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MacRover / maxwell

McMaster Mars Rover Maxwell (2023-present)
MIT License
4 stars 2 forks source link

RAD Board CAN Validation #6

Closed emcauliffe closed 9 months ago

emcauliffe commented 9 months ago

Confirm CAN tx and rx functionality of RAD

emcauliffe commented 9 months ago

Issue: No messages being transmitted over CAN. Device sends approx. 3 messages and then halts. Issue appears to be that the mailbox is full and so the device can no longer transmit. Rx/Tx pins on the STM32 are showing activity.

Resolution: Device was unable to transmit messages because CAN bus was not fully configured. Had to short out resistor R14 to achieve maximum (1Mbps) transmission rate of CAN transceiver.

emcauliffe commented 9 months ago

Issue: CAN tx works fine but device does not respond to rx. Messages are sending correctly over pcan (with socketcan) and scope shows correct message data being transmitted.

Resolution: "USB low priority or CAN RX0 interrupts" must be enabled under Pinout and Configuration > CAN > NVIC Settings. Do not enable CAN TX interrupts. Ensure the proper HAL CAN Rx interrupt handler function is present and configured in the main program.

emcauliffe commented 9 months ago

CAN Rx/Tx confirmed operational