mmWave LAB Object Data Over CAN lab demo not work

Got PCAN cable. Test with my other CAN network, it works. Then connect to CAN bus of AWR1642BOOST, got some messages, then it froze and there is nothing on the X-Y Scatter Plot. Here is a screenshot from "TI CAN Visualizer".

Hello Tao,

The pre-built binaries for AWR1642BOOST in the project works fine on my setup and do not see any issue with those binaries of  loss of CAN communication.  

To build the project you can import the CCS project and select the "odoc_16xx_mss" and "odoc_16xx_dss" from the "mmwave_automotive_toolbox_2_1_2__win" toolbox.

The you can do the required modifications to remove the "TIDA_1570" as mentioned in the previous post and rebuild the code .

Thanks,

-Raghu

Hello Raghu,

Thanks for your help!

I notice in the pre-built binary there are two folders: TIDA_1570 and AWR1642BOOST. And after re-flash today, it works fine with the PCAN cable on Windows. I also did the rebuild in CCS, it also works. 

Now I am trying to make it work in Ubuntu 16.04 using CAN socket. Here is my code for the configuration of the CAN socket and reading of the CAN socket, anything I missed? When read the CAN socket, always get a "-1". 

int CanSocket::init(std::string ifname)
{
         struct sockaddr_can addr;
         struct ifreq ifr;

// Open can socket
if((s_ = socket(PF_CAN, SOCK_RAW, CAN_RAW)) < 0)
{
    perror("Error while opening socket");
    return -1;
}

setsockopt(s_, SOL_CAN_RAW, CAN_RAW_LOOPBACK, &loopback, sizeof(loopback));

struct timeval tv;
tv.tv_sec = 1; // 1 Secs Timeout
tv.tv_usec = 0; // Not init'ing this can cause strange errors
setsockopt(s_, SOL_SOCKET, SO_RCVTIMEO, (const char*)&tv, sizeof(tv));

strcpy(ifr.ifr_name, ifname.c_str());
ioctl(s_, SIOCGIFINDEX, &ifr);

addr.can_family = AF_CAN;
addr.can_ifindex = ifr.ifr_ifindex;

if(bind(s_, (struct sockaddr *)&addr, sizeof(addr)) < 0)
{
    perror("Error in socket bind");
    return -2;
}

return 0;

}

int CanSocket::readCAN(struct can_frame *frame)
{
         int nbytes;

if (getCANKey())
{
     nbytes = read(s_, frame, sizeof(struct can_frame));

     if (nbytes < sizeof(struct can_frame))
     {
        return -1;
     }

     releaseCANKey();
}
else
{

      return -1;

}

         return nbytes;

}

Best Regards,

Tao

Hello Raghu,

I understand the Linux no offer. Would you mind guide me on the protocol of how the mmWave will send the CAN frames, and on the computer side, what should I do to read the CAN frames? Do I need to send some CAN frame to activate the CAN frames sending from mmWave? Or should I send some acknowledge frame to mmWave? Is there any timing for the reading of the CAN bus on the software level?

Best Regards,

Tao Wang

Hello Raghu,

Thanks for your help.

Now, I can read out the data from the CAN bus after revising configuration of CANSocket. I got neat data repeated like:

repeat      CAN id               data length

1              c1              48

1             d1               08

1             d1               32

1             d2               08

8             d2               64

1             d3               08

8             d3               64

1             d6               08

1             d6               24

1             b1               04

I go into the code but cannot figure out how is the data arranged, would you mind guide me to the protocol or the data format? I need to figure out what is the reading of the sensor. 

I also would like to do the compare between the CAN frame data and the UART data (mmwave_industrial_toolbox_2_4_0/labs/lab0006). 

Hello Raghu,

Thanks for your help. I only remove TIDA_1570 in the code. I find it also in the compiler options. I remove it, and it works in debug mode with CCS.

I tried also the SDK demo for xWR16xx, but it fails. This demo is imported from "Resource Explorer/mmWave Sensors/Industrial Toolbox - v.2.5.1". I just remember that my AWR1642BOOSTE is not ES2.0, and it is not supported by SDK 2.0, while the SDK demo for 16xx in Industrial Toolbox v2.5.1 requires the SDK 2.0, am I right? Is there a SDK demo project for SDK 1.2?

Best Regards,

Tao Wang

With comparing of the "cli.c" in the SDK and in the ODOC(Object Data Over CAN) demo, I find the way in the demo used for CAN FD: bypass the cli and make a table for the configuration of the radar. But the debug always crash at trying to execute the command "sensorStop" which is the first command for the radar configuration. Is there any extra initialization for the commands to the radar? Or there is some timing for commands to radar?

As the change of the code cause overflow of program memory, I comment off "Initialize LVDS streaming components", will this affect the command sent to radar?

Tao