAN_BUSY.

Question:
If the Device does not generate a BusOff event, the status 'canTxStatus' cannot be cleared;
If the state 'canTxStatus' is not cleared, after CANoe Restart, the Device is in the CAN_BUSY state and cannot send messages.

When should I go to clear the 'canTxStatus' state?

How to deal with the above problems, please give guidance.

Best Regards.

Hi,

Yongmin Zhao said:

1. Connect CANoe and Device, and start CANoe and Device;
2. Send NM Frame through CANoe, Device will periodically send messages to CAN bus;
3. Without stopping sending NM Frame, click the Stop button directly to disconnected CANoe;
4. Click the Start button again, CANoe Start, and continue to send NM Frame to the CAN bus;
5. The problem occurs: At this time, the Device no longer sends messages to the CAN bus;

1. I'm trying to understand the system. In the below diagram, the periodic Tx from TDA4VM (device) - who receives this message i.e. which node has filters setup to accept this message?

Assuming that your CAN messages from TDA4VM were intended for CANoe, what I understand is that when you disconnect the CANoe - you start getting an AckError (PSR register LEC and DLEC) as message is transmitted but not received correctly on the intended CANoe node.

In this system is Auto re-transmission enabled in your system (DAR bit unset)?

2. When the MCAN controller on the TDA4VM is not generating a BusOff event, are you checking this in the ISR if that flag is set or not?

What is the configuration of your Tx buffers? Also, are you using buffers or FIFO and what is the length?

Regards

Karan

Hi, Karan

Karan Saxena said:

1. I'm trying to understand the system. In the below diagram, the periodic Tx from TDA4VM (device) - who receives this message i.e. which node has filters setup to accept this message?

As shown in the figure below, only CANoe and TDA4VM are connected to the CAN BUS (if there is a third device on the CAN BUS, the above problems will not occur)

Karan Saxena said:

Assuming that your CAN messages from TDA4VM were intended for CANoe, what I understand is that when you disconnect the CANoe - you start getting an AckError (PSR register LEC and DLEC) as message is transmitted but not received correctly on the intended CANoe node.

When CANoe is disconnected, an AckError should be received, but referring to the following code, no control logic processing for the registers (PSR register LEC and DLEC) is found.
\ti-processor-sdk-rtos-j721e-evm-08_00_00_12\mcusw\mcal_drv\mcal\Can\src\Can_Mcan.c
The processing of reading errStatus.lastErrCode and errStatus.dlec is not found in the above code.

Karan Saxena said:

In this system is Auto re-transmission enabled in your system (DAR bit unset)?

The current setting is the same as the sdk8.0, DAR bit unset.
\ti-processor-sdk-rtos-j721e-evm-08_00_00_12\mcusw\mcal_drv\mcal\Can\src\Can_Mcan.c
Line1607: initParams->darEnable = (uint32)MCAN_CCCR_DAR_DISABLE;

Karan Saxena said:

2. When the MCAN controller on the TDA4VM is not generating a BusOff event, are you checking this in the ISR if that flag is set or not?

I'm not sure if the above Case should generate a BusOff event, I'll check later if the ISR flag is set. contact later.

Karan Saxena said:

What is the configuration of your Tx buffers? Also, are you using buffers or FIFO and what is the length?

Whether it refers to the setting of CanHwObjectCount, the settings for TX are as follows:

Best Regards.

Hi, Karan:

add some information：

Yongmin Zhao said:

Karan Saxena said:

Assuming that your CAN messages from TDA4VM were intended for CANoe, what I understand is that when you disconnect the CANoe - you start getting an AckError (PSR register LEC and DLEC) as message is transmitted but not received correctly on the intended CANoe node.

When CANoe is disconnected, an AckError should be received, but referring to the following code, no control logic processing for the registers (PSR register LEC and DLEC) is found.
\ti-processor-sdk-rtos-j721e-evm-08_00_00_12\mcusw\mcal_drv\mcal\Can\src\Can_Mcan.c

When CANoe is disconnected, the program will stop at the following breakpoint(Can_Mcan.c line721).

