Tool/software: Code Composer Studio
When I use CANFD in Type_CLASSIC, I use PCAN with this Bit Rate. (Nominal Bit rate = 1M Hz)
I can receive data from AWR1642.
But
When I use CANFD in Type_FD, I use PCAN with this Bit Rate. (Nominal Bit rate = 1M Hz; Data Bit rate = 5M Hz)
I can't receive data from AWR1642.
I just change
from CANFD_MCANFrameType testFrameType = CANFD_MCANFrameType_CLASSIC;
to CANFD_MCANFrameType testFrameType = CANFD_MCANFrameType_FD;
What is my negligence?
Hello JuiYang Chi,
There are couple of hardware modification to be done in the AWR1642BOOST for the external CAN communication to work .
Please see the below post that mentions the hardware ECO's to be done on the AWR1642BOOST for external CAN communication.
Thanks,
Raghu
I have removed R4 and R6 and mounted R11 and R12.
When I use CANFD with testFrameType = CANFD_MCANFrameType_CLASSIC
It is OK for PCAN and AWR1642.
They all can receive/transmit each other.
But When I use CANFD with testFrameType = CANFD_MCANFrameType_FD.
They can't receive/transmit each other.
Below is my bit rate in PCAN.
And below is the logs from the CCS debug
when I use CANFD with testFrameType = CANFD_MCANFrameType_FD.
----------------------------------------------------------------------------------------------------
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 Identifier : 193
Debug: Direction : Transmit
Debug: Number of interrupts received : 0
Debug: Number of messages processed : 1
Debug: Message Identifier : 194
Debug: Direction : Receive
Debug: Number of interrupts received : 0
Debug: Number of messages processed : 0
Debug: Receive passive status : 0
Debug: Transmit Error Counter : 8
Debug: Receive Error Counter : 0
Debug: Error Logging Counter : 0
Debug: LEC : 7
Debug: Activity : 1
Debug: Error Passive : 0
Debug: Warning Status : 0
Debug: Bus Off Status : 0
Debug: Data Phase LEC : 3
Debug: Rx ESI flag : 0
Debug: Rx BRS flag : 0
Debug: Rx CAN FD : 0
Debug: Protocol Exception Event : 0
Debug: TDC value : 13
Debug: Number of iterations : 2
Debug: Number of messages transmitted : 0
Debug: Number of messages received : 0
Debug: Number of messages lost : 0
Debug: Error Status Interrupt : 2
Debug: Message Identifier : 193
Debug: Direction : Transmit
Debug: Number of interrupts received : 0
Debug: Number of messages processed : 2
Debug: Message Identifier : 194
Debug: Direction : Receive
Debug: Number of interrupts received : 0
Debug: Number of messages processed : 0
Debug: Receive passive status : 0
Debug: Transmit Error Counter : 16
Debug: Receive Error Counter : 0
Debug: Error Logging Counter : 0
Debug: LEC : 7
Debug: Activity : 1
Debug: Error Passive : 0
Debug: Warning Status : 0
Debug: Bus Off Status : 0
Debug: Data Phase LEC : 3
Debug: Rx ESI flag : 0
Debug: Rx BRS flag : 0
Debug: Rx CAN FD : 0
Debug: Protocol Exception Event : 0
Debug: TDC value : 13
-----------------------------------------------------------------------------------
Do I still need to change what in main.c(C:\ti\mmwave_sdk_01_01_00_02\packages\ti\drivers\canfd\test\xwr16xx)?
Hi Raghu:
Yes, I have chosen CANFD on PCAN.
But it say below
This is my code.
/*
* @file main.c
*
* @brief
* Unit Test code for CANFD
*
* \par
* NOTE:
* (C) Copyright 2016 Texas Instruments, Inc.
*
* Redistribution and use in source and binary forms, with or without
* modification, are permitted provided that the following conditions
* are met:
*
* Redistributions of source code must retain the above copyright
* notice, this list of conditions and the following disclaimer.
*
* Redistributions in binary form must reproduce the above copyright
* notice, this list of conditions and the following disclaimer in the
* documentation and/or other materials provided with the
* distribution.
*
* Neither the name of Texas Instruments Incorporated nor the names of
* its contributors may be used to endorse or promote products derived
* from this software without specific prior written permission.
*
* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
* "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
* LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR
* A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT
* OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL,
* SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT
* LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS OF USE,
* DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND ON ANY
* THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT
* (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE
* OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
*/
/**************************************************************************
*************************** Include Files ********************************
**************************************************************************/
/* Standard Include Files. */
#include <stdint.h>
#include <stdlib.h>
#include <stddef.h>
#include <string.h>
#include <stdio.h>
#include <math.h>
/* BIOS/XDC Include Files. */
#include <xdc/std.h>
#include <xdc/cfg/global.h>
#include <xdc/runtime/IHeap.h>
#include <xdc/runtime/System.h>
#include <xdc/runtime/Error.h>
#include <xdc/runtime/Memory.h>
#include <ti/sysbios/BIOS.h>
#include <ti/sysbios/knl/Task.h>
#include <ti/sysbios/knl/Event.h>
#include <ti/sysbios/knl/Semaphore.h>
#include <ti/sysbios/knl/Clock.h>
#include <ti/sysbios/heaps/HeapBuf.h>
#include <ti/sysbios/heaps/HeapMem.h>
#include <ti/sysbios/knl/Event.h>
#include <ti/sysbios/family/arm/v7a/Pmu.h>
/* mmWave SK Include Files: */
#include <ti/common/sys_common.h>
#include <ti/drivers/soc/soc.h>
#include <ti/drivers/canfd/canfd.h>
#include <ti/drivers/pinmux/pinmux.h>
#include <ti/drivers/esm/esm.h>
#include <ti/utils/testlogger/logger.h>
#include <ti/drivers/osal/HwiP.h>
/**************************************************************************
*************************** Global Definitions ***************************
**************************************************************************/
/** \brief Number of messages sent */
#define MCAN_APP_TEST_INTERNAL_LOOPBACK 1
#define MCAN_APP_TEST_EXTERNAL_LOOPBACK 2
#define MCAN_APP_TEST_PARITY 3
#define MCAN_APP_TEST_EXTERNAL_DATA 4
#define MCAN_APP_TEST_EVM_EVM 5
#define MCAN_APP_TEST_TX_CANCEL 6
#define MCAN_APP_TEST_POWERDOWN 7
#define MCAN_APP_TEST_EVM_MODE_TX 1
#define MCAN_APP_TEST_EVM_MODE_RX 2
/** \brief Number of messages sent */
#define MCAN_APP_TEST_MESSAGE_COUNT 100
/* Global Variables */
volatile uint32_t testSelection = MCAN_APP_TEST_EXTERNAL_DATA;
volatile uint32_t gTxDoneFlag = 0, gRxDoneFlag = 0;
uint32_t iterationCount = 0U;
volatile uint32_t gTxPkts = 0, gRxPkts = 0, gErrStatusInt = 0;
uint8_t rxData[64U];
uint32_t txDataLength, rxDataLength, testDataLength = 0U;
uint32_t msgLstErrCnt = 0U;
uint32_t dataMissMatchErrCnt = 0U;
uint32_t rxTicks[MCAN_APP_TEST_MESSAGE_COUNT];
uint32_t txTicks[MCAN_APP_TEST_MESSAGE_COUNT];
uint32_t minRxTicks;
uint32_t maxRxTicks;
uint32_t minTxTicks;
uint32_t maxTxTicks;
uint32_t totalTxTicks;
uint32_t totalRxTicks;
uint8_t txData[64U] =
{0xA1, 0x1A, 0xFF, 0xFF, 0xC1, 0x1C, 0xB1, 0x1B,
0xA2, 0x2A, 0xFF, 0xFF, 0xC2, 0x2C, 0xB2, 0x2B,
0xA3, 0x3A, 0xFF, 0xFF, 0xC3, 0x3C, 0xB3, 0x3B,
0xA4, 0x4A, 0xFF, 0xFF, 0xC4, 0x4C, 0xB4, 0x4B,
0xA5, 0x5A, 0xFF, 0xFF, 0xC5, 0x5C, 0xB5, 0x5B,
0xA6, 0x6A, 0xFF, 0xFF, 0xC6, 0x6C, 0xB6, 0x6B,
0xA7, 0x7A, 0xFF, 0xFF, 0xC7, 0x7C, 0xB7, 0x7B,
0xA8, 0x8A, 0xFF, 0xFF, 0xC8, 0x8C, 0xB8, 0x8B};
uint32_t gDisplayStats = 0;
uint32_t MCANMode = 1;
CANFD_MCANFrameType testFrameType = CANFD_MCANFrameType_FD;
// CANFD_MCANFrameType testFrameType = CANFD_MCANFrameType_CLASSIC;
/**
* @b Description
* @n
* This function starts the PMU counter.
