TDA2PXEVM: Received CAN messages swap ID

Dmitriy Tovmachenko

Part Number: TDA2PXEVM
Other Parts Discussed in Thread: TDA2

We are developing a system with TDA2px processor and Vision SDK 3.08. TDA2 IPU1-1 is responsible for receiving CAN messages. We did some changes to CAN driver in system_dcan.c so we can use our custom callback to process received messages:

system_dcan.c

CanFunc canCall;

static Void System_dcanRxMsgHandler(dcanMsg_t *rxMsg)
{

    if (rxMsg->appMsgPrms.dataLength)
    {
		 canCall(rxMsg->msgId,(char*)rxMsg->appMsgPrms.msgData, rxMsg->appMsgPrms.dataLength);

    }
}

Void System_dcanStart(CanFunc canf) {
	canCall = canf;
	System_dcanInit();
}

/*in configuration .c file we init custom callback*/
void initFunc()
{
    /*DCAN init*/ 
    System_dcanStart(CanRx);
}

/*Custom Callback*/
void CanRx(UInt32 id, char* data, int len)
{
	Vps_printf("ID: %x; queue get data:  0x%x 0x%x 0x%x 0x%x 0x%x 0x%x 0x%x 0x%x\n", id, data[0], data[1], data[2], data[3], data[4], data[5], data[6], data[7]);
    ItelmaQueuePut(ItelmaFromIPU11CanQueue, id, len, (uint8_t*)data);
}

We have two IDs: 0x100 and 0x2B0. There is PCAN-View log:

