Aurix - CAN msgs error

Autonomous Vehicles DRIVE PX 2 DRIVE - Linux
1

Hi,

we connected a radar on the CAN bus 1 through Aurix on PX2. Radar works in a way that it sends number of detected objects in one message and than burst of CAN messages describing the objects. Time between 2 messages in that burst can be 200 or more mircoseconds. When we read the log, we noticed that some messages are missing or even sometimes the copy of the previous message is send from Aurix with different timestamp. I also tested that on CAN5 that is not connected through Aurix everything is fine and all messages are correct.

Also, I’ve been reading documentation and saw that Aurix timestamping lasts in average 100 microseconds and that it can be turned off, so the messages are parsted faster on Aurix. But I didn’t find how to turn it off.
Can you help me in turning timestamping off, and point me in the right direction for solving Aurix double and missing messages problem?

Thanks in advance,
Anja

2

Dear anja,

What method did you use for Aurix’s time synchronization?
If use gptpon for it, you can use gptpoff to turn it off.

And could you please upload the log message you encountered? Thanks.

3

Hi,

I used this method for time synchronization: (https://devtalk.nvidia.com/default/topic/1031778/faq/drive-px2-time-sync-guide/).

And I tried also to turn gptpoff. But the same mistake happens still, again on can5 everything is ok.

Here is part of the log with most common errors:

Msg no objects: 9; seen number of objects 10
1532338684400306 0 79 11 212 128 32 1 159
1532338684400571 1 80 11 243 128 32 1 133
1532338684400831 2 80 171 244 128 32 1 138
1532338684401097 3 78 131 255 128 32 1 141
1532338684401352 4 79 68 25 128 32 33 144
1532338684401615 5 78 203 251 128 32 1 123
1532338684401866 6 79 67 253 128 32 33 142
1532338684402129 9 81 163 236 128 32 1 132
1532338684402402 12 79 3 242 128 32 1 130
1532338684477937 12 79 3 242 128 32 1 130

Msg no objects: 11; seen number of objects 12
1532338684613343 0 79 11 213 128 32 1 159
1532338684613605 1 80 19 243 128 31 225 133
1532338684613865 2 80 171 244 128 32 1 139
1532338684614128 3 78 131 255 128 32 1 141
1532338684614382 4 79 68 25 128 32 33 145
1532338684614645 5 78 203 251 128 32 1 123
1532338684614905 6 79 67 253 128 32 33 142
1532338684615159 7 80 11 168 128 32 1 161
1532338684615422 8 80 139 143 128 32 1 142
1532338684615687 9 81 163 236 128 32 1 132
1532338684615965 12 79 3 242 128 32 1 130
1532338684690983 12 79 3 242 128 32 1 130

Msg no objects: 9 seen number of objects 10
1532338706470145 0 78 132 13 128 32 33 120
1532338706470409 1 78 139 255 128 32 1 146
1532338706470672 3 79 195 245 128 32 65 116
1532338706470932 4 78 195 236 128 32 33 123
1532338706471187 7 81 156 76 128 32 1 125
1532338706471441 8 80 187 240 128 32 33 138
1532338706471704 10 81 163 233 128 32 1 136
1532338706471970 11 80 35 246 128 32 33 138
1532338706472224 12 79 43 252 128 32 6 145
1532338706617851 12 79 35 253 128 32 38 132

Msg no objects: 13 seen number of objects 16
1532338729621112 0 78 131 255 128 32 1 142
1532338729621384 1 79 124 8 128 32 1 124
1532338729621645 2 78 195 237 128 32 33 141
1532338729621900 3 79 195 248 128 32 33 108
1532338729622163 4 79 19 229 128 32 1 135
1532338729622417 6 79 19 251 128 31 225 121
1532338729622676 7 80 172 38 128 32 1 119
1532338729622942 8 80 187 240 128 32 1 125
1532338729623205 9 79 107 254 128 32 1 129
1532338729623468 10 81 179 235 128 32 33 113
1532338729623727 11 80 59 243 128 32 1 120
1532338729623991 12 79 99 233 128 32 65 133
1532338729624256 13 80 220 59 128 32 97 122
1532338729698745 11 80 59 243 128 32 1 120
1532338729699001 12 79 99 233 128 32 65 133
1532338729699256 13 80 220 59 128 32 97 122

The first number is timestamp, and after that can msg payload,the first byte in can msg payload is object id. There shouldn’t be more than one object id in a burst. Repeated msgs are bold.

