Tiva C 123gxl CAN driver issue

[shijogeorge24]

having issue with can driver for tiva c 123gxl board example used provided in the example from apps

tm4cbringup:

int tm4c_can_setup(void) { int ret = ERROR;

// struct can_dev_s *devst;

//# ifdef CONFIG_TIVA_CAN0 tiva_can0_enableclk();

ret = tiva_configgpio(GPIO_CAN0_RX); if (ret < 0) { goto configgpio_error; }

ret = tiva_configgpio(GPIO_CAN0_TX); if (ret < 0) { // snerr("error init gpio rx can \n"); goto configgpio_error; }

/* Call tiva_can_initialize() to get an instance of CAN interface 0

• and register it. */

  ret = tiva_can_initialize("/dev/can0", 0); if (ret < 0) { canerr("ERROR: Failed to get/register CAN interface 0\n"); return ret; }

  return OK;

configgpio_error: canerr("ERROR: failed to configure CAN GPIO pin.\n"); return ret; }

nsh> ? help usage: help [-v] []

.         break     dd        help      mount     set       truncate  xd        
[         cat       dmesg     hexdump   mv        sleep     uname     
?         cd        echo      kill      printf    source    umount    
alias     cp        exec      ls        pwd       test      unset     
unalias   cmp       exit      mkdir     rm        time      uptime    
basename  dirname   false     mkrd      rmdir     true      usleep    

Builtin Apps: can nsh sh
nsh> can -n 1

nmsgs: 1 min ID: can_open: ocount: 0 _assert: Current Version: NuttX 12.2.1 148c631a2d Feb 24 2024 16:41:10 arm _assert: Assertion failed nxmutex_is_hold(mutex): at file: misc/lib_mutex.c:339 task: 0xe7b9 up_dump_register: R0: 20000d20 R1: 00000153 R2: 000122af R3: 20000830 up_dump_register: R4: 20000d20 R5: 20005db8 R6: 20000780 FP: 000122c6 up_dump_register: R8: 000122af SB: 00000153 SL: 00016241 R11: 00016298 up_dump_register: IP: 00000020 SP: 20006730 LR: 000016a7 PC: 000016a7 up_dump_register: xPSR: 60000000 PRIMASK: 00000001 CONTROL: 00000000 up_dump_register: EXC_RETURN: ffffffff dump_stack: User Stack: dump_stack: base: 0x200061a0 dump_stack: size: 00001992 dump_stack: sp: 0x20006730 stack_dump: 0x20006720: 20005db8 00000000 200002d0 000017f3 00000000 00000153 0000e7b9 200067c1 stack_dump: 0x20006740: 00000003 7474754e 00000058 0000235d 20001378 20001378 000000e8 20006820 stack_dump: 0x20006760: 20006820 000027bd ffffffff 000052bf 00000000 00004f83 2e323100 00312e32 stack_dump: 0x20006780: 20006998 00002167 20006ab8 34310000 33366338 64326131 62654620 20343220 stack_dump: 0x200067a0: 34323032 3a363120 313a3134 00000030 20006998 00000005 0000012c 0000245b stack_dump: 0x200067c0: 6d726100 0000fa00 00000006 0000235d 00000000 00000000 40040020 20000280 stack_dump: 0x200067e0: 20000240 2000012c 00000037 20000280 00007fff 00016241 00016298 00004ebf stack_dump: 0x20006800: fffffffb 0000502d 00000003 0001038b 20006820 0000000a 00000123 00000100 stack_dump: 0x20006820: 00015e11 00000000 000f4240 00030306 00000000 2000012c 200068b8 20000138 stack_dump: 0x20006840: 00000000 00010d11 00000000 200068b8 20005ac0 00000003 00000000 00007fff stack_dump: 0x20006860: 00016241 0000b989 32303437 0001630c 20005ac0 00000000 20001e70 0001630c stack_dump: 0x20006880: 00000000 00000700 20006168 00016303 20005db8 00000003 200068f8 00000000 stack_dump: 0x200068a0: 000007ff 0000b9cb 200068f8 000050d7 20005fb8 0000f633 00000003 00000000 stack_dump: 0x200068c0: 20005ac0 00000000 00005c55 00016303 00000003 20006180 00000003 0000ba51 stack_dump: 0x200068e0: 00016303 200068f8 00000000 00000001 0000e8e1 00000003 00007fff 00000001 stack_dump: 0x20006900: e3a7f334 00000001 000f4240 ce030306 01810001 f378bb6b 4d2a5b0b 20006968 stack_dump: 0x20006920: 00000000 00000000 00000000 0000e7b9 00000003 20006180 00000000 00000000 stack_dump: 0x20006940: 00000000 00000000 00000000 000051ef 00000000 00002853 00000000 00000000 1 max ID: 2047