      1     11077.569 DT     02B0 Rx 5  10 0E 00 03 00 
      2     11085.616 DT     0100 Rx 8  00 00 01 00 64 19 00 94 
      3     11085.907 DT     02B0 Rx 5  10 0E 00 03 00 
      4     11101.055 DT     02B0 Rx 5  10 0E 00 03 00 
      5     11116.408 DT     0362 Rx 8  00 00 01 00 00 00 01 00 
      6     11116.584 DT     0100 Rx 8  00 00 01 00 64 19 10 59 
      7     11116.868 DT     02B0 Rx 5  10 0E 00 03 00 
      8     11131.655 DT     02B0 Rx 5  10 0E 00 03 00 
      9     11147.012 DT     0100 Rx 8  00 00 01 00 64 19 20 13 
     10     11147.270 DT     02B0 Rx 5  10 0E 00 03 00 
     11     11167.198 DT     02B0 Rx 5  10 0E 00 03 00 
     12     11180.228 DT     0362 Rx 8  00 00 01 00 00 00 01 00 
     13     11180.788 DT     0100 Rx 8  00 00 01 00 64 19 30 DE 
     14     11181.210 DT     02B0 Rx 5  10 0E 00 03 00 
     15     11195.581 DT     02B0 Rx 5  10 0E 00 03 00 
     16     11210.708 DT     0100 Rx 8  00 00 01 00 64 19 40 87 
     17     11211.076 DT     02B0 Rx 5  10 0E 00 03 00 
     18     11230.641 DT     02B0 Rx 5  10 0E 00 03 00 
     19     11241.861 DT     0362 Rx 8  00 00 01 00 00 00 01 00 
     20     11242.003 DT     0100 Rx 8  00 00 01 00 64 19 50 4A 
     21     11242.441 DT     02B0 Rx 5  10 0E 00 03 00 
     22     11260.299 DT     02B0 Rx 5  10 0E 00 03 00 
     23     11273.488 DT     0100 Rx 8  00 00 01 00 64 19 60 00 
     24     11274.079 DT     02B0 Rx 5  10 0E 00 03 00 
     25     11287.784 DT     02B0 Rx 5  10 0E 00 03 00 
     26     11305.056 DT     0362 Rx 8  00 00 01 00 00 00 01 00 
     27     11305.378 DT     0100 Rx 8  00 00 01 00 64 19 70 CD 
     28     11305.605 DT     02B0 Rx 5  10 0E 00 03 00 
     29     11324.968 DT     02B0 Rx 5  10 0E 00 03 00 
     30     11335.206 DT     0100 Rx 8  00 00 01 00 64 19 80 B2 
     31     11335.634 DT     02B0 Rx 5  10 0E 00 03 00 
     32     11354.655 DT     02B0 Rx 5  10 0E 00 03 00 
     33     11366.163 DT     0362 Rx 8  00 00 01 00 00 00 01 00 
     34     11366.581 DT     0100 Rx 8  00 00 01 00 64 19 90 7F 
     35     11366.883 DT     02B0 Rx 5  10 0E 00 03 00 
     36     11382.777 DT     02B0 Rx 5  10 0E 00 03 00 
     37     11397.995 DT     0100 Rx 8  00 00 01 00 64 19 A0 35 
     38     11398.384 DT     02B0 Rx 5  10 0E 00 03 00 
     39     11417.270 DT     02B0 Rx 5  10 0E 00 03 00 
     40     11429.151 DT     0362 Rx 8  00 00 01 00 00 00 01 00 
     41     11429.432 DT     0100 Rx 8  00 00 01 00 64 19 B0 F8 
     42     11430.122 DT     02B0 Rx 5  10 0E 00 03 00 
     43     11446.630 DT     02B0 Rx 5  10 0E 00 03 00 
     44     11460.726 DT     0100 Rx 8  00 00 01 00 64 19 C0 A1 
     45     11461.244 DT     02B0 Rx 5  10 0E 00 03 00 
     46     11475.266 DT     02B0 Rx 5  10 0E 00 03 00 
     47     11493.272 DT     0362 Rx 8  00 00 01 00 00 00 01 00 
     48     11493.777 DT     0100 Rx 8  00 00 01 00 64 19 D0 6C 
     49     11494.024 DT     02B0 Rx 5  10 0E 00 03 00 
     50     11514.524 DT     02B0 Rx 5  10 0E 00 03 00 
     51     11522.679 DT     0100 Rx 8  00 00 01 00 64 19 E0 26 
     52     11522.931 DT     02B0 Rx 5  10 0E 00 03 00 
     53     11542.478 DT     02B0 Rx 5  10 0E 00 03 00 
     54     11553.818 DT     0362 Rx 8  00 00 01 00 00 00 01 00 
     55     11554.417 DT     0100 Rx 8  00 00 01 00 64 19 F0 EB 
     56     11554.697 DT     02B0 Rx 5  10 0E 00 03 00 
     57     11569.055 DT     02B0 Rx 5  10 0E 00 03 00 
     58     11586.375 DT     0100 Rx 8  00 00 01 00 64 19 00 94 
     59     11586.561 DT     02B0 Rx 5  10 0E 00 03 00 
     60     11600.179 DT     02B0 Rx 5  10 0E 00 03 00 
     61     11617.278 DT     0362 Rx 8  00 00 01 00 00 00 01 00 
     62     11617.490 DT     0100 Rx 8  00 00 01 00 64 19 10 59 
     63     11617.698 DT     02B0 Rx 5  10 0E 00 03 00 
     64     11633.420 DT     02B0 Rx 5  10 0E 00 03 00 
     65     11648.123 DT     0100 Rx 8  00 00 01 00 64 19 20 13 
     66     11648.471 DT     02B0 Rx 5  10 0E 00 03 00 
     67     11663.786 DT     02B0 Rx 5  10 0E 00 03 00 
     68     11680.024 DT     0362 Rx 8  00 00 01 00 00 00 01 00 
     69     11680.339 DT     0100 Rx 8  00 00 01 00 64 19 30 DE 
     70     11680.798 DT     02B0 Rx 5  10 0E 00 03 00 
     71     11701.572 DT     02B0 Rx 5  10 0E 00 03 00 
     72     11710.960 DT     0100 Rx 8  00 00 01 00 64 19 40 87 
     73     11711.329 DT     02B0 Rx 5  10 0E 00 03 00 
     74     11730.904 DT     02B0 Rx 5  10 0E 00 03 00 
     75     11742.882 DT     0362 Rx 8  00 00 01 00 00 00 01 00 
     76     11743.295 DT     0100 Rx 8  00 00 01 00 64 19 50 4A 
     77     11743.631 DT     02B0 Rx 5  10 0E 00 03 00 
     78     11756.324 DT     02B0 Rx 5  10 0E 00 03 00 
     79     11774.863 DT     0100 Rx 8  00 00 01 00 64 19 60 00 
     80     11775.243 DT     02B0 Rx 5  10 0E 00 03 00 
     81     11794.523 DT     02B0 Rx 5  10 0E 00 03 00 
     82     11803.564 DT     0362 Rx 8  00 00 01 00 00 00 01 00 
     83     11804.128 DT     0100 Rx 8  00 00 01 00 64 19 70 CD 
     84     11804.491 DT     02B0 Rx 5  10 0E 00 03 00 
     85     11821.204 DT     02B0 Rx 5  10 0E 00 03 00 
     86     11838.586 DT     0100 Rx 8  00 00 01 00 64 19 80 B2 
     87     11838.723 DT     02B0 Rx 5  10 0E 00 03 00 
     88     11852.189 DT     02B0 Rx 5  10 0E 00 03 00 
     89     11866.303 DT     0362 Rx 8  00 00 01 00 00 00 01 00 
     90     11866.544 DT     0100 Rx 8  00 00 01 00 64 19 90 7F 
     91     11866.826 DT     02B0 Rx 5  10 0E 00 03 00 
     92     11882.040 DT     02B0 Rx 5  10 0E 00 03 00 
     93     11898.120 DT     0100 Rx 8  00 00 01 00 64 19 A0 35 
     94     11898.665 DT     02B0 Rx 5  10 0E 00 03 00 
     95     11912.991 DT     02B0 Rx 5  10 0E 00 03 00 
     96     11930.639 DT     0362 Rx 8  00 00 01 00 00 00 01 00 
     97     11930.845 DT     0100 Rx 8  00 00 01 00 64 19 B0 F8 
     98     11931.174 DT     02B0 Rx 5  10 0E 00 03 00 
     99     11944.452 DT     02B0 Rx 5  10 0E 00 03 00 
    100     11962.281 DT     0100 Rx 8  00 00 01 00 64 19 C0 A1 
    101     11962.797 DT     02B0 Rx 5  10 0E 00 03 00 
    102     11976.370 DT     02B0 Rx 5  10 0E 00 03 00 
    103     11991.554 DT     0362 Rx 8  00 00 01 00 00 00 01 00 
    104     11992.053 DT     0100 Rx 8  00 00 01 00 64 19 D0 6C 
    105     11992.378 DT     02B0 Rx 5  10 0E 00 03 00 