If you need some more information please let me know.

Thanks,
Anja

4

Dear anja,

We will look into this symptom. Thanks.

5

Dear anja,

Could you please check the following items?

-. Which script/app is used on Tegra to record these messages?
-. Did you use aurix_tegra_can_send_receive.py?
-. If not, is it possible to receive scripts you used?

Additionally, I would also like to know the load on Easy CAN at the time of the Issue.
Can I get the Easy CAN config file you used and the CAN frame logs for the Bus?

6

Hi,

I made a custom code based on sample_canbus_logger. But after I figured out that it doesn’t work, I was recording with the original driveworks sample (sample_canbus_logger), and it still didn’t work, the error on previous message.

No I didn’t use aurix_tegra_can_send_receive.py, where can I find that script?

Here is the easy can config file:

MsgId : 0x201
CtrlId : EC_CAN_BUS_B
FrmTyp : CAN_ID_STANDARD
DestId : TEGRA_DEVICE_A
DestSwc : SWC_ID_CANDATA

MsgId : 0x408
CtrlId : EC_CAN_BUS_B
FrmTyp : CAN_ID_STANDARD
DestId : TEGRA_DEVICE_A
DestSwc : SWC_ID_CANDATA

MsgId : 0x402
CtrlId : EC_CAN_BUS_B
FrmTyp : CAN_ID_STANDARD
DestId : TEGRA_DEVICE_A
DestSwc : SWC_ID_CANDATA

MsgId : 0x600
CtrlId : EC_CAN_BUS_B
FrmTyp : CAN_ID_STANDARD
DestId : TEGRA_DEVICE_A
DestSwc : SWC_ID_CANDATA

MsgId : 0x701
CtrlId : EC_CAN_BUS_B
FrmTyp : CAN_ID_STANDARD
DestId : TEGRA_DEVICE_A
DestSwc : SWC_ID_CANDATA

MsgId : 0x702
CtrlId : EC_CAN_BUS_B
FrmTyp : CAN_ID_STANDARD
DestId : TEGRA_DEVICE_A
DestSwc : SWC_ID_CANDATA

MsgId : 0x60A
CtrlId : EC_CAN_BUS_B
FrmTyp : CAN_ID_STANDARD
DestId : TEGRA_DEVICE_A
DestSwc : SWC_ID_CANDATA

MsgId : 0x60B
CtrlId : EC_CAN_BUS_B
FrmTyp : CAN_ID_STANDARD
DestId : TEGRA_DEVICE_A
DestSwc : SWC_ID_CANDATA

MsgId : 0x60C
CtrlId : EC_CAN_BUS_B
FrmTyp : CAN_ID_STANDARD
DestId : TEGRA_DEVICE_A
DestSwc : SWC_ID_CANDATA

MsgId : 0x60D
CtrlId : EC_CAN_BUS_B
FrmTyp : CAN_ID_STANDARD
DestId : TEGRA_DEVICE_A
DestSwc : SWC_ID_CANDATA

MsgId : 0x60E
CtrlId : EC_CAN_BUS_B
FrmTyp : CAN_ID_STANDARD
DestId : TEGRA_DEVICE_A
DestSwc : SWC_ID_CANDATA

MsgId : 0x211
CtrlId : EC_CAN_BUS_A
FrmTyp : CAN_ID_STANDARD
DestId : TEGRA_DEVICE_A
DestSwc : SWC_ID_CANDATA

MsgId : 0x418
CtrlId : EC_CAN_BUS_A
FrmTyp : CAN_ID_STANDARD
DestId : TEGRA_DEVICE_A
DestSwc : SWC_ID_CANDATA

MsgId : 0x412
CtrlId : EC_CAN_BUS_A
FrmTyp : CAN_ID_STANDARD
DestId : TEGRA_DEVICE_A
DestSwc : SWC_ID_CANDATA

