AWRL6432: CAN message can not send out successfully after shorting CANH and GND

Yongheng Ai

Part Number: AWRL6432
Other Parts Discussed in Thread: AWR6443

Tool/software:

Hi TI experts,

When we do PV test on new product for BUSOFF recovery, we found that CAN message can not send out successfully after shorting CANH and GND

The detailed test case is as follows:

1 send diagnostic message request with 100ms cycle

2 short the CANH and GND about 60s

3 check if Application message and diagnostic message is recovered

result: The Application message can recover but the diagnostic message is not.

We use the MCAL and MCAL version is "MCAL_REL_03.00.03.02_ENGINEERING_RELEASE".

We add some prints at Can_Write API and found all API is called rightly when the issue occurs.

Finally, we add prints at end of Can_mcanWriteTxMailbox to check the CAN ID and status of API MCAN_txBufAddReq

And the ID is our diagnostic CAN ID and status is 0 when this issue occurs.

Our diag CAN mailbox configuration is as follows:

Our CAN controller configuration is as follows:

After we change the configure to FULL-CAN, the issue seems disappear.

But there is still some other issues, the diag CAN message need more time to recover to send after remove the short error inject.

So, we want to know if there is some constraints on the CAN Handle type and the reason why the diag CAN message need more time to recover to send after remove the short error inject.

5 months ago

0 Kristien Everett 5 months ago

TI__Genius 13026 points

Hey Yongheng,

Thank you for posting your question regarding MCAL CAN usage. I have looped in one of our MCAL experts to assist you further, but I wanted to also ask a few questions to gather more information.

You mentioned that there is an application message that recovers fine in the first test you did. Is this application message being sent through CAN as well, and is it also periodically sent out?
Could you elaborate more on the configurations you made which appears to have fixed the issue - i.e., what is FULL-CAN?
After configuring to FULL-CAN, how long does it take for the diagnostic CAN message to recover after removing the short error injection?

One thing that may be affecting the timing is busoff recovery itself. Busoff recovery causes some inherent delay due to the requirement of waiting at least 128 occurrences of Bus Idle Condition before resuming normal operation.

Regards,

Kristien

0 Yongheng Ai 5 months ago in reply to Kristien Everett

Prodigy 100 points

Hi Kristien,

Thanks for your response.

For your questions:

1 Yes. The mentioned Application message is being sent by CAN and the message cycle time is 10ms.

2 FULL-CAN and BASIC CAN is as follows snap short. The FULL-CAN means the dedicated ID CAN mailbox configuration in general. However, the BASIC-CAN can contain more CAN ID or messages as FIFO.

Addition info: After changing from BASIC-CAN to FULL-CAN, there is an issue where messages occasionally cannot be sent if the bus load is high. The difference is that FULL-CAN can recover even if the last message is not sent successfully. However, BASIC-CAN has better real-time performance but cannot recover from a CANH short to GND unless the board is restarted

3 It cannot be given an exact value because the time also depends on the actual CAN bus status. The bus status may be 'bus-off' or not, which could cause the ECU to either go to sleep or remain active. Generally speaking, if there is no sleep mode, the time is within 300ms.

0 Ajay Narayan 5 months ago in reply to Yongheng Ai

TI__Mastermind 22525 points

Hey Yongheng,

Is the application calling the CAN MCAL module directly or is there a CAN IF stack on top of CAN MCAL, and is the Application calling the upper stack API?

It might be possible that the upper-level sack is handling the retransmission, in which case you would have to look in the stack for retransmission handling.

Regards,

Ajay

0 Yongheng Ai 5 months ago in reply to Ajay Narayan

Prodigy 100 points

HI Ajay,

1 We use the Autosar stack. Application call the upper stack API.

2 I think not. Because we do not configure the Tx confirmation notification for upper level than CANTP. And the Can_write requset print is just once when if we stop diag request after the diag response just lost.

Additional info: After I comment the code at Can_mcanWriteGetFreeMsgObj(), the issue is disappear.

But I'm confused. Because I print the status of Can_mcanWriteGetFreeMsgObj() before and the status is OK instead of BUSY.

I still can't understand why the diagnostic message fails to send successfully at times, when it is configured to FULL-CAN, and even after I commented out the same 'avoid nested' code.

0 Yongheng Ai 5 months ago

Prodigy 100 points

Hi TI experts,

Are there any updates?

0 Yongheng Ai 4 months ago

Prodigy 100 points

Hi TI experts,

Are there any updates?

0 Ajay Narayan 4 months ago in reply to Yongheng Ai

TI__Mastermind 22525 points

Hey Yongheng,

Sorry for the delay.

Will require time till mid next week to get back on this due to upcoming holidays.

Meanwhile can you please attach the complete generated config file from Tresos.

Regards,

Ajay

0 Yongheng Ai 4 months ago in reply to Ajay Narayan

Prodigy 100 points

Fullscreen Can_PBcfg copy.c Download

/* ======================================================================
 *   Copyright (c) 2022 Texas Instruments Incorporated
 *
 *   All rights reserved. Property of Texas Instruments Incorporated.
 *   Restricted rights to use, duplicate or disclose this code are
 *   granted through contract.
 *
 *   The program may not be used without the written permission
 *   of Texas Instruments Incorporated or against the terms and conditions
 *   stipulated in the agreement under which this program has been
 *   supplied.
 * ==================================================================== */
 /***************************************************************************
  Project:
  Date   : 2023-01-22 19:03:21

  This file is generated by EB Tresos
  Do not modify this file, otherwise the software may behave in unexpected way.

 *****************************************************************************/

/*
 * Module switch
 */
#define CAN_PBCFG_SOURCE
/**********************************************************************************************************************
 *  INCLUDES
 *********************************************************************************************************************/
 #include "Can.h"
 #include "Can_Cfg.h"

/**********************************************************************************************************************
 *  VERSION CHECK
 *********************************************************************************************************************/
/*  Version checking  */
 #if ((CAN_SW_MAJOR_VERSION != (3U))||(CAN_SW_MINOR_VERSION != (0U))||(CAN_SW_PATCH_VERSION != (32U)))
  #error "Version numbers of Can_PBcfg.c and Can.h are inconsistent!"
#endif
#if ((CAN_CFG_MAJOR_VERSION != (3U))||(CAN_CFG_MINOR_VERSION != (0U))||(CAN_CFG_PATCH_VERSION != (32U)))
  #error "Version numbers of Can_PBcfg.c and Can_Cfg.h are inconsistent!"
#endif

/**********************************************************************************************************************
 *  GLOBAL DATA
 *********************************************************************************************************************/
#define CAN_START_SEC_CONFIG_DATA
/* TI_INSPECTED 243 S: MISRAC_2012_D4.10
 * "Reason - This is required here for specifying memory sections."
 */
/* TI_INSPECTED 338 S: MISRAC_2012_20.1
 * "Reason - This is the format to use for specifying memory sections."
 */
#include "Can_MemMap.h"


/* TI_INSPECTED 63 D : MISRAC_2012_R8.6
 * "Reason - Definition for below prototyped procedure
 * is external to lib, defined in app." */
extern void CanApp_ErrorNotification(uint32 errStatus);


/* Baud Rate Structure for all configsets */
static Can_BaudConfigType  CanConfigSet_CT_Dome_c81b396c_CanControllerBaudrateConfig =
{
    500U,    /* in KB */
    23U,
    8U,
    8U,
    5U,
    39U,    /* Sum of all timing parameters  */
    2U,    /* Controller BRP value for Baud */
    /* Data phase Baudrate */
    {
        500U,    /* in KB */
        23U,
        8U,
        8U,
        5U,
        39U,    /* Sum of all timing parameters  */
        2U,    /* Controller BRP value for Baud */
        160U,
        (boolean)FALSE
    }
};



/*List of the Baudrate structures */
static Can_BaudConfigType *CanConfigSet_CT_Dome_c81b396c_BaudRateConfigList[]=
{
    &CanConfigSet_CT_Dome_c81b396c_CanControllerBaudrateConfig,
};