    106     12007.342 DT     02B0 Rx 5  10 0E 00 03 00 
    107     12026.202 DT     0100 Rx 8  00 00 01 00 64 19 E0 26 
    108     12026.499 DT     02B0 Rx 5  10 0E 00 03 00 
    109     12038.768 DT     02B0 Rx 5  10 0E 00 03 00 
    110     12054.335 DT     0362 Rx 8  00 00 01 00 00 00 01 00 
    111     12054.605 DT     0100 Rx 8  00 00 01 00 64 19 F0 EB 
    112     12054.823 DT     02B0 Rx 5  10 0E 00 03 00 
    113     12073.876 DT     02B0 Rx 5  10 0E 00 03 00 
    114     12086.863 DT     0100 Rx 8  00 00 01 00 64 19 00 94 
    115     12087.302 DT     02B0 Rx 5  10 0E 00 03 00 
    116     12101.409 DT     02B0 Rx 5  10 0E 00 03 00 
    117     12115.641 DT     0362 Rx 8  00 00 01 00 00 00 01 00 
    118     12116.064 DT     0100 Rx 8  00 00 01 00 64 19 10 59 
    119     12116.357 DT     02B0 Rx 5  10 0E 00 03 00 
    120     12132.017 DT     02B0 Rx 5  10 0E 00 03 00 
    121     12150.550 DT     0100 Rx 8  00 00 01 00 64 19 20 13 
    122     12150.853 DT     02B0 Rx 5  10 0E 00 03 00 
    123     12167.877 DT     02B0 Rx 5  10 0E 00 03 00 
    124     12178.429 DT     0362 Rx 8  00 00 01 00 00 00 01 00 
    125     12178.881 DT     0100 Rx 8  00 00 01 00 64 19 30 DE 
    126     12179.411 DT     02B0 Rx 5  10 0E 00 03 00 
    127     12194.654 DT     02B0 Rx 5  10 0E 00 03 00 
    128     12211.630 DT     0100 Rx 8  00 00 01 00 64 19 40 87 
    129     12212.011 DT     02B0 Rx 5  10 0E 00 03 00 
    130     12225.429 DT     02B0 Rx 5  10 0E 00 03 00 
    131     12240.311 DT     0362 Rx 8  00 00 01 00 00 00 01 00 
    132     12241.571 DT     0100 Rx 8  00 00 01 00 64 19 50 4A 
    133     12241.745 DT     02B0 Rx 5  10 0E 00 03 00 
    134     12257.517 DT     02B0 Rx 5  10 0E 00 03 00 
    135     12273.486 DT     0100 Rx 8  00 00 01 00 64 19 60 00 
    136     12273.921 DT     02B0 Rx 5  10 0E 00 03 00 
    137     12288.339 DT     02B0 Rx 5  10 0E 00 03 00 
    138     12303.300 DT     0362 Rx 8  00 00 01 00 00 00 01 00 
    139     12303.614 DT     0100 Rx 8  00 00 01 00 64 19 70 CD 
    140     12303.844 DT     02B0 Rx 5  10 0E 00 03 00 
    141     12319.030 DT     02B0 Rx 5  10 0E 00 03 00 
    142     12338.002 DT     0100 Rx 8  00 00 01 00 64 19 80 B2 
    143     12338.338 DT     02B0 Rx 5  10 0E 00 03 00 
    144     12354.495 DT     02B0 Rx 5  10 0E 00 03 00 
    145     12366.287 DT     0362 Rx 8  00 00 01 00 00 00 01 00 
    146     12366.585 DT     0100 Rx 8  00 00 01 00 64 19 90 7F 
    147     12366.893 DT     02B0 Rx 5  10 0E 00 03 00 
    148     12381.836 DT     02B0 Rx 5  10 0E 00 03 00 
    149     12399.902 DT     0100 Rx 8  00 00 01 00 64 19 A0 35 
    150     12400.206 DT     02B0 Rx 5  10 0E 00 03 00 
    151     12412.740 DT     02B0 Rx 5  10 0E 00 03 00 
    152     12431.749 DT     0362 Rx 8  00 00 01 00 00 00 01 00 
    153     12432.519 DT     0100 Rx 8  00 00 01 00 64 19 B0 F8 
    154     12433.141 DT     02B0 Rx 5  10 0E 00 03 00 
    155     12446.026 DT     02B0 Rx 5  10 0E 00 03 00 
    156     12460.990 DT     0100 Rx 8  00 00 01 00 64 19 C0 A1 
    157     12461.248 DT     02B0 Rx 5  10 0E 00 03 00 
    158     12481.603 DT     02B0 Rx 5  10 0E 00 03 00 
    159     12492.686 DT     0362 Rx 8  00 00 01 00 00 00 01 00 
    160     12492.929 DT     0100 Rx 8  00 00 01 00 64 19 D0 6C 
    161     12493.112 DT     02B0 Rx 5  10 0E 00 03 00 
    162     12506.302 DT     02B0 Rx 5  10 0E 00 03 00 
    163     12527.253 DT     0100 Rx 8  00 00 01 00 64 19 E0 26 
    164     12527.752 DT     02B0 Rx 5  10 0E 00 03 00 
    165     12537.499 DT     02B0 Rx 5  10 0E 00 03 00 
    166     12554.602 DT     0362 Rx 8  00 00 01 00 00 00 01 00 
    167     12554.937 DT     0100 Rx 8  00 00 01 00 64 19 F0 EB 
    168     12555.367 DT     02B0 Rx 5  10 0E 00 03 00 
    169     12574.157 DT     02B0 Rx 5  10 0E 00 03 00 
    170     12585.609 DT     0100 Rx 8  00 00 01 00 64 19 00 94 
    171     12585.830 DT     02B0 Rx 5  10 0E 00 03 00 
    172     12602.067 DT     02B0 Rx 5  10 0E 00 03 00 
    173     12617.224 DT     0362 Rx 8  00 00 01 00 00 00 01 00 
    174     12617.616 DT     0100 Rx 8  00 00 01 00 64 19 10 59 
    175     12617.900 DT     02B0 Rx 5  10 0E 00 03 00 
    176     12633.555 DT     02B0 Rx 5  10 0E 00 03 00 
    177     12647.723 DT     0100 Rx 8  00 00 01 00 64 19 20 13 
    178     12648.124 DT     02B0 Rx 5  10 0E 00 03 00 
    179     12667.754 DT     02B0 Rx 5  10 0E 00 03 00 
    180     12680.113 DT     0362 Rx 8  00 00 01 00 00 00 01 00 
    181     12680.421 DT     0100 Rx 8  00 00 01 00 64 19 30 DE 
    182     12680.615 DT     02B0 Rx 5  10 0E 00 03 00 
    183     12695.412 DT     02B0 Rx 5  10 0E 00 03 00 
    184     12710.744 DT     0100 Rx 8  00 00 01 00 64 19 40 87 
    185     12711.297 DT     02B0 Rx 5  10 0E 00 03 00 
    186     12728.218 DT     02B0 Rx 5  10 0E 00 03 00 
    187     12741.604 DT     0362 Rx 8  00 00 01 00 00 00 01 00 
    188     12742.147 DT     0100 Rx 8  00 00 01 00 64 19 50 4A 
    189     12742.542 DT     02B0 Rx 5  10 0E 00 03 00 
    190     12763.008 DT     02B0 Rx 5  10 0E 00 03 00 
    191     12773.222 DT     0100 Rx 8  00 00 01 00 64 19 60 00 
    192     12773.554 DT     02B0 Rx 5  10 0E 00 03 00 
    193     12788.808 DT     02B0 Rx 5  10 0E 00 03 00 
    194     12805.557 DT     0362 Rx 8  00 00 01 00 00 00 01 00 
    195     12805.678 DT     0100 Rx 8  00 00 01 00 64 19 70 CD 
    196     12805.730 DT     02B0 Rx 5  10 0E 00 03 00 
    197     12820.773 DT     02B0 Rx 5  10 0E 00 03 00 
    198     12835.421 DT     0100 Rx 8  00 00 01 00 64 19 80 B2 
    199     12835.711 DT     02B0 Rx 5  10 0E 00 03 00 
    200     12854.184 DT     02B0 Rx 5  10 0E 00 03 00 
    201     12869.254 DT     0362 Rx 8  00 00 01 00 00 00 01 00 
    202     12869.908 DT     0100 Rx 8  00 00 01 00 64 19 90 7F 
    203     12870.362 DT     02B0 Rx 5  10 0E 00 03 00 
    204     12882.630 DT     02B0 Rx 5  10 0E 00 03 00 
    205     12900.957 DT     0100 Rx 8  00 00 01 00 64 19 A0 35 
    206     12901.294 DT     02B0 Rx 5  10 0E 00 03 00 
    207     12915.359 DT     02B0 Rx 5  10 0E 00 03 00 
    208     12928.689 DT     0362 Rx 8  00 00 01 00 00 00 01 00 
    209     12928.923 DT     0100 Rx 8  00 00 01 00 64 19 B0 F8 
    210     12929.124 DT     02B0 Rx 5  10 0E 00 03 00 
    211     12949.308 DT     02B0 Rx 5  10 0E 00 03 00

