AWR1642: CANFD send data with changeable MsgId in Classic Mode

Cassie

Part Number: AWR1642

Hello,

We need to use two CAN interfaces on our board, so we need to use both CAN and CANFD. And now I have some trouble in using CANFD send data with changeable MsgId in the Classic CAN Mode.The code modification:

int32_t MCAN_Init(SOC_Handle socHandle)
{
    int32_t errCode;
   int32_t retVal = 0;

    /* Configure the divide value for MCAN source clock */
    SOC_setPeripheralClock(socHandle, SOC_MODULE_MCAN, SOC_CLKSOURCE_VCLK, 4U, &errCode);

#define Pinmux_SetFunc(pin, func)                                       \
    do {                                                            \
            Pinmux_Set_OverrideCtrl(pin, PINMUX_OUTEN_RETAIN_HW_CTRL, PINMUX_INPEN_RETAIN_HW_CTRL); \
            Pinmux_Set_FuncSel(pin, func);                          \
    } while (0)

    /* Setup the PINMUX to bring out the XWR16xx CAN pins */
    Pinmux_SetFunc(SOC_XWR16XX_PIND14_PADBN, SOC_XWR16XX_PIND14_PADBN_CANFD_TX);
    Pinmux_SetFunc(SOC_XWR16XX_PINB14_PADBO, SOC_XWR16XX_PINB14_PADBO_CANFD_RX);

    CANFD_MCANInitParams        mcanCfgParams;
    CANFD_MCANBitTimingParams   mcanBitTimingParams;

    MCAN_InitParams(&mcanCfgParams);

    /* Initialize the CANFD driver */
    canFdHandle = CANFD_init(&mcanCfgParams, &errCode);
    if (canFdHandle == NULL)
   {
        System_printf ("Error: CANFD Module Initialization failed [Error code %d]\n", errCode);
        return -1;
    }

    MCAN_CalcBitTimeParams(&mcanBitTimingParams);
    /* Configure the CAN driver */

    retVal = CANFD_configBitTime (canFdHandle, &mcanBitTimingParams, &errCode);
    if (retVal < 0)
   {
        System_printf ("Error: CANFD Module configure bit time failed [Error code %d]\n", errCode);
        return -1;
    }

    /* Setup the transmit message object */
    appMcanTxTarCfgParams.direction = CANFD_Direction_TX;
    appMcanTxTarCfgParams.msgIdType = CANFD_MCANXidType_11_BIT;   //11bit为标准帧   2018.12.18
    appMcanTxTarCfgParams.msgIdentifier = DCAN_IDMin;

    txTarMsgObjHandle = CANFD_createMsgObject (canFdHandle, &appMcanTxTarCfgParams, &errCode);
    if (txTarMsgObjHandle == NULL)
   {
        System_printf ("Error: CANFD create Tx message object failed [Error code %d]\n", errCode);
        return -1;
    }
    return 0;
}

int32_t MCAN_SendData(uint32_t id, unsigned char *buf,uint32_t datalen)
{
//   int32_t   i;
   int32_t index = 0;
   int32_t   retVal = 0;
   int32_t   errCode = 0;
   uint32_t MsgId = appMcanTxTarCfgParams.msgIdentifier;
   CANFD_OptionTLV               optionTLV;
   CANFD_MCANMsgObjectStats   msgObjStats;


   Task_sleep(1);
   if(datalen>=8)
   {
       retVal = CANFD_transmitData (txTarMsgObjHandle, MsgId, CANFD_MCANFrameType_CLASSIC, 8U, &buf[index], &errCode);
       if(retVal)
       {
           System_printf ("Error: Transmit data failed [Error code %d]\n", errCode);
           return -1;
       }
       datalen = datalen - 8;
       index = index + 8;
       MsgId = MsgId + 1;
       Task_sleep(1);
   }

   optionTLV.type = CANFD_Option_MCAN_PROTOCOL_STATUS;
   optionTLV.length = sizeof(CANFD_MCANMsgObjectStats);
   optionTLV.value = (void*) &msgObjStats;
   retVal = CANFD_getOptions(canFdHandle, &optionTLV, &errCode);
   if (retVal < 0)
   {
       System_printf ("Error: CANFD get stats failed [Error code %d]\n", errCode);
       return -1;
   }

   return 0;
}

I debug with CCS and it printf "Error: CANFD get stats failed [Error code -3501]". I tried to change the mcanCfgParams and data bit rate and it didn't work. Could you give me some help to solve this problem?Is there some configurations different between Classic Mode and FD Mode in the CANFD interface?

Thank you a lot,

Cassie

over 6 years ago

0 Raghunandan Kamath over 6 years ago

TI__Mastermind 22155 points

Hello Cassie,

What is the version of the SDK you are using?

