CCS/AWR1843BOOST: AR1843: CAN CONFİGURATİON

Hello,

Could you please check the CAN driver test available in the SDK at the following path?

C:\ti\mmwave_sdk_03_05_00_04\packages\ti\drivers\can\test

Thanks

-Nitin 

Hi, Thank you for your return.

I am compiling the code you see below on AWR1843. I referenced C: \ ti \ mmwave_sdk_03_05_00_01 \ packages \ ti \ drivers \ can \ test. Everything seems right. I pull the S2 key on the board to the can. I connect the Can output cables to the oscilloscope. The routine test setup I always do for Can. No result, Can does not work. The same operations work for canfd. The trouble seems like software initialization.

Can you review the code I shared below?

If necessary, I can direct the project file from the custom to you?

#include <Can_Configs/can.h>
#include <ti/drivers/pinmux/pinmux.h>
#include <ti/drivers/esm/esm.h>
#include <ti/utils/testlogger/logger.h>

static void DCANAppInitParams(CAN_DCANCfgParams* dcanCfgParams,
CAN_DCANMsgObjCfgParams* dcanTxCfgParams,
CAN_DCANMsgObjCfgParams* dcanRxCfgParams,
CAN_DCANData* dcanTxData);

void Can_Initialize(void);

int32_t DCANAppCalcBitTimeParams(uint32_t clkFreq,
uint32_t bitRate,
uint32_t refSamplePnt,
uint32_t propDelay,
CAN_DCANBitTimeParams* bitTimeParams);

MmwDemo_MCB gMmwMssMCB;

int main (void)
{
Task_Params taskParams;
int32_t errCode;
SOC_Cfg socCfg;

/* Initialize the ESM: */
ESM_init(0U); //dont clear errors as TI RTOS does it

/* Initialize and populate the demo MCB */
memset ((void*)&gMmwMssMCB, 0, sizeof(MmwDemo_MCB));

/* Initialize the SOC confiugration: */
memset ((void *)&socCfg, 0, sizeof(SOC_Cfg));

/* Populate the SOC configuration: */
socCfg.clockCfg = SOC_SysClock_INIT;

/* Initialize the SOC Module: This is done as soon as the application is started
* to ensure that the MPU is correctly configured. */
gMmwMssMCB.socHandle = SOC_init (&socCfg, &errCode);
if (gMmwMssMCB.socHandle == NULL)
{
System_printf ("Error: SOC Module Initialization failed [Error code %d]\n", errCode);
return -1;
}

Can_Initialize(); // <- LOOP + INITILATION ??????????
}

void Can_Initialize(void)
{

CAN_Handle canHandle;
CAN_MsgObjHandle txMsgObjHandle;
CAN_MsgObjHandle rxMsgObjHandle;
int32_t retVal = 0;
int32_t errCode = 0;

/******/
Pinmux_Set_OverrideCtrl(SOC_XWR18XX_PINE15_PADAG, PINMUX_OUTEN_RETAIN_HW_CTRL, PINMUX_INPEN_RETAIN_HW_CTRL);
Pinmux_Set_FuncSel(SOC_XWR18XX_PINE15_PADAG, SOC_XWR18XX_PINE15_PADAG_CAN_TX);

Pinmux_Set_OverrideCtrl(SOC_XWR18XX_PINE13_PADAF, PINMUX_OUTEN_RETAIN_HW_CTRL, PINMUX_INPEN_RETAIN_HW_CTRL);
Pinmux_Set_FuncSel(SOC_XWR18XX_PINE13_PADAF, SOC_XWR18XX_PINE13_PADAF_CAN_RX);
/******/

/* Configure the divide value for DCAN source clock */
SOC_setPeripheralClock(gMmwMssMCB.socHandle, SOC_MODULE_DCAN, SOC_CLKSOURCE_VCLK, 9U, &errCode);

/* Initialize peripheral memory */
SOC_initPeripheralRam(gMmwMssMCB.socHandle, SOC_MODULE_DCAN, &errCode);

/* Initialize the DCAN parameters that need to be specified by the application */
DCANAppInitParams(&appDcanCfgParams,
&appDcanTxCfgParams,
&appDcanRxCfgParams,
&appDcanTxData);

// Initialize the CAN driver
canHandle = CAN_init(&appDcanCfgParams, &errCode);
if (canHandle == NULL)
{
System_printf ("Error: CAN Module Initialization failed [Error code %d]\n", errCode);
}

retVal = DCANAppCalcBitTimeParams(DCAN_APP_INPUT_CLK / 1000000,
DCAN_APP_BIT_RATE / 1000,
DCAN_APP_SAMP_PT,
DCAN_APP_PROP_DELAY,
&appDcanBitTimeParams);
if (retVal < 0)
{
System_printf ("Error: CAN Module bit time parameters are incorrect \n");
}