And there is Vps_printf() output from Putty log:

[IPU1-1]    171.234063 s: ID: 2b0; queue get data:  0x10 0xe 0x0 0x3 0x0 0x0 0x0 0x0
[IPU1-1]    171.248032 s: ID: 2b0; queue get data:  0x10 0xe 0x0 0x3 0x0 0x0 0x0 0x0
[IPU1-1]    171.262642 s: ID: 100; queue get data:  0x0 0x0 0x1 0x0 0x14 0x82 0x10 0xe2
[IPU1-1]    171.262947 s: ID: 2b0; queue get data:  0x10 0xe 0x0 0x3 0x0 0x0 0x0 0x0
[IPU1-1]    171.299884 s: ID: 100; queue get data:  0x0 0x0 0x1 0x0 0x14 0x82 0x20 0xa8
[IPU1-1]    171.311809 s: ID: 2b0; queue get data:  0x10 0xe 0x0 0x3 0x0 0x0 0x0 0x0
[IPU1-1]    171.326633 s: ID: 100; queue get data:  0x0 0x0 0x1 0x0 0x14 0x82 0x30 0x65
[IPU1-1]    171.326938 s: ID: 2b0; queue get data:  0x10 0xe 0x0 0x3 0x0 0x0 0x0 0x0
[IPU1-1]    171.341243 s: ID: 100; queue get data:  0x10 0xe 0x0 0x3 0x0 0x0 0x0 0x0
[IPU1-1]    171.355761 s: ID: 100; queue get data:  0x0 0x0 0x1 0x0 0x14 0x82 0x40 0x3c
[IPU1-1]    171.356432 s: ID: 2b0; queue get data:  0x10 0xe 0x0 0x3 0x0 0x0 0x0 0x0
[IPU1-1]    171.373970 s: ID: 2b0; queue get data:  0x10 0xe 0x0 0x3 0x0 0x0 0x0 0x0
[IPU1-1]    171.390105 s: ID: 100; queue get data:  0x0 0x0 0x1 0x0 0x14 0x82 0x50 0xf1
[IPU1-1]    171.407857 s: ID: 100; queue get data:  0x10 0xe 0x0 0x3 0x0 0x0 0x0 0x0
[IPU1-1]    171.420179 s: ID: 100; queue get data:  0x0 0x0 0x1 0x0 0x14 0x82 0x60 0xbb
[IPU1-1]    171.420667 s: ID: 2b0; queue get data:  0x10 0xe 0x0 0x3 0x0 0x0 0x0 0x0
[IPU1-1]    171.435124 s: ID: 2b0; queue get data:  0x10 0xe 0x0 0x3 0x0 0x0 0x0 0x0
[IPU1-1]    171.450283 s: ID: 100; queue get data:  0x0 0x0 0x1 0x0 0x14 0x82 0x70 0x76