/* Controller structure defined here for all config sets */
static Can_ControllerType  CanConfigSet_CT_Dome_c81b396c =
{
    0U,      /* Id as provided by GUI */
    (boolean)TRUE,    /* Contoller is used=1 or not_used=0*/
    0x53020000U,    /* Pointer to CanReg structure */
    (boolean) TRUE,    /* Automatic wakeup via bus activity */
    (boolean) TRUE,    /* TRUE = Interrupt FALSE = Polling */
    (boolean) TRUE,    /* TRUE = Interrupt FALSE = Polling */
    (boolean) TRUE,    /* TRUE = Interrupt FALSE = Polling */
    (boolean) TRUE,    /* TRUE = Interrupt FALSE = Polling */
    (boolean) FALSE,    /* Auto retransmission on Tx error Enable/Disable */
    &CanConfigSet_CT_Dome_c81b396c_CanControllerBaudrateConfig,    /* pointer to default Baud structure */
    (0x02U << 0),    /* Contoller Interrupt Mask */
    CanConfigSet_CT_Dome_c81b396c_BaudRateConfigList,    /* List of available Baudrate structs */
    CanApp_ErrorNotification,
    CAN_CONTROLLER_INSTANCE_MCAN0,    /* Can Controller Instance */
    1U,
};



/*List of the Controller structures */
static Can_ControllerType *CanConfigSet_CanController_List[]=
{
    &CanConfigSet_CT_Dome_c81b396c,
};




/* All the Mailbox objects(MB's) will be defined here for all config sets */
    /* TI_INSPECTED 627 S : MISRAC_2012_R.9.4
 * LDRA tool issue as no element of an object here
 * initialised more than once
 */
static Can_MailboxType  CanConfigSet_CanConfigSet_00_APP_Tx =
{
/*TI_INSPECTED 627 S : MISRAC_2012_R.9.4
 * LDRA tool issue as no element of an object here
 * initialised more than once */
    0U,  /*  CanHandleType 0=Full, 1=Basic */
    0U,  /* CanIdType 0=standard 1=Extended 2=Mixed*/
    0U,    /* Only valid if CAN object type is RECEIVE */
    0U,    /* CanObjectId - Holds handle Id */
    0U,    /* HwHandle */ /* Mailbox - Hw object in the controller*/
    1U,   /* Length of the Mailbox */
    CAN_MAILBOX_DIRECTION_TX,  /* CanObjectType - Direction of Mailbox*/
    &CanConfigSet_CT_Dome_c81b396c,  /* Controller */
    0U, /* Only valid if CAN object type is RECEIVE */
    0U,   /* Padding value for CAN FD message */
};

/* TI_INSPECTED 627 S : MISRAC_2012_R.9.4
 * LDRA tool issue as no element of an object here
 * initialised more than once
 */
static Can_MailboxType  CanConfigSet_CanConfigSet_01_NM_Tx =
{
/*TI_INSPECTED 627 S : MISRAC_2012_R.9.4
 * LDRA tool issue as no element of an object here
 * initialised more than once */
    0U,  /*  CanHandleType 0=Full, 1=Basic */
    0U,  /* CanIdType 0=standard 1=Extended 2=Mixed*/
    0U,    /* Only valid if CAN object type is RECEIVE */
    1U,    /* CanObjectId - Holds handle Id */
    1U,    /* HwHandle */ /* Mailbox - Hw object in the controller*/
    1U,   /* Length of the Mailbox */
    CAN_MAILBOX_DIRECTION_TX,  /* CanObjectType - Direction of Mailbox*/
    &CanConfigSet_CT_Dome_c81b396c,  /* Controller */
    0U, /* Only valid if CAN object type is RECEIVE */
    0U,   /* Padding value for CAN FD message */
};

/* TI_INSPECTED 627 S : MISRAC_2012_R.9.4
 * LDRA tool issue as no element of an object here
 * initialised more than once
 */
static Can_MailboxType  CanConfigSet_CanConfigSet_02_DiagRsp_Tx =
{
/*TI_INSPECTED 627 S : MISRAC_2012_R.9.4
 * LDRA tool issue as no element of an object here
 * initialised more than once */
    1U,  /*  CanHandleType 0=Full, 1=Basic */
    0U,  /* CanIdType 0=standard 1=Extended 2=Mixed*/
    0U,    /* Only valid if CAN object type is RECEIVE */
    2U,    /* CanObjectId - Holds handle Id */
    0U,    /* HwHandle */ /* Mailbox - Hw object in the controller*/
    8U,   /* Length of the Mailbox */
    CAN_MAILBOX_DIRECTION_TX,  /* CanObjectType - Direction of Mailbox*/
    &CanConfigSet_CT_Dome_c81b396c,  /* Controller */
    0U, /* Only valid if CAN object type is RECEIVE */
    0U,   /* Padding value for CAN FD message */
};

/* TI_INSPECTED 627 S : MISRAC_2012_R.9.4
 * LDRA tool issue as no element of an object here
 * initialised more than once
 */
static Can_MailboxType  CanConfigSet_CanConfigSet_03_PhyDiagReq_Rx =
{
/*TI_INSPECTED 627 S : MISRAC_2012_R.9.4
 * LDRA tool issue as no element of an object here
 * initialised more than once */
    1U,  /*  CanHandleType 0=Full, 1=Basic */
    0U,  /* CanIdType 0=standard 1=Extended 2=Mixed*/
    2047U,  /*CanHwFilterCode*/
    3U,    /* CanObjectId - Holds handle Id */
    0U,    /* HwHandle */ /* Mailbox - Hw object in the controller*/
    8U,   /* Length of the Mailbox */
    CAN_MAILBOX_DIRECTION_RX,  /* CanObjectType - Direction of Mailbox*/
    &CanConfigSet_CT_Dome_c81b396c,  /* Controller */
    4294967295U,  /*Filter Mask*/
    0U,   /* Padding value for CAN FD message */
};

/* TI_INSPECTED 627 S : MISRAC_2012_R.9.4
 * LDRA tool issue as no element of an object here
 * initialised more than once
 */
static Can_MailboxType  CanConfigSet_CanConfigSet_04_FunDiagReq_Rx =
{
/*TI_INSPECTED 627 S : MISRAC_2012_R.9.4
 * LDRA tool issue as no element of an object here
 * initialised more than once */
    1U,  /*  CanHandleType 0=Full, 1=Basic */
    0U,  /* CanIdType 0=standard 1=Extended 2=Mixed*/
    2047U,  /*CanHwFilterCode*/
    4U,    /* CanObjectId - Holds handle Id */
    0U,    /* HwHandle */ /* Mailbox - Hw object in the controller*/
    8U,   /* Length of the Mailbox */
    CAN_MAILBOX_DIRECTION_RX,  /* CanObjectType - Direction of Mailbox*/
    &CanConfigSet_CT_Dome_c81b396c,  /* Controller */
    4294967295U,  /*Filter Mask*/
    0U,   /* Padding value for CAN FD message */
};

/* TI_INSPECTED 627 S : MISRAC_2012_R.9.4
 * LDRA tool issue as no element of an object here
 * initialised more than once
 */
static Can_MailboxType  CanConfigSet_CanConfigSet_05_Rx =
{
/*TI_INSPECTED 627 S : MISRAC_2012_R.9.4
 * LDRA tool issue as no element of an object here
 * initialised more than once */
    0U,  /*  CanHandleType 0=Full, 1=Basic */
    0U,  /* CanIdType 0=standard 1=Extended 2=Mixed*/
    2047U,  /*CanHwFilterCode*/
    5U,    /* CanObjectId - Holds handle Id */
    0U,    /* HwHandle */ /* Mailbox - Hw object in the controller*/
    1U,   /* Length of the Mailbox */
    CAN_MAILBOX_DIRECTION_RX,  /* CanObjectType - Direction of Mailbox*/
    &CanConfigSet_CT_Dome_c81b396c,  /* Controller */
    4294967295U,  /*Filter Mask*/
    0U,   /* Padding value for CAN FD message */
};