// Configure the CAN driver
retVal = CAN_configBitTime (canHandle, &appDcanBitTimeParams, &errCode);
if (retVal < 0)
{
System_printf ("Error: CAN Module configure bit time failed [Error code %d]\n", errCode);
}

// Setup the transmit message object
txMsgObjHandle = CAN_createMsgObject (canHandle, DCAN_TX_MSG_OBJ, &appDcanTxCfgParams, &errCode);
if (txMsgObjHandle == NULL)
{
System_printf ("Error: CAN create Tx message object failed [Error code %d]\n", errCode);
}

// Setup the receive message object
rxMsgObjHandle = CAN_createMsgObject (canHandle, DCAN_RX_MSG_OBJ, &appDcanRxCfgParams, &errCode);
if (rxMsgObjHandle == NULL)
{
System_printf ("Error: CAN create Rx message object failed [Error code %d]\n", errCode);
}

retVal = CAN_transmitData (txMsgObjHandle, &appDcanTxData, &errCode);
if (retVal < 0)
{
System_printf ("Error: CAN transmit data for iteration %d failed [Error code %d]\n", iterationCount_can, errCode);
}

int cf;

/**** LOOP ******/
while(1)
{

for( cf = 0 ; cf < 10000 ; cf++);
for( cf = 0 ; cf < 10000 ; cf++);
for( cf = 0 ; cf < 10000 ; cf++);
for( cf = 0 ; cf < 10000 ; cf++);
for( cf = 0 ; cf < 10000 ; cf++);
for( cf = 0 ; cf < 10000 ; cf++);
for( cf = 0 ; cf < 10000 ; cf++);
for( cf = 0 ; cf < 10000 ; cf++);
for( cf = 0 ; cf < 10000 ; cf++);

System_printf ("Can Send \n");

CAN_transmitData (txMsgObjHandle, &appDcanTxData, &errCode);
}

}

int32_t DCANAppCalcBitTimeParams(uint32_t clkFreq,
uint32_t bitRate,
uint32_t refSamplePnt,
uint32_t propDelay,
CAN_DCANBitTimeParams* bitTimeParams)
{
Double tBitRef = 1000 * 1000 / bitRate;
Double newBaud = 0, newNProp = 0, newNSeg = 0, newSjw = 0, newP = 0;
Double nQRef, nProp, fCan, nQ, nSeg, baud, sp, p, newSp = 0;
float tQ;

for (p = 1; p <= 1024; p++)
{
tQ = ((p / clkFreq) * 1000.0);
nQRef = tBitRef / tQ;

if ((nQRef >= 8) && (nQRef <= 25))
{
nProp = ceil(propDelay / tQ);
fCan = clkFreq / p;
nQ = fCan / bitRate * 1000;
nSeg = ceil((nQ - nProp - 1) / 2);

if ((nProp <= 8) && (nProp > 0) && (nSeg <= 8) && (nSeg > 0))
{
baud = fCan / (1 + nProp + 2 * nSeg) * 1000;

sp = (1 + nProp + nSeg) / (1 + nProp + nSeg + nSeg) * 100;

if ((abs(baud - bitRate)) < (abs(newBaud - bitRate)))
{
newBaud = baud;
newNProp = nProp;
newNSeg = nSeg;
newSjw = (nSeg < 4) ? nSeg : 4;
newP = p - 1;
newSp = sp;
}
else if ((abs(baud - bitRate)) == (abs(newBaud - bitRate)))
{
if ((abs(sp - refSamplePnt)) < (abs(newSp - refSamplePnt)))
{
newBaud = baud;
newNProp = nProp;
newNSeg = nSeg;
newSjw = (nSeg < 4) ? nSeg : 4;
newP = p - 1;
newSp = sp;
}
}
}
}
}
if ((newBaud == 0) || (newBaud > 1000))
{
return -1;
}

bitTimeParams->baudRatePrescaler = (((uint32_t) newP) & 0x3F);
bitTimeParams->baudRatePrescalerExt =
((((uint32_t) newP) & 0x3C0) ? (((uint32_t) newP) & 0x3C0) >> 6 : 0);
bitTimeParams->syncJumpWidth = ((uint32_t) newSjw) - 1;

/* propSeg = newNProp, phaseSeg = newNSeg, samplePoint = newSp
* nominalBitTime = (1 + newNProp + 2 * newNSeg), nominalBitRate = newBaud
* brpFreq = clkFreq / (brp + 1), brpeFreq = clkFreq / (newP + 1)
* brp = bitTimeParams->baudRatePrescaler;
*/

bitTimeParams->timeSegment1 = newNProp + newNSeg - 1;
bitTimeParams->timeSegment2 = newNSeg - 1;

return 0;
}

static void DCANAppInitParams(CAN_DCANCfgParams* dcanCfgParams,
CAN_DCANMsgObjCfgParams* dcanTxCfgParams,
CAN_DCANMsgObjCfgParams* dcanRxCfgParams,
CAN_DCANData* dcanTxData)
{
/*Intialize DCAN Config Params*/