These are some most significant parts of the logs. I will add entire files. As you can see in Putty log, some of the messages got corrupted. In PCAN we have ID 0x02B0 with data 0x10 0x0E 0x00 0x03 0x00 and ID 0x0100 with data 0x00 0x00 0x01 0x00 0x64 0x19 0x60 0x0, but in the CanRx callback either message IDs or message data swap, and sometimes we have ID 0x0100 with data 0x10 0x0E 0x00 0x03 0x00. This only happens when messages rate is very hight. I belive data get corrupted somewhere in CAN driver before CanRx callback. What can be the possible reason for such behavior? Maybe you can explain me where is the entry point for CAN messages.

Best regards, D.K. Tovmachenko.

TDA_callback_log.log

PCANView_log.txt

over 4 years ago

0 Dmitriy Tovmachenko over 4 years ago

Intellectual 430 points

Hello? Any suggestions? Maybe something is unclear for you in my question?

Regards, D.K. Tovmachenko

0 Stanley Liu over 4 years ago in reply to Dmitriy Tovmachenko

TI__Guru 50045 points

Can you check read error status by calling DCANGetErrStatus() after you receive the message?

You may also check the message after DCANGetData() in RX ISR, Utils_dcanRxIsrCb(), to see if you are getting the correct message.

If the data is correct in ISR, the issue might be the queue handling part.

0 Dmitriy Tovmachenko over 4 years ago in reply to Stanley Liu

Intellectual 430 points

Hello, Stanley.

Actually, now I'm facing one more issue along with ID swap, but I believe this issue and issue described above have same roots. There are 3 CAN ID I'm receiving. These messages have different rate from 10 to 60 msc. After a certain time one of ID messages stops to come to my callback.What did I figured out:

There is Utils_dcanRxTsk task, and it is blocked until we receive message, process it in ISR and post appropriate event. When I face that issue, Event_pend in Utils_dcanRxTsk never pends on appropriate message. So problem is that in ISR programm do not post that event, it seems Event_post in ISR doest even calls. Right now I dont have an opportunity to debug it using JTAG, so I'm trying to debug by DCANGetErrStatus() as you adviced me. I have a question: if DCANGetErrStatus() returns 0x10, does it means that ISR processed CAN message, or it just means that DCAN got that message ? Because after I send message to CAN DCANGetErrStatus() return 0x10, but Event_post doesnt call.

