Adafruit RP2040 CAN Bus Feather???

[karu2003]

Hi, have you tried adapting your project for Adafruit RP2040 CAN Bus Feather?
https://www.adafruit.com/product/5724 there is another crystal and other gpios.

[trnila]

Hello, unfortunately I dont have this board for testing.
I see you are already having branch, so you can let me know once its working or you are having some issue.

[karu2003]

I have not worked with RP2040. And I do not know all the features of the SPI interface. I changed the SPI settings and changed the quartz frequency. It does not work. I need a speed of 1000000. I connected two CAN interfaces and connected them on a cable. I checked who transmits and who receives. Your adapter transmits five... CANsend, and then goes into nirvana. I look messages on another CAN. Candump does not work at all.

[trnila]

I will take a look, i have ordered the board.

[trnila]

Got it working on latest master. Can you try flashing gs_usb_ADAFRUIT_CAN_FEATHER.uf2 firmware?

[karu2003]

thank you. the cansend, candump works. it seems that extended packages are not supported. DroneCan Gui does not see anything.

sudo ip link set can1 up type can bitrate 1000000

You can run two copies of DroneCan Gui on different interfaces and connect them with a cable.

[trnila]

29bit extended message ids are supported, but CAN-FD with up 64 bytes of payload is not supported with MCP25625 chip. So you can send just standard CAN frames with payload up to 8 bytes.

[karu2003]

I don't use CAN-FD. Just run DroneCan Gui. You won't see anything. DroneCan word only extended message ids.

[trnila]

There was issue in USB communication with received CAN frames - they should be sent individually and not batched.
Can you retry latest master?

[karu2003]

On my PEAK I see that a new node has appeared. But on rp2040-can-mcp2515 I don't see the PEAK node or other devices. :(

[karu2003]

[trnila]

can you try setting MCP2515_TX_BUFS to 1 in main.c?

dronecan splits bigger messages into several CAN messages with same CAN ID and the sent order is important to join messages

[karu2003]

I tried buffer 1 and both one. nothing is visible. I think the problem is not in transmission, but in reception. Maybe the timing is not set correctly?

[trnila]

Can you reflash with modification again and verify if you are receiving messages via candump when dronecan is running? Is there any error output when running dronegui from terminal?
Can you also run tests?

$ RP2040_IFACE=can0 TEST_IFACE=can2 pytest -v

change can0 and can2 to match your setup. There should be no fail.

and stress testing for both directions:

$ make -C tests stress && ./tests/stress can0 can2
$ make -C tests stress && ./tests/stress can2 can0

I had around 4000 messages per second, and buffer= should not increase. Its a number of messages that werent received at all.

[karu2003]

FAILED tests/hw_test.py::test_msgids[rp2040_receiver-0x1-extended] - assert None
FAILED tests/hw_test.py::test_msgids[rp2040_receiver-0x42-extended] - assert None
FAILED tests/hw_test.py::test_msgids[rp2040_receiver-0x7ff-extended] - assert None
FAILED tests/hw_test.py::test_msgids[rp2040_receiver-0x800-extended] - assert None
FAILED tests/hw_test.py::test_msgids[rp2040_receiver-0x1fffffff-extended] - assert None
FAILED tests/hw_test.py::test_bitrates[rp2040_receiver-125000] - AttributeError: 'NoneType' object has no attribute 'arbitration_id'
FAILED tests/hw_test.py::test_bitrates[rp2040_receiver-250000] - AttributeError: 'NoneType' object has no attribute 'arbitration_id'
FAILED tests/hw_test.py::test_bitrates[rp2040_receiver-500000] - AttributeError: 'NoneType' object has no attribute 'arbitration_id'

[trnila]

hmm, did you just change MCP2515_TX_BUFS to 1?

Are all these tests failing everytime or randomly? Is it reproducible if you reconnect it in usb? maybe without hubs etc...

[karu2003]

everytime, without hubs. :(

[trnila]

Sorry about delay, but I am still not able to reproduce any issue on two hardwares I have :(

Tests cannot receive extended frames - this is really strange. Can you check CAN bus termination? you should be able to measure 60 ohm between HIGH and LOW. There should be 120 Ohm resistor on both furthest ends of the bus.