MsgId : 0x610
CtrlId : EC_CAN_BUS_A
FrmTyp : CAN_ID_STANDARD
DestId : TEGRA_DEVICE_A
DestSwc : SWC_ID_CANDATA

MsgId : 0x711
CtrlId : EC_CAN_BUS_A
FrmTyp : CAN_ID_STANDARD
DestId : TEGRA_DEVICE_A
DestSwc : SWC_ID_CANDATA

MsgId : 0x712
CtrlId : EC_CAN_BUS_A
FrmTyp : CAN_ID_STANDARD
DestId : TEGRA_DEVICE_A
DestSwc : SWC_ID_CANDATA

MsgId : 0x61A
CtrlId : EC_CAN_BUS_A
FrmTyp : CAN_ID_STANDARD
DestId : TEGRA_DEVICE_A
DestSwc : SWC_ID_CANDATA

MsgId : 0x61B
CtrlId : EC_CAN_BUS_A
FrmTyp : CAN_ID_STANDARD
DestId : TEGRA_DEVICE_A
DestSwc : SWC_ID_CANDATA

MsgId : 0x61C
CtrlId : EC_CAN_BUS_A
FrmTyp : CAN_ID_STANDARD
DestId : TEGRA_DEVICE_A
DestSwc : SWC_ID_CANDATA

MsgId : 0x61D
CtrlId : EC_CAN_BUS_A
FrmTyp : CAN_ID_STANDARD
DestId : TEGRA_DEVICE_A
DestSwc : SWC_ID_CANDATA

MsgId : 0x61E
CtrlId : EC_CAN_BUS_A
FrmTyp : CAN_ID_STANDARD
DestId : TEGRA_DEVICE_A
DestSwc : SWC_ID_CANDATA

MsgId : 0x221
CtrlId : EC_CAN_BUS_B
FrmTyp : CAN_ID_STANDARD
DestId : TEGRA_DEVICE_A
DestSwc : SWC_ID_CANDATA

MsgId : 0x428
CtrlId : EC_CAN_BUS_B
FrmTyp : CAN_ID_STANDARD
DestId : TEGRA_DEVICE_A
DestSwc : SWC_ID_CANDATA

MsgId : 0x422
CtrlId : EC_CAN_BUS_B
FrmTyp : CAN_ID_STANDARD
DestId : TEGRA_DEVICE_A
DestSwc : SWC_ID_CANDATA

MsgId : 0x620
CtrlId : EC_CAN_BUS_B
FrmTyp : CAN_ID_STANDARD
DestId : TEGRA_DEVICE_A
DestSwc : SWC_ID_CANDATA

MsgId : 0x721
CtrlId : EC_CAN_BUS_B
FrmTyp : CAN_ID_STANDARD
DestId : TEGRA_DEVICE_A
DestSwc : SWC_ID_CANDATA

MsgId : 0x722
CtrlId : EC_CAN_BUS_B
FrmTyp : CAN_ID_STANDARD
DestId : TEGRA_DEVICE_A
DestSwc : SWC_ID_CANDATA

MsgId : 0x62A
CtrlId : EC_CAN_BUS_B
FrmTyp : CAN_ID_STANDARD
DestId : TEGRA_DEVICE_A
DestSwc : SWC_ID_CANDATA

MsgId : 0x62B
CtrlId : EC_CAN_BUS_B
FrmTyp : CAN_ID_STANDARD
DestId : TEGRA_DEVICE_A
DestSwc : SWC_ID_CANDATA

MsgId : 0x62C
CtrlId : EC_CAN_BUS_B
FrmTyp : CAN_ID_STANDARD
DestId : TEGRA_DEVICE_A
DestSwc : SWC_ID_CANDATA

MsgId : 0x62D
CtrlId : EC_CAN_BUS_B
FrmTyp : CAN_ID_STANDARD
DestId : TEGRA_DEVICE_A
DestSwc : SWC_ID_CANDATA