Also there is UTILS_assert macro, but if I call UTILS_assert(FALSE) there is no any printfs in UART, does it even work? I'm trying to use it for debugging.

static void Utils_dcanRxIsrCb(dcanRxMsgObj_t *dcanRxMsgObj,
   UInt32 mbxId,
   UInt32 rxMbxIndex)
{
   dcanMsg_t *rxMsg = NULL;
   struct dcanQueMsgs_s * queMsg = NULL;
   Int32 retVal;

   /* Get free can rx msg */
   Utils_dcanQueGet(&dcanRxMsgObj->freeQ.handle,
       &queMsg,
       &rxMsg,
       DCAN_MSG_STATE_IN_FREEQ,
       DCAN_MSG_STATE_ISR);
   Utils_dcanResetRxMsg(rxMsg);

   /* Wait for interface to become free */
   Utils_dcanWaitForIfReg(UTILS_DCAN_INST, UTILS_DCAN_RX_IF_REG);
   /* Get data from CAN mailbox */
   retVal = DCANGetData(UTILS_DCAN_INST,
       mbxId,
       UTILS_DCAN_RX_IF_REG,
       &rxMsg->appMsgPrms,
       0);
   UTILS_assert(FALSE); // no assert in UART
   UTILS_assert(((DCANGetErrStatus(UTILS_DCAN_INST) != 0x10) || (DCANGetErrStatus(UTILS_DCAN_INST) != 0x7))); // check for DCAN err status
   UTILS_assert(retVal == 0);
   Utils_dcanConfigRxMsgObj(mbxId);
   /* Copy CAN RX msg to free msg */
   rxMsg->msgId = Utils_dcanMapMailboxId2MsgId(mbxId);
   UTILS_assert(rxMbxIndex < UTILS_ARRAYSIZE(dcanRxMsgObj->rxMsgQ));
   /* Put received msg into CAN RX mailbox specific queue */
   Utils_dcanQuePut(&dcanRxMsgObj->rxMsgQ[rxMbxIndex].handle,
       queMsg,
       DCAN_MSG_STATE_IN_RX_QUE);
   UTILS_assert(rxMbxIndex < UTILS_ARRAYSIZE(dcanRxMbxId));
   Event_post(dcanRxMsgObj->dcanRxEvent, (0x1U << rxMbxIndex)); // doesnt post apropriate event after a certain time
}

Please make it clear for me.

Regards, D.K. Tovmachenko.

0 Dmitriy Tovmachenko over 4 years ago in reply to Dmitriy Tovmachenko

Intellectual 430 points

Hi, Stanley.

I have an additional question. Is there any safe way to restart DCAN during runtime? I'm trying just reinit it:

void resetCAN(void)
{
Utils_dcanDeInit();
Utils_dcanInit(&dcanConfig);

}

but it doesnt work.

Regards, D.K. Tovmachenko.

0 Dmitriy Tovmachenko over 4 years ago in reply to Dmitriy Tovmachenko

Intellectual 430 points

Hi Stanley.

I figured out how to fix UTILS_assert(), but questions about DCANGetErrStatus() function and proper way to reset CAN still exist.

Regards, D.K. Tovmachenko.

0 Stanley Liu over 4 years ago in reply to Dmitriy Tovmachenko

TI__Guru 50045 points

DCANGetErrStatus() returning 0x10 means the message is received successfully.

Regarding restarting CAN driver, we have not tested that. What error did you get from calling your resetCAN()?

0 Vivek Dhande over 4 years ago in reply to Stanley Liu

TI__Expert 5615 points

Hi Tovmachenko,

If I understood your setup correctly, you setup looks like follow:

You have TDA2Px DCAN connected to PCAN and PCAN is sending data to DCAN.
Issue 1: When you increase a message rate beyond some limit, you see some corruption happening and this is not just random corruption, you see IDs/payload swapped. You don't see any corruption within payload. Correct?
Issue 2: Sometimes you also receive a message with third ID, and this happens only for some time. Right?

Can you please confirm above points?

Thanks & Regards,
Vivek Dhande.

Texas Instruments (India) Pvt Ltd

0 Dmitriy Tovmachenko over 4 years ago in reply to Stanley Liu

Intellectual 430 points

Hello, Stanley.

After calling resetCAN() CAN stops to respond at all. I didnt really tested it yet, but I think entire DCAN get corrupted. About DCANGetErrStatus(), message is received successfully means that it have been sucsessfully written to some memory register, or does it mean that it have been written to some register and get processed by ISR?

Regards, D. Tovmachenko.

0 Dmitriy Tovmachenko over 4 years ago in reply to Vivek Dhande

Intellectual 430 points

Hi Vivek.

