AWR1843BOOST: CAN rx issue: application crashes when receive new CAN message

Lei

Expert 2050 points

Part Number: AWR1843BOOST
Other Parts Discussed in Thread: SYSBIOS

In mrr_18xx lab demo, I understand below code is for receiving the CAN message from external device.

void Can_Initialize(void){
...
rxMsgObjectParams.direction = CANFD_Direction_RX;
rxMsgObjectParams.msgIdType = CANFD_MCANXidType_11_BIT;
rxMsgObjectParams.msgIdentifier = 0xA1 | CAN_MESSAGE_PARK_SENS_POS;
rxMsgObjHandle = CANFD_createMsgObject (canHandle, &rxMsgObjectParams, &errCode);
if (rxMsgObjHandle == NULL)
{
    System_printf ("Error: CANFD create Rx message object failed [Error code %d]\n", errCode);
    return ;
}
...
}

...

static void MCANAppCallback(CANFD_MsgObjHandle handle, CANFD_Reason reason){
  ...
  retVal = CANFD_getData (handle, &id, &rxFrameType, &rxIdType, &rxDataLength, &rxData[0], &errCode);
  ...
}

I tested mrr_18xx lab demo's CAN Rx feature by sending one CAN message (ID: 0xA1) from PCAN example tool to AWR1843BOOST. The demo running in AWR1843BOOST crashes once the message was send.

In debug mode, I get the below error：

ti.sysbios.gates.GateMutex: line 99: assertion failure: A_badContext: bad calling context. See GateMutex API doc for details.
xdc.runtime.Error.raise: terminating execution

Does mrr-18xx demo support CAN Rx? Could you please check this issue in your side?

Thanks

over 4 years ago

+1 Aniket Mahajan over 4 years ago

TI__Genius 15046 points

Hi,

I have a hunch for why this might be happening. As per this thread, System_printf cannot be called from an interrupt context (there is more to it, the thread explains it well). In the callback, I think the following section of code is causing this error:

if (rxFrameType != frameType)
{
    System_printf ("Error: CAN received incorrect frame type Sent %d Received %d for iteration %d failed\n", frameType, rxFrameType, iterationCount);
    return;
}

Essentially, System_printf tries to acquire a mutex in an interrupt context, which is not allowed. Can you comment this out, recompile and see if it works?

Also, in general, it is good practice to create a separate task for an operation this big (I see some memset and memcpy calls). If you want, you could also restructure the code like so:

//pseudocode

void MCANAppCallBackTask(){
    while(true){
        Semaphore_pend(MCANReadSem); //waits for semaphore
        doMCANProcessing();   //does the more involved processing in task context
    }
}

static void MCANAppCallback(){
    semaphore_post(MCANReadSem);  //posts the semaphore, returns quickly
}

Let me know if this works for you.

Regards,

Aayush

0 Lei over 4 years ago in reply to Aniket Mahajan

Expert 2050 points

Thanks. I comment all System_printf in callback, it works.

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AWR1843BOOST: CAN rx issue: application crashes when receive new CAN message