AWR1642: What did bootloader in awr1642 do when startup? It will cause error frame in CAN!

durf

Part Number: AWR1642

Hi:

This is our test hardware setup. We use N5/N4 as CAN Tx and CAN Rx.

When we start 1# AWR1642, it works well with no error frame. And we start the other AWR1642, the signal between CANH/CANL seems not right. It will raise a lot of error frames like the picture shows below:

The signal in the center of the scope of green is the error signal. The yellow one is the apply power of AWR1642. The signal has a frequency of approximate 11.6KHz, it seems a uart signal transmitted via CAN TR. Since N5/N4 are natively used as uart port in bootloader. I think this has something to do with bootloader.

How can I avoid the error frames sent by AWR1642 when boot? And what is the startup logic of AWR1642 bootloader, Thank you!

over 5 years ago

0 Raghunandan Kamath over 5 years ago

TI__Mastermind 22155 points

Hi ,
Could you be more clear ? Are you using a SBL to download the image over CAN ? What is the usage of CAN here?

-Raghu

0 durf over 5 years ago in reply to Raghunandan Kamath

Intellectual 570 points

Hi Raghu:
My SOP configure is SOP0 = 1, SOP1 = 0, SOP2 = 0, it seems configuring AWR1642 as functional mode. I just run my own app on AWR1642 sending target via MCAN over N5/N4.

I found when I ran system like I described above, AWR1642 will first transmit error frame with wrong bit rate before application is loaded.

0 Raghunandan Kamath over 5 years ago in reply to durf

TI__Mastermind 22155 points

Hi Durf,

I would suggest to verify your bittiming on both the transmit and receive side.

-Raghu

0 durf over 5 years ago in reply to Raghunandan Kamath

Intellectual 570 points

Hi Ragh

I've carefully checked my process, the bug occurs when I init my CAN driver like this:

    Pinmux_Set_OverrideCtrl(SOC_XWR16XX_PINN5_PADBE, PINMUX_OUTEN_RETAIN_HW_CTRL, PINMUX_INPEN_RETAIN_HW_CTRL);
    Pinmux_Set_FuncSel(SOC_XWR16XX_PINN5_PADBE, SOC_XWR16XX_PINN5_PADBE_CANFD_TX);
    Pinmux_Set_OverrideCtrl(SOC_XWR16XX_PINN4_PADBD, PINMUX_OUTEN_RETAIN_HW_CTRL, PINMUX_INPEN_RETAIN_HW_CTRL);
    Pinmux_Set_FuncSel(SOC_XWR16XX_PINN4_PADBD, SOC_XWR16XX_PINN4_PADBD_CANFD_RX);
    s_pMCanHandle = CANFD_init(&s_pMCanCfgParams, &s_pErrCode);

That's all my CAN initialize code, and that's all my project code except BIOS start ralated code.

The radar will trigger some unknown data on N5 like I captured before, and cause error frame on CAN bus, which I monitor over Kvaser CAN hardware.

When I coment code :

Pinmux_Set_FuncSel(SOC_XWR16XX_PINN5_PADBE, SOC_XWR16XX_PINN5_PADBE_CANFD_TX);

There will be no data on N5, and no error frame on CAN bus.

0 Raghunandan Kamath over 5 years ago in reply to durf

TI__Mastermind 22155 points

Durf,
The initial data that you might be seeing is the copy of the app image from the flash to the RAM over UART. This is assuming that you have the SBL in your flash.

BR,
Raghu

0 durf over 4 years ago in reply to Raghunandan Kamath

Intellectual 570 points

Hi Raghu:
The bug in my app is even if I don't call can_transmit function, only call MCAN_init and map the N4/N5 to MCAN, CAN will send error frame. I reset the AWR1642 with reset pin, it works incorrectly as before.

0 Raghunandan Kamath over 4 years ago in reply to durf

TI__Mastermind 22155 points

Please check the bittiming between your receiver and the transmitter. On the AWR1642BOOST , the CAN lines are not enabled by default. Please check the schematic for the ECOs that are required for enabling the CAN on AWR1642BOOST.

-Raghu