*
* @param[in] counter
* Counter id used for benchmarking
*
* @retval
* Not Applicable.
*/
void Test_benchmarkStart(uint32_t counter)
{
/* Initialize counter to count cycles */
Pmu_configureCounter(counter, 0x11, FALSE);
/* Reset PMU counter */
Pmu_resetCount(counter);
/* Start PMU counter */
Pmu_startCounter(counter);
}
/**
* @b Description
* @n
* This function stops a PMU counter and returns the current
* counter value.
*
* @param[in] counter
* Counter id used for benchmarking
*
* @retval
* Current PMU counter value.
*/
uint32_t Test_benchmarkStop(uint32_t counter)
{
/* Stop PMU counter */
Pmu_stopCounter(counter);
/* Read PMU counter */
return (Pmu_getCount(counter));
}
/**
* @b Description
* @n
* Application implemented callback function to handle error and status interrupts.
*
* @param[in] handle
* Handle to the CANFD Driver
* @param[in] reason
* Cause of the interrupt which prompted the callback.
* @param[in] errStatusResp
* Response structure populated with the value of the fields that caused the error or status interrupt.
* Processing of this structure is dependent on the callback reason.
*
* @retval
* Not Applicable.
*/
static void MCANAppErrStatusCallback(CANFD_Handle handle, CANFD_Reason reason, CANFD_ErrStatusResp* errStatusResp)
{
gErrStatusInt++;
return;
}
/**
* @b Description
* @n
* Application implemented callback function to handle Tx complete and receive interrupts.
*
* @param[in] handle
* Handle to the message object
* @param[in] reason
* Cause of the interrupt which prompted the callback.
*
* @retval
* Not Applicable.
*/
static void MCANAppCallback(CANFD_MsgObjHandle handle, CANFD_Reason reason)
{
int32_t errCode, retVal;
uint32_t id;
CANFD_MCANFrameType rxFrameType = testFrameType;
CANFD_MCANXidType rxIdType;
if (reason == CANFD_Reason_TX_COMPLETION)
{
{
gTxPkts++;
gTxDoneFlag = 1;
return;
}
}
if (reason == CANFD_Reason_RX)
{
{
/* Reset the receive buffer */
memset(&rxData, 0, sizeof (rxData));
testDataLength = 0;
if ((testSelection != MCAN_APP_TEST_EXTERNAL_DATA) && (gRxPkts < MCAN_APP_TEST_MESSAGE_COUNT))
{
/* Reset the counter: */
Test_benchmarkStart(0);
}
retVal = CANFD_getData (handle, &id, &rxFrameType, &rxIdType, &rxDataLength, &rxData[0], &errCode);
if (retVal < 0)
{
System_printf ("Error: CAN receive data for iteration %d failed [Error code %d]\n", iterationCount, errCode);
return;
}
txData[0]=rxData[0];
txData[1]=rxData[1];
txData[2]=rxData[2];
txData[3]=rxData[3];
if (rxFrameType != testFrameType)
{
System_printf ("Error: CAN received incorrect frame type Sent %d Received %d for iteration %d failed\n", testFrameType, rxFrameType, iterationCount);
return;
}
if ((testSelection != MCAN_APP_TEST_EXTERNAL_DATA) && (gRxPkts < MCAN_APP_TEST_MESSAGE_COUNT))
{
/* Stop the counter: */
rxTicks[gRxPkts] = Test_benchmarkStop(0);
/* Update the receive statistics: */
minRxTicks = (minRxTicks < rxTicks[gRxPkts]) ? minRxTicks : rxTicks[gRxPkts];
maxRxTicks = (maxRxTicks > rxTicks[gRxPkts]) ? maxRxTicks : rxTicks[gRxPkts];
totalRxTicks = totalRxTicks + rxTicks[gRxPkts];
}
/* Validate the data */
if ((testSelection == MCAN_APP_TEST_INTERNAL_LOOPBACK) || (testSelection == MCAN_APP_TEST_EXTERNAL_LOOPBACK) ||
(testSelection == MCAN_APP_TEST_EVM_EVM))
{
/* Check if sent data has been received */
if (rxDataLength == txDataLength)
{
while (testDataLength < rxDataLength)
{
if (rxData[testDataLength] != txData[testDataLength])
{
dataMissMatchErrCnt++;
System_printf ("Error: CAN receive data mismatch for iteration %d at byte %d\n", iterationCount, testDataLength);
}
testDataLength++;
}
}
}
gRxPkts++;
gRxDoneFlag = 1;
return;
}
}
if (reason == CANFD_Reason_TX_CANCELED)
{
{
gTxPkts++;
gTxDoneFlag = 1;
gRxDoneFlag = 1;
return;
}
}
}
/**
* @b Description
* @n
* Platform specific intializations.