/* TI_INSPECTED 627 S : MISRAC_2012_R.9.4
 * LDRA tool issue as no element of an object here
 * initialised more than once
 */
static Can_MailboxType  CanConfigSet_CanConfigSet_06_APP_Rx =
{
/*TI_INSPECTED 627 S : MISRAC_2012_R.9.4
 * LDRA tool issue as no element of an object here
 * initialised more than once */
    0U,  /*  CanHandleType 0=Full, 1=Basic */
    0U,  /* CanIdType 0=standard 1=Extended 2=Mixed*/
    2047U,  /*CanHwFilterCode*/
    6U,    /* CanObjectId - Holds handle Id */
    1U,    /* HwHandle */ /* Mailbox - Hw object in the controller*/
    1U,   /* Length of the Mailbox */
    CAN_MAILBOX_DIRECTION_RX,  /* CanObjectType - Direction of Mailbox*/
    &CanConfigSet_CT_Dome_c81b396c,  /* Controller */
    4294967295U,  /*Filter Mask*/
    0U,   /* Padding value for CAN FD message */
};

/* TI_INSPECTED 627 S : MISRAC_2012_R.9.4
 * LDRA tool issue as no element of an object here
 * initialised more than once
 */
static Can_MailboxType  CanConfigSet_CanConfigSet_07_Rx =
{
/*TI_INSPECTED 627 S : MISRAC_2012_R.9.4
 * LDRA tool issue as no element of an object here
 * initialised more than once */
    0U,  /*  CanHandleType 0=Full, 1=Basic */
    0U,  /* CanIdType 0=standard 1=Extended 2=Mixed*/
    2047U,  /*CanHwFilterCode*/
    7U,    /* CanObjectId - Holds handle Id */
    2U,    /* HwHandle */ /* Mailbox - Hw object in the controller*/
    1U,   /* Length of the Mailbox */
    CAN_MAILBOX_DIRECTION_RX,  /* CanObjectType - Direction of Mailbox*/
    &CanConfigSet_CT_Dome_c81b396c,  /* Controller */
    4294967295U,  /*Filter Mask*/
    0U,   /* Padding value for CAN FD message */
};

/* TI_INSPECTED 627 S : MISRAC_2012_R.9.4
 * LDRA tool issue as no element of an object here
 * initialised more than once
 */
static Can_MailboxType  CanConfigSet_CanConfigSet_08_Rx =
{
/*TI_INSPECTED 627 S : MISRAC_2012_R.9.4
 * LDRA tool issue as no element of an object here
 * initialised more than once */
    0U,  /*  CanHandleType 0=Full, 1=Basic */
    0U,  /* CanIdType 0=standard 1=Extended 2=Mixed*/
    2047U,  /*CanHwFilterCode*/
    8U,    /* CanObjectId - Holds handle Id */
    3U,    /* HwHandle */ /* Mailbox - Hw object in the controller*/
    1U,   /* Length of the Mailbox */
    CAN_MAILBOX_DIRECTION_RX,  /* CanObjectType - Direction of Mailbox*/
    &CanConfigSet_CT_Dome_c81b396c,  /* Controller */
    4294967295U,  /*Filter Mask*/
    0U,   /* Padding value for CAN FD message */
};

/* TI_INSPECTED 627 S : MISRAC_2012_R.9.4
 * LDRA tool issue as no element of an object here
 * initialised more than once
 */
static Can_MailboxType  CanConfigSet_CanConfigSet_09_Rx =
{
/*TI_INSPECTED 627 S : MISRAC_2012_R.9.4
 * LDRA tool issue as no element of an object here
 * initialised more than once */
    0U,  /*  CanHandleType 0=Full, 1=Basic */
    0U,  /* CanIdType 0=standard 1=Extended 2=Mixed*/
    2047U,  /*CanHwFilterCode*/
    9U,    /* CanObjectId - Holds handle Id */
    4U,    /* HwHandle */ /* Mailbox - Hw object in the controller*/
    1U,   /* Length of the Mailbox */
    CAN_MAILBOX_DIRECTION_RX,  /* CanObjectType - Direction of Mailbox*/
    &CanConfigSet_CT_Dome_c81b396c,  /* Controller */
    4294967295U,  /*Filter Mask*/
    0U,   /* Padding value for CAN FD message */
};

/* TI_INSPECTED 627 S : MISRAC_2012_R.9.4
 * LDRA tool issue as no element of an object here
 * initialised more than once
 */
static Can_MailboxType  CanConfigSet_CanConfigSet_10_Rx =
{
/*TI_INSPECTED 627 S : MISRAC_2012_R.9.4
 * LDRA tool issue as no element of an object here
 * initialised more than once */
    0U,  /*  CanHandleType 0=Full, 1=Basic */
    0U,  /* CanIdType 0=standard 1=Extended 2=Mixed*/
    2047U,  /*CanHwFilterCode*/
    10U,    /* CanObjectId - Holds handle Id */
    5U,    /* HwHandle */ /* Mailbox - Hw object in the controller*/
    1U,   /* Length of the Mailbox */
    CAN_MAILBOX_DIRECTION_RX,  /* CanObjectType - Direction of Mailbox*/
    &CanConfigSet_CT_Dome_c81b396c,  /* Controller */
    4294967295U,  /*Filter Mask*/
    0U,   /* Padding value for CAN FD message */
};

/* TI_INSPECTED 627 S : MISRAC_2012_R.9.4
 * LDRA tool issue as no element of an object here
 * initialised more than once
 */
static Can_MailboxType  CanConfigSet_CanConfigSet_11_Rx =
{
/*TI_INSPECTED 627 S : MISRAC_2012_R.9.4
 * LDRA tool issue as no element of an object here
 * initialised more than once */
    0U,  /*  CanHandleType 0=Full, 1=Basic */
    0U,  /* CanIdType 0=standard 1=Extended 2=Mixed*/
    2047U,  /*CanHwFilterCode*/
    11U,    /* CanObjectId - Holds handle Id */
    6U,    /* HwHandle */ /* Mailbox - Hw object in the controller*/
    1U,   /* Length of the Mailbox */
    CAN_MAILBOX_DIRECTION_RX,  /* CanObjectType - Direction of Mailbox*/
    &CanConfigSet_CT_Dome_c81b396c,  /* Controller */
    4294967295U,  /*Filter Mask*/
    0U,   /* Padding value for CAN FD message */
};

/* TI_INSPECTED 627 S : MISRAC_2012_R.9.4
 * LDRA tool issue as no element of an object here
 * initialised more than once
 */
static Can_MailboxType  CanConfigSet_CanConfigSet_12_Rx =
{
/*TI_INSPECTED 627 S : MISRAC_2012_R.9.4
 * LDRA tool issue as no element of an object here
 * initialised more than once */
    0U,  /*  CanHandleType 0=Full, 1=Basic */
    0U,  /* CanIdType 0=standard 1=Extended 2=Mixed*/
    2047U,  /*CanHwFilterCode*/
    12U,    /* CanObjectId - Holds handle Id */
    7U,    /* HwHandle */ /* Mailbox - Hw object in the controller*/
    1U,   /* Length of the Mailbox */
    CAN_MAILBOX_DIRECTION_RX,  /* CanObjectType - Direction of Mailbox*/
    &CanConfigSet_CT_Dome_c81b396c,  /* Controller */
    4294967295U,  /*Filter Mask*/
    0U,   /* Padding value for CAN FD message */
};

/* TI_INSPECTED 627 S : MISRAC_2012_R.9.4
 * LDRA tool issue as no element of an object here
 * initialised more than once
 */
static Can_MailboxType  CanConfigSet_CanConfigSet_13_Rx =
{
/*TI_INSPECTED 627 S : MISRAC_2012_R.9.4
 * LDRA tool issue as no element of an object here
 * initialised more than once */
    0U,  /*  CanHandleType 0=Full, 1=Basic */
    0U,  /* CanIdType 0=standard 1=Extended 2=Mixed*/
    2047U,  /*CanHwFilterCode*/
    13U,    /* CanObjectId - Holds handle Id */
    8U,    /* HwHandle */ /* Mailbox - Hw object in the controller*/
    1U,   /* Length of the Mailbox */
    CAN_MAILBOX_DIRECTION_RX,  /* CanObjectType - Direction of Mailbox*/
    &CanConfigSet_CT_Dome_c81b396c,  /* Controller */
    4294967295U,  /*Filter Mask*/
    0U,   /* Padding value for CAN FD message */
};