if i comment this line // nxmutex_unlock(&canmod->thd_iface_lock); from static int tivacan_setup(struct can_dev_s *dev)

now the error changed nsh> can -n 1

nmsgs: 1
min ID: can_open: ocount: 0
tivacan_setup: tiva_can co_steup
can_ioctl: cmd: 6914 arg: 536897800
1 max Ican_write: buflen: 4
can_xmit: xmit head: 0 queue: 0 tail: 1
can_txdone: xmit head: 0 queue: 1 tail: 1
can_xmit: xmit head: 1 queue: 1 tail: 1
can_receive: ID: 44 DLC: 8
can_receive: ID: 44 DLC: 8
can_receive: ID: 44 DLC: 8
can_receive: ID: 44 DLC: 8
Dcan_receive: ID: 44 DLC: 8
ccan_receive: ID: 44 DLC: 8
acan_receive: ID: 44 DLC: 8
ncan_receive: ID: 44 DLC: 8
can_receive: ID: 44 DLC: 8
_can_receive: ID: 44 DLC: 8
_assert: Current Version: NuttX 12.2.1 148c631a2d Feb 24 2024 15:55:18 arm
_assert: Assertion failed curr: at file: wdog/wd_cancel.c:95 task: 0xe7b9
up_dump_register: R0: 20000d20 R1: 0000005f R2: 00011896 R3: 20000838
up_dump_register: R4: 20000d20 R5: 20005db8 R6: 20000780 FP: 0001189b
up_dump_register: R8: 00011896 SB: 0000005f SL: 0000fde1 R11: 00000000
up_dump_register: IP: 00000008 SP: 20000290 LR: 000016a7 PC: 000016a7
up_dump_register: xPSR: 20000037 PRIMASK: 00000001 CONTROL: 00000000
up_dump_register: EXC_RETURN: ffffffff
dump_stacks: ERROR: Stack pointer is not within the stack
dump_stack: IRQ Stack:
dump_stack: base: 0x200002d0
dump_stack: size: 00000300
stack_dump: 0x200002c0: 00000008 0000fde1 00000000 0000546b 200002f0 00015bf8 2e323100 00312e32
dump_stack: User Stack:
dump_stack: base: 0x200061a0
dump_stack: size: 00001992
dump_tasks: PID GROUP PRI POLICY TYPE NPX STATE EVENT SIGMASK STACKBASE STACKSIZE COMMAND
dump_tasks: ---- --- --- -------- ------- --- ------- ---------- -------- 0x2

[acassis]

There is something wrong with your configuration, it is failing in the debugassertions like nxmutex_is_hold:

bool nxmutex_is_hold(FAR mutex_t *mutex) { return mutex->holder == _SCHED_GETTID(); }

Basically it is checking if the mutex is hold by the Task ID of your task running the example.

@hartmannathan since you use TIVA board and probably already tested CAN, do you have some idea what could be happening?

[hartmannathan]

@acassis I use Tiva but my boards don't use the CAN interfaces so I haven't used the CAN driver. The first thing to check is what code is supposed to hold the mutex and why it isn't. Improper initialization?

[shijogeorge24]

Here is my .config file config.txt

example using https://github.com/apache/nuttx-apps/blob/master/examples/can/can_main.c

[acassis]

@shijogeorge24 thanks for confirming it worked, I will close this issue now.

Please don't forget to submit the tm4c123g-launchpad:can board profile to mainline to help other people using CAN on TIVA board

[shijogeorge24]

sure