if (testSelection == DCAN_APP_TEST_PARITY)
{
dcanCfgParams->parityEnable = 1;
dcanCfgParams->intrLine0Enable = 1;
dcanCfgParams->intrLine1Enable = 0;
dcanCfgParams->testModeEnable = 0;
dcanCfgParams->eccModeEnable = 1;
dcanCfgParams->eccDiagModeEnable = 0;
dcanCfgParams->sbeEventEnable = 1;
dcanCfgParams->stsChangeIntrEnable = 0;
}
else if (testSelection == DCAN_APP_TEST_EXTERNAL_DATA)
{
dcanCfgParams->parityEnable = 0;
dcanCfgParams->intrLine0Enable = 1;
dcanCfgParams->intrLine1Enable = 1;
dcanCfgParams->testModeEnable = 0;
dcanCfgParams->eccModeEnable = 0;
dcanCfgParams->stsChangeIntrEnable = 0;
}
else
{
dcanCfgParams->parityEnable = 0;
dcanCfgParams->intrLine0Enable = 1;
dcanCfgParams->intrLine1Enable = 1;
dcanCfgParams->eccModeEnable = 0;
dcanCfgParams->testModeEnable = 1;
if (testSelection == DCAN_APP_TEST_INTERNAL_LOOPBACK)
{
dcanCfgParams->testMode = CAN_DCANTestMode_LPBACK;
dcanCfgParams->stsChangeIntrEnable = 0;
}
else
{
dcanCfgParams->testMode = CAN_DCANTestMode_EXT_LPBACK;
dcanCfgParams->stsChangeIntrEnable = 1;
}
}

dcanCfgParams->autoRetransmitDisable = 1;
dcanCfgParams->autoBusOnEnable = 0;
dcanCfgParams->errIntrEnable = 1;
dcanCfgParams->autoBusOnTimerVal = 0;
dcanCfgParams->if1DmaEnable = 0;
dcanCfgParams->if2DmaEnable = 0;
dcanCfgParams->if3DmaEnable = 0;
dcanCfgParams->ramAccessEnable = 0;
dcanCfgParams->appCallBack = DCANAppErrStatusCallback;

/*Intialize DCAN tx Config Params*/
dcanTxCfgParams->xIdFlagMask = 0x1;
dcanTxCfgParams->dirMask = 0x1;
dcanTxCfgParams->msgIdentifierMask = 0x1FFFFFFF;

dcanTxCfgParams->msgValid = 1;
dcanTxCfgParams->xIdFlag = CAN_DCANXidType_11_BIT;
dcanTxCfgParams->direction = CAN_Direction_TX;
dcanTxCfgParams->msgIdentifier = 0xC1;

dcanTxCfgParams->uMaskUsed = 1;
if (testSelection == DCAN_APP_TEST_PARITY)
dcanTxCfgParams->intEnable = 0;
else
dcanTxCfgParams->intEnable = 1;

dcanTxCfgParams->remoteEnable = 0;
dcanTxCfgParams->fifoEOBFlag = 1;
dcanTxCfgParams->appCallBack = DCANAppCallback;

/*Intialize DCAN Rx Config Params*/
dcanRxCfgParams->xIdFlagMask = 0x1;
dcanRxCfgParams->msgIdentifierMask = 0x1FFFFFFF;
dcanRxCfgParams->dirMask = 0x1;

dcanRxCfgParams->msgValid = 1;
dcanRxCfgParams->xIdFlag = CAN_DCANXidType_11_BIT;
dcanRxCfgParams->direction = CAN_Direction_RX;
dcanRxCfgParams->msgIdentifier = 0xC1;

dcanRxCfgParams->uMaskUsed = 1;
if (testSelection == DCAN_APP_TEST_PARITY)
dcanRxCfgParams->intEnable = 0;
else
dcanRxCfgParams->intEnable = 1;

dcanRxCfgParams->remoteEnable = 0;
dcanRxCfgParams->fifoEOBFlag = 1;
dcanRxCfgParams->appCallBack = DCANAppCallback;

/*Intialize DCAN Tx transfer Params*/
dcanTxData->dataLength = DCAN_MAX_MSG_LENGTH;
dcanTxData->msgData[0] = 0xA5;
dcanTxData->msgData[1] = 0x5A;
dcanTxData->msgData[2] = 0xFF;
dcanTxData->msgData[3] = 0xFF;
dcanTxData->msgData[4] = 0xC3;
dcanTxData->msgData[5] = 0x3C;
dcanTxData->msgData[6] = 0xB4;
dcanTxData->msgData[7] = 0x4B;
}

Also, except for C: \ ti \ mmwave_sdk_03_05_00_01 \ packages \ ti \ drivers \ can \ test, this shared project and documents are used CANFD.

up

I'm pretty sure that mmWave SDK CAN driver test application should work without any hassle.

Test application: DCAN_APP_TEST_EXTERNAL_DATA option for external CAN data get verification.

Regards,

Jitendra