Re: Canopen node nRF52832


Nick Ward
 

Hi Cristian,

I'm not sure if the MCP1525 is a good match for Canopen but you may need to increase this kconfig symbol CONFIG_CAN_MCP2515_INT_THREAD_STACK_SIZE

Nick


On Thu, 10 Dec 2020, 2:38 am Bolivar, Marti, <marti.bolivar@...> wrote:
Hi,

The MPU fault may be due to a missing CONFIG_MPU_ALLOW_FLASH_WRITE=y.

I don't know anything about CAN, though :).

Martí

"Cristian Anceschi via lists.zephyrproject.org"
<cristian.anceschi=galileo.engineering@...> writes:

> Hi all
>
> I'm quite new on Zephyr and on CAN BUS so my question might have an easy or
> obvious answer.
>
> I'm on Ubuntu and I'm using an nRF52DK nRF52832 (PCA10040) wired to a
> custom board equipped with a MCP2515 and a MCP2551 devices.
>
> Is the samples\subsys\canbus\canopen suitable for an hardware like the one
> I'm using?
> If so, any hints on how make this sample working?
>
> 1)
> I can compile it  from command line with
> west build -b nrf52dk_nrf52832 samples\subsys\canbus\canopen
> -DSHIELD=dfrobot_can_bus_v2_0 -DCONF_FILE=prj.mcp2515.conf
>
> declaring in  subsys\canbus\canopen\CO_driver.c (even though I thought it
> wasn't really need to declare this here)
> #define CONFIG_CAN_MAX_FILTER 13
>
> and prj.mcp2515.conf as attachment
>
> Executing the project, I get the attached log file with a series of error
> messages and this stucks me here for this moment.
>
> 2)
> Just to give some more info, I'd like to say that I did compile the
> samples/drivers/can from command line launching this
>
> west build -b nrf52dk_nrf52832 samples/drivers/can/
> -DSHIELD=dfrobot_can_bus_v2_0 -DCONF_FILE=prj.mcp2515.conf
>
> and everything works as expected (tested using a CAN sniffer).
> But it is not clear to me how to add in this project the CANOpen stack
> library.
>
> Thanks in advance for the support
>
> Kind regards
> Crisian
>
>
>
> --
> Ing Cristian Anceschi
> Galileo Engineering s.r.l.
> Via Cavallotti 16
> IT - 42122 Reggio Emilia
> Phone +39 0522 920496 / +39 0522 516244
> Fax     +39 0522 920496 / +39 0522 516244
>
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>
>
> # Alternate conf file required for building the CAN sample for the
> # MCP2515 stand alone CAN controller
>
> CONFIG_GPIO=y
>
> CONFIG_CAN=y
> CONFIG_CAN_INIT_PRIORITY=80
> CONFIG_CAN_MCP2515_MAX_FILTER=5
>
> CONFIG_SHELL=y
> CONFIG_CAN_SHELL=y
> CONFIG_DEVICE_SHELL=y
>
>
> CONFIG_LOG=y
> CONFIG_PRINTK=y
> CONFIG_CONSOLE=y
> #CONFIG_LOG_PRINTK=y
> CONFIG_RTT_CONSOLE=y
> #CONFIG_HAS_SEGGER_RTT=y
> CONFIG_USE_SEGGER_RTT=y
>
> #
>
> CONFIG_LOG=y
> CONFIG_CANOPEN_LOG_LEVEL_DBG=y
>
> CONFIG_CAN=y
> CONFIG_CAN_INIT_PRIORITY=80
> CONFIG_CAN_MCP2515=y
> CONFIG_CAN_MAX_FILTER=13
>
>
> CONFIG_FLASH=y
> CONFIG_FLASH_MAP=y
> CONFIG_NVS=y
> CONFIG_SETTINGS=y
> CONFIG_SETTINGS_NVS=y
>
> CONFIG_CANOPEN=y
> CONFIG_CANOPEN_SYNC_THREAD=y
> CONFIG_CANOPEN_STORAGE=y
> CONFIG_CANOPEN_LEDS=y
>
> CONFIG_REBOOT=y
> canstat=0
> new mode value : 0
> init mode 0
> *** Booting Zephyr OS version 2.4.99  ***
> [00:00:00.413,665] <inf> fs_nvs: 6 Sectors of 4096 bytes
> [00:00:00.413,665] <inf> fs_nvs: alloc wra: 0, ff0
> [00:00:00.413,665] <inf> fs_nvs: data wra: 0, 0
> [00:00:00.413,726] <dbg> canopen_driver.CO_CANmodule_init: rxSize = 13, txSize = 9
> canstat=0
> new mode value : 0
> [00:00:00.414,978] <err> canopen_driver: failed to attach CAN rx isr, no free filter
> [00:00:00.415,039] <err> canopen_driver: failed to attach CAN rx isr, no free filter
> [00:00:00.415,069] <err> canopen_driver: failed to attach CAN rx isr, no free filter
> [00:00:00.415,130] <inf> app: CANopen stack initialized
> [00:00:00.415,527] <err> os: ***** MPU FAULT *****
> [00:00:00.415,527] <err> os:   Data Access Violation
> [00:00:00.415,527] <err> os:   MMFAR Address: 0x7a000
> [00:00:00.415,557] <err> os: r0/a1:  0x0007a000  r1/a2:  0x00000055  r2/a




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