*
* @retval
* Success - 0
* @retval
* Error - <0
*/
static int32_t PlatformInit(void)
{
/* Setup the PINMUX to bring out the XWR16xx CAN pins */
Pinmux_Set_OverrideCtrl(SOC_XWR16XX_PINE14_PADAE, PINMUX_OUTEN_RETAIN_HW_CTRL, PINMUX_INPEN_RETAIN_HW_CTRL);
Pinmux_Set_FuncSel(SOC_XWR16XX_PINE14_PADAE, SOC_XWR16XX_PINE14_PADAE_CANFD_TX);
Pinmux_Set_OverrideCtrl(SOC_XWR16XX_PIND13_PADAD, PINMUX_OUTEN_RETAIN_HW_CTRL, PINMUX_INPEN_RETAIN_HW_CTRL);
Pinmux_Set_FuncSel(SOC_XWR16XX_PIND13_PADAD, SOC_XWR16XX_PIND13_PADAD_CANFD_RX);
return 0;
}
static void MCANAppInitParams(CANFD_MCANInitParams* mcanCfgParams)
{
/*Intialize MCAN Config Params*/
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 = 0x1U;
mcanCfgParams->filterConfig.anfs = 0x1U;
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 = 0U;
mcanCfgParams->msgRAMConfig.rxFIFO0OpMode = 0U;
mcanCfgParams->msgRAMConfig.rxFIFO0waterMark = 0U;
mcanCfgParams->msgRAMConfig.rxFIFO1size = 64U;
mcanCfgParams->msgRAMConfig.rxFIFO1waterMark = 64U;
mcanCfgParams->msgRAMConfig.rxFIFO1OpMode = 64U;
if (testSelection == MCAN_APP_TEST_PARITY)
{
mcanCfgParams->eccConfig.enable = 1;
mcanCfgParams->eccConfig.enableChk = 1;
mcanCfgParams->eccConfig.enableRdModWr = 1;
}
else
{
mcanCfgParams->eccConfig.enable = 1;
mcanCfgParams->eccConfig.enableChk = 1;
mcanCfgParams->eccConfig.enableRdModWr = 1;
}
mcanCfgParams->errInterruptEnable = 1U;
mcanCfgParams->dataInterruptEnable = 1U;
mcanCfgParams->appErrCallBack = MCANAppErrStatusCallback;
mcanCfgParams->appDataCallBack = MCANAppCallback;
}
static int32_t mcanLoopbackTest()
{
CANFD_Handle canHandle;
CANFD_MsgObjHandle txMsgObjHandle;
CANFD_MsgObjHandle rxMsgObjHandle;
int32_t retVal = 0;
int32_t errCode = 0;
CANFD_OptionTLV optionTLV;
uint8_t value;
CANFD_MCANInitParams mcanCfgParams;
CANFD_MCANBitTimingParams mcanBitTimingParams;
CANFD_MCANMsgObjCfgParams txMsgObjectParams;
CANFD_MCANMsgObjCfgParams rxMsgObjectParams;
CANFD_MCANLoopbackCfgParams mcanloopbackParams;
CANFD_MCANMsgObjectStats msgObjStats;
gTxDoneFlag = 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 = 0x4U;
mcanBitTimingParams.nomPropSeg = 0x8U;
mcanBitTimingParams.nomPseg1 = 0x6U;
mcanBitTimingParams.nomPseg2 = 0x5U;
mcanBitTimingParams.nomSjw = 0x1U;
mcanBitTimingParams.dataBrp = 0x1U;
mcanBitTimingParams.dataPropSeg = 0x2U;
mcanBitTimingParams.dataPseg1 = 0x2U;
mcanBitTimingParams.dataPseg2 = 0x3U;
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;
}
mcanloopbackParams.enable = 1;
if (testSelection == MCAN_APP_TEST_INTERNAL_LOOPBACK)
mcanloopbackParams.mode = CANFD_MCANLoopBackMode_INTERNAL;
else
mcanloopbackParams.mode = CANFD_MCANLoopBackMode_EXTERNAL;
optionTLV.type = CANFD_Option_MCAN_LOOPBACK;
optionTLV.length = sizeof(CANFD_MCANLoopbackCfgParams);
optionTLV.value = (void*) &mcanloopbackParams;
retVal = CANFD_setOptions(canHandle, &optionTLV, &errCode);
if (retVal < 0)
{
System_printf ("Error: CANFD set option Loopback failed [Error code %d]\n", errCode);
return -1;
}
/* Setup the transmit message object */
txMsgObjectParams.direction = CANFD_Direction_TX;
txMsgObjectParams.msgIdType = CANFD_MCANXidType_29_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 -1;
}
/* Setup the receive message object */
rxMsgObjectParams.direction = CANFD_Direction_RX;
rxMsgObjectParams.msgIdType = CANFD_MCANXidType_29_BIT;
rxMsgObjectParams.msgIdentifier = 0x29E;
rxMsgObjHandle = CANFD_createMsgObject (canHandle, &rxMsgObjectParams, &errCode);
if (rxMsgObjHandle == NULL)
{
System_printf ("Error: CANFD create Rx message object failed [Error code %d]\n", errCode);
return -1;
}
/* Initialize the measurement counters */
minRxTicks = 0xFFFFFFFFU;
maxRxTicks = 0U;
minTxTicks = 0xFFFFFFFFU;
maxTxTicks = 0U;
totalTxTicks = 0U;
totalRxTicks = 0U;
while (iterationCount != MCAN_APP_TEST_MESSAGE_COUNT)
{
/* Reset the counter: */
Test_benchmarkStart(0);
if (testSelection == MCAN_APP_TEST_TX_CANCEL)
{
/* Cancel data over Tx message object */
retVal = CANFD_transmitDataCancel (txMsgObjHandle, &errCode);
if (retVal < 0)
{
System_printf ("Error: CANFD transmit data cancel for iteration %d failed [Error code %d]\n", iterationCount, errCode);
return -1;
}
}
else
{
/* Send data over Tx message object */
if (testFrameType == CANFD_MCANFrameType_FD)
retVal = CANFD_transmitData (txMsgObjHandle, txMsgObjectParams.msgIdentifier, CANFD_MCANFrameType_FD, 64U, &txData[0], &errCode);
else
retVal = CANFD_transmitData (txMsgObjHandle, txMsgObjectParams.msgIdentifier, CANFD_MCANFrameType_CLASSIC, 64U, &txData[0], &errCode);
if (retVal < 0)
{
System_printf ("Error: CANFD transmit data for iteration %d failed [Error code %d]\n", iterationCount, errCode);
return -1;
}
}
/* Stop the counter: */
txTicks[iterationCount] = Test_benchmarkStop(0);
/* Update the transmit statistics: */
minTxTicks = (minTxTicks < txTicks[iterationCount]) ? minTxTicks : txTicks[iterationCount];
maxTxTicks = (maxTxTicks > txTicks[iterationCount]) ? maxTxTicks : txTicks[iterationCount];
totalTxTicks = totalTxTicks + txTicks[iterationCount];
while (gTxDoneFlag == 0);
gTxDoneFlag = 0;
while (gRxDoneFlag == 0);
gRxDoneFlag = 0;
iterationCount++;
}
System_printf("Debug: Number of iterations : %d\n", iterationCount);
System_printf("Debug: Number of messages transmitted : %d\n", gTxPkts);
System_printf("Debug: Number of messages received : %d\n", gRxPkts);
System_printf("Debug: Number of messages lost : %d\n", msgLstErrCnt);
System_printf("Debug: Number of data mismatch : %d\n", dataMissMatchErrCnt);
System_printf("Debug: Error Status Interrupt : %d\n", gErrStatusInt);
System_printf("\n\n");
msgObjStats.handle = txMsgObjHandle;
optionTLV.type = CANFD_Option_MCAN_MSG_OBJECT_STATS;
optionTLV.length = sizeof(CANFD_MCANMsgObjectStats);
optionTLV.value = (void*) &msgObjStats;
retVal = CANFD_getOptions(canHandle, &optionTLV, &errCode);
if (retVal < 0)
{
System_printf ("Error: CANFD get stats failed [Error code %d]\n", errCode);
return -1;
