S32K中的主题 Re: S32K116 cannot recevied CAN-FD data

S32K116 cannot recevied CAN-FD data

mumumilmil — Fri, 16 May 2025 07:50:13 GMT

I'm trying to use CAN-FD protocol.

Main, CAN Clock : FIRC 48MHz , Buad rates are CBT 500kbit/ FDCBT 2000kbit

HS_CAN has been send right data and MCU reads that.

< send HS data from Vector to PCB >

< PCB's HS CAN_Rx by 10ms>

But, When Vector send FD_CAN, PCB cannot read any data

If I use Vector to send data, first error occured and then send data.

(It seems to send the data normally, but mcu can't read it)

< send FD data from Vector to PCB >

< PCB's FD CAN_Rx by 10ms>

I attached that setting baud rate. Thank you.

Re: S32K116 cannot recevied CAN-FD data

PetrS — Fri, 16 May 2025 11:29:31 GMT

Hi,

few hints to consider...
- be sure MCU is using same ISO/non-ISO CANFD protocol as CAN tool, check CTRL2[ISOCANFDEN] bit setting
- it is advisable to not using FIRC as CAN PE clock
- use same prescaler value to arbitration and data phase. For example
CANx_CBT = 0x802932E9; // bitrate=500kbps, CPI clk=48 MHz; Prescaler= 2, PROPSEG=13, PSEG1=24, PSEG2=10, RJW=10, smp=79.16%
CANx_FDCBT = 0x00111841; // bitrateFD=2000kbps, CPI clk=48 MHz; fPrescaler= 2, fPROPSEG=6, fPSEG1=3, fPSEG2=2, fRJW=2, smp=83.33%
- disable TDC, not needed for 2Mbps.
- check error detected on MCU, read module ECR/ESR1 registers

BR, Petr

Re: S32K116 cannot recevied CAN-FD data

mumumilmil — Sun, 18 May 2025 11:59:36 GMT

I know as,

CBT = 48MHz/ (( 1+ (Epseg1+1) + (Epseg2+1) + (Epropseg+1)) * Epresdiv) = 500kbit

FDCBT = 48MHz / (( 1+ (fpseg1+1) + (fpseg2+1) + (fpropseg)) * Epresdiv) = 500kbit

Is it wrong formula?

If I use your baud rate, it’s diffrent to 500kbit, 2Mbit.

Re: S32K116 cannot recevied CAN-FD data

mumumilmil — Mon, 19 May 2025 04:59:51 GMT

Hi @PetrS, Do you have s32k116 48MHz CANFD Project from Example?

Re: S32K116 cannot recevied CAN-FD data

PetrS — Mon, 19 May 2025 08:45:43 GMT

Hi,

not sure of nonSDK/RTD example directly for S32K116, but you can refer to Cookbook's one; https://www.nxp.com/docs/en/application-note/AN5413.pdf
There is CANFD demo for other derivatives, just clocking have to be properly set.

In equations if parameters are value written then below have to be used

CBT = 48MHz/ [( 1+ (Epseg1+1) + (Epseg2+1) + (Epropseg+1)) * (Epresdiv+1)]

FDCBT = 48MHz / [( 1+ (fpseg1+1) + (fpseg2+1) + (fpropseg)) * (fpresdiv+1)]

BR, Petr

Re: S32K116 cannot recevied CAN-FD data

mumumilmil — Tue, 20 May 2025 06:02:11 GMT

1. I put in CAN_Tx(void) in total source.

[file 1]

But, I wonder that whether CAN_FD or CAN_HS. (set 1 to EDL and BRS)

2. I send data to ID:411.

Still occured CAN FD Error.

[file 2]

Vector Tx (data 00-07 : 11 11 11 11 11 11 11 11) for 10ms

-> trace shows (data 00-07 : 11 11 00 44 55 66 77)

I attached ECR, ESR1 - realtime comments.

[file 3]

500k : 87.5%, 2M : 75%

3. Is it diffrent MBDSR0(payload), Buffer size of S32K144 / S32K116 ?

Re: S32K116 cannot recevied CAN-FD data

PetrS — Tue, 20 May 2025 09:40:51 GMT

Hi,

what is CTRL2[ISOCANFDEN] bit setting? Is Vector set for the same?
Buffer size is a same for S32K144 / S32K116.

BR, Petr

Re: S32K116 cannot recevied CAN-FD data

mumumilmil — Wed, 21 May 2025 00:29:58 GMT

can0->ctrl2 |= Can_ctrl2_isocanfden_mask

can->mcr = 0x000008FF

same to cookbook

Re: S32K116 cannot recevied CAN-FD data

mumumilmil — Wed, 21 May 2025 06:54:30 GMT

@PetrS , I have using FS32K116LIT0VLFT MCU.

I found out that F32K116LIT0VLFT doesn't offer CAN-FD.

I will change my MCU to FS32K116LAT0MLFT.

Thanks for your support.

Re: S32K116 cannot recevied CAN-FD data

PetrS — Wed, 21 May 2025 07:27:40 GMT

Hi,

OK, good point.
Anyway, attached is modified cookbook's code for CAN FD using FIRC as CAN PE clock. Tested on S32K116EVB with PCAN tool.

It is running well.

BR, Petr