PROCESSOR-SDK-AM62X: MCAN CCS test

i am encountering the following issue also.

Hello Cyra,

Apologies for the delay in response. We are unable to reproduce the errors you are facing.

If you are still facing issues with this, could you please elaborate on the steps you take to build and load the example?
Are you using the out-of-box example, or are there any custom changes made to it?

Regards,
Krithika

I am using the example mcan_loopback without any change.

I just right click on project name under project explorer and choose debug.

"CortexA53_0: File Loader: Verification failed: Values at address 0x0000000000000001 do not match Please verify target memory and memory map.
CortexA53_0: GEL: File: /home/cyra/mcu+sdk/mcu_plus_sdk_am62x_08_04_00_16/mcan_loopback_interrupt_am62x-sk_m4fss0-0_nortos_ti-arm-clang/Debug/mcan_loopback_interrupt_am62x-sk_m4fss0-0_nortos_ti-arm-clang.out: a data verification error occurred, file load failed."

I also tried right click on xx.ccxml -> launch selected configuration -> right click on Blazer cortex M4F 1 -> Connect target

And following is what happens.

Break at address "0xf026" with no debug information available, or outside of program code.

Hi Cyra,

I am still unable to reproduce your issue. Can you please answer the below questions?

Which CCS version are you using? In which boot mode the EVM is setup?

For EVM setup please refer EVM Setup.

Thanks & Regards,

Tushar Thakur

Hi,

I am using Version: 12.1.0.00007 booting up from SD card.

Hello Cyra,

Can you share the .out file that you are using, so that we can run it on our setup and see what happens?

Also, can you please clarify on the below questions :

1. Which linux wic image version you are flashing on the SD Card? 

2. We have noticed that, there are a few Cortex A53 logs in the logs you have shared. Are you running any application on the A53 core or have you loaded any gel scripts in it?

Regards,

Nihar Potturu.

tisdk-default-image-am62xx-evm.wic.xz of ti-processor-sdk-linux-am62xx-evm-08.04.01.09.

I am unable to attach the out file. It keeps going to 77% and then finished but the file didn't get attached no matter how many times i tried.

I am not sure what you mean by any application running on A53 core. I am not running any other application at the moment nor the gel scripts.

Hello Cyra,

Can you please follow the following steps once and let us know if you run into the error again?

• Power Cycle the evm.
• Delete the existing project and import the MCAN Loopback interrupt M4 nortoss example again.
• After importing the example, right click and select Debug As -> Code Composer Debug session

• De-select all the cores and select only the M4F-1 core.

• Once, the example hits main function, free run the example.

• You should see the following logs on the CCS Console.

Rergards,

Nihar Potturu.

Hi,

Thanks for your help.

Deleting and importing back again and then selecting only one seems to have solved the problem.

Is it possible to let's say take out the ".out" file and then run it separately via shell/user space? I am looking into testing CAN in user space.

Hello Cyra,

What do you mean by running it separately in another user space? Can you please elaborate a bit more on that.

Regards,

Nihar Potturu. 

For example, I am doing the following for USB test.

And I would like to do something similar to CAN also, be it using "c" code and generate ".o" file to run or using shell script.

I will be connecting AM62x respective GPIOs for CAN to another AM62x EVK respective GPIOs for CAN.

In order for me to do that, I need to do the following.

1. Kernel configuration. Following is what i configured but not working.

2. &mcu_mcan0 {
   	pinctrl-names = "default";
   	pinctrl-0 = <&mcu_mcan1_pins_default>;
   };
   
   &wkup_pmx0 {
   	mcu_mcan1_pins_default: mcu-mcan1-pins-default {
   		pinctrl-single,pins = <
   			AM62X_MCU_IOPAD(0x0040, PIN_INPUT, 0) /* (D4) MCU_MCAN1_RX */
   			AM62X_MCU_IOPAD(0x003c, PIN_OUTPUT, 0) /* (E5) MCU_MCAN1_TX */
   		>;
   	};
   };

3. I got the following error.

4.   DTC     arch/arm64/boot/dts/ti/k3-am625-sk.dtb
   Error: arch/arm64/boot/dts/ti/k3-am62x-sk-common.dtsi:501.1-11 Label or path wkup_pmx0 not found
   Error: arch/arm64/boot/dts/ti/k3-am62x-sk-common.dtsi:556.1-11 Label or path mcu_mcan0 not found
   FATAL ERROR: Syntax error parsing input tree
   

5. Second thing, for the user space command, i assume i would be able to use "candump". Is it correct?

I saw this page that describes how I would be able to test with two EVMs.

https://software-dl.ti.com/processor-sdk-linux/esd/AM62X/08_05_00_21/exports/docs/linux/How_to_Guides/Target/How_to_test_MCAN_on_AM62x.html#mcan-on-am62x

This particular guide shows how i can test two EVK: AM62 and AM64, and use transceiver in between. But i would like to test it with two AM62x and without transceiver.

