Other Parts Discussed in Thread: UNIFLASH, , MMWAVEICBOOST, AWR1642
I have an IWR6843ISK and MMWAVEICBOOST and am trying to add CANFD transmission to the HCC out of box demo from the Industrial Toolbox. But I can only get it to work if I start debugging in CCS and then terminate debugging at any time before the sensor starts. If I terminate debugging after the sensor starts, just let it run, or flash the bin to the board with UniFlash, I get no output on the can bus.
Here is the code I have added to the demo:
CANFD_Handle canHandle;
CANFD_MsgObjHandle canTxMsgHandle;
volatile int can_tx_done = 0;
static void CANFD_writeTestMsg()
{
int32_t errCode = 0;
uint8_t data[64];
data[0] = 0x34;
data[1] = 0x65;
data[2] = 0xC9;
uint32_t msgId = 65;
int32_t retVal = CANFD_transmitData(canTxMsgHandle, msgId, CANFD_MCANFrameType_FD, sizeof(data), data, &errCode);
if(retVal != 0)
{
can_tx_done = -1;
}
while(can_tx_done == 0);
can_tx_done = 0;
}
static void cb_canfd_error(CANFD_Handle handle, CANFD_Reason reason, CANFD_ErrStatusResp* errStatusResp)
{
can_tx_done = -100 - (int)reason;
}
static void cb_canfd_data(CANFD_MsgObjHandle handle, CANFD_Reason reason)
{
switch(reason)
{
case CANFD_Reason_TX_COMPLETION:
break;
case CANFD_Reason_RX:
break;
case CANFD_Reason_TX_CANCELED:
break;
default:
break;
}
can_tx_done = 200 + (int)reason;
}
static int32_t CANFD_config_timing(CANFD_Handle canHandle)
{
/* 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
*/
CANFD_MCANBitTimingParams mcanBitTimingParams;
mcanBitTimingParams.nomBrp = 0x2U;
mcanBitTimingParams.nomPropSeg = 0x8U;
mcanBitTimingParams.nomPseg1 = 0x6U;
mcanBitTimingParams.nomPseg2 = 0x5U;
mcanBitTimingParams.nomSjw = 0x1U;
/*5MHz*/
mcanBitTimingParams.dataBrp = 0x1U;
mcanBitTimingParams.dataPropSeg = 0x2U;
mcanBitTimingParams.dataPseg1 = 0x2U;
mcanBitTimingParams.dataPseg2 = 0x3U;
mcanBitTimingParams.dataSjw = 0x1U;
int32_t errCode = 0;
int32_t 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;
}
System_printf("CANFD_configBitTime successful.\n");
return 0;
}
static CANFD_Handle setup_CANFD()
{
// information taken from mmWave SDK Docs and <mmWave SDK path>\packages\ti\drivers\canfd\test\xwr68xx\main.c
CANFD_Handle canHandle = NULL;
int32_t errCode = 0;
// Intialize MCAN Config Params===========================================================================================
CANFD_MCANInitParams mcanCfgParams;
memset (&mcanCfgParams, sizeof(CANFD_MCANInitParams), 0);
mcanCfgParams.fdMode = 0x1U;
mcanCfgParams.brsEnable = 0x1U;
mcanCfgParams.txpEnable = 0x0U;
mcanCfgParams.efbi = 0x0U;
mcanCfgParams.pxhddisable = 0x0U;
mcanCfgParams.darEnable = 0x1U;
mcanCfgParams.wkupReqEnable = 0x1U;
mcanCfgParams.autoWkupEnable = 0x1U;
mcanCfgParams.emulationEnable = 0x0U;
mcanCfgParams.emulationFAck = 0x0U;
mcanCfgParams.clkStopFAck = 0x0U;
mcanCfgParams.wdcPreload = 0x0U;
mcanCfgParams.tdcEnable = 0x1U;
mcanCfgParams.tdcConfig.tdcf = 0U;
mcanCfgParams.tdcConfig.tdco = 8U;
mcanCfgParams.monEnable = 0x0U;
mcanCfgParams.asmEnable = 0x0U;
mcanCfgParams.tsPrescalar = 0x0U;
mcanCfgParams.tsSelect = 0x0U;
mcanCfgParams.timeoutSelect = CANFD_MCANTimeOutSelect_CONT;
mcanCfgParams.timeoutPreload = 0x0U;
mcanCfgParams.timeoutCntEnable= 0x0U;
mcanCfgParams.filterConfig.rrfe = 0x1U;
mcanCfgParams.filterConfig.rrfs = 0x1U;
mcanCfgParams.filterConfig.anfe = 0x3U;
mcanCfgParams.filterConfig.anfs = 0x3U;
mcanCfgParams.msgRAMConfig.lss = 127U;
mcanCfgParams.msgRAMConfig.lse = 64U;
mcanCfgParams.msgRAMConfig.txBufNum = 32U;
mcanCfgParams.msgRAMConfig.txFIFOSize = 0U;
mcanCfgParams.msgRAMConfig.txBufMode = 0U;
mcanCfgParams.msgRAMConfig.txEventFIFOSize = 0U;
mcanCfgParams.msgRAMConfig.txEventFIFOWaterMark = 0U;
mcanCfgParams.msgRAMConfig.rxFIFO0size = 64U;
mcanCfgParams.msgRAMConfig.rxFIFO0OpMode = 0U;
mcanCfgParams.msgRAMConfig.rxFIFO0waterMark = 0U;
