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IWR6843: Setting the CAN id of the device

Manoj Wakdikar
Intellectual 445 points
Part Number: IWR6843

Tool/software:

Hi,

I am using IWR6843 radar module. I want to use it in UAS (Unmanned Aircraft System) for obstacle avoidance application. I am using multiple radar modules on a single UAS which will communicate to microcontroller over CAN. So, each radar should have unique id to identify the data coming from which radar. So, how to set a unique id of radars mounted on UAS?

Thanks,
Manoj

  • 0
    TI__Genius 9075 points

    Hey Manoj,

    Good to hear from you again! For CAN, you will need to send and receive messages with specific IDs. The receive side can be a bit challenging to understand, but I believe I previously shared the Bosch MCAN User Guide and recommended reviewing Section 3.4 on Rx Handling, but I'll include it here for any future readers. As a general aside, when using Rx buffers, keep in mind that you can only receive one specified ID. Range filtering can only be done with the Rx FIFO.

    A good starting point for understanding how to transmit and receive CAN messages in a complete application would be the CAN integration project from the Radar Toolbox. This application doesn't send out messages intended to be received by a particular CAN node but rather the TLV type is used for the ID and the corresponding TLV data is in the data portion of the message. It is configured to only receive extended ID 0xD1. You can see how this is configure in the Can_Initialize function. Note: if you want to receive a range of IDs, you will need to use the CANFD_createRxRangeMsgObject function instead of the CANFD_createMsgObject function.

    Regards,

    Kristien

  • 0 in reply to Kristien Everett
    Intellectual 445 points

    Thank you Kristien for your reply. I will go through the suggested document as well as the CAN integration project. If I have further queries, then will ask you.

    Regards,
    Manoj

  • 0 in reply to Manoj Wakdikar
    TI__Genius 9075 points

    Hey Manoj,

    Sounds good! Feel free to reply to this thread for any related questions. Otherwise, open up a new thread for any different questions. 

    Regards,

    Kristien