MsgId : 0x62E
CtrlId : EC_CAN_BUS_B
FrmTyp : CAN_ID_STANDARD
DestId : TEGRA_DEVICE_A
DestSwc : SWC_ID_CANDATA

MsgId : 0x231
CtrlId : EC_CAN_BUS_A
FrmTyp : CAN_ID_STANDARD
DestId : TEGRA_DEVICE_A
DestSwc : SWC_ID_CANDATA

MsgId : 0x438
CtrlId : EC_CAN_BUS_A
FrmTyp : CAN_ID_STANDARD
DestId : TEGRA_DEVICE_A
DestSwc : SWC_ID_CANDATA

MsgId : 0x432
CtrlId : EC_CAN_BUS_A
FrmTyp : CAN_ID_STANDARD
DestId : TEGRA_DEVICE_A
DestSwc : SWC_ID_CANDATA

MsgId : 0x630
CtrlId : EC_CAN_BUS_A
FrmTyp : CAN_ID_STANDARD
DestId : TEGRA_DEVICE_A
DestSwc : SWC_ID_CANDATA

MsgId : 0x731
CtrlId : EC_CAN_BUS_A
FrmTyp : CAN_ID_STANDARD
DestId : TEGRA_DEVICE_A
DestSwc : SWC_ID_CANDATA

MsgId : 0x732
CtrlId : EC_CAN_BUS_A
FrmTyp : CAN_ID_STANDARD
DestId : TEGRA_DEVICE_A
DestSwc : SWC_ID_CANDATA

MsgId : 0x63A
CtrlId : EC_CAN_BUS_A
FrmTyp : CAN_ID_STANDARD
DestId : TEGRA_DEVICE_A
DestSwc : SWC_ID_CANDATA

MsgId : 0x63B
CtrlId : EC_CAN_BUS_A
FrmTyp : CAN_ID_STANDARD
DestId : TEGRA_DEVICE_A
DestSwc : SWC_ID_CANDATA

MsgId : 0x63C
CtrlId : EC_CAN_BUS_A
FrmTyp : CAN_ID_STANDARD
DestId : TEGRA_DEVICE_A
DestSwc : SWC_ID_CANDATA

MsgId : 0x63D
CtrlId : EC_CAN_BUS_A
FrmTyp : CAN_ID_STANDARD
DestId : TEGRA_DEVICE_A
DestSwc : SWC_ID_CANDATA

MsgId : 0x63E
CtrlId : EC_CAN_BUS_A
FrmTyp : CAN_ID_STANDARD
DestId : TEGRA_DEVICE_A
DestSwc : SWC_ID_CANDATA

MsgId : 0x241
CtrlId : EC_CAN_BUS_B
FrmTyp : CAN_ID_STANDARD
DestId : TEGRA_DEVICE_A
DestSwc : SWC_ID_CANDATA

MsgId : 0x448
CtrlId : EC_CAN_BUS_B
FrmTyp : CAN_ID_STANDARD
DestId : TEGRA_DEVICE_A
DestSwc : SWC_ID_CANDATA

MsgId : 0x442
CtrlId : EC_CAN_BUS_B
FrmTyp : CAN_ID_STANDARD
DestId : TEGRA_DEVICE_A
DestSwc : SWC_ID_CANDATA

MsgId : 0x640
CtrlId : EC_CAN_BUS_B
FrmTyp : CAN_ID_STANDARD
DestId : TEGRA_DEVICE_A
DestSwc : SWC_ID_CANDATA

MsgId : 0x741
CtrlId : EC_CAN_BUS_B
FrmTyp : CAN_ID_STANDARD
DestId : TEGRA_DEVICE_A
DestSwc : SWC_ID_CANDATA

MsgId : 0x742
CtrlId : EC_CAN_BUS_B
FrmTyp : CAN_ID_STANDARD
DestId : TEGRA_DEVICE_A
DestSwc : SWC_ID_CANDATA

MsgId : 0x64A
CtrlId : EC_CAN_BUS_B
FrmTyp : CAN_ID_STANDARD
DestId : TEGRA_DEVICE_A
DestSwc : SWC_ID_CANDATA