1. Yes, but we also have TDA3 and TDA2EVM with the same problem.

2.I have 3 IDs messages which continiously coming from CAN bus to TDA, at any message rate at some moment one or two IDs stops to come, and sometimes these ID data swap, or maybe ID swap between two tipes of messages. Message rate only affects time till problem happens, more hight message frame is, more fast problem will happen.

I just fugured out,when IDs stops to come, there is no Utils_dcanRxIsrCb() calling, means ISR stops to execute when messages whith these IDs come.

Let me make it clear, I took vsdk308\vision_sdk\apps\src\rtos\modules\dcan\ system_dcan.c and utils_dcan.c example from Vision SDK and modified these files to make TDA receive and send several CAN ID messages. Did you tested your can driver for receiveng several IDs, because there is only one ID to rx and one ID to tx in this example.

Also I checked error statuses after CAN IDs stops to come, and DCANGetParityErrStatus() returns 0x13.

I count messages with these IDs in ISR like this:

   /*Increment IDs counter*/
   if ((rxMsg->appMsgPrms.rxMsgIdentifier) == 1st ID)
   {
       speed_id++;
   }
   else if ((rxMsg->appMsgPrms.rxMsgIdentifier) == 2nd ID)
   {
       angle_id++;
   }
   else if ((rxMsg->appMsgPrms.rxMsgIdentifier) == 3rd ID)
   {
       corner_id++;
   }

   /* Wait for interface to become free */
   Utils_dcanWaitForIfReg(UTILS_DCAN_INST, UTILS_DCAN_RX_IF_REG);
   /* Get data from CAN mailbox */
   retVal = DCANGetData(UTILS_DCAN_INST,
       mbxId,
       UTILS_DCAN_RX_IF_REG,
       &rxMsg->appMsgPrms,
       0);
   UTILS_assert(retVal == 0);
   Utils_dcanConfigRxMsgObj(mbxId);
   /* Copy CAN RX msg to free msg */
   rxMsg->msgId = Utils_dcanMapMailboxId2MsgId(mbxId);
   UTILS_assert(rxMbxIndex < UTILS_ARRAYSIZE(dcanRxMsgObj->rxMsgQ));
   /* Put received msg into CAN RX mailbox specific queue */
   Utils_dcanQuePut(&dcanRxMsgObj->rxMsgQ[rxMbxIndex].handle,
       queMsg,
       DCAN_MSG_STATE_IN_RX_QUE);
   UTILS_assert(rxMbxIndex < UTILS_ARRAYSIZE(dcanRxMbxId));
   Event_post(dcanRxMsgObj->dcanRxEvent, (0x1U << rxMbxIndex));
}

And then I print these counters in separate task. At some moment despite these messages still in CAN bus, these counters stop to increment, means Utils_dcanRxIsrCb() doesnt execute.

Regards, D. Tovmachenko

0 Dmitriy Tovmachenko over 4 years ago in reply to Dmitriy Tovmachenko

Intellectual 430 points

Hello

I have some progress in resolving this issue. I created a crutch, a task which continuously checking DCAN queue for stucked messages. This crutch resolved "certain ID messages stops to come" problem, but this is still a crutch. Here is my crutch code:

void CrutchTsk(UArg arg0, UArg arg1)
{
   dcanMsg_t* rxMsg = NULL;
   struct dcanQueMsgs_s* queMsg = NULL;
   Int32 retVal;
   int i = 0;

   dcanRxMsgObj_t* processObj = dcanIsrContext.rxMsgObj;

   while (1)
   {
       for (i = 1stIDindex; i < 3rdIDindex; ++i)
       {

            /*This is the place where I get message from DCAN*/
           Utils_dcanQueGet(&processObj->freeQ.handle,
               &queMsg,
               &rxMsg,
               DCAN_MSG_STATE_IN_FREEQ,
               DCAN_MSG_STATE_ISR);
           Utils_dcanResetRxMsg(rxMsg);

            /*Then I check message from queue*/
           if ((rxMsg->appMsgPrms.rxMsgIdentifier == ID1) || (rxMsg->appMsgPrms.rxMsgIdentifier == ID2) || (rxMsg->appMsgPrms.rxMsgIdentifier == ID3))
           {
                /*If message is valid, I process it and post appropriate event*/
               Utils_dcanWaitForIfReg(UTILS_DCAN_INST, UTILS_DCAN_RX_IF_REG);
               retVal = DCANGetData(UTILS_DCAN_INST,
                   dcanRxMbxId[i],
                   UTILS_DCAN_RX_IF_REG,
                   &rxMsg->appMsgPrms,
                   0);
               Utils_dcanConfigRxMsgObj(dcanRxMbxId[i]);
               rxMsg->msgId = Utils_dcanMapMailboxId2MsgId(dcanRxMbxId[i]);
               Utils_dcanQuePut(&processObj->rxMsgQ[i].handle,
                   queMsg,
                   DCAN_MSG_STATE_IN_RX_QUE);
               Event_post(processObj->dcanRxEvent, (0x1U << i)); // post appropriate event
           }
       }
       BspOsal_sleep(SLEEP_VAL);
   }
}

The thing is, if after certain ID get blocked I manually check DCAN queue for messages with that ID , this manual check unblocks messages with that ID, and they start to come again(till they get blocked again). So I created the task which do it continuously. But this is not how DCAN is suppose to work.

