IWR1642BOOST: IWR1642BOOST,how to use CAN?

The board is marked 1642-evm proc011 Rev B.In addition to setting the switch S2 to the "CAN" position, the switch S2 needs to be modified

But components are too small to modify.Is the modification of switch S2 necessary?

Is it hardware or program problem that causes CAN not output?

I did CAN driver test.I use Oscilloscope to cheak CANH and CANL during doing CAN Unit Test Menu.

CANH and CANL are both 2.3V.

CAN Unit Test Menu
Please select the type of test to execute:
1. DCAN Internal loopback test
2. DCAN External loopback test
3. DCAN Parity test
4. DCAN Tx/Rx test

1 and 2 were successful.

3 failed.

4 was stuck and cannot be carried out.

4 was stuck at > Enter your selection: Debug: External transmit testing.

*******************************************************
CAN Unit Test Menu
Please select the type of test to execute:
1. DCAN Internal loopback test
2. DCAN External loopback test
3. DCAN Parity test
4. DCAN Tx/Rx test
*******************************************************
> Enter your selection: Debug: Internal loopback testing
Debug: Number of iterations : 100
Debug: Number of messages transmitted : 100
Debug: Number of messages received : 100
Debug: Number of messages lost : 0
Debug: Number of data mismatch : 0
Debug: Error Status Interrupt : 0

Debug: Message object number : 1
Debug: Direction : Transmit
Debug: Number of interrupts received : 100
Debug: Number of messages processed : 100

Debug: Message object number : 2
Debug: Direction : Receive
Debug: Number of interrupts received : 100
Debug: Number of messages processed : 100
Debug: Receive & Transmit Measurements
Debug: Rx Min:470 Max: 503 Average:476 ticks
Debug: Tx Min:459 Max: 468 Average:466 ticks

Debug: Internal loopback testing for 100 iterations Passed
Feature: Internal loopback testing: Passed

*******************************************************
CAN Unit Test Menu
Please select the type of test to execute:
1. DCAN Internal loopback test
2. DCAN External loopback test
3. DCAN Parity test
4. DCAN Tx/Rx test
*******************************************************
> Enter your selection: Debug: External loopback testing
Debug: Number of iterations : 100
Debug: Number of messages transmitted : 100
Debug: Number of messages received : 100
Debug: Number of messages lost : 0
Debug: Number of data mismatch : 0
Debug: Error Status Interrupt : 0

Debug: Message object number : 1
Debug: Direction : Transmit
Debug: Number of interrupts received : 100
Debug: Number of messages processed : 100

Debug: Message object number : 2
Debug: Direction : Receive
Debug: Number of interrupts received : 100
Debug: Number of messages processed : 100
Debug: Receive & Transmit Measurements
Debug: Rx Min:463 Max: 496 Average:470 ticks
Debug: Tx Min:459 Max: 467 Average:464 ticks

Debug: External loopback testing for 100 iterations Passed
Feature: External loopback testing: Passed

*******************************************************
CAN Unit Test Menu
Please select the type of test to execute:
1. DCAN Internal loopback test
2. DCAN External loopback test
3. DCAN Parity test
4. DCAN Tx/Rx test
*******************************************************
> Enter your selection: Debug: parity testing
Error: ECC error status check failed. Single bit error 0 Double bit error 1 Message Number 49
Feature: Parity testing: Failed
Debug:CAN testing failed

*******************************************************
CAN Unit Test Menu
Please select the type of test to execute:
1. DCAN Internal loopback test
2. DCAN External loopback test
3. DCAN Parity test
4. DCAN Tx/Rx test
*******************************************************
> Enter your selection: Debug: External transmit testing

Hi,

Could you please refer to unit test document section 3 for CAN test setup:

C:\ti\mmwave_sdk_03_05_00_04\docs\mmwave_sdk_unit_test_procedure.pdf

Thanks

Yogesh

[Cortex_R4_0] *******************************************************
CAN Unit Test Menu
Please select the type of test to execute:
1. DCAN Internal loopback test
2. DCAN External loopback test
3. DCAN Parity test
4. DCAN Tx/Rx test
*******************************************************
> Enter your selection: Debug: External transmit testing
Debug: External transmit testing Passed
Debug: Number of iterations : 1
Debug: Number of messages transmitted : 0
Debug: Number of messages received : 0
Debug: Number of messages lost : 0
Debug: Error Status Interrupt : 1

Debug: Message object number : 1
Debug: Direction : Transmit
Debug: Number of interrupts received : 0
Debug: Number of messages processed : 1

Debug: Message object number : 2
Debug: Direction : Receive
Debug: Number of interrupts received : 0
Debug: Number of messages processed : 0

Debug: Receive passive error : 0
Debug: Transmit Error Counter : 136
Debug: Receive Error Counter : 0

4. DCAN Tx/Rx test has been completed.The results are different from those in "\can_test\xwr16_R4_CAN_Tx_Rx_<timestamp>.log".

Do I need to make more modifies to the hardware besides placing the switch S2 on the "CAN" position?

Why DCAN transmission fails?

thank you

Are you using PCAN or other CAN emulator?

I use a USB-CAN Adapter to receive data,a Oscilloscope to cheak CANH and CANL.

PC did not receive the data, and the oscilloscope showed that canh and canl had no obvious waveform, which was about 2.3V

Hi,

The only setting for ReV B EVM is to move S2 to CAN position to bring signal to CAN PHY.

You may try and run CAN-FD test to see if the CAN PHY is working.

Thanks

Yogesh

I use functions in CAN to change my program.  retVal = CAN_transmitData (txMsgObjHandle, &appDcanTxData, &errCode);

I looked at he Pin Attributes of iwr1642.There is no CAN-FD pin,only CAN pin,E13 and C13.

Is it necessary to change the program according to can-fd？

Hi,

There is different pin-muxing for CAN and CANFD. Please refer to test code PlatformInit() function in main.c :

C:\ti\mmwave_sdk_03_05_00_04\packages\ti\drivers\canfd\test\xwr16xx

and 

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

Thanks

Yogesh

CAN still has no output, I would like to ask if my program is wrong?

Hi,

Please try and get the code @C:\ti\mmwave_sdk_03_05_00_04\packages\ti\drivers\can\test\xwr16xx working. 

If this is not working, the issue is in your setup. Once you have the test code working we can debug your code.

Thanks

Yogesh

CAN Unit Test Menu
Please select the type of test to execute:
1. DCAN Internal loopback test
2. DCAN External loopback test
3. DCAN Parity test
4. DCAN Tx/Rx test

test 3 and test 4 is not working.At present, I have switched S2 to CAN ON.CANH and CANL of J3 are connected to a CAN-USB converter. Then I connect the computer and open the corresponding software.I use the oscilloscope to see CANH and CANL, and find that there is no CAN waveform.

Except for the values of testselection and gdisplaystats, I didn't change the code of tested program in SDK.

The specific console message is in my previous reply.

Now I don't know what the problem is?

Where might the setup be problematic？

thank you

Hi,

Could you please share the platformInit() function.

Also please verify the bit-timing used here matches with the external CAN emulator bit timing.

Thanks

Yogesh

OK，I have made sure the bit-timing used here matches with the external CAN emulator bit timing.

Did you test CANFD to rule out issue with CAN Transceiver on the EVM.

Also do you have any other 16xx platform EVM to rule out hardware issue.

Thanks

Yogesh

I learned from other places that iwr1642boost does not support CANFD.Is there no problem with  CAN program I use?

I don't have another 1642 EVM at the moment.Maybe it's the hardware problem?

Could you give me some advice？

thank you

I am not aware of CANFD limitation on IWR1642Boost.

Could you please run the CANFD and let me know the result:

C:\ti\mmwave_sdk_03_05_00_04\packages\ti\drivers\canfd\test\xwr16xx

Thanks

Yogesh

According to Pin Attributes,the pins of IWR1642 do not support CANFD,only support CAN.

I don't know if my understanding is correct, but I will try CANFD test later.