}
System_printf("Debug: Message Identifier : %d\n", msgObjStats.msgId);
System_printf("Debug: Direction : %s\n", (msgObjStats.direction == 0) ? "Receive" : "Transmit");
System_printf("Debug: Number of interrupts received : %d\n", msgObjStats.interruptsRxed);
System_printf("Debug: Number of messages processed : %d\n", msgObjStats.messageProcessed);
System_printf("\n\n");
msgObjStats.handle = rxMsgObjHandle;
retVal = CANFD_getOptions(canHandle, &optionTLV, &errCode);
if (retVal < 0)
{
System_printf ("Error: CANFD get stats failed [Error code %d]\n", errCode);
return -1;
}
System_printf("Debug: Message Identifier : %d\n", msgObjStats.msgId);
System_printf("Debug: Direction : %s\n", (msgObjStats.direction == 0) ? "Receive" : "Transmit");
System_printf("Debug: Number of interrupts received : %d\n", msgObjStats.interruptsRxed);
System_printf("Debug: Number of messages processed : %d\n", msgObjStats.messageProcessed);
if (testSelection != MCAN_APP_TEST_TX_CANCEL)
{
System_printf("Debug: Receive & Transmit Measurements\n");
System_printf("Debug: Rx Min:%d Max: %d Average:%d ticks\n", minRxTicks, maxRxTicks, totalRxTicks/gTxPkts);
System_printf("Debug: Tx Min:%d Max: %d Average:%d ticks\n", minTxTicks, maxTxTicks, totalTxTicks/gRxPkts);
}
System_printf("\n\n");
/* Reset the driver */
optionTLV.type = CANFD_Option_MCAN_MODE;
optionTLV.length = sizeof(uint8_t);
value = 1U;
optionTLV.value = (void*) &value;
retVal = CANFD_setOptions(canHandle, &optionTLV, &errCode);
if (retVal < 0)
{
System_printf ("Error: CANFD set option Mode - SW INIT failed [Error code %d]\n", errCode);
return -1;
}
optionTLV.type = CANFD_Option_MCAN_MODE;
optionTLV.length = sizeof(uint8_t);
value = 0U;
optionTLV.value = (void*) &value;
retVal = CANFD_setOptions(canHandle, &optionTLV, &errCode);
if (retVal < 0)
{
System_printf ("Error: CANFD set option Mode - NORMAL failed [Error code %d]\n", errCode);
return -1;
}
retVal = CANFD_deleteMsgObject(txMsgObjHandle, &errCode);
if (retVal < 0)
{
System_printf ("Error: CANFD delete Tx message object failed [Error code %d]\n", errCode);
return -1;
}
retVal = CANFD_deleteMsgObject(rxMsgObjHandle, &errCode);
if (retVal < 0)
{
System_printf ("Error: CANFD delete Rx message object failed [Error code %d]\n", errCode);
return -1;
}
retVal = CANFD_deinit(canHandle, &errCode);
if (retVal < 0)
{
System_printf ("Error: CANFD deinit failed [Error code %d]\n", errCode);
return -1;
}
if ((msgLstErrCnt == 0) && (dataMissMatchErrCnt == 0))
{
if (testSelection == MCAN_APP_TEST_INTERNAL_LOOPBACK)
{
System_printf("Debug: Internal loopback testing for %d iterations Passed\n", iterationCount);
}
else
{
System_printf("Debug: External loopback testing for %d iterations Passed\n", iterationCount);
}
}
else
{
if (testSelection == MCAN_APP_TEST_INTERNAL_LOOPBACK)
{
System_printf("Debug: Internal loopback testing for %d iterations Failed\n", iterationCount);
retVal = -1;
}
else
{
System_printf("Debug: External loopback testing for %d iterations Failed\n", iterationCount);
retVal = -1;
}
}
return retVal;
}
static int32_t mcanPowerDownTest()
{
CANFD_Handle canHandle;
CANFD_MsgObjHandle txMsgObjHandle;
CANFD_MsgObjHandle rxMsgObjHandle;
int32_t retVal = 0;
int32_t errCode = 0;
CANFD_OptionTLV optionTLV;
uint8_t value;
CANFD_MCANInitParams mcanCfgParams;
CANFD_MCANBitTimingParams mcanBitTimingParams;
CANFD_MCANMsgObjCfgParams txMsgObjectParams;
CANFD_MCANMsgObjCfgParams rxMsgObjectParams;
CANFD_MCANLoopbackCfgParams mcanloopbackParams;
CANFD_MCANMsgObjectStats msgObjStats;
gTxDoneFlag = 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 = 0x4U;
mcanBitTimingParams.nomPropSeg = 0x8U;
mcanBitTimingParams.nomPseg1 = 0x6U;
mcanBitTimingParams.nomPseg2 = 0x5U;
mcanBitTimingParams.nomSjw = 0x1U;
mcanBitTimingParams.dataBrp = 0x1U;
mcanBitTimingParams.dataPropSeg = 0x2U;
mcanBitTimingParams.dataPseg1 = 0x2U;
mcanBitTimingParams.dataPseg2 = 0x3U;
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;
}
mcanloopbackParams.enable = 1;
mcanloopbackParams.mode = CANFD_MCANLoopBackMode_EXTERNAL;
optionTLV.type = CANFD_Option_MCAN_LOOPBACK;
optionTLV.length = sizeof(CANFD_MCANLoopbackCfgParams);
optionTLV.value = (void*) &mcanloopbackParams;
retVal = CANFD_setOptions(canHandle, &optionTLV, &errCode);
if (retVal < 0)
{
System_printf ("Error: CANFD set option Loopback failed [Error code %d]\n", errCode);
return -1;
}
/* 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 -1;
}
/* Setup the receive message object */
rxMsgObjectParams.direction = CANFD_Direction_RX;
rxMsgObjectParams.msgIdType = CANFD_MCANXidType_11_BIT;
rxMsgObjectParams.msgIdentifier = 0x29E;
rxMsgObjHandle = CANFD_createMsgObject (canHandle, &rxMsgObjectParams, &errCode);
if (rxMsgObjHandle == NULL)
{
System_printf ("Error: CANFD create Rx message object failed [Error code %d]\n", errCode);
return -1;
}
/* Initialize the measurement counters */
minRxTicks = 0xFFFFFFFFU;
maxRxTicks = 0U;
minTxTicks = 0xFFFFFFFFU;
maxTxTicks = 0U;
totalTxTicks = 0U;
totalRxTicks = 0U;
while (iterationCount != MCAN_APP_TEST_MESSAGE_COUNT)
{
/* Reset the counter: */
Test_benchmarkStart(0);
{
/* Send data over Tx message object */
if (testFrameType == CANFD_MCANFrameType_FD)
retVal = CANFD_transmitData (txMsgObjHandle, txMsgObjectParams.msgIdentifier, CANFD_MCANFrameType_FD, 64U, &txData[0], &errCode);
else
retVal = CANFD_transmitData (txMsgObjHandle, txMsgObjectParams.msgIdentifier, CANFD_MCANFrameType_CLASSIC, 64U, &txData[0], &errCode);
if (retVal < 0)
{
System_printf ("Error: CANFD transmit data for iteration %d failed [Error code %d]\n", iterationCount, errCode);
return -1;
}
}
/* Stop the counter: */
txTicks[iterationCount] = Test_benchmarkStop(0);
/* Update the transmit statistics: */
minTxTicks = (minTxTicks < txTicks[iterationCount]) ? minTxTicks : txTicks[iterationCount];
maxTxTicks = (maxTxTicks > txTicks[iterationCount]) ? maxTxTicks : txTicks[iterationCount];