MsgId : 0x64B
CtrlId : EC_CAN_BUS_B
FrmTyp : CAN_ID_STANDARD
DestId : TEGRA_DEVICE_A
DestSwc : SWC_ID_CANDATA

MsgId : 0x64C
CtrlId : EC_CAN_BUS_B
FrmTyp : CAN_ID_STANDARD
DestId : TEGRA_DEVICE_A
DestSwc : SWC_ID_CANDATA

MsgId : 0x64D
CtrlId : EC_CAN_BUS_B
FrmTyp : CAN_ID_STANDARD
DestId : TEGRA_DEVICE_A
DestSwc : SWC_ID_CANDATA

MsgId : 0x64E
CtrlId : EC_CAN_BUS_B
FrmTyp : CAN_ID_STANDARD
DestId : TEGRA_DEVICE_A
DestSwc : SWC_ID_CANDATA

MsgId : 0x251
CtrlId : EC_CAN_BUS_B
FrmTyp : CAN_ID_STANDARD
DestId : TEGRA_DEVICE_A
DestSwc : SWC_ID_CANDATA

MsgId : 0x458
CtrlId : EC_CAN_BUS_B
FrmTyp : CAN_ID_STANDARD
DestId : TEGRA_DEVICE_A
DestSwc : SWC_ID_CANDATA

MsgId : 0x452
CtrlId : EC_CAN_BUS_B
FrmTyp : CAN_ID_STANDARD
DestId : TEGRA_DEVICE_A
DestSwc : SWC_ID_CANDATA

MsgId : 0x650
CtrlId : EC_CAN_BUS_B
FrmTyp : CAN_ID_STANDARD
DestId : TEGRA_DEVICE_A
DestSwc : SWC_ID_CANDATA

MsgId : 0x751
CtrlId : EC_CAN_BUS_B
FrmTyp : CAN_ID_STANDARD
DestId : TEGRA_DEVICE_A
DestSwc : SWC_ID_CANDATA

MsgId : 0x752
CtrlId : EC_CAN_BUS_B
FrmTyp : CAN_ID_STANDARD
DestId : TEGRA_DEVICE_A
DestSwc : SWC_ID_CANDATA

MsgId : 0x65A
CtrlId : EC_CAN_BUS_B
FrmTyp : CAN_ID_STANDARD
DestId : TEGRA_DEVICE_A
DestSwc : SWC_ID_CANDATA

MsgId : 0x65B
CtrlId : EC_CAN_BUS_B
FrmTyp : CAN_ID_STANDARD
DestId : TEGRA_DEVICE_A
DestSwc : SWC_ID_CANDATA

MsgId : 0x65C
CtrlId : EC_CAN_BUS_B
FrmTyp : CAN_ID_STANDARD
DestId : TEGRA_DEVICE_A
DestSwc : SWC_ID_CANDATA

MsgId : 0x65D
CtrlId : EC_CAN_BUS_B
FrmTyp : CAN_ID_STANDARD
DestId : TEGRA_DEVICE_A
DestSwc : SWC_ID_CANDATA

MsgId : 0x65E
CtrlId : EC_CAN_BUS_B
FrmTyp : CAN_ID_STANDARD
DestId : TEGRA_DEVICE_A
DestSwc : SWC_ID_CANDATA

7

Dear anja,

The “aurix_tegra_can_send_receive.py” is in DPX2-P2379-EB-V4.02.02_release.zip
DPX2-P2379-EB-V4.02.02_release.zip is in DriveSDK/drive-t186ref-foundation/utils/scripts/ on HostPC. Thanks.

DPX2-P2379-EB-V4.02.02_release\DPX2-P2379-EB-V4.02.02_release\bin\EB-DrivePX-Samples\PythonCanSendReceive

8

Ok thanks, I’ll try with that script and see if I still have the same error, and than let you know.

9

Hi,

I tried the script on our Nvidia, and logged radar data with it. I get the same error as mentioned above.
Is there something else I can try?

Thanks,
Anja

10

Dear anja,

We would also like to know the load on Easy CAN at the time of the Issue. Can we get the Easy CAN config file and the CAN frame logs for the Bus?