Tool/software: Code Composer Studio
I want to apply CAN communication in the demo lab0008_automated_parking.
Refer to demo lab0007_mrr, I modified lab0008's mss_main.c. Also I added debug log in the
Can_Transmit_Schedule
as below:
int32_t Can_Transmit_Schedule( uint32_t msg_id,
uint8_t *txmsg, uint32_t len)
{
volatile uint32_t index = 0;
int32_t retVal = 0;
int32_t errCode = 0;
System_printf ("MEssage %x len %d\n", msg_id, len);
if(frameType == CANFD_MCANFrameType_FD)
{
Task_sleep(1);
while(len > 64U)
{
retVal = CANFD_transmitData (txMsgObjHandle, msg_id, CANFD_MCANFrameType_FD, 64U, &txmsg[index], &errCode);
System_printf ("A: FD return value %x , Errcode %x\n", retVal, errCode);
index = index + 64U;
len = len - 64U;
Task_sleep(1);
}
retVal = CANFD_transmitData (txMsgObjHandle, msg_id, CANFD_MCANFrameType_FD, len, &txmsg[index], &errCode);
System_printf ("B:FD return value %x , Errcode %x\n", retVal, errCode);
}
else
{
while(len > 8U)
{
retVal = CANFD_transmitData (txMsgObjHandle, msg_id, CANFD_MCANFrameType_CLASSIC, 8U, &txmsg[index], &errCode);
System_printf ("A: Classic return value %x , Errcode %x\n", retVal, errCode);
if (retVal < 0)
{
continue;
}
index = index + 8U;
len = len - 8U;
}
retVal = CANFD_transmitData (txMsgObjHandle, msg_id, CANFD_MCANFrameType_CLASSIC, len, &txmsg[index], &errCode);
System_printf ("B: Classic return value %x , Errcode %x\n", retVal, errCode);
while(retVal < 0)
{
//System_printf("Debug: Error transmitting CAN data %x , Errcode %x\n", retVal, errCode);
retVal = CANFD_transmitData (txMsgObjHandle, msg_id, CANFD_MCANFrameType_CLASSIC, len, &txmsg[index], &errCode);
System_printf ("C: Classic return value %x , Errcode %x\n", retVal, errCode);
}
}
return retVal;
}
Also I added library in build setting of ARM Linker as below:
Then I successfully rebuild the demo and run it in debug mode, but the CAN communications doesn't work. I tried both FD and Classic...
Below is the error code when I use CAN Classic, the retval and errcode are the same as that when use CAN FD.
[Cortex_R4_0] Debug: Launched the Initialization Task [C674X_0] processCreate: (radarProcessInstance_t *)0x80a4d8 processCreate: (RADARDEMO_rangeProc_handle *)0x0 processCreate: (RADARDEMO_dopplerProc_handle *)0x80a5d8 processCreate: (RADARDEMO_detectionCFAR_handle *)0x80a8c0 processCreate: (RADARDEMO_aoAEstBF_handle *)0x80b8bc processCreate: (RADARDEMO_clusteringDBscanInstance *)0x811960 processCreate: (radarProcessBenchmarkObj *)0x8139ec processCreate: heatmap (float *)0x200c0000 DDR Heap : size 1048576 (0x100000), used 851968 (0xd0000) LL2 Heap : size 61440 (0xf000), used 58312 (0xe3c8) LL2 Scratch : size 8192 (0x2000), used 6656 (0x1a00) LL1 Scratch : size 16384 (0x4000), used 16384 (0x4000) HSRAM Heap : size 0 (0x0), used 0 (0x0) [Cortex_R4_0] Debug: Initialized the mmWave module Debug: Synchronized the mmWave module Debug: CLI is operational Set LDO Bypass Debug: MMWave has been configured for MRR. Debug: Sensor will start momentarily. MEssage c1 len 36 A: Classic return value ffffffff , Errcode fffff253 A: Classic return value ffffffff , Errcode fffff253 A: Classic return value ffffffff , Errcode fffff253 A: Classic return value ffffffff , Errcode fffff253 A: Classic return value ffffffff , Errcode fffff253 A: Classic return value ffffffff , Errcode fffff253 A: Classic return value ffffffff , Errcode fffff253