totalTxTicks = totalTxTicks + txTicks[iterationCount];
while (gTxDoneFlag == 0);
gTxDoneFlag = 0;
while (gRxDoneFlag == 0);
gRxDoneFlag = 0;
iterationCount++;
}
System_printf("Debug: Number of iterations : %d\n", iterationCount);
System_printf("Debug: Number of messages transmitted : %d\n", gTxPkts);
System_printf("Debug: Number of messages received : %d\n", gRxPkts);
System_printf("Debug: Number of messages lost : %d\n", msgLstErrCnt);
System_printf("Debug: Number of data mismatch : %d\n", dataMissMatchErrCnt);
System_printf("Debug: Error Status Interrupt : %d\n", gErrStatusInt);
System_printf("\n\n");
msgObjStats.handle = txMsgObjHandle;
optionTLV.type = CANFD_Option_MCAN_MSG_OBJECT_STATS;
optionTLV.length = sizeof(CANFD_MCANMsgObjectStats);
optionTLV.value = (void*) &msgObjStats;
retVal = CANFD_getOptions(canHandle, &optionTLV, &errCode);
if (retVal < 0)
{
System_printf ("Error: CANFD get stats failed [Error code %d]\n", errCode);
return -1;
}
System_printf("Debug: Message Identifier : %d\n", msgObjStats.msgId);
System_printf("Debug: Direction : %s\n", (msgObjStats.direction == 0) ? "Receive" : "Transmit");
System_printf("Debug: Number of interrupts received : %d\n", msgObjStats.interruptsRxed);
System_printf("Debug: Number of messages processed : %d\n", msgObjStats.messageProcessed);
System_printf("\n\n");
msgObjStats.handle = rxMsgObjHandle;
retVal = CANFD_getOptions(canHandle, &optionTLV, &errCode);
if (retVal < 0)
{
System_printf ("Error: CANFD get stats failed [Error code %d]\n", errCode);
return -1;
}
System_printf("Debug: Message Identifier : %d\n", msgObjStats.msgId);
System_printf("Debug: Direction : %s\n", (msgObjStats.direction == 0) ? "Receive" : "Transmit");
System_printf("Debug: Number of interrupts received : %d\n", msgObjStats.interruptsRxed);
System_printf("Debug: Number of messages processed : %d\n", msgObjStats.messageProcessed);
System_printf("\n\n");
/* Power Down the module */
optionTLV.type = CANFD_Option_MCAN_POWER_DOWN;
optionTLV.length = sizeof(uint8_t);
value = 1U;
optionTLV.value = (void*) &value;
retVal = CANFD_setOptions(canHandle, &optionTLV, &errCode);
if (retVal < 0)
{
System_printf ("Error: CANFD set option Power Down failed [Error code %d]\n", errCode);
return -1;
}
else
System_printf ("Debug: CANFD Module Power Down sucessful\n");
optionTLV.type = CANFD_Option_MCAN_POWER_DOWN;
optionTLV.length = sizeof(uint8_t);
value = 0;
optionTLV.value = (void*) &value;
retVal = CANFD_setOptions(canHandle, &optionTLV, &errCode);
if (retVal < 0)
{
System_printf ("Error: CANFD set option Wake Up failed [Error code %d]\n", errCode);
return -1;
}
else
System_printf ("Debug: CANFD Module is Wake Up sucessful\n");
System_printf("\n\n");
iterationCount = 0;
while (iterationCount != MCAN_APP_TEST_MESSAGE_COUNT)
{
/* Reset the counter: */
Test_benchmarkStart(0);
{
/* Send data over Tx message object */
if (testFrameType == CANFD_MCANFrameType_FD)
retVal = CANFD_transmitData (txMsgObjHandle, txMsgObjectParams.msgIdentifier, CANFD_MCANFrameType_FD, 64U, &txData[0], &errCode);
else
retVal = CANFD_transmitData (txMsgObjHandle, txMsgObjectParams.msgIdentifier, CANFD_MCANFrameType_CLASSIC, 64U, &txData[0], &errCode);
if (retVal < 0)
{
System_printf ("Error: CANFD transmit data for iteration %d failed [Error code %d]\n", iterationCount, errCode);
return -1;
}
}
/* Stop the counter: */
txTicks[iterationCount] = Test_benchmarkStop(0);
/* Update the transmit statistics: */
minTxTicks = (minTxTicks < txTicks[iterationCount]) ? minTxTicks : txTicks[iterationCount];
maxTxTicks = (maxTxTicks > txTicks[iterationCount]) ? maxTxTicks : txTicks[iterationCount];
totalTxTicks = totalTxTicks + txTicks[iterationCount];
while (gTxDoneFlag == 0);
gTxDoneFlag = 0;
while (gRxDoneFlag == 0);
gRxDoneFlag = 0;
iterationCount++;
}
System_printf("\n\n");
System_printf("Debug: Number of iterations : %d\n", iterationCount);
System_printf("Debug: Number of messages transmitted : %d\n", gTxPkts);
System_printf("Debug: Number of messages received : %d\n", gRxPkts);
System_printf("Debug: Number of messages lost : %d\n", msgLstErrCnt);
System_printf("Debug: Number of data mismatch : %d\n", dataMissMatchErrCnt);
System_printf("Debug: Error Status Interrupt : %d\n", gErrStatusInt);
System_printf("\n\n");
msgObjStats.handle = txMsgObjHandle;
optionTLV.type = CANFD_Option_MCAN_MSG_OBJECT_STATS;
optionTLV.length = sizeof(CANFD_MCANMsgObjectStats);
optionTLV.value = (void*) &msgObjStats;
retVal = CANFD_getOptions(canHandle, &optionTLV, &errCode);
if (retVal < 0)
{
System_printf ("Error: CANFD get stats failed [Error code %d]\n", errCode);
return -1;
}
System_printf("Debug: Message Identifier : %d\n", msgObjStats.msgId);
System_printf("Debug: Direction : %s\n", (msgObjStats.direction == 0) ? "Receive" : "Transmit");
System_printf("Debug: Number of interrupts received : %d\n", msgObjStats.interruptsRxed);
System_printf("Debug: Number of messages processed : %d\n", msgObjStats.messageProcessed);
System_printf("\n\n");
msgObjStats.handle = rxMsgObjHandle;
retVal = CANFD_getOptions(canHandle, &optionTLV, &errCode);
if (retVal < 0)
{
System_printf ("Error: CANFD get stats failed [Error code %d]\n", errCode);
return -1;
}
System_printf("Debug: Message Identifier : %d\n", msgObjStats.msgId);
System_printf("Debug: Direction : %s\n", (msgObjStats.direction == 0) ? "Receive" : "Transmit");
System_printf("Debug: Number of interrupts received : %d\n", msgObjStats.interruptsRxed);
System_printf("Debug: Number of messages processed : %d\n", msgObjStats.messageProcessed);
System_printf("\n\n");
retVal = CANFD_deleteMsgObject(txMsgObjHandle, &errCode);
if (retVal < 0)
{
System_printf ("Error: CANFD delete Tx message object failed [Error code %d]\n", errCode);
return -1;
}
retVal = CANFD_deleteMsgObject(rxMsgObjHandle, &errCode);
if (retVal < 0)
{
System_printf ("Error: CANFD delete Rx message object failed [Error code %d]\n", errCode);
return -1;
}