At this time, the PSR register is as follows (LEC=0h, DLEC=3h)

\ti-processor-sdk-rtos-j721e-evm-08_00_00_12\mcusw\mcal_drv\mcal\Can\src\Can_Mcan.c

Yongmin Zhao said:

Karan Saxena said:

2. When the MCAN controller on the TDA4VM is not generating a BusOff event, are you checking this in the ISR if that flag is set or not?

I'm not sure if the above Case should generate a BusOff event, I'll check later if the ISR flag is set. contact later.

In the above case does not generate a BusOff event, and I don't think it should generate a BusOff.

After the above Error occurs, the interrupt service routine Can_mcanProcessISR() is not executed again.

Karan Saxena said:

What is the configuration of your Tx buffers? Also, are you using buffers or FIFO and what is the length?

Can you tell me how to confirm the above information? Which configuration parameters need to be checked?

Can you give me some guidance, thanks.

Best Regards.

Hi, Karan:

excuse me,

can you give me some guidance about this issue(about the messages replied by Mr. Zhao Yongmin). thank you very much. :)

Best Regards.

HI, Karan

I was also confused by the above question.

when Tx errores occured, the canTxStatus were set as 1.  But in somecases, the tx error was not enough to genereate a busoff error, then where should we clear it? 

I solved it via following midifications, please check if it is suitable, thanks.

1. enable the corresponding error interruption,

2. check the interrupt resigster in the ISR, and clear the status if confirmed.

HI, Karan

As the above modifications, i enabled the error interruption of PROTOCOL_ERR_ARB to solve the issue that commnication cannot be recovered due to   canTxStatus = 1.

But this modification introduced some other issues, 

When the terminal resistance is not connected, the error interruption isr was reached frequently (200 times per 20ms), and that caused the cpu running with a heavy load.

So i wonder if my above modification was suitable, please check and reply, thanks.

Hi,

Sorry for the late response here.

1. Clearing the status for all Tx buffers for every protocol error is not advisable. This would involve running multiple instructions for all errors, most of the time the issue would be resolved by a simple re-transmission.

2. You are using CAN Tx buffer (not FIFO) and for this the API Can_writeGetFreeMsgObj() will return CAN_BUSY if:

a. The MCAN_TXBRP's bit corresponding to the intended messageBox (the buffer which is being used for transmission) is set or,

b. The Tx ISR is not yet completed. The canTxStatus is reset there.

if(bitIndex == (MCAN_getTxBufReqPend(baseAddr) & bitIndex))
{
    retVal = (Std_ReturnType)CAN_BUSY;
}
else if (canTxStatus == 1U)
{
    retVal = (Std_ReturnType)CAN_BUSY;
}
else
{
    *msgObj = messageBox;
    retVal = E_OK;
}

3. Any persistent Tx error, which is not resolving by re-transmission would lead to a BUS OFF state (when Transmit Error Counter of a CAN controller exceeds 255). The BUS OFF recovery sequence should be take from my above post here.

I would assume that this should solve your issue. If you are trying to resend the message (due to auto-retransmission) and every time it is failing, this would increment MCAN_ECR's TEC field > 255 and lead to a BUS OFF. The recovery sequence should set things right again.

If in case there is no BUS OFF this means that somehow successful transmissions are happening.

void CanIf_ControllerBusOff(uint8 ControllerId)
{
    Std_ReturnType      status;
    /* To get out of error, set controller Mode to Start */
    status = Can_SetControllerMode(ControllerId, CAN_CS_STARTED);
    if (status != E_OK)
    {
        busOff_error_cnt += 1;
    }
}

Regards

Karan

hi, Karan

Thanks for your reply.  The failed message was resent sucessfully by the auto-retransmission.