/* TI_INSPECTED 627 S : MISRAC_2012_R.9.4
 * LDRA tool issue as no element of an object here
 * initialised more than once
 */
static Can_MailboxType  CanConfigSet_CanConfigSet_14_Rx =
{
/*TI_INSPECTED 627 S : MISRAC_2012_R.9.4
 * LDRA tool issue as no element of an object here
 * initialised more than once */
    0U,  /*  CanHandleType 0=Full, 1=Basic */
    0U,  /* CanIdType 0=standard 1=Extended 2=Mixed*/
    2047U,  /*CanHwFilterCode*/
    14U,    /* CanObjectId - Holds handle Id */
    9U,    /* HwHandle */ /* Mailbox - Hw object in the controller*/
    1U,   /* Length of the Mailbox */
    CAN_MAILBOX_DIRECTION_RX,  /* CanObjectType - Direction of Mailbox*/
    &CanConfigSet_CT_Dome_c81b396c,  /* Controller */
    4294967295U,  /*Filter Mask*/
    0U,   /* Padding value for CAN FD message */
};

/* TI_INSPECTED 627 S : MISRAC_2012_R.9.4
 * LDRA tool issue as no element of an object here
 * initialised more than once
 */
static Can_MailboxType  CanConfigSet_CanConfigSet_15_Rx =
{
/*TI_INSPECTED 627 S : MISRAC_2012_R.9.4
 * LDRA tool issue as no element of an object here
 * initialised more than once */
    0U,  /*  CanHandleType 0=Full, 1=Basic */
    0U,  /* CanIdType 0=standard 1=Extended 2=Mixed*/
    2047U,  /*CanHwFilterCode*/
    15U,    /* CanObjectId - Holds handle Id */
    10U,    /* HwHandle */ /* Mailbox - Hw object in the controller*/
    1U,   /* Length of the Mailbox */
    CAN_MAILBOX_DIRECTION_RX,  /* CanObjectType - Direction of Mailbox*/
    &CanConfigSet_CT_Dome_c81b396c,  /* Controller */
    4294967295U,  /*Filter Mask*/
    0U,   /* Padding value for CAN FD message */
};

/* TI_INSPECTED 627 S : MISRAC_2012_R.9.4
 * LDRA tool issue as no element of an object here
 * initialised more than once
 */
static Can_MailboxType  CanConfigSet_CanConfigSet_16_Rx =
{
/*TI_INSPECTED 627 S : MISRAC_2012_R.9.4
 * LDRA tool issue as no element of an object here
 * initialised more than once */
    0U,  /*  CanHandleType 0=Full, 1=Basic */
    0U,  /* CanIdType 0=standard 1=Extended 2=Mixed*/
    2047U,  /*CanHwFilterCode*/
    16U,    /* CanObjectId - Holds handle Id */
    11U,    /* HwHandle */ /* Mailbox - Hw object in the controller*/
    1U,   /* Length of the Mailbox */
    CAN_MAILBOX_DIRECTION_RX,  /* CanObjectType - Direction of Mailbox*/
    &CanConfigSet_CT_Dome_c81b396c,  /* Controller */
    4294967295U,  /*Filter Mask*/
    0U,   /* Padding value for CAN FD message */
};

/* TI_INSPECTED 627 S : MISRAC_2012_R.9.4
 * LDRA tool issue as no element of an object here
 * initialised more than once
 */
static Can_MailboxType  CanConfigSet_CanConfigSet_17_Rx =
{
/*TI_INSPECTED 627 S : MISRAC_2012_R.9.4
 * LDRA tool issue as no element of an object here
 * initialised more than once */
    0U,  /*  CanHandleType 0=Full, 1=Basic */
    0U,  /* CanIdType 0=standard 1=Extended 2=Mixed*/
    2047U,  /*CanHwFilterCode*/
    17U,    /* CanObjectId - Holds handle Id */
    12U,    /* HwHandle */ /* Mailbox - Hw object in the controller*/
    1U,   /* Length of the Mailbox */
    CAN_MAILBOX_DIRECTION_RX,  /* CanObjectType - Direction of Mailbox*/
    &CanConfigSet_CT_Dome_c81b396c,  /* Controller */
    4294967295U,  /*Filter Mask*/
    0U,   /* Padding value for CAN FD message */
};

/* TI_INSPECTED 627 S : MISRAC_2012_R.9.4
 * LDRA tool issue as no element of an object here
 * initialised more than once
 */
static Can_MailboxType  CanConfigSet_CanConfigSet_18_Basic_NM_Rx =
{
/*TI_INSPECTED 627 S : MISRAC_2012_R.9.4
 * LDRA tool issue as no element of an object here
 * initialised more than once */
    1U,  /*  CanHandleType 0=Full, 1=Basic */
    0U,  /* CanIdType 0=standard 1=Extended 2=Mixed*/
    2047U,  /*CanHwFilterCode*/
    18U,    /* CanObjectId - Holds handle Id */
    0U,  /* HwHandle */ /* Mailbox - Hw object in the controller*/
    6U,   /* Length of the Mailbox */
    CAN_MAILBOX_DIRECTION_RX,  /* CanObjectType - Direction of Mailbox*/
    &CanConfigSet_CT_Dome_c81b396c,  /* Controller */
    0U,  /*Filter Mask*/
    0U,   /* Padding value for CAN FD message */
};

/* TI_INSPECTED 627 S : MISRAC_2012_R.9.4
 * LDRA tool issue as no element of an object here
 * initialised more than once
 */
static Can_MailboxType  CanConfigSet_CanConfigSet_19_Rx =
{
/*TI_INSPECTED 627 S : MISRAC_2012_R.9.4
 * LDRA tool issue as no element of an object here
 * initialised more than once */
    0U,  /*  CanHandleType 0=Full, 1=Basic */
    0U,  /* CanIdType 0=standard 1=Extended 2=Mixed*/
    2047U,  /*CanHwFilterCode*/
    19U,    /* CanObjectId - Holds handle Id */
    13U,    /* HwHandle */ /* Mailbox - Hw object in the controller*/
    1U,   /* Length of the Mailbox */
    CAN_MAILBOX_DIRECTION_RX,  /* CanObjectType - Direction of Mailbox*/
    &CanConfigSet_CT_Dome_c81b396c,  /* Controller */
    4294967295U,  /*Filter Mask*/
    0U,   /* Padding value for CAN FD message */
};

/* TI_INSPECTED 627 S : MISRAC_2012_R.9.4
 * LDRA tool issue as no element of an object here
 * initialised more than once
 */
static Can_MailboxType  CanConfigSet_CanConfigSet_20_Rx =
{
/*TI_INSPECTED 627 S : MISRAC_2012_R.9.4
 * LDRA tool issue as no element of an object here
 * initialised more than once */
    0U,  /*  CanHandleType 0=Full, 1=Basic */
    0U,  /* CanIdType 0=standard 1=Extended 2=Mixed*/
    2047U,  /*CanHwFilterCode*/
    20U,    /* CanObjectId - Holds handle Id */
    14U,    /* HwHandle */ /* Mailbox - Hw object in the controller*/
    1U,   /* Length of the Mailbox */
    CAN_MAILBOX_DIRECTION_RX,  /* CanObjectType - Direction of Mailbox*/
    &CanConfigSet_CT_Dome_c81b396c,  /* Controller */
    4294967295U,  /*Filter Mask*/
    0U,   /* Padding value for CAN FD message */
};

/* TI_INSPECTED 627 S : MISRAC_2012_R.9.4
 * LDRA tool issue as no element of an object here
 * initialised more than once
 */
static Can_MailboxType  CanConfigSet_CanConfigSet_21_Rx =
{
/*TI_INSPECTED 627 S : MISRAC_2012_R.9.4
 * LDRA tool issue as no element of an object here
 * initialised more than once */
    0U,  /*  CanHandleType 0=Full, 1=Basic */
    0U,  /* CanIdType 0=standard 1=Extended 2=Mixed*/
    2047U,  /*CanHwFilterCode*/
    21U,    /* CanObjectId - Holds handle Id */
    15U,    /* HwHandle */ /* Mailbox - Hw object in the controller*/
    1U,   /* Length of the Mailbox */
    CAN_MAILBOX_DIRECTION_RX,  /* CanObjectType - Direction of Mailbox*/
    &CanConfigSet_CT_Dome_c81b396c,  /* Controller */
    4294967295U,  /*Filter Mask*/
    0U,   /* Padding value for CAN FD message */
};