retVal = CANFD_deinit(canHandle, &errCode);
if (retVal < 0)
{
System_printf ("Error: CANFD deinit failed [Error code %d]\n", errCode);
return -1;
}
if ((msgLstErrCnt != 0) || (dataMissMatchErrCnt != 0))
{
System_printf("Debug: Power down testing with data failed\n");
retVal = -1;
}
return retVal;
}
static int32_t mcanTransmitTest()
{
CANFD_Handle canHandle;
CANFD_MsgObjHandle txMsgObjHandle;
CANFD_MsgObjHandle rxMsgObjHandle;
int32_t retVal = 0;
int32_t errCode = 0;
CANFD_OptionTLV optionTLV;
CANFD_MCANInitParams mcanCfgParams;
CANFD_MCANBitTimingParams mcanBitTimingParams;
CANFD_MCANMsgObjCfgParams txMsgObjectParams;
CANFD_MCANMsgObjCfgParams rxMsgObjectParams;
CANFD_MCANMsgObjectStats msgObjStats;
CANFD_MCANErrCntStatus errCounter;
CANFD_MCANProtocolStatus protoStatus;
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 = 0x1U;
mcanBitTimingParams.dataPropSeg = 0x2U;
mcanBitTimingParams.dataPseg1 = 0x2U;
mcanBitTimingParams.dataPseg2 = 0x3U;
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;
}
/* Setup the transmit message object */
txMsgObjectParams.direction = CANFD_Direction_TX;
txMsgObjectParams.msgIdType = CANFD_MCANXidType_29_BIT;
txMsgObjectParams.msgIdentifier = 0xC1;
txMsgObjHandle = CANFD_createMsgObject (canHandle, &txMsgObjectParams, &errCode);
if (txMsgObjHandle == NULL)
{
System_printf ("Error: CANFD create Tx message object failed [Error code %d]\n", errCode);
return -1;
}
/* Setup the receive message object */
rxMsgObjectParams.direction = CANFD_Direction_RX;
rxMsgObjectParams.msgIdType = CANFD_MCANXidType_29_BIT;
rxMsgObjectParams.msgIdentifier = 0xC2;
rxMsgObjHandle = CANFD_createMsgObject (canHandle, &rxMsgObjectParams, &errCode);
if (rxMsgObjHandle == NULL)
{
System_printf ("Error: CANFD create Rx message object failed [Error code %d]\n", errCode);
return -1;
}
while (1)
{
/* Send data over Tx message object */
if (testFrameType == CANFD_MCANFrameType_FD)
retVal = CANFD_transmitData (txMsgObjHandle, txMsgObjectParams.msgIdentifier, CANFD_MCANFrameType_FD, 64U, &txData[0], &errCode);
else // == CANFD_MCANFrameType_CLASSIC
retVal = CANFD_transmitData (txMsgObjHandle, txMsgObjectParams.msgIdentifier, CANFD_MCANFrameType_CLASSIC, 8U, &txData[0], &errCode);
if (retVal < 0)
{
msgLstErrCnt++;
continue;
}
iterationCount++;
if (gDisplayStats == 0)
// if (gDisplayStats == 1)
{
gDisplayStats = 0;
System_printf("Debug: Number of iterations : %d\n", iterationCount);
System_printf("Debug: Number of messages transmitted : %d\n", gTxPkts);
System_printf("Debug: Number of messages received : %d\n", gRxPkts);
System_printf("Debug: Number of messages lost : %d\n", msgLstErrCnt);
System_printf("Debug: Error Status Interrupt : %d\n", gErrStatusInt);
System_printf("\n\n");
msgObjStats.handle = txMsgObjHandle;
optionTLV.type = CANFD_Option_MCAN_MSG_OBJECT_STATS;
optionTLV.length = sizeof(CANFD_MCANMsgObjectStats);
optionTLV.value = (void*) &msgObjStats;
retVal = CANFD_getOptions(canHandle, &optionTLV, &errCode);
if (retVal < 0)
{
System_printf ("Error: CANFD get stats failed [Error code %d]\n", errCode);
}
System_printf("Debug: Message Identifier : %d\n", msgObjStats.msgId);
System_printf("Debug: Direction : %s\n", (msgObjStats.direction == 0) ? "Receive" : "Transmit");
System_printf("Debug: Number of interrupts received : %d\n", msgObjStats.interruptsRxed);
System_printf("Debug: Number of messages processed : %d\n", msgObjStats.messageProcessed);
System_printf("\n\n");
msgObjStats.handle = rxMsgObjHandle;
retVal = CANFD_getOptions(canHandle, &optionTLV, &errCode);
if (retVal < 0)
{
System_printf ("Error: CANFD get stats failed [Error code %d]\n", errCode);
}
System_printf("Debug: Message Identifier : %d\n", msgObjStats.msgId);
System_printf("Debug: Direction : %s\n", (msgObjStats.direction == 0) ? "Receive" : "Transmit");
System_printf("Debug: Number of interrupts received : %d\n", msgObjStats.interruptsRxed);
System_printf("Debug: Number of messages processed : %d\n", msgObjStats.messageProcessed);
System_printf("\n\n");
optionTLV.type = CANFD_Option_MCAN_ERROR_COUNTER;
optionTLV.length = sizeof(CANFD_MCANErrCntStatus);
optionTLV.value = (void*) &errCounter;
retVal = CANFD_getOptions(canHandle, &optionTLV, &errCode);
if (retVal < 0)
{
System_printf ("Error: CANFD get error counter failed [Error code %d]\n", errCode);
}
System_printf("Debug: Receive passive status : %d\n", errCounter.rpStatus);
System_printf("Debug: Transmit Error Counter : %d\n", errCounter.transErrLogCnt);
System_printf("Debug: Receive Error Counter : %d\n", errCounter.recErrCnt);
System_printf("Debug: Error Logging Counter : %d\n", errCounter.canErrLogCnt);
System_printf("\n\n");
optionTLV.type = CANFD_Option_MCAN_PROTOCOL_STATUS;
optionTLV.length = sizeof(CANFD_MCANProtocolStatus);
optionTLV.value = (void*) &protoStatus;
retVal = CANFD_getOptions(canHandle, &optionTLV, &errCode);
if (retVal < 0)
{
System_printf ("Error: CANFD get protocol status failed [Error code %d]\n", errCode);
}
System_printf("Debug: LEC : %d\n", protoStatus.lastErrCode);
System_printf("Debug: Activity : %d\n", protoStatus.act);
System_printf("Debug: Error Passive : %d\n", protoStatus.errPassive);
System_printf("Debug: Warning Status : %d\n", protoStatus.warningStatus);
System_printf("Debug: Bus Off Status : %d\n", protoStatus.busOffStatus);
System_printf("Debug: Data Phase LEC : %d\n", protoStatus.dlec);
System_printf("Debug: Rx ESI flag : %d\n", protoStatus.resi);
System_printf("Debug: Rx BRS flag : %d\n", protoStatus.rbrs);
System_printf("Debug: Rx CAN FD : %d\n", protoStatus.rfdf);
System_printf("Debug: Protocol Exception Event : %d\n", protoStatus.pxe);
System_printf("Debug: TDC value : %d\n", protoStatus.tdcv);
System_printf("\n\n");
}
}
}
static int32_t mcanEVM_EVMTest()
{
CANFD_Handle canHandle;
CANFD_MsgObjHandle txMsgObjHandle;
CANFD_MsgObjHandle rxMsgObjHandle;
int32_t retVal = 0;
int32_t errCode = 0;
CANFD_OptionTLV optionTLV;
CANFD_MCANInitParams mcanCfgParams;
