IWR6843ISK: Questions about data transmission via CANFD

Hi, 

Jiaqi Xie said:

1. Can I use ONLY IWR6843ISK to transmit the output data via CAN (same output format as UART)?

IWR6843ISK has CAN connectors on the EVM. Yes this can be used without the booster board 

Jiaqi Xie said:

2. Can the CAN driver (provided by TI)  use in Linux if the output data is transmitted via CAN ?

It is possible but may need some modification to the Linux side driver implementation. Is there a host that you plan to use? 

Regards, 

Sudharshan K N 

Hi,

1. The connection of EVM is shown as the figure. The CANUSB converter directly connects to the EVM under win10, but nothing appear on the serial output platform. Why it happens?

/resized-image/__size/640x480/__key/communityserver-discussions-components-files/1023/IMG_5F00_9318.jpg

2. I would like to confirm the location of  linux driver package, the driver I need to modify is ROS Driver/serial in industrial toolbox am I correct? What do you mean the host? Currently, I use laptop with Ubuntu 18.04, will apply IO controller for CAN or ECU in the future.

Best Regards,

Jiaqi

Hi, 

I am not able to look at the picture attached. Can you please reshare? 

Is the requirement is for ROS? Please let me know. 

Regards, 

Sudharshan K N 

Hi,

I re-upload the picture.

Yes, it's for ROS.

Best Regards,

Jiaqi

Hi Jiaqi,

Our ROS expert is out for the holidays. He will comment when he returns.

Best,

Nate

Hi,

I would like to refine the question.

The ISK only connection is shown in the figure, no data output from the CAN.

The CAN connection with ISK and ICBOOST is shown above. Power supply is provided by ICBOOST, and the data is able to output from CAN.

I think it might be hardware problem, then I check the voltage between pin 3 and 2, it’s about 4.1V, what’s the standard voltage for those pins?

Looking forward to your reply.

Regards,

Jiaqi

Hi, 

Thanks for bringing this to notice. We will check on the HW schematics and see if the CAN transceiver is powered from the USB mode. 

Regards, 

Sudharshan K N 

Hi,

Coming back to the ROS topic, the ROS driver provided by TI only natively supports UART communication, so you will likely need to make modifications in order to support CAN communication. 

The CAN metaimage flasher tool which is included with the CAN SBL demo I believe only supports windows, and would likely need to be created from your side. 

Best Regards,
Alec

Hi Sudharshan,

I would like to confirm that as long as I use a wire or resistor to connect R70, then I can use CAN connection to the EVM alone also it won't be any problem with the CAN connection with ISK and ICBOOST? 

Regards,

Jiaqi

Hi Alec,

Thank you for your reply! It seems very difficult to start with modify CAN communication on ROS especially the CAN metaimage flasher.

How about the MetaImage not need to be changed and I only modified ROS driver, could you specific which files I need to modify? for example, whole file mmwave_ti_ros/ros_driver/src/serial ?

Regards,

Jiaqi

Hi, 

We will get back to you on ROS specific questions.

Regards, 

Sudharshan K N