CCS/IWR6843: CANFD_init fails after CANFD_deinit

Hi Miroslav

Are you using the CAN_FD driver in a lab?  Can you show how you have implemented it?

Also have you tried using the CAN_FD test in the mmWave-SDK?

Regards,

AG

Hi Miroslav,

The MCAN soft-reset is not supported by the new MCAN IP used in the xWR6843 ES2.0. Let me know your use case so that we can work out an alternative.

Thanks

Yogesh

Hi Yogesh,
I need to restart CAN FD interface because it is initialised during power on sequence, but If there is no any can cable connected it is not working after plug in. So after some time without any data on can bus, I switch CAN pins to GPIO Input type and monitor any incomming pulses. If any occours then I want to init again whole CAN FD system but previosly mentioned error occurs.

bool myCANFullInit(uint32_t kbitsPerSec)
{
    isCanReadyForSending = false;
    int32_t retVal = 0;
    int32_t errCode = 0;

    Task_sleep(50);

    static bool isCanCommandSemaphoreInicialized = false;
    if(!isCanCommandSemaphoreInicialized)
    {
        Semaphore_construct(&CANcommand_semStruct, 0, NULL);//0 - because 0 CAN commands are ready for evaluating
        CANcommand_semHandle = Semaphore_handle(&CANcommand_semStruct);

        if (CANcommand_semHandle)
        {
            isCanCommandSemaphoreInicialized = true;
        }
    }


    memset(&myCANds, 0, sizeof(CANHandlesAndRelatedData_t));
    memset(&CAN_SendDataBuffersStruct, 0, sizeof(CAN_SendDataBuffersStruct_t));

    /* Setup the PINMUX to bring out the XWR68xx CAN pins */
    Pinmux_Set_OverrideCtrl(SOC_XWR68XX_PINE14_PADAE, PINMUX_OUTEN_RETAIN_HW_CTRL, PINMUX_INPEN_RETAIN_HW_CTRL);
    Pinmux_Set_FuncSel(SOC_XWR68XX_PINE14_PADAE, SOC_XWR68XX_PINE14_PADAE_CANFD_TX);

    Pinmux_Set_OverrideCtrl(SOC_XWR68XX_PIND13_PADAD, PINMUX_OUTEN_RETAIN_HW_CTRL, PINMUX_INPEN_RETAIN_HW_CTRL);
    Pinmux_Set_FuncSel(SOC_XWR68XX_PIND13_PADAD, SOC_XWR68XX_PIND13_PADAD_CANFD_RX);

    SOC_setPeripheralClock(gMmwMssMCB.socHandle, SOC_MODULE_MCANA, SOC_CLKSOURCE_VCLK, 4U, &errCode);
    System_printf("Debug: CANFD-> SOC_setPeripheralClock errCode: %i\n", errCode);

    MCANAppInitParams(&myCANds.canCfgParams,
                      &myCANds.canMsgObjCfgParams_dataTX,
                      &myCANds.canMsgObjCfgParams_cliTX,
                      &myCANds.canMsgObjCfgParams_cliRX,
                      &myCANds.canMsgObjCfgParams_cliRX_GLOBAL);

    /* Initialize the CAN driver */
    errCode = 0;
    myCANds.canHandle = CANFD_init(gIsntanceID, &myCANds.canCfgParams, &errCode); //pro SDK 3.3.0.03 a vyse
    //myCANds.canHandle = CANFD_init(&myCANds.canCfgParams, &errCode);
    if (!myCANds.canHandle)
    {
        return false;
    }

    /* 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
    */

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

    myCANds.canBitTimingParams.dataBrp     = 0x1U;
    myCANds.canBitTimingParams.dataPropSeg = 0x2U;
    myCANds.canBitTimingParams.dataPseg1   = 0x2U;
    myCANds.canBitTimingParams.dataPseg2   = 0x3U;
    myCANds.canBitTimingParams.dataSjw     = 0x1U;

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

    /* Setup the DATA transmit message object */
    errCode = 0;
    myCANds.canMsgObjHandle_dataTX = CANFD_createMsgObject(myCANds.canHandle, &myCANds.canMsgObjCfgParams_dataTX, &errCode);
    if (myCANds.canMsgObjHandle_dataTX == NULL)
    {
        return false;
    }

    /* Setup the CLI transmit message object */
    errCode = 0;
    myCANds.canMsgObjHandle_cliTX = CANFD_createMsgObject(myCANds.canHandle, &myCANds.canMsgObjCfgParams_cliTX, &errCode);
    if (myCANds.canMsgObjHandle_cliTX == NULL)
    {
        return false;
    }

    /* Setup the CLI receive message object */
    errCode = 0;
    myCANds.canMsgObjHandle_cliRX = CANFD_createMsgObject(myCANds.canHandle, &myCANds.canMsgObjCfgParams_cliRX, &errCode);
    if (myCANds.canMsgObjHandle_cliRX == NULL)
    {
        return false;
    }