CANFD_MCANBitTimingParams mcanBitTimingParams;
CANFD_MCANMsgObjCfgParams txMsgObjectParams;
CANFD_MCANMsgObjCfgParams rxMsgObjectParams;
CANFD_MCANMsgObjectStats msgObjStats;
CANFD_MCANErrCntStatus errCounter;
CANFD_MCANProtocolStatus protoStatus;
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 = 0x1U;
mcanBitTimingParams.dataPropSeg = 0x2U;
mcanBitTimingParams.dataPseg1 = 0x2U;
mcanBitTimingParams.dataPseg2 = 0x3U;
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;
}
/* Initialize the measurement counters */
minRxTicks = 0xFFFFFFFFU;
maxRxTicks = 0U;
minTxTicks = 0xFFFFFFFFU;
maxTxTicks = 0U;
totalTxTicks = 0U;
totalRxTicks = 0U;
/* Set the EVM in transmit mode*/
if (MCANMode == MCAN_APP_TEST_EVM_MODE_TX)
{
/* Setup the transmit message object */
txMsgObjectParams.direction = CANFD_Direction_TX;
txMsgObjectParams.msgIdType = CANFD_MCANXidType_29_BIT;
txMsgObjectParams.msgIdentifier = 0xC1;
txMsgObjHandle = CANFD_createMsgObject (canHandle, &txMsgObjectParams, &errCode);
if (txMsgObjHandle == NULL)
{
System_printf ("Error: CANFD create Tx message object failed [Error code %d]\n", errCode);
return -1;
}
/* Send data over Tx message object */
if (testFrameType == CANFD_MCANFrameType_FD)
retVal = CANFD_transmitData (txMsgObjHandle, txMsgObjectParams.msgIdentifier, CANFD_MCANFrameType_FD, 64U, &txData[0], &errCode);
else
retVal = CANFD_transmitData (txMsgObjHandle, txMsgObjectParams.msgIdentifier, CANFD_MCANFrameType_CLASSIC, 64U, &txData[0], &errCode);
if (retVal < 0)
{
//System_printf ("Error: CANFD transmit data for iteration %d failed [Error code %d]\n", iterationCount, errCode);
return -1;
}
/* Wait for the transmit complete interrupt */
while (gTxDoneFlag == 0);
gTxDoneFlag = 0;
System_printf("Debug: Number of iterations : %d\n", iterationCount);
System_printf("Debug: Number of messages transmitted : %d\n", gTxPkts);
System_printf("Debug: Number of messages received : %d\n", gRxPkts);
System_printf("Debug: Number of messages lost : %d\n", msgLstErrCnt);
System_printf("Debug: Error Status Interrupt : %d\n", gErrStatusInt);
System_printf("\n\n");
msgObjStats.handle = txMsgObjHandle;
optionTLV.type = CANFD_Option_MCAN_MSG_OBJECT_STATS;
optionTLV.length = sizeof(CANFD_MCANMsgObjectStats);
optionTLV.value = (void*) &msgObjStats;
retVal = CANFD_getOptions(canHandle, &optionTLV, &errCode);
if (retVal < 0)
{
System_printf ("Error: CANFD get stats failed [Error code %d]\n", errCode);
}
System_printf("Debug: Message Identifier : %d\n", msgObjStats.msgId);
System_printf("Debug: Direction : %s\n", (msgObjStats.direction == 0) ? "Receive" : "Transmit");
System_printf("Debug: Number of interrupts received : %d\n", msgObjStats.interruptsRxed);
System_printf("Debug: Number of messages processed : %d\n", msgObjStats.messageProcessed);
System_printf("\n\n");
}
/* Set the EVM in transmit mode*/
if (MCANMode == MCAN_APP_TEST_EVM_MODE_RX)
{
/* Setup the receive message object */
rxMsgObjectParams.direction = CANFD_Direction_RX;
rxMsgObjectParams.msgIdType = CANFD_MCANXidType_29_BIT;
rxMsgObjectParams.msgIdentifier = 0xC1;
rxMsgObjHandle = CANFD_createMsgObject (canHandle, &rxMsgObjectParams, &errCode);
if (rxMsgObjHandle == NULL)
{
System_printf ("Error: CANFD create Rx message object failed [Error code %d]\n", errCode);
return -1;
}
/* Wait for the packet to arrive */
while (gRxDoneFlag == 0);
gRxDoneFlag = 0;
msgObjStats.handle = rxMsgObjHandle;
optionTLV.type = CANFD_Option_MCAN_MSG_OBJECT_STATS;
optionTLV.length = sizeof(CANFD_MCANMsgObjectStats);
optionTLV.value = (void*) &msgObjStats;
retVal = CANFD_getOptions(canHandle, &optionTLV, &errCode);
if (retVal < 0)
{
System_printf ("Error: CANFD get stats failed [Error code %d]\n", errCode);
}
System_printf("Debug: Message Identifier : %d\n", msgObjStats.msgId);
System_printf("Debug: Direction : %s\n", (msgObjStats.direction == 0) ? "Receive" : "Transmit");
System_printf("Debug: Number of interrupts received : %d\n", msgObjStats.interruptsRxed);
System_printf("Debug: Number of messages processed : %d\n", msgObjStats.messageProcessed);
System_printf("\n\n");
optionTLV.type = CANFD_Option_MCAN_ERROR_COUNTER;
optionTLV.length = sizeof(CANFD_MCANErrCntStatus);
optionTLV.value = (void*) &errCounter;
retVal = CANFD_getOptions(canHandle, &optionTLV, &errCode);
if (retVal < 0)
{
System_printf ("Error: CANFD get error counter failed [Error code %d]\n", errCode);
}
System_printf("Debug: Receive passive status : %d\n", errCounter.rpStatus);
System_printf("Debug: Transmit Error Counter : %d\n", errCounter.transErrLogCnt);
System_printf("Debug: Receive Error Counter : %d\n", errCounter.recErrCnt);
System_printf("Debug: Error Logging Counter : %d\n", errCounter.canErrLogCnt);
System_printf("\n\n");
optionTLV.type = CANFD_Option_MCAN_PROTOCOL_STATUS;
optionTLV.length = sizeof(CANFD_MCANProtocolStatus);
optionTLV.value = (void*) &protoStatus;
retVal = CANFD_getOptions(canHandle, &optionTLV, &errCode);
if (retVal < 0)
{
System_printf ("Error: CANFD get protocol status failed [Error code %d]\n", errCode);
}
System_printf("Debug: LEC : %d\n", protoStatus.lastErrCode);
System_printf("Debug: Activity : %d\n", protoStatus.act);
System_printf("Debug: Error Passive : %d\n", protoStatus.errPassive);
System_printf("Debug: Warning Status : %d\n", protoStatus.warningStatus);
System_printf("Debug: Bus Off Status : %d\n", protoStatus.busOffStatus);
System_printf("Debug: Data Phase LEC : %d\n", protoStatus.dlec);
System_printf("Debug: Rx ESI flag : %d\n", protoStatus.resi);
System_printf("Debug: Rx BRS flag : %d\n", protoStatus.rbrs);
System_printf("Debug: Rx CAN FD : %d\n", protoStatus.rfdf);
System_printf("Debug: Protocol Exception Event : %d\n", protoStatus.pxe);
System_printf("Debug: TDC value : %d\n", protoStatus.tdcv);
System_printf("\n\n");
}
return 0;
}
/**
* @b Description
* @n
* System Initialization Task which initializes the various
* components in the system.