/* TI_INSPECTED 627 S : MISRAC_2012_R.9.4
 * LDRA tool issue as no element of an object here
 * initialised more than once
 */
static Can_MailboxType  CanConfigSet_CanConfigSet_22_Rx =
{
/*TI_INSPECTED 627 S : MISRAC_2012_R.9.4
 * LDRA tool issue as no element of an object here
 * initialised more than once */
    0U,  /*  CanHandleType 0=Full, 1=Basic */
    0U,  /* CanIdType 0=standard 1=Extended 2=Mixed*/
    2047U,  /*CanHwFilterCode*/
    22U,    /* CanObjectId - Holds handle Id */
    16U,    /* HwHandle */ /* Mailbox - Hw object in the controller*/
    1U,   /* Length of the Mailbox */
    CAN_MAILBOX_DIRECTION_RX,  /* CanObjectType - Direction of Mailbox*/
    &CanConfigSet_CT_Dome_c81b396c,  /* Controller */
    4294967295U,  /*Filter Mask*/
    0U,   /* Padding value for CAN FD message */
};

/* TI_INSPECTED 627 S : MISRAC_2012_R.9.4
 * LDRA tool issue as no element of an object here
 * initialised more than once
 */
static Can_MailboxType  CanConfigSet_CanConfigSet_23_Rx =
{
/*TI_INSPECTED 627 S : MISRAC_2012_R.9.4
 * LDRA tool issue as no element of an object here
 * initialised more than once */
    0U,  /*  CanHandleType 0=Full, 1=Basic */
    0U,  /* CanIdType 0=standard 1=Extended 2=Mixed*/
    2047U,  /*CanHwFilterCode*/
    23U,    /* CanObjectId - Holds handle Id */
    17U,    /* HwHandle */ /* Mailbox - Hw object in the controller*/
    1U,   /* Length of the Mailbox */
    CAN_MAILBOX_DIRECTION_RX,  /* CanObjectType - Direction of Mailbox*/
    &CanConfigSet_CT_Dome_c81b396c,  /* Controller */
    4294967295U,  /*Filter Mask*/
    0U,   /* Padding value for CAN FD message */
};

/* TI_INSPECTED 627 S : MISRAC_2012_R.9.4
 * LDRA tool issue as no element of an object here
 * initialised more than once
 */
static Can_MailboxType  CanConfigSet_CanConfigSet_24_Rx =
{
/*TI_INSPECTED 627 S : MISRAC_2012_R.9.4
 * LDRA tool issue as no element of an object here
 * initialised more than once */
    0U,  /*  CanHandleType 0=Full, 1=Basic */
    0U,  /* CanIdType 0=standard 1=Extended 2=Mixed*/
    2047U,  /*CanHwFilterCode*/
    24U,    /* CanObjectId - Holds handle Id */
    18U,    /* HwHandle */ /* Mailbox - Hw object in the controller*/
    1U,   /* Length of the Mailbox */
    CAN_MAILBOX_DIRECTION_RX,  /* CanObjectType - Direction of Mailbox*/
    &CanConfigSet_CT_Dome_c81b396c,  /* Controller */
    4294967295U,  /*Filter Mask*/
    0U,   /* Padding value for CAN FD message */
};

/* TI_INSPECTED 627 S : MISRAC_2012_R.9.4
 * LDRA tool issue as no element of an object here
 * initialised more than once
 */
static Can_MailboxType  CanConfigSet_CanConfigSet_25_Rx =
{
/*TI_INSPECTED 627 S : MISRAC_2012_R.9.4
 * LDRA tool issue as no element of an object here
 * initialised more than once */
    0U,  /*  CanHandleType 0=Full, 1=Basic */
    0U,  /* CanIdType 0=standard 1=Extended 2=Mixed*/
    2047U,  /*CanHwFilterCode*/
    25U,    /* CanObjectId - Holds handle Id */
    19U,    /* HwHandle */ /* Mailbox - Hw object in the controller*/
    1U,   /* Length of the Mailbox */
    CAN_MAILBOX_DIRECTION_RX,  /* CanObjectType - Direction of Mailbox*/
    &CanConfigSet_CT_Dome_c81b396c,  /* Controller */
    4294967295U,  /*Filter Mask*/
    0U,   /* Padding value for CAN FD message */
};

/* TI_INSPECTED 627 S : MISRAC_2012_R.9.4
 * LDRA tool issue as no element of an object here
 * initialised more than once
 */
static Can_MailboxType  CanConfigSet_CanConfigSet_26_Rx =
{
/*TI_INSPECTED 627 S : MISRAC_2012_R.9.4
 * LDRA tool issue as no element of an object here
 * initialised more than once */
    0U,  /*  CanHandleType 0=Full, 1=Basic */
    0U,  /* CanIdType 0=standard 1=Extended 2=Mixed*/
    2047U,  /*CanHwFilterCode*/
    26U,    /* CanObjectId - Holds handle Id */
    20U,    /* HwHandle */ /* Mailbox - Hw object in the controller*/
    1U,   /* Length of the Mailbox */
    CAN_MAILBOX_DIRECTION_RX,  /* CanObjectType - Direction of Mailbox*/
    &CanConfigSet_CT_Dome_c81b396c,  /* Controller */
    4294967295U,  /*Filter Mask*/
    0U,   /* Padding value for CAN FD message */
};

/* TI_INSPECTED 627 S : MISRAC_2012_R.9.4
 * LDRA tool issue as no element of an object here
 * initialised more than once
 */
static Can_MailboxType  CanConfigSet_CanConfigSet_27_Rx =
{
/*TI_INSPECTED 627 S : MISRAC_2012_R.9.4
 * LDRA tool issue as no element of an object here
 * initialised more than once */
    0U,  /*  CanHandleType 0=Full, 1=Basic */
    0U,  /* CanIdType 0=standard 1=Extended 2=Mixed*/
    2047U,  /*CanHwFilterCode*/
    27U,    /* CanObjectId - Holds handle Id */
    21U,    /* HwHandle */ /* Mailbox - Hw object in the controller*/
    1U,   /* Length of the Mailbox */
    CAN_MAILBOX_DIRECTION_RX,  /* CanObjectType - Direction of Mailbox*/
    &CanConfigSet_CT_Dome_c81b396c,  /* Controller */
    4294967295U,  /*Filter Mask*/
    0U,   /* Padding value for CAN FD message */
};

/* TI_INSPECTED 627 S : MISRAC_2012_R.9.4
 * LDRA tool issue as no element of an object here
 * initialised more than once
 */
static Can_MailboxType  CanConfigSet_CanConfigSet_28_Rx =
{
/*TI_INSPECTED 627 S : MISRAC_2012_R.9.4
 * LDRA tool issue as no element of an object here
 * initialised more than once */
    0U,  /*  CanHandleType 0=Full, 1=Basic */
    0U,  /* CanIdType 0=standard 1=Extended 2=Mixed*/
    2047U,  /*CanHwFilterCode*/
    28U,    /* CanObjectId - Holds handle Id */
    22U,    /* HwHandle */ /* Mailbox - Hw object in the controller*/
    1U,   /* Length of the Mailbox */
    CAN_MAILBOX_DIRECTION_RX,  /* CanObjectType - Direction of Mailbox*/
    &CanConfigSet_CT_Dome_c81b396c,  /* Controller */
    4294967295U,  /*Filter Mask*/
    0U,   /* Padding value for CAN FD message */
};

/* TI_INSPECTED 627 S : MISRAC_2012_R.9.4
 * LDRA tool issue as no element of an object here
 * initialised more than once
 */
static Can_MailboxType  CanConfigSet_CanConfigSet_29_Rx =
{
/*TI_INSPECTED 627 S : MISRAC_2012_R.9.4
 * LDRA tool issue as no element of an object here
 * initialised more than once */
    0U,  /*  CanHandleType 0=Full, 1=Basic */
    0U,  /* CanIdType 0=standard 1=Extended 2=Mixed*/
    2047U,  /*CanHwFilterCode*/
    29U,    /* CanObjectId - Holds handle Id */
    23U,    /* HwHandle */ /* Mailbox - Hw object in the controller*/
    1U,   /* Length of the Mailbox */
    CAN_MAILBOX_DIRECTION_RX,  /* CanObjectType - Direction of Mailbox*/
    &CanConfigSet_CT_Dome_c81b396c,  /* Controller */
    4294967295U,  /*Filter Mask*/
    0U,   /* Padding value for CAN FD message */
};

