Copter: CANFD data stream hangs up after couple of minutes.

[ketanatzebu]

Bug report

Issue details

I have a proximity sensor giving out measurements via CANFD. I tried using lua script to read and process the frame but the sensor hangs up after few minutes. I have confirmed that it’s not an issue with the sensor using the CANFD analyzer on which I get uninterrupted continuous readings.

Nom Bit Rate: 1 000 000
Data Bit Rate: 5 000 000

Sensor: Ti mmwave AWR6843AOP

Version
Copter 4.5

Platform
[ ] All
[ ] AntennaTracker
[X] Copter
[ ] Plane
[ ] Rover
[ ] Submarine

Hardware type
Cube Orange Plus

Logs
------- Clock Config -------
CAN_CLK_FREQ: 80MHz
Std Timings: bitrate=1000000 presc=8
sjw=1 bs1=8 bs2=1 sample_point=90.00000%
FD Timings: bitrate=5000000 presc=1
sjw=4 bs1=11 bs2=4 sample_point=75.00000%
------- CAN Interface Stats -------
tx_requests: 0
tx_rejected: 0
tx_overflow: 0
tx_success: 0
tx_timedout: 0
tx_abort: 0
rx_received: 388
rx_overflow: 0
rx_errors: 0
num_busoff_err: 0
num_events: 388
ECR: FF00
fdf_rx: 388
fdf_tx_req: 0
fdf_tx: 0

[IamPete1]

How are you determining that it hangs? Just that the received count stops increasing? Does it always stop after the same count? It would be useful if you could also upload the script.

[IamPete1]

I ran luacheck on your script, it finds a few issues:

    scripts/CAN test.lua:2:7: unused variable update_rate_ms
    scripts/CAN test.lua:10:7: unused variable get_xy
    scripts/CAN test.lua:11:1: setting read-only global variable type
    scripts/CAN test.lua:41:16: unused function pow2
    scripts/CAN test.lua:58:21: accessing undefined field ldexp of global math
    scripts/CAN test.lua:94:10: setting read-only global variable type

It would be useful to double check the script is still running. Can you enable disarmed logging and set SCR_DEBUG_OPTS bit 3 (value 8) for "log runtime memory usage and execution time".

[ketanatzebu]

Update: If I use CANFD at 1Mbps. I am getting continuous stream. The issue comes at 5Mbps.

[rmackay9]

Hi @ketanatzebu,

I'm not too familiar with this area of the code but I guess you tried modifying the CAN_P1_FDBITRATE parameters and it didn't help?

[rmackay9]

.. anyway, I guess this is resolved so I'm going to go ahead and close this issue if that's OK. I've ping'd other developers to get their input on whether we should support 5Mbps or not.

[ketanatzebu]

Hi @ketanatzebu,

I'm not too familiar with this area of the code but I guess you tried modifying the CAN_P1_FDBITRATE parameters and it didn't help?

Yes, I configured my sensor for 1Mbps and changed the param CAN_P1_FDBITRATE to 1M.

[vasurk]

Hi @ketanatzebu ,

How did you configure the mmwave sensor and what lua scirpt you have added could you please inform?

Thanks