    /* Setup the CLI GLOBAL receive message object */
    errCode = 0;
    myCANds.canMsgObjHandle_cliRX_GLOBAL = CANFD_createMsgObject(myCANds.canHandle, &myCANds.canMsgObjCfgParams_cliRX_GLOBAL, &errCode);
    if (myCANds.canMsgObjHandle_cliRX_GLOBAL == NULL)
    {
        return false;
    }

#ifdef SOC_XWR68XX
    GPIO_write(SOC_XWR68XX_GPIO_0, 0);// disable CAN silent mode
#else
    GPIO_write(SOC_XWR16XX_GPIO_0, 0);// disable CAN silent mode
#endif

    isCanReadyForSending = true;
    canInStableSpeedCnt = 0;
    return true;
}

bool myCANFullDeInit()
{
    isCanReadyForSending = false;
    int32_t retval = 0;
    int32_t errCode = 0;

#ifdef SOC_XWR68XX
    GPIO_write(SOC_XWR68XX_GPIO_0, 1);// enable CAN silent mode
    /* Setup the PINMUX to bring GPIO for CAN pins */
    Pinmux_Set_OverrideCtrl(SOC_XWR68XX_PINE14_PADAE, PINMUX_OUTEN_RETAIN_HW_CTRL, PINMUX_INPEN_RETAIN_HW_CTRL);
    Pinmux_Set_FuncSel(SOC_XWR68XX_PINE14_PADAE,SOC_XWR68XX_PINE14_PADAE_GPIO_20);//CAN_TX

    Pinmux_Set_OverrideCtrl(SOC_XWR68XX_PIND13_PADAD, PINMUX_OUTEN_RETAIN_HW_CTRL, PINMUX_INPEN_RETAIN_HW_CTRL);
    Pinmux_Set_FuncSel(SOC_XWR68XX_PIND13_PADAD,SOC_XWR68XX_PIND13_PADAD_GPIO_19);//CAN_RX

    GPIO_setConfig(SOC_XWR68XX_GPIO_3, GPIO_CFG_INPUT);
    GPIO_setConfig(SOC_XWR68XX_GPIO_30, GPIO_CFG_OUTPUT);
    GPIO_write(SOC_XWR68XX_GPIO_30, 1);
#else
    GPIO_write(SOC_XWR16XX_GPIO_0, 1);// enable CAN silent mode
    /* Setup the PINMUX to bring GPIO for CAN pins */
    Pinmux_Set_OverrideCtrl(SOC_XWR16XX_PINC13_PADAG, PINMUX_OUTEN_RETAIN_HW_CTRL, PINMUX_INPEN_RETAIN_HW_CTRL);
    Pinmux_Set_FuncSel(SOC_XWR16XX_PINC13_PADAG,SOC_XWR16XX_PINC13_PADAG_GPIO_30);//CAN_TX
    Pinmux_Set_OverrideCtrl(SOC_XWR16XX_PINE13_PADAF, PINMUX_OUTEN_RETAIN_HW_CTRL, PINMUX_INPEN_RETAIN_HW_CTRL);
    Pinmux_Set_FuncSel(SOC_XWR16XX_PINE13_PADAF,SOC_XWR16XX_PINE13_PADAF_GPIO_3);//CAN_RX
    GPIO_setConfig(SOC_XWR16XX_GPIO_3, GPIO_CFG_INPUT);
    GPIO_setConfig(SOC_XWR16XX_GPIO_30, GPIO_CFG_OUTPUT);
    GPIO_write(SOC_XWR16XX_GPIO_30, 1);
#endif

    Task_sleep(50);

    CANFD_deleteMsgObject(myCANds.canMsgObjHandle_dataTX, &errCode);
    CANFD_deleteMsgObject(myCANds.canMsgObjHandle_cliTX, &errCode);
    CANFD_deleteMsgObject(myCANds.canMsgObjHandle_cliRX, &errCode);
    CANFD_deleteMsgObject(myCANds.canMsgObjHandle_cliRX_GLOBAL, &errCode);

    retval = CANFD_deinit(myCANds.canHandle, &errCode);

    if (retval < 0)
    {
        System_printf ("Error: CANFD deinit failed [Error code %d]\n", errCode);
        print ("Error: CANFD deinit failed.\n");
        return retval;
    }
    else
    {
        System_printf ("Debug: CANFD deinit DONE.\n");
        print ("Debug: CANFD deinit DONE.\n");
    }

    return retval;
}

Hi Miroslav,

We are working on alternate way to reset the CANFD. It may take some time to verify. In the mean-time could you please initialize CANFD module on receiving the CAN signal and not during startup to avoid reset.

Thanks

Yogesh