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Part Number: AWR6843AOPEVM
Other Parts Discussed in Thread: AWR6843AOP

Hello Team,

I am working about CAN FD with AWR6843AOP board, now I am able to send out CAN message (Baurate data 1M) with 1 sensor radar normally. I fam facing issue when connect 6 radar sensor on one CAN bus detail as below, 

My observation:

 - Connect 6 sensor in same CAN network (frequency of CAN message is 20Hz, baurate 1M)

 - After 10 min, on CAN network, have 2 3 sensor hang

 - When CAN network have only two radar sensor, radar can send message data is OK during 30 minute

From my debug result:

- when have any CAN message transmit fail on radar senor, then CAN mesage always send fail on next cycle.

My current assumption of root cause:

- if CAN message transmit fail, Buffer of CAN message data overload, then firmware radar hang. It is just my assumption, I'm not sure my assumption is correct or not.

Because I also less experience about CAN protocol, so that I don't understand for reason why CAN always transmit fail in next cycle.

I'm not sure about my debug result correct or not. If I have any wrong understanding, please help me correct it.

Here is some question:

- How to calculate maximun number sensor can be connected in one CAN network (baurate 1M, frequency CAN message is 20 Hz, each sensor need to send you max 20 mess)

- In the normal CAN systerm on Automative, how to handle when CAN Transmit fail

  • Hi,

    To begin, I would recommend that you read the Bosch MCAN User's Guide, which provides details on the CAN module that we use. This should provide more insight into the error states that the CAN module can go into. In order to calculate the maximum number of nodes, you would want to consider not just how often they are sending messages, but how large the messages are. I would recommend you try to calculate the Mbps that you are trying to send, and ensure that it is less than the baudrate you are using. 

    Link to Bosch MCAN:

    Let me know if you have any specific questions after looking into this further.

    Best Regards,