Hi, This is image (first image) and it is transmitted by USB to CAN converter (can bus identifier 64). It is received correctly on my Linux board (This converter also uses stm32F403). The baud rate is 125Kbps and CAN standard.
Now this is from (second image) NUCLEO-H753ZI this frame always give error (can bus identifier 304) on linux board. But on USB to CAN converter it is received without any issue. I also check this on microchip CAN bus analyzer and it work there also. But not on Linux board. I also send frame form CAN bus analyzer and it is received correctly on Linux board.
Please note that during this testing all 3 device (NUCLEO, UAB to CAN converter and linux board)are connected on same CAN bus. Bus termination resistance (120 ohm on each device) also there on CAN transceiver.
I capture these waveform on the linux board CAN-RX pin.
Here you can see after error the frame is again transmitted correctly but not received correctly and show as error.
This frame (frame 3) is same as above but screen short of correct frame(this is also not received)
This is my stm32 initialization code. CAN input frequency is 50Mhz.
void Initialize_FDCAN(void)
{
CAN_GPIO_ClockInit();
MX_FDCAN1_Init();
/* Configure Tx buffer message */
TxHeader.Identifier = 0x130;
TxHeader.IdType = FDCAN_STANDARD_ID;
TxHeader.TxFrameType = FDCAN_DATA_FRAME;
TxHeader.DataLength = FDCAN_DLC_BYTES_8;
TxHeader.ErrorStateIndicator = FDCAN_ESI_ACTIVE;
TxHeader.BitRateSwitch = FDCAN_BRS_OFF;
TxHeader.FDFormat = FDCAN_CLASSIC_CAN;//FDCAN_FD_CAN;
TxHeader.TxEventFifoControl = FDCAN_NO_TX_EVENTS;
TxHeader.MessageMarker = 0x0; // Ignore because FDCAN_NO_TX_EVENTS
if(HAL_FDCAN_AddMessageToTxBuffer(&hfdcan1, &TxHeader, CAN_TxData, FDCAN_TX_BUFFER0) != HAL_OK)
{
Error_Handler("HAL_FDCAN_AddMessageToTxBuffer");
}
/* Configure standard ID reception filter to Rx buffer 0 */
sFilterConfig.IdType = FDCAN_STANDARD_ID;
sFilterConfig.FilterIndex = 0;
#if 0
sFilterConfig.FilterType = FDCAN_FILTER_DUAL; // Ignore because FDCAN_FILTER_TO_RXBUFFER
#endif
sFilterConfig.FilterConfig = FDCAN_FILTER_TO_RXBUFFER;
sFilterConfig.FilterID1 = 0x3; // ID Node2
#if 0
sFilterConfig.FilterID2 = 0x0; // Ignore because FDCAN_FILTER_TO_RXBUFFER
#endif
sFilterConfig.RxBufferIndex = 0;
if(HAL_FDCAN_ConfigFilter(&hfdcan1, &sFilterConfig) != HAL_OK)
{
Error_Handler("HAL_FDCAN_ConfigFilter");
}
/* Start the FDCAN module */
if(HAL_FDCAN_Start(&hfdcan1) != HAL_OK)
{
Error_Handler("HAL_FDCAN_Start()");
}
HAL_FDCAN_ConfigInterruptLines(&hfdcan1, FDCAN_IT_TX_COMPLETE, FDCAN_INTERRUPT_LINE0);
HAL_FDCAN_ActivateNotification(&hfdcan1, FDCAN_IT_TX_COMPLETE, FDCAN_TX_BUFFER0);
__HAL_FDCAN_ENABLE_IT(&hfdcan1, FDCAN_IT_TX_COMPLETE);
HAL_FDCAN_ConfigInterruptLines(&hfdcan1, FDCAN_IT_RX_BUFFER_NEW_MESSAGE, FDCAN_INTERRUPT_LINE0);
HAL_FDCAN_ActivateNotification(&hfdcan1, FDCAN_IT_RX_BUFFER_NEW_MESSAGE, FDCAN_TX_BUFFER0);
__HAL_FDCAN_ENABLE_IT(&hfdcan1, FDCAN_IT_RX_BUFFER_NEW_MESSAGE);
/* Send Tx buffer message */
if(HAL_FDCAN_EnableTxBufferRequest(&hfdcan1, FDCAN_TX_BUFFER0) != HAL_OK)
{
Error_Handler("HAL_FDCAN_EnableTxBufferRequest()");
}
}
void MX_FDCAN1_Init(void)
{
hfdcan1.Instance = FDCAN1;
//hfdcan1.Init.FrameFormat = FDCAN_FRAME_FD_BRS;//FDCAN_FRAME_CLASSIC;
hfdcan1.Init.FrameFormat = FDCAN_FRAME_CLASSIC;
hfdcan1.Init.Mode = FDCAN_MODE_NORMAL;
hfdcan1.Init.AutoRetransmission = ENABLE;
hfdcan1.Init.TransmitPause = DISABLE;
hfdcan1.Init.ProtocolException = DISABLE;
hfdcan1.Init.NominalPrescaler = 25;
hfdcan1.Init.NominalSyncJumpWidth = 8;
hfdcan1.Init.NominalTimeSeg1 = 13;
hfdcan1.Init.NominalTimeSeg2 = 2;
hfdcan1.Init.DataPrescaler = 1;
hfdcan1.Init.DataSyncJumpWidth = 4;
hfdcan1.Init.DataTimeSeg1 = 1;
hfdcan1.Init.DataTimeSeg2 = 1;
hfdcan1.Init.MessageRAMOffset = 0;
hfdcan1.Init.StdFiltersNbr = 1;
hfdcan1.Init.ExtFiltersNbr = 0;
hfdcan1.Init.RxFifo0ElmtsNbr = 0;
hfdcan1.Init.RxFifo0ElmtSize = FDCAN_DATA_BYTES_8;
hfdcan1.Init.RxFifo1ElmtsNbr = 0;
hfdcan1.Init.RxFifo1ElmtSize = FDCAN_DATA_BYTES_8;
hfdcan1.Init.RxBuffersNbr = 1;
hfdcan1.Init.RxBufferSize = FDCAN_DATA_BYTES_8;
hfdcan1.Init.TxEventsNbr = 0;
hfdcan1.Init.TxBuffersNbr = 2;
hfdcan1.Init.TxFifoQueueElmtsNbr = 0;
hfdcan1.Init.TxFifoQueueMode = FDCAN_TX_FIFO_OPERATION;
hfdcan1.Init.TxElmtSize = FDCAN_DATA_BYTES_8;
if (HAL_FDCAN_Init(&hfdcan1) != HAL_OK)
{
Error_Handler("NA..");
}
}---------------------------------------------------------------------------------------------------------------------------------------
This is I am getting on the linux terminal..
Timestamp: 1724069829.861631 ID: 004 S Rx E DL: 8 00 10 00 00 00 00 00 7f Channel: can0
Timestamp: 1724069829.905609 ID: 040 S Rx DL: 8 00 01 02 03 04 05 06 07 Channel: can0
Timestamp: 1724069830.258881 ID: 004 S Rx E DL: 8 00 10 00 00 00 00 00 7f Channel: can0
Timestamp: 1724069830.324557 ID: 040 S Rx DL: 8 00 01 02 03 04 05 06 07 Channel: can0
The ID 40 frame is from USB to CAN converter and ID 004 is from micorcontroller. I am assuming that some thing is wrong with micrcontroller code that why I am not able to receive the data
To clear the above points I also adding the block diagram of my system.
This is link of transriciver
This is for USB to CAN converter
https://www.waveshare.com/product/usb-can-a.htm