/* TI_INSPECTED 627 S : MISRAC_2012_R.9.4
 * LDRA tool issue as no element of an object here
 * initialised more than once
 */
static Can_MailboxType  CanConfigSet_CanConfigSet_30_Rx =
{
/*TI_INSPECTED 627 S : MISRAC_2012_R.9.4
 * LDRA tool issue as no element of an object here
 * initialised more than once */
    0U,  /*  CanHandleType 0=Full, 1=Basic */
    0U,  /* CanIdType 0=standard 1=Extended 2=Mixed*/
    2047U,  /*CanHwFilterCode*/
    30U,    /* CanObjectId - Holds handle Id */
    24U,    /* HwHandle */ /* Mailbox - Hw object in the controller*/
    1U,   /* Length of the Mailbox */
    CAN_MAILBOX_DIRECTION_RX,  /* CanObjectType - Direction of Mailbox*/
    &CanConfigSet_CT_Dome_c81b396c,  /* Controller */
    4294967295U,  /*Filter Mask*/
    0U,   /* Padding value for CAN FD message */
};

/* TI_INSPECTED 627 S : MISRAC_2012_R.9.4
 * LDRA tool issue as no element of an object here
 * initialised more than once
 */
static Can_MailboxType  CanConfigSet_CanConfigSet_31_Rx =
{
/*TI_INSPECTED 627 S : MISRAC_2012_R.9.4
 * LDRA tool issue as no element of an object here
 * initialised more than once */
    0U,  /*  CanHandleType 0=Full, 1=Basic */
    0U,  /* CanIdType 0=standard 1=Extended 2=Mixed*/
    2047U,  /*CanHwFilterCode*/
    31U,    /* CanObjectId - Holds handle Id */
    25U,    /* HwHandle */ /* Mailbox - Hw object in the controller*/
    1U,   /* Length of the Mailbox */
    CAN_MAILBOX_DIRECTION_RX,  /* CanObjectType - Direction of Mailbox*/
    &CanConfigSet_CT_Dome_c81b396c,  /* Controller */
    4294967295U,  /*Filter Mask*/
    0U,   /* Padding value for CAN FD message */
};

/* TI_INSPECTED 627 S : MISRAC_2012_R.9.4
 * LDRA tool issue as no element of an object here
 * initialised more than once
 */
static Can_MailboxType  CanConfigSet_CanConfigSet_32_Rx =
{
/*TI_INSPECTED 627 S : MISRAC_2012_R.9.4
 * LDRA tool issue as no element of an object here
 * initialised more than once */
    0U,  /*  CanHandleType 0=Full, 1=Basic */
    0U,  /* CanIdType 0=standard 1=Extended 2=Mixed*/
    2047U,  /*CanHwFilterCode*/
    32U,    /* CanObjectId - Holds handle Id */
    26U,    /* HwHandle */ /* Mailbox - Hw object in the controller*/
    1U,   /* Length of the Mailbox */
    CAN_MAILBOX_DIRECTION_RX,  /* CanObjectType - Direction of Mailbox*/
    &CanConfigSet_CT_Dome_c81b396c,  /* Controller */
    4294967295U,  /*Filter Mask*/
    0U,   /* Padding value for CAN FD message */
};

/* TI_INSPECTED 627 S : MISRAC_2012_R.9.4
 * LDRA tool issue as no element of an object here
 * initialised more than once
 */
static Can_MailboxType  CanConfigSet_CanConfigSet_33_Rx =
{
/*TI_INSPECTED 627 S : MISRAC_2012_R.9.4
 * LDRA tool issue as no element of an object here
 * initialised more than once */
    0U,  /*  CanHandleType 0=Full, 1=Basic */
    0U,  /* CanIdType 0=standard 1=Extended 2=Mixed*/
    2047U,  /*CanHwFilterCode*/
    33U,    /* CanObjectId - Holds handle Id */
    27U,    /* HwHandle */ /* Mailbox - Hw object in the controller*/
    1U,   /* Length of the Mailbox */
    CAN_MAILBOX_DIRECTION_RX,  /* CanObjectType - Direction of Mailbox*/
    &CanConfigSet_CT_Dome_c81b396c,  /* Controller */
    4294967295U,  /*Filter Mask*/
    0U,   /* Padding value for CAN FD message */
};

/* TI_INSPECTED 627 S : MISRAC_2012_R.9.4
 * LDRA tool issue as no element of an object here
 * initialised more than once
 */
static Can_MailboxType  CanConfigSet_CanConfigSet_34_Rx =
{
/*TI_INSPECTED 627 S : MISRAC_2012_R.9.4
 * LDRA tool issue as no element of an object here
 * initialised more than once */
    0U,  /*  CanHandleType 0=Full, 1=Basic */
    0U,  /* CanIdType 0=standard 1=Extended 2=Mixed*/
    2047U,  /*CanHwFilterCode*/
    34U,    /* CanObjectId - Holds handle Id */
    28U,    /* HwHandle */ /* Mailbox - Hw object in the controller*/
    1U,   /* Length of the Mailbox */
    CAN_MAILBOX_DIRECTION_RX,  /* CanObjectType - Direction of Mailbox*/
    &CanConfigSet_CT_Dome_c81b396c,  /* Controller */
    4294967295U,  /*Filter Mask*/
    0U,   /* Padding value for CAN FD message */
};

/* TI_INSPECTED 627 S : MISRAC_2012_R.9.4
 * LDRA tool issue as no element of an object here
 * initialised more than once
 */
static Can_MailboxType  CanConfigSet_CanConfigSet_35_Rx =
{
/*TI_INSPECTED 627 S : MISRAC_2012_R.9.4
 * LDRA tool issue as no element of an object here
 * initialised more than once */
    0U,  /*  CanHandleType 0=Full, 1=Basic */
    0U,  /* CanIdType 0=standard 1=Extended 2=Mixed*/
    2047U,  /*CanHwFilterCode*/
    35U,    /* CanObjectId - Holds handle Id */
    29U,    /* HwHandle */ /* Mailbox - Hw object in the controller*/
    1U,   /* Length of the Mailbox */
    CAN_MAILBOX_DIRECTION_RX,  /* CanObjectType - Direction of Mailbox*/
    &CanConfigSet_CT_Dome_c81b396c,  /* Controller */
    4294967295U,  /*Filter Mask*/
    0U,   /* Padding value for CAN FD message */
};

/* TI_INSPECTED 627 S : MISRAC_2012_R.9.4
 * LDRA tool issue as no element of an object here
 * initialised more than once
 */
static Can_MailboxType  CanConfigSet_CanConfigSet_36_Rx =
{
/*TI_INSPECTED 627 S : MISRAC_2012_R.9.4
 * LDRA tool issue as no element of an object here
 * initialised more than once */
    0U,  /*  CanHandleType 0=Full, 1=Basic */
    0U,  /* CanIdType 0=standard 1=Extended 2=Mixed*/
    2047U,  /*CanHwFilterCode*/
    36U,    /* CanObjectId - Holds handle Id */
    30U,    /* HwHandle */ /* Mailbox - Hw object in the controller*/
    1U,   /* Length of the Mailbox */
    CAN_MAILBOX_DIRECTION_RX,  /* CanObjectType - Direction of Mailbox*/
    &CanConfigSet_CT_Dome_c81b396c,  /* Controller */
    4294967295U,  /*Filter Mask*/
    0U,   /* Padding value for CAN FD message */
};

/* TI_INSPECTED 627 S : MISRAC_2012_R.9.4
 * LDRA tool issue as no element of an object here
 * initialised more than once
 */

static Can_MailboxType  CanConfigSet_CanConfigSet_37_Rx =
{
/*TI_INSPECTED 627 S : MISRAC_2012_R.9.4
 * LDRA tool issue as no element of an object here
 * initialised more than once */
    0U,  /*  CanHandleType 0=Full, 1=Basic */
    0U,  /* CanIdType 0=standard 1=Extended 2=Mixed*/
    2047U,  /*CanHwFilterCode*/
    37U,    /* CanObjectId - Holds handle Id */
    31U,    /* HwHandle */ /* Mailbox - Hw object in the controller*/
    1U,   /* Length of the Mailbox */
    CAN_MAILBOX_DIRECTION_RX,  /* CanObjectType - Direction of Mailbox*/
    &CanConfigSet_CT_Dome_c81b396c,  /* Controller */
    4294967295U,  /*Filter Mask*/
    0U,   /* Padding value for CAN FD message */
};

