issue of ThreadX and FDCAN function

[dqsh06]

Hello @D.Botelho @mƎALLEm 

I had an issue of ThreadX and FDCAN transmit as below.

I use the stm32g474 and config a threadx and fdcan with stm32cubemx, so far it works well.

but when i add some fdcan transmit code, it comes strangely.

the code as below

void appThread2(ULONG thread_input)
{
  while(1)
  {
    if(fdcan1_RXFlag == 1)
    {
      fdcan1_RXFlag = 0; // Clear the receive flag
      for(int i = 0; i < 8; i++)
      {
        fdcan1TxData[i] = fdcan1RxData[i]+1; // Copy received data to transmit buffer
      }

      my_FDCAN1_Transmit(fdcan1TxData); // Echo back the received data
      printf("FDCAN1 Received data: ");
      for (int i = 0; i < 8; i++)
      {
        printf("%02X ", fdcan1RxData[i]);
      }
      printf("\r\n");
    }

    // // 发送 0x12
    fdcan1TxHeader.Identifier=0x012;
    fdcan1TxData[0] = (dis_sensor_data1.dis1 >> 0) & 0xff;
    fdcan1TxData[1] = (dis_sensor_data1.dis1 >> 8) & 0xff;
    fdcan1TxData[2] = (dis_sensor_data1.dis2 >> 0) & 0xff;
    fdcan1TxData[3] = (dis_sensor_data1.dis2 >> 8) & 0xff;
    fdcan1TxData[4] = (dis_sensor_data1.dis3 >> 0) & 0xff;
    fdcan1TxData[5] = (dis_sensor_data1.dis3 >> 8) & 0xff;
    fdcan1TxData[6] = (dis_sensor_data1.dis4 >> 0) & 0xff;
    fdcan1TxData[7] = (dis_sensor_data1.dis4 >> 8) & 0xff;
    my_FDCAN1_Transmit(fdcan1TxData);

    // // 发送 0x13
    fdcan1TxHeader.Identifier=0x013;
    fdcan1TxData[0] = (dis_sensor_data2.dis1 >> 0) & 0xff;
    fdcan1TxData[1] = (dis_sensor_data2.dis1 >> 8) & 0xff;
    fdcan1TxData[2] = (dis_sensor_data2.dis2 >> 0) & 0xff;
    fdcan1TxData[3] = (dis_sensor_data2.dis2 >> 8) & 0xff;
    fdcan1TxData[4] = (dis_sensor_data2.dis3 >> 0) & 0xff;
    fdcan1TxData[5] = (dis_sensor_data2.dis3 >> 8) & 0xff;
    fdcan1TxData[6] = (dis_sensor_data2.dis4 >> 0) & 0xff;
    fdcan1TxData[7] = (dis_sensor_data2.dis4 >> 8) & 0xff;
    my_FDCAN1_Transmit(fdcan1TxData);

    // // 发送 0x14
    fdcan1TxHeader.Identifier=0x014;
    fdcan1TxData[0] = sbusHandle.isExist;   // 遥控器工作状态
    fdcan1TxData[1] = sys_status;           // 系统状态
    fdcan1TxData[2] = (encoder_data1.counter >> 0) & 0xff;
    fdcan1TxData[3] = (encoder_data1.counter >> 8) & 0xff;
    fdcan1TxData[4] = (encoder_data2.counter >> 0) & 0xff;
    fdcan1TxData[5] = (encoder_data2.counter >> 8) & 0xff;
    fdcan1TxData[6] = encoder_data1.direction;
    fdcan1TxData[7] = encoder_data1.direction;
    my_FDCAN1_Transmit(fdcan1TxData);

    // 发送 0x15
    fdcan1TxHeader.Identifier=0x015;
    fdcan1TxData[0] = RS485_RXData[0]+0x0A;
    fdcan1TxData[1] = RS485_RXData[1];         
    fdcan1TxData[2] = RS485_RXData[2];
    fdcan1TxData[3] = RS485_RXData[3];
    fdcan1TxData[4] = RS485_RXData[4];
    fdcan1TxData[5] = RS485_RXData[5];
    fdcan1TxData[6] = RS485_RXData[6];
    fdcan1TxData[7] = RS485_RXData[7];
    my_FDCAN1_Transmit(fdcan1TxData);

    tx_thread_sleep(20); // Sleep for 20 ticks
  }
}

I use a thread to send can message with a peroid of 20ms.

the CAN message ID is 0x12, 0x13, 0x14, 0x15.

as the code above,  when i compiled the code and programming to mcu, just after 1s, the system stack and Error_Handler() called. when I comment out 0x15 CAN transimt, only transmit 0x12, 0x13, 0x14, it works well. 

why?

I have increased the thread_stack of appThread2, but it seems the issue still exists.

how should i do to fix this issue?

Thanks,

dqsh06

[Karl Yamashita]

---

1. extend the can2.0 to canfd, that means 1 transmit including 64bytes payload, then i dont need send 5-6 times of 8bytes with  different canID.

---

You don't need a different CAN ID to send several packets of data to complete data that is more than 8 bytes. The 1st byte in every message can use 1 bit to indicate 1st frame and the 7 bits can be the amount of data to complete it. Then the rest of the messages the 1st frame bit is false, then the 7 bits count up to the amount of bytes. Then the receiving node will know when the data has completed.  

Look at my signature for CANable V3. It shows how i queue CAN messages for Tx and Rx.

It uses standard CAN 2.0b but you can look in the data structure, replace CAN_RxHeaderTypeDef, CAN_TxHeaderTypeDef with the FDCAN type FDCAN_RxHeaderTypeDef, FDCAN_TxHeaderTypeDef.

You'll have to replace some of the copying of data with the FDCAN Tx/Rx header equivalent. 

[dqsh06]

hello @Karl Yamashita @Ozone ,

this afternoon I get the CAN tool, now I am trying to extend CAN2.0 to CANFD with 64bytes payload, it is quite straightforward, just change the frame to FD frame and change rxbuffer size, txbuffer size, it seems i can send and receive 64bytes payload now.

Best Regards,