-Raghu

0 Cassie over 6 years ago in reply to Raghunandan Kamath

Intellectual 260 points

Hello Raghu,
I used sdk_01_012_00_02.

0 Cassie over 6 years ago in reply to Raghunandan Kamath

Intellectual 260 points

Hello Raghu,

Sorry for a late reply. I used sdk_01_01_00_02.

Cssie

0 Raghunandan Kamath over 6 years ago in reply to Cassie

TI__Mastermind 22155 points

Cassie,

If you are using the AWR1642 ES2.0 please plan to migrate to the SDK version 2.1.0.4 which is the SDK LTS version for ES2.0 devices.

Below code is an example for the mechanism you are trying in your code to send data on multiple message objects:
static int32_t mcanMultiTransmission()
{
CANFD_Handle canHandle;
CANFD_MsgObjHandle txMsgObjHandle[5U];
int32_t retVal = 0;
int32_t errCode = 0;
CANFD_MCANInitParams mcanCfgParams;
CANFD_MCANBitTimingParams mcanBitTimingParams;
CANFD_MCANMsgObjCfgParams txMsgObjectParams[5U];
int32_t index;

gTxDoneFlag = 0;
gRxDoneFlag = 0;

MCANAppInitParams (&mcanCfgParams);

/* Initialize the CANFD driver */
canHandle = CANFD_init(&mcanCfgParams, &errCode);
if (canHandle == NULL)
{
System_printf ("Error: CANFD Module Initialization failed [Error code %d]\n", errCode);
return -1;
}

/* Configuring 1Mbps and 5Mbps as nominal and data bit-rate respectively
Prop seg: 8
Ph seg 1: 6
Ph Seg2 : 5
Sync jump: 1
BRP(Baud rate Prescaler): 2

Nominal Bit rate = (40)/(((8+6+5)+1)*BRP) = 1Mhz

Timing Params for Data Bit rate:
Prop seg: 2
Ph seg 1: 2
Ph Seg2 : 3
Sync jump: 1
BRP(Baud rate Prescaler): 1

Nominal Bit rate = (40)/(((2+2+3)+1)*BRP) = 5Mhz
*/

mcanBitTimingParams.nomBrp = 0x2U;
mcanBitTimingParams.nomPropSeg = 0x8U;
mcanBitTimingParams.nomPseg1 = 0x6U;
mcanBitTimingParams.nomPseg2 = 0x5U;
mcanBitTimingParams.nomSjw = 0x1U;

mcanBitTimingParams.dataBrp = 0x2U;
mcanBitTimingParams.dataPropSeg = 0x8U;
mcanBitTimingParams.dataPseg1 = 0x6U;
mcanBitTimingParams.dataPseg2 = 0x5U;
mcanBitTimingParams.dataSjw = 0x1U;

/* Configure the CAN driver */
retVal = CANFD_configBitTime (canHandle, &mcanBitTimingParams, &errCode);
if (retVal < 0)
{
System_printf ("Error: CANFD Module configure bit time failed [Error code %d]\n", errCode);
return -1;
}

while (1)
{
/* Setup the transmit message object */
for(index = 0; index < 5U ; index++)
{
txMsgObjectParams[index].direction = CANFD_Direction_TX;
txMsgObjectParams[index].msgIdType = CANFD_MCANXidType_29_BIT;
txMsgObjectParams[index].msgIdentifier = 0xC1 + index;

txMsgObjHandle[index] = CANFD_createMsgObject (canHandle, &txMsgObjectParams[index], &errCode);
if (txMsgObjHandle[index] == NULL)
{
System_printf ("Error: CANFD create Tx message object failed [Error code %d]\n", errCode);
return -1;
}
}
gTxPkts = 0;
for(index = 0; index < 5U ; index++)
{
retVal = CANFD_transmitData (txMsgObjHandle[index], txMsgObjectParams[index].msgIdentifier, CANFD_MCANFrameType_CLASSIC, 8U, &txData[0], &errCode);
if (retVal < 0)
{
System_printf ("Error: CANFD transmit data retry failed [Error code %d]\n", errCode);
}
Task_sleep(1);
}

/* Delete the transmit message object */
for(index = 0; index < 5U ; index++)
{
retVal = CANFD_deleteMsgObject(txMsgObjHandle[index], &errCode);
if (retVal < 0)
{
System_printf ("Error: CANFD delete Tx message object failed [Error code %d]\n", errCode);
return -1;
}
}
}
}

Please refer to this code and make modifications as required for your application.

-Raghu

0 Cassie over 6 years ago in reply to Raghunandan Kamath

Intellectual 260 points

Hi，Raghu
We have resolved this problem,Thank you!
Cassie

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AWR1642: CANFD send data with changeable MsgId in Classic Mode