Can you confirm if you want to use MCU_MCAN from A53 core ?

Essentially, for using main domain MCAN you will need to overlay k3-am625-sk-mcan.dtbo file, as mentioned during U-boot for it to work. This device tree overlay named k3-am625-sk-mcan.dtbo supported in the TI SDK which can be used to dynamically overlay the AM62x Device Tree. If an AM62x .wic image was flashed to an SD card, the k3-am625-sk-mcan.dtbo should be found in the root partition. This overlay can be loaded by stopping AM62x bootup during U-boot and executing the following commands:

Hit any key to stop autoboot:  0
=>
=> setenv name_overlays k3-am625-sk-mcan.dtbo
=> boot

But if you specifically want to use MCU MCAN from A53, it is possible only via polling. Refer to the table below for a more detailed version.

Hi,

I would like to use User Expansion Connector, pins 8 and 10. So it's MCAN0_RX (E15) and MCAN0_TX (C15).

I am not sure whether it's from A53 or not.

Update:
I have managed to configure it using MCAN0_RX and TX.

But instead of AM64 and AM62 like the document indicated, i used two AM62x EVK without transceiver.

And i couldn't receive the data. I am not sure whether transceiver is a must?

The receiver:

root@am62xx-evm:~# 
root@am62xx-evm:~# 
root@am62xx-evm:~# ip link set can0 down
root@am62xx-evm:~# ip link set can0 type can bitrate 125000
root@am62xx-evm:~# ip link set can0 up
[   99.923683] IPv6: ADDRCONF(NETDEV_CHANGE): can0: link becomes ready
root@am62xx-evm:~# candump can0
[  103.977728] can: controller area network core
[  103.982222] NET: Registered protocol family 29
[  103.992898] can: raw protocol

The transmitter:

root@am62xx-evm:~# ip link set can0 down
root@am62xx-evm:~# ip link set can0 type can bitrate 125000
root@am62xx-evm:~# ip link set can0 up
[   55.695654] IPv6: ADDRCONF(NETDEV_CHANGE): can0: link becomes ready
root@am62xx-evm:~# cansend can0 123#DEADBEEF
[   63.156311] can: controller area network core
[   63.160805] NET: Registered protocol family 29
[   63.174484] can: raw protocol
root@am62xx-evm:~# [  293.789390] m_can_platform 20701000.can can0: bus-off

Hi Cyra,
Your setup looks good, but for data communication to work, you will need a CAN external transceiver. Since, there is only a CAN-FD controller on AM62x, we need an external tranceiver to complete one node on the CAN bus.

Regards,
Aparna

So I need to have transceiver just like the example in the document in order to be able to transmit?

I have talked to another person who is encountering the same issue and they seem to be using transceiver but bus is still off.

Here is the thread:

https://e2e.ti.com/support/processors-group/processors/f/processors-forum/1196164/processor-sdk-am62x-testing-can-interface-on-am62x-sk/4517929?tisearch=e2e-sitesearch&keymatch=%2520user%253A512572#4517929

https://e2e.ti.com/support/processors-group/processors/f/processors-forum/1199913/processor-sdk-am62x-testing-mcan-interface-on-am62x?tisearch=e2e-sitesearch&keymatch=%20user%3A529888#

Hi Cyra, 
Yes. The setup mentioned in the documentation includes 1 AM62x and 1 AM64x boards. Since you want to test this on 2 AM62x, you will need 1 transceiver for each evm. 

Regards,
Aparna

Hi, 
We are reviewing their setup and implementation. Will keep you posted. 

Regards, 
Aparna

But one of them is using two am62x and two transceiver but still have the same issue.

"Our test setup includes, two am62x and two CAN transceivers, one set used to transmit data and the other one receives data."

This is the thread:
https://e2e.ti.com/support/processors-group/processors/f/processors-forum/1196164/processor-sdk-am62x-testing-can-interface-on-am62x-sk/4517929?tisearch=e2e-sitesearch&keymatch=%2520user%253A512572#4517929

Hi Cyra,
Are you still facing the same issue?
The above thread has been resolved, with two transceivers setup.

Regards, 
Aparna