/* TI_INSPECTED 627 S : MISRAC_2012_R.9.4
 * LDRA tool issue as no element of an object here
 * initialised more than once
 */

static Can_MailboxType  CanConfigSet_CanConfigSet_38_Rx =
{
/*TI_INSPECTED 627 S : MISRAC_2012_R.9.4
 * LDRA tool issue as no element of an object here
 * initialised more than once */
    0U,  /*  CanHandleType 0=Full, 1=Basic */
    0U,  /* CanIdType 0=standard 1=Extended 2=Mixed*/
    2047U,  /*CanHwFilterCode*/
    38U,    /* CanObjectId - Holds handle Id */
    32U,    /* HwHandle */ /* Mailbox - Hw object in the controller*/
    1U,   /* Length of the Mailbox */
    CAN_MAILBOX_DIRECTION_RX,  /* CanObjectType - Direction of Mailbox*/
    &CanConfigSet_CT_Dome_c81b396c,  /* Controller */
    4294967295U,  /*Filter Mask*/
    0U,   /* Padding value for CAN FD message */
};

/* TI_INSPECTED 627 S : MISRAC_2012_R.9.4
 * LDRA tool issue as no element of an object here
 * initialised more than once
 */
static Can_MailboxType  CanConfigSet_CanConfigSet_39_Tx =
{
/*TI_INSPECTED 627 S : MISRAC_2012_R.9.4
 * LDRA tool issue as no element of an object here
 * initialised more than once */
    0U,  /*  CanHandleType 0=Full, 1=Basic */
    0U,  /* CanIdType 0=standard 1=Extended 2=Mixed*/
    0U,    /* Only valid if CAN object type is RECEIVE */
    39U,    /* CanObjectId - Holds handle Id */
    2U,    /* HwHandle */ /* Mailbox - Hw object in the controller*/
    1U,   /* Length of the Mailbox */
    CAN_MAILBOX_DIRECTION_TX,  /* CanObjectType - Direction of Mailbox*/
    &CanConfigSet_CT_Dome_c81b396c,  /* Controller */
    0U, /* Only valid if CAN object type is RECEIVE */
    0U,   /* Padding value for CAN FD message */
};

/* List of the Mailboxes */
static Can_MailboxType *CanConfigSet_CanHardwareObject_List[] =
{
    &CanConfigSet_CanConfigSet_00_APP_Tx,
    &CanConfigSet_CanConfigSet_01_NM_Tx,
    &CanConfigSet_CanConfigSet_02_DiagRsp_Tx,
    &CanConfigSet_CanConfigSet_03_PhyDiagReq_Rx,
    &CanConfigSet_CanConfigSet_04_FunDiagReq_Rx,
    &CanConfigSet_CanConfigSet_05_Rx,
    &CanConfigSet_CanConfigSet_06_APP_Rx,
    &CanConfigSet_CanConfigSet_07_Rx,
    &CanConfigSet_CanConfigSet_08_Rx,
    &CanConfigSet_CanConfigSet_09_Rx,
    &CanConfigSet_CanConfigSet_10_Rx,
    &CanConfigSet_CanConfigSet_11_Rx,
    &CanConfigSet_CanConfigSet_12_Rx,
    &CanConfigSet_CanConfigSet_13_Rx,
    &CanConfigSet_CanConfigSet_14_Rx,
    &CanConfigSet_CanConfigSet_15_Rx,
    &CanConfigSet_CanConfigSet_16_Rx,
    &CanConfigSet_CanConfigSet_17_Rx,
    &CanConfigSet_CanConfigSet_18_Basic_NM_Rx,
    &CanConfigSet_CanConfigSet_19_Rx,
    &CanConfigSet_CanConfigSet_20_Rx,
    &CanConfigSet_CanConfigSet_21_Rx,
    &CanConfigSet_CanConfigSet_22_Rx,
    &CanConfigSet_CanConfigSet_23_Rx,
    &CanConfigSet_CanConfigSet_24_Rx,
    &CanConfigSet_CanConfigSet_25_Rx,
    &CanConfigSet_CanConfigSet_26_Rx,
    &CanConfigSet_CanConfigSet_27_Rx,
    &CanConfigSet_CanConfigSet_28_Rx,
    &CanConfigSet_CanConfigSet_29_Rx,
    &CanConfigSet_CanConfigSet_30_Rx,
    &CanConfigSet_CanConfigSet_31_Rx,
    &CanConfigSet_CanConfigSet_32_Rx,
    &CanConfigSet_CanConfigSet_33_Rx,
    &CanConfigSet_CanConfigSet_34_Rx,
    &CanConfigSet_CanConfigSet_35_Rx,
    &CanConfigSet_CanConfigSet_36_Rx,
    &CanConfigSet_CanConfigSet_37_Rx,
    &CanConfigSet_CanConfigSet_38_Rx,
    &CanConfigSet_CanConfigSet_39_Tx,
};

#define CAN_STOP_SEC_CONFIG_DATA
/* TI_INSPECTED 338 S: MISRAC_2012_20.1
 * "Reason - This is the format to use for specifying memory sections." */
#include "Can_MemMap.h"

#define CAN_START_SEC_CONFIG_DATA
/* TI_INSPECTED 338 S: MISRAC_2012_20.1
 * "Reason - This is the format to use for specifying memory sections." */
#include "Can_MemMap.h"

/*Can Config struct */
const struct Can_ConfigType_s CanConfigSet =
{
    CanConfigSet_CanController_List,    /* List of all controllers in this config set */
    (1U),    /* max Controllers */
    CanConfigSet_CanHardwareObject_List,
    (40U),    /* total number of mail boxes in this configset */
    .MaxBaudConfigID =
    {
        [0] = 0U
    }
};

/* TI_INSPECTED 580 S : MISRAC_2012_R.20.4
 * "Reason - macro is undefined in other file,but LDRA is not able to analyse
 * this "
 */
#define  CAN_STOP_SEC_CONFIG_DATA
/* TI_INSPECTED 243 S: MISRAC_2012_D4.10
 * "Reason - This is required here for specifying memory sections."
 */
/* TI_INSPECTED 338 S: MISRAC_2012_20.1
 * "Reason - This is the format to use for specifying memory sections."
 */
#include "Can_MemMap.h"
/*********************************************************************************************************************
 *  End of File: Can_PBcfg.c
 *********************************************************************************************************************/

Can_Cfg.h

Hi Ajay,

The EB configuration corresponds to the attachment. Please note that all Rx IDs have been changed to 0x7FF to ensure customer confidentiality. If you would like to conduct testing, feel free to adjust the Mailbox CanHwFilterCode.

Regards,

Yongheng

0 Ajay Narayan 4 months ago in reply to Yongheng Ai

TI__Mastermind 22525 points

Hi Yongheng,

I tried reproducing the same with our CAN example in the MCAL package and I did not see any issues when introducing BusOff by shorting CANH and GND for more than 60s.

I could see that after 60s, the CAN was able to transmit.

Please find the files I used for testing. You can test the same by copy and replacing these files on top of your MCAL installation.

https://tidrive.ext.ti.com/u/sK2vH5Ktr0Gira8U/d5129c6c-436e-4bfa-9e31-f1238075ec42?l

Password:

*BKBU8j2

Can you try replicating the same config on your application and check if it solves the issue?

Regards,

Ajay

0 Andy Yin 2 months ago in reply to Ajay Narayan

TI__Genius 9260 points

Ajay, the files shared link in above tidrive has expired, would u pls help update and share again here, thanks.

Yongheng,

pls help try with Ajay's files and update your status here, thanks.