*
* @retval
* Not Applicable.
*/
static void Test_initTask(UArg arg0, UArg arg1)
{
int32_t retVal = 0;
/* Initialize the test logger framework: */
MCPI_Initialize ();
/* Initialize the platform */
retVal = PlatformInit();
if (retVal < 0)
{
MCPI_setFeatureTestResult("Platform initialization failed", MCPI_TestResult_FAIL);
MCPI_setTestResult ();
BIOS_exit(0);
}
while (1)
{
System_printf ("*******************************************************\n");
System_printf ("CANFD Unit Test Menu \n");
System_printf ("Please select the type of test to execute: \n");
System_printf ("1. MCAN Internal loopback test \n");
System_printf ("2. MCAN External loopback test \n");
System_printf ("3. MCAN Parity test \n");
System_printf ("4. MCAN External Tx/Rx test \n");
System_printf ("5. MCAN EVM-EVM test \n");
System_printf ("6. MCAN Tx Cancel test \n");
System_printf ("7. MCAN Power down test \n");
System_printf ("*******************************************************\n");
System_printf ("> Enter your selection: ");
while (testSelection == 0);
/* Validate the selection: */
if ((testSelection >= MCAN_APP_TEST_INTERNAL_LOOPBACK) && (testSelection <= MCAN_APP_TEST_POWERDOWN))
break;
}
if (testSelection == MCAN_APP_TEST_INTERNAL_LOOPBACK)
{
System_printf("Debug: Internal loopback testing\n");
retVal = mcanLoopbackTest();
if (retVal == -1)
MCPI_setFeatureTestResult("Internal loopback testing", MCPI_TestResult_FAIL);
else
MCPI_setFeatureTestResult("Internal loopback testing", MCPI_TestResult_PASS);
}
else if (testSelection == MCAN_APP_TEST_EXTERNAL_LOOPBACK)
{
System_printf("Debug: External loopback testing\n");
retVal = mcanLoopbackTest();
if (retVal == -1)
MCPI_setFeatureTestResult("External loopback testing", MCPI_TestResult_FAIL);
else
MCPI_setFeatureTestResult("External loopback testing", MCPI_TestResult_PASS);
}
else if (testSelection == MCAN_APP_TEST_TX_CANCEL)
{
System_printf("Debug: Tx Cancel testing\n");
retVal = mcanLoopbackTest();
if (retVal == -1)
MCPI_setFeatureTestResult("Tx Cancel testing", MCPI_TestResult_FAIL);
else
MCPI_setFeatureTestResult("Tx Cancel testing", MCPI_TestResult_PASS);
}
else if (testSelection == MCAN_APP_TEST_EXTERNAL_DATA)
{
System_printf("Debug: External transmit testing\n");
retVal = mcanTransmitTest();
if (retVal == -1)
MCPI_setFeatureTestResult("External transmit testing", MCPI_TestResult_FAIL);
else
MCPI_setFeatureTestResult("External transmit testing", MCPI_TestResult_PASS);
}
else if (testSelection == MCAN_APP_TEST_EVM_EVM)
{
System_printf("Debug: EVM-EVM testing\n");
retVal = mcanEVM_EVMTest();
if (retVal == -1)
MCPI_setFeatureTestResult("EVM to EVM testing", MCPI_TestResult_FAIL);
else
MCPI_setFeatureTestResult("EVM to EVM testing", MCPI_TestResult_PASS);
}
else if (testSelection == MCAN_APP_TEST_POWERDOWN)
{
System_printf("Debug: Power Down testing\n");
retVal = mcanPowerDownTest();
if (retVal == -1)
MCPI_setFeatureTestResult("Power Down testing", MCPI_TestResult_FAIL);
else
MCPI_setFeatureTestResult("Power Down testing", MCPI_TestResult_PASS);
}
if (retVal < 0)
{
System_printf("Debug:CANFD testing failed\n");
}
MCPI_setTestResult ();
/* Exit BIOS */
BIOS_exit(0);
return;
}
/**
* @b Description
* @n
* This is the entry point into the unit test code
*
* @retval
* Not Applicable.
*/
int32_t main (void)
{
Task_Params taskParams;
SOC_Handle socHandle;
SOC_Cfg socCfg;
int32_t errCode;
/* Initialize the ESM: Dont clear errors as TI RTOS does it */
ESM_init(0U);
/* 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. */
socHandle = SOC_init (&socCfg, &errCode);
if (socHandle == NULL)
{
System_printf ("Error: SOC Module Initialization failed [Error code %d]\n", errCode);
return -1;
}
/* Configure the divide value for MCAN source clock */
SOC_setPeripheralClock(socHandle, SOC_MODULE_MCAN, SOC_CLKSOURCE_VCLK, 4U, &errCode);
/* Initialize the Task Parameters. */
Task_Params_init(&taskParams);
taskParams.stackSize = 1024;
// taskParams.stackSize = 6*1024;
Task_create(Test_initTask, &taskParams, NULL);
/* Start BIOS */
BIOS_start();
return 0;
}