S32K116 cannot recevied CAN-FD data

[mumumilmil]

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.

HSCAN_TX.png < send HS data from Vector to PCB > 

tek00028.png

tek00026.png < 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)

FDCAN_TX.png< send FD data from Vector to PCB >

tek00028.png< PCB's FD CAN_Rx by 10ms>

I attached that setting baud rate.  Thank you.

 

[PetrS]

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

[mumumilmil]

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

[PetrS]

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 

[mumumilmil]

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 ?

[PetrS]

Hi,

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

BR, Petr

[mumumilmil]

@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. 

[PetrS]

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.

PetrS_0-1747812380613.pngPetrS_1-1747812394872.png

It is running well.

BR, Petr

[mumumilmil]

can0->ctrl2 |= Can_ctrl2_isocanfden_mask

can->mcr = 0x000008FF

same to cookbook

[mumumilmil]

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.