mcanCfgParams.msgRAMConfig.rxFIFO1size = 64U;
mcanCfgParams.msgRAMConfig.rxFIFO1waterMark = 0U;
mcanCfgParams.msgRAMConfig.rxFIFO1OpMode = 0U;
mcanCfgParams.eccConfig.enable = 1U;
mcanCfgParams.eccConfig.enableChk = 1U;
mcanCfgParams.eccConfig.enableRdModWr = 1U;
mcanCfgParams.errInterruptEnable = 1U;
mcanCfgParams.dataInterruptEnable = 1U;
mcanCfgParams.appErrCallBack = cb_canfd_error;
mcanCfgParams.appDataCallBack = cb_canfd_data;
// ===========================================================================================================================
// init CANFD driver
System_printf("Trying CANFD_init...\n");
canHandle = CANFD_init(0, &mcanCfgParams, &errCode);
if (canHandle == NULL)
{
System_printf("Error: CANFD Module Initialization failed [Error code %d]\n", errCode);
return NULL;
}
System_printf("CANFD_init successful.\n");
// ========================================================================================================================
CANFD_config_timing(canHandle);
// ========================================================================================================================
return canHandle;
}
static CANFD_MsgObjHandle setup_CANFD_msg(CANFD_Handle canHandle)
{
CANFD_MCANMsgObjCfgParams txMsgObjectParams;
int32_t errCode = 0;
CANFD_MsgObjHandle txMsgObjHandle = NULL;
/* Setup the transmit message object */
txMsgObjectParams.direction = CANFD_Direction_TX;
txMsgObjectParams.msgIdType = CANFD_MCANXidType_11_BIT;
txMsgObjectParams.msgIdentifier = 0x29E;
txMsgObjHandle = CANFD_createMsgObject(canHandle, &txMsgObjectParams, &errCode);
if (txMsgObjHandle == NULL)
{
System_printf("Error: CANFD create Tx message object failed [Error code %d]\n", errCode);
return NULL;
}
System_printf("CANFD_createMsgObject successful.\n");
return txMsgObjHandle;
}
void CAN_init()
{
System_printf("Init peripheral clock...\n");
int32_t ret = 0;
int32_t errCode = 0;
/* Configure the divide value for MCANA source clock */
ret = SOC_setPeripheralClock(gMmwMssMCB.socHandle, SOC_MODULE_MCANA, SOC_CLKSOURCE_VCLK, 4U, &errCode);
if(ret != 0) System_printf("Error 1: %d\n", errCode);
/* Configure the divide value for MCANB source clock */
ret = SOC_setPeripheralClock(gMmwMssMCB.socHandle, SOC_MODULE_MCANB, SOC_CLKSOURCE_VCLK, 4U, &errCode);
if(ret != 0) System_printf("Error 2: %d\n", errCode);
System_printf("Pinmux...\n");
/* Setup the PINMUX to bring out the XWR68xx CANFD 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);
/* Setup the PINMUX to bring out the XWR68xx CANFD-2 pins */
Pinmux_Set_OverrideCtrl(SOC_XWR68XX_PINE15_PADAG, PINMUX_OUTEN_RETAIN_HW_CTRL, PINMUX_INPEN_RETAIN_HW_CTRL);
Pinmux_Set_FuncSel(SOC_XWR68XX_PINE15_PADAG, SOC_XWR68XX_PINE15_PADAG_CANFD2_TX);
Pinmux_Set_OverrideCtrl(SOC_XWR68XX_PINE13_PADAF, PINMUX_OUTEN_RETAIN_HW_CTRL, PINMUX_INPEN_RETAIN_HW_CTRL);
Pinmux_Set_FuncSel(SOC_XWR68XX_PINE13_PADAF, SOC_XWR68XX_PINE13_PADAF_CANFD2_RX);
System_printf("Initilizing CAN FD...\n");
canHandle = setup_CANFD();
if (canHandle == NULL)
{
MmwDemo_debugAssert (0);
return;
}
canTxMsgHandle = setup_CANFD_msg(canHandle);
if (canTxMsgHandle == NULL)
{
MmwDemo_debugAssert (0);
return;
}
}
Most of this code is copied directly from the canfd driver test in the mmwave sdk. I call CAN_init() at the end of the MmwDemo_initTask function from the demo and I call CANFD_writeTestMsg() at the end of the MmwDemo_transmitProcessedOutput function. Again, everything works perfectly, but only if I start debugging, and then terminate debugging before the sensor is started.
On another note, breakpoints I set in MmwDemo_transmitProcessedOutput don't seem to work. Is it not possible to use breakpoints in functions called from interrupts?
I am building the code with optimization disabled and none of the options to disable interrupts are enabled.