Andy

0 Ajay Narayan 2 months ago in reply to Andy Yin

TI__Mastermind 22525 points

Hi,

Please find the new link:

https://tidrive.ext.ti.com/u/okvbxYBL25SwS9vO/d5129c6c-436e-4bfa-9e31-f1238075ec42?l

Password:

*xGb69Rt

Regards,

Ajay

0 Yongheng Ai 2 months ago in reply to Ajay Narayan

Prodigy 100 points

Hi Ajay,

Sorry for response so late. I think I miss this message notification.

For this code, the main change is still the clock frequency. I will try it later.

But I want to add some information. We met this issue also at AWR6443 MCAL at the year before the last.

We also do the code comment for Can_mcanWriteGetFreeMsgObj.

Regards,

Yongheng

0 Ajay Narayan 2 months ago in reply to Yongheng Ai

TI__Mastermind 22525 points

HI Yongheng,

Can you also change the 'Autoretrasmission' config and let me know if this changes the behavior for you.

Regards,

Ajay

0 Yongheng Ai 2 months ago in reply to Ajay Narayan

Prodigy 100 points

Hi Ajay,

The "Autoretrasmission" is enabled now. If we disabled the feature, the message can not be sent after BUSOFF recovery.

Regards,

Yongheng

0 Ajay Narayan 1 month ago in reply to Yongheng Ai

TI__Mastermind 22525 points

Hi Yongheng,

Sorry, but could you clarify it a bit. If the above config is set to TRUE, what is the behavior and if it is set to false what is the behavior. Based on the config you shared earlier and now, looks like it was always set to false. Setting it to true should have the same effect as you commenting the code.

Regards,

Ajay

0 Yongheng Ai 1 month ago in reply to Ajay Narayan

Prodigy 100 points

Hi Ajay,

I agree with you that setting it to true should have the same effect with commenting code.

But if we set it to true, there are some frames send failed sometimes when bus status is normal. So, we must set it to false to enable "autoretransmission".

Regards,

Yongheng

0 Yongheng Ai 1 month ago in reply to Yongheng Ai

Prodigy 100 points

Hi Ajay,

I think I had found this issue history.

Please kindly check the below link.

Based our colleague description, the new version MCAL still cannot fix this issue.

Regards,

Yongheng

0 Kristien Everett 1 month ago in reply to Yongheng Ai

TI__Genius 13026 points

Hey Yongheng,

Could you confirm if disabling automatic retransmission resolves the issue with the CAN failing to recover from a CANH short to GND unless the board is restarted? Additionally, do you have any tasks set up to put the device into a sleep state if there is a period of inactivity?

Regards,

Kristien

0 Andy Yin 1 month ago in reply to Kristien Everett

TI__Genius 9260 points

Kristien,

per call with customer, they said this issue is fully same with issue in below link, also faced interrupt occurs twice during a busoff error, they have own workaround but also hope to have solution from TI to fix the issue as they are afraid of the same cause for unable to transmit data out after shorting CANH to GND reported in this post. thanks.

0 Andy Yin 1 month ago in reply to Andy Yin

TI__Genius 9260 points

Kristien,

for the CAN recover after shorting CANH and GND, they would check and follow Europe's workaround, but for interrupt occurs twice, can u help comment here, thanks.

Andy

0 Kristien Everett 1 month ago in reply to Andy Yin

TI__Genius 13026 points

Hey Andy,

Regarding the interrupt triggering twice, this used to be an issue with earlier versions of the MCAL, but we have been unable to replicate this issue on MCAL 3.0.3.2 and above. They can try updating to the latest MCAL 3.0.5.0 as there were other bugs that were addressed that may have indirectly impacted this behavior.

Regards,

Kristien

0 Yongheng Ai 1 month ago in reply to Kristien Everett

Prodigy 100 points

Hi Kristien,

I test the interrupt triggering twice issue based on MCAL 3.0.3.2.

I add gCounter at Can_mcanProcessISR(). And every busoffer interrupt will cause gCounter++.

And I add print at 10ms task to print the value of gCounter.

The result is as follow:

The interval of twice busoff time is around 10ms but we set the busoff short recovery time is 50ms.

Do we still need try to use MCAL 3.0.5.0 to fix this issue?

If yes, please help offer the new version EB tools to generate the MCAL configuration.

Regards,

Yongheng

0 Kristien Everett 1 month ago in reply to Yongheng Ai

TI__Genius 13026 points

Hey Yongheng,

We always recommend using our latest software to ensure the most up-to-date and stable development environment, so I would recommend using MCAL 3.0.5.0. You do not need a new configurator version for MCAL 3.0.5.0 as it still uses Elektrobit Tresos 29.2.

Regards,

Kristien

0 Yongheng Ai 1 month ago in reply to Kristien Everett

Prodigy 100 points

Hi Kristen,

There seems to be a misunderstanding. The structure of the baud rate has been modified. Without updating the EB, the code cannot be compiled successfully. The left is mcal-03_00_03_02_Engineering_Release and right side is mcal-03_00_05_00_GA. And we use the Elektrobit Tresos 29.2 for mcal-03_00_03_02_Engineering_Release .

Furthermore, if the software versions are not aligned, it will result in a compilation error.

Alternatively, is there a configuration setup that works with both versions?

Regards,

Yongheng

0 Kristien Everett 30 days ago in reply to Yongheng Ai

TI__Genius 13026 points

Hey Yongheng,

I've gotten some updates from the MCAL team on why the ISR is triggering twice. The Can_mcanProcessISR captures the interrupt status register only at the start and clears the interrupt status register based upon that snapshot. Therefore, if new interrupts occur during the ISR, this can cause the ISR to retrigger immediately after it ends. A busoff condition tends to generate multiple errors that can occur at different points through the ISR.

This retriggering behavior is expected as a part of the interrupt handling process.

I have reached out to you via email to share details on acquiring a new version of the EB tools.

Regards,

Kristien

0 Yongheng Ai 29 days ago in reply to Kristien Everett

Prodigy 100 points

Hi Kristen,

I noticed changes in the bus-off process for MCAL 3_0_5_0. After acquiring the EB tools and running the tests, I’ll provide you with my feedback.

Regards,

Yongheng

0 Kristien Everett 29 days ago in reply to Yongheng Ai

TI__Genius 13026 points

Hey Yongheng,

Understood, thank you for letting me know. I will be out for the next week, but I have looped in another engineer to help you with any follow up questions.

Regards,

Kristien

0 Yongheng Ai 22 days ago in reply to Kristien Everett

Prodigy 100 points

HI Kristien,

I want to know which one I should download for MCAL 03_00_05_00_GA.

And there is no license apply link at there. How should I do to apply the EB new license?

Regards

Yongheng

0 Vignesh Kondapally 22 days ago in reply to Yongheng Ai

TI__Intellectual 2260 points

Hi Yongheng,

I am looping in someone who has knowledge regarding the MCAL versions and licensing information. Please allow them a day or so to review and respond.

Best,

Vignesh K.

0 Ajay Narayan 18 days ago in reply to Yongheng Ai

TI__Mastermind 22525 points

Hi Yongheng,

The Installer for EB Tresos is part of the mcal-config_03_00_05_00_GA installation and is in the location "C:\ti\mcal-config_03_00_05_00_GA\Elektrobit\installer"

Please install this exact version of EB Tresos.

License cannot be shared via public forum. Please write an email to your FAE requesting the same.

0 Yongheng Ai 18 days ago in reply to Ajay Narayan

Prodigy 100 points

Hi Ajay,

After I install the config_03_00_05_00_GA , I can't find the folder. I install the MCAL that applied through https://www.ti.com/drr/opn/PROCESSOR-SDK-MCAL-EB-TRESOS. The installer name is mcal-03_00_05_00_GA-windows-x64-installer.exe

Regards,

Yongheng

0 Yongheng Ai 11 days ago in reply to Yongheng Ai

Prodigy 100 points

hello TI experts,

Do you have any suggestions for the mcal EB version? After confirming that, we can contact our FAE to request license.

Regards,

Yongheng

0 Ajay Narayan 10 days ago in reply to Yongheng Ai

TI__Mastermind 22525 points

Hi Yongheng,

MCAL details cannot be shared over public E2E as this is NDA restricted, please contact FAE to get the right MCAL package and EB Tresos. The link shared above is not the right place to get the EB Tresos.

Regards,

Ajay

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AWRL6432: CAN message can not send out successfully after shorting CANH and GND