I also checked DCAN_INTPND12 DCAN1 register, there is no interrupt pending, value is always 0. DCAN_CTL register and DCAN_INT register are also OK (i.e. 0). PCAN-View doesnt register any bus-off condition (means TDA get these messages), so the problem is that in DCAN messages queue messages somehow get stuck. Is there any way to deal with it?

Regards. D.K. Tovmachenko

+1 Dmitriy Tovmachenko over 4 years ago in reply to Dmitriy Tovmachenko

Intellectual 430 points

Eventually we maybe found a way to resolve this issue. Now all CAN messages comes without blocking, and all data is valid, ID don't swap anymore. Apparently, if several CAN messages with different IDs comes with hight frame rate, some registers don't clean in time (or maybe messageboxes), so ISR doesnt execute when next message with this ID comes again. So we desided to check all messageboxes for messages in ISR, regardless of the received message, and if there is a message in messagebox, search appropriate for this ID mailbox and post event with this mailbox index. That way all works great:

/*utils_dcan.c*/

/*Function for searching received ID in mailboxes and if found return index of appropriate mailbox*/

static Int32 Utils_dcanMapMsgId2MailboxIdx(UInt32 msgId)
{
    Int i, j;
    for (i = 0; i < UTILS_ARRAYSIZE(dcanMbx2MsgIdMap); ++i)
    {
        if (dcanMbx2MsgIdMap[i].msgId == msgId)
        {
           for (j = 0; j < UTILS_ARRAYSIZE(dcanRxMbxId); ++j) {
               if (dcanRxMbxId[j] == dcanMbx2MsgIdMap[i].mbxId)
               {
                   return j;
               }
           }
            break;
        }
    }
   return -1;
}

/*ISR*/

static void Utils_dcanRxIsrCb(dcanRxMsgObj_t *dcanRxMsgObj,
   UInt32 mbxId,
   UInt32 rxMbxIndex)
{
   int i, retVal, rxId;
   dcanMsg_t* rxMsg;
   struct dcanQueMsgs_s* queMsg;

/*dcanRxMbxId is n size array which contains mailboxes IDs, previously mapped with messages IDs*/
for (i = 0; i < UTILS_ARRAYSIZE(dcanRxMbxId); ++i) {

        /*Check messagebox for messages*/
       if (DCANHasRxMsgArrived(UTILS_DCAN_INST, dcanRxMbxId[i])) {
           Utils_dcanQueGet(&dcanRxMsgObj->freeQ.handle,
               &queMsg,
               &rxMsg,
               DCAN_MSG_STATE_IN_FREEQ,
               DCAN_MSG_STATE_ISR);
           Utils_dcanResetRxMsg(rxMsg);
           Utils_dcanWaitForIfReg(UTILS_DCAN_INST, UTILS_DCAN_RX_IF_REG);
           retVal = DCANGetData(UTILS_DCAN_INST,
               dcanRxMbxId[i],
               UTILS_DCAN_RX_IF_REG,
               &rxMsg->appMsgPrms,
               0);
           if (retVal == STW_SOK) {

                /*Check is CAN waiting for standart or extended messages*/
               if (rxMsg->appMsgPrms.rxIdType) {
                   rxMsg->msgId = rxMsg->appMsgPrms.rxMsgIdentifier;
               }
               else
               {
                   rxMsg->msgId = (rxMsg->appMsgPrms.rxMsgIdentifier >> DCAN_SHIFT);
               }
               Utils_dcanConfigRxMsgObj(dcanRxMbxId[i]);

                /*Taking mailbox for message ID*/
               rxId = Utils_dcanMapMsgId2MailboxIdx(rxMsg->msgId);
               if (rxId != -1)
               {
                   Utils_dcanQuePut(&dcanRxMsgObj->rxMsgQ[rxId].handle,
                       queMsg,
                       DCAN_MSG_STATE_IN_RX_QUE);

                    /*Post event appropriate to mailbox ID*/
                   Event_post(dcanRxMsgObj->dcanRxEvent, (0x1UL << rxId));
               }
               else {
                   /*misra*/
               }
           }
           else {
               Utils_dcanConfigRxMsgObj(dcanRxMbxId[i]);
               Utils_dcanQuePut(&dcanRxMsgObj->freeQ.handle,
                   queMsg,
                   DCAN_MSG_STATE_IN_FREEQ);
           }
       }
       else {
           /*misra*/
       }
   }
}

We resolved this issue that way. What do you think about this solution to the problem?

Regards, Dmitriy Tovmachenko.

0 Stanley Liu over 4 years ago in reply to Dmitriy Tovmachenko

TI__Guru 50045 points

Hi Dmitriy,

Thank you for providing the update.

Your fix looks good.

Regards,
Stanley

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