Hi Support, we have an application using 24 CanOpen Nodes with TMS320F2809 CANA, initialized like specified in Ti's documentation ( EALLOW, Shadow Mask, 32 bit accesses for control and status register....) but we find a very big problem because in the network we recorded sporadic errors frame. We have found that error frame are generated by a node that is only receiving message. The issues in not only in the same node but varies along the network. The cable is 45mts long with speed 250kBps (between each node there is 1,5m of cable) so we think that the problem is internal to cpu. If we change some lines in can initialization and managment, the frequency of error frame increase 10x (about 15 errorframe/hour) , yet if the meanings of sotware is the same. Is there some issues on this peripheral that we don't know? We have a lot of similar application with TMS320F2809 with different software that run correctly. In the analisys of the problem, with the help of a can analyzer we find that the problem born when there is a collision between a very high COBID message Vs a low COBID message (ex.212 Vs 701). Error frame is detected in a node that is only listening, message colliding are not destinated to that node (mail box are correctly configurated)- The electrical signals seem to be ok. The hardware is composed of TMS320F2809+ISO7221